WO2023228687A1 - Système de communication de circulation, dispositif terminal et programme - Google Patents

Système de communication de circulation, dispositif terminal et programme Download PDF

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Publication number
WO2023228687A1
WO2023228687A1 PCT/JP2023/017003 JP2023017003W WO2023228687A1 WO 2023228687 A1 WO2023228687 A1 WO 2023228687A1 JP 2023017003 W JP2023017003 W JP 2023017003W WO 2023228687 A1 WO2023228687 A1 WO 2023228687A1
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WIPO (PCT)
Prior art keywords
vehicle
information
terminal device
timing
passenger
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Application number
PCT/JP2023/017003
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English (en)
Japanese (ja)
Inventor
武紀 富野
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京セラ株式会社
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Publication of WO2023228687A1 publication Critical patent/WO2023228687A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages

Definitions

  • the present disclosure relates to a transportation communication system, a terminal device, and a program.
  • an on-vehicle device that is installed in a bus vehicle and has a function of providing various notifications to the driver and/or passengers of the bus vehicle (see, for example, Patent Document 1).
  • the in-vehicle device disclosed in Patent Document 1 includes a stop determination unit that determines whether the bus vehicle should be stopped at the next bus stop.
  • a traffic communication system is a traffic communication system having a vehicle and a terminal device installed in the vehicle, wherein the terminal device is configured to communicate environmental information that is information related to the environment and information related to passengers of the vehicle. acquiring passenger information as information, determining that the vehicle should be decelerated based on the environmental information, and determining a timing to output a notification indicating that the vehicle should be decelerated based on the passenger information; The notification is outputted in the vehicle according to the timing.
  • a terminal device is a terminal device installed in a vehicle, and includes an environmental information acquisition unit that acquires environmental information that is information related to the environment, and passenger information that is information related to passengers of the vehicle. a passenger information acquisition unit that determines that the vehicle should be decelerated based on the environmental information, and a control unit that determines a timing for outputting a notification indicating that the vehicle should be decelerated based on the passenger information; , an output unit that outputs the notification in the vehicle according to the timing.
  • a program includes a process of acquiring environmental information, which is information related to the environment, and passenger information, which is information related to passengers of the vehicle, to a terminal device installed in a vehicle; A process of determining that the vehicle should be decelerated, and determining a timing to output a notification indicating that the vehicle should be decelerated based on the passenger information, and outputting the notification in the vehicle according to the timing. Process and execute.
  • FIG. 1 is a diagram illustrating an example of a configuration of a transportation communication system according to an embodiment.
  • FIG. 3 is a diagram showing another example of the configuration of the transportation communication system according to one embodiment. It is a figure showing still another example of composition of a traffic communication system concerning one embodiment.
  • FIG. 1 is a diagram showing the configuration of a vehicle and a terminal device according to an embodiment. It is a diagram showing the configuration of a roadside machine according to an embodiment.
  • FIG. 2 is a sequence diagram illustrating a process related to determining the necessity of decelerating the vehicle and determining the output timing of a notification, which is executed by the control unit of the terminal device according to one embodiment.
  • FIG. 2 is a sequence diagram showing a process related to determining the state of a passenger riding in a vehicle, which is executed by a control unit of a terminal device according to an embodiment.
  • the timing at which the output unit outputs the notification to the driver of the bus vehicle it is necessary to control the timing at which the output unit outputs the notification to the driver of the bus vehicle. For example, just before the bus vehicle arrives at the next bus stop, if the output unit outputs a notification to the driver of the bus vehicle indicating that the bus vehicle should be decelerated, the driver of the bus vehicle will be notified when the bus vehicle arrives at the next bus stop. In order to stop the bus vehicle, the bus vehicle must be rapidly decelerated. At this time, if there are passengers standing on the bus, there is a high possibility that the passengers will fall, which is undesirable. Therefore, in a situation where the bus should be decelerated, if there are passengers standing on the bus, notification is sent at an early timing so that the bus driver can gradually slow down the bus. need to be output.
  • the on-vehicle device determines that the bus should be slowed down or stopped, other than the situation where the bus is approaching the next bus stop where it should be stopped. For example, a situation where a pedestrian is crossing a point on the road located in the direction of travel of the bus vehicle, and/or a situation where there is a risk of the bus vehicle colliding with another vehicle at an intersection located in the direction of travel of the bus vehicle. etc. It is desirable that the in-vehicle device be able to output notifications to the driver of the bus at a timing that is appropriate for the status of the passengers on the bus in each situation.
  • the on-vehicle device determines that the bus vehicle should be decelerated, the on-vehicle device instructs the bus driver to decelerate the bus vehicle according to the condition of the passengers on the bus vehicle.
  • the purpose is to make it possible to determine the timing of outputting a notification indicating.
  • ARIB Association of Radio Industries and Businesses
  • V2X Vehicle to Everything
  • FIGS. 1-3 are diagrams illustrating an example of the configuration of a traffic communication system 1 according to an embodiment.
  • the traffic communication system 1 includes a vehicle 110 and a terminal device 120 installed in the vehicle 110.
  • the terminal device 120 acquires environmental information that is information related to the environment and passenger information that is information related to passengers of the vehicle 110, and determines that the vehicle 110 should be decelerated based on the environmental information.
  • the terminal device 120 determines the timing to output a notification indicating that the vehicle 110 should be decelerated based on the passenger information, and causes the vehicle 110 to output the notification in accordance with the determined timing.
  • the terminal device 120 can output a notification to the driver of the vehicle 110 indicating that the vehicle 110 should be decelerated at a timing that corresponds to the condition of the passenger in the vehicle 110.
  • the vehicle 110 may be any vehicle as long as it is configured so that a passenger other than the driver can ride the vehicle while standing without sitting on a seat, such as a bus vehicle and/or a railway vehicle. etc. may be used.
  • a case in which the vehicle 110 is a bus vehicle will be exemplified, and a passenger of the vehicle 110 who is different from the driver of the vehicle 110 will be referred to as a passenger of the vehicle 110.
  • the bus vehicle is a route bus that travels on a preset route.
  • a plurality of stops 300 exist on the service route.
  • a bus vehicle stops at a stop 300 when there are people who wish to board the bus vehicle at the stop 300 or when there are passengers who wish to get off the bus vehicle at the stop 300.
  • the bus will be operated at special times such as time adjustments. Unless there are circumstances, you may pass through the stop 300 without stopping.
  • the vehicle 110 may be a self-driving vehicle.
  • the vehicle 110 may perform at least one of communication with another vehicle 130 (vehicle-to-vehicle communication) and communication with the roadside device 200 (road-vehicle communication).
  • the vehicle 110 may include a terminal device 120 that performs at least one of communication with another vehicle 130 (vehicle-to-vehicle communication) and communication with the roadside device 200 (vehicle-to-road communication).
  • the terminal device 120 may be an in-vehicle device (ECU; Electronic Control Unit, car navigation system) installed in the vehicle 110.
  • Terminal device 120 may be a terminal such as a smartphone owned by the driver of vehicle 110. Details of the vehicle 110 and the terminal device 120 will be described later (see FIG. 4).
  • the other vehicle 130 may be a motor vehicle such as a motorcycle, a tricycle, or a four-wheel vehicle. Alternatively, other vehicle 130 may be a bicycle. Further, the other vehicle 130 may be an emergency vehicle such as an ambulance. Alternatively, other vehicle 130 may be a specific vehicle such as a bus. Furthermore, the other vehicle 130 may be a self-driving vehicle in whole or in part.
  • the other vehicle 130 may perform both communication with the vehicle 110 (vehicle-to-vehicle communication) and communication with the roadside device 200 (road-vehicle communication). The other vehicle 130 may perform only one of communication with the vehicle 110 (vehicle-to-vehicle communication) and communication with the roadside device 200 (road-vehicle communication).
  • the other vehicle 130 may have another terminal device 140 that communicates with at least one of the vehicle 110 and the roadside device 200.
  • the other vehicle 130 itself may communicate with at least one of the vehicle 110 and the roadside device 200.
  • the other terminal device 140 may have a similar configuration to the terminal device 120 installed in the vehicle 110.
  • the other terminal device 140 has a configuration different from that of the terminal device 120 if it is configured to be able to acquire information related to the other vehicle 130 and configured to be able to transmit information related to the other vehicle 130 to the terminal device 120. You may also take
  • the other terminal device 140 may be an in-vehicle device mounted on another vehicle 130.
  • the other terminal device 140 may be a terminal such as a smartphone owned by the driver of the other vehicle 130.
  • Road 10 is an example of a road that vehicle 110 passes.
  • the road 10 may be a motorway.
  • the terminal device 120 determines whether the vehicle 110 should be decelerated based on environmental information that is information related to the environment.
  • the environment may include a point on the road 10 located in the direction of travel of the vehicle 110.
  • the environment may include other vehicles 130 traveling on other roads 20 that intersect with the road 10 at intersections 30.
  • the environment may include a stop 300 located on the route of the vehicle 110.
  • the environment may include emergency vehicles.
  • the environmental information may include information regarding a point on the road 10 located in the traveling direction of the vehicle 110.
  • the environmental information may include information regarding other vehicles 130 traveling on other roads 20 that intersect with the road 10 at the intersection 30.
  • the environmental information may include information regarding stops 300 located on the route of the vehicle 110.
  • the environmental information may include information regarding emergency vehicles.
  • Road 20 is an example of a road that other vehicles 130 pass.
  • the road 20 may be a motorway.
  • the terminal device 120 decelerates the vehicle 110 in response to acquiring, as environmental information, information indicating that a pedestrian has crossed a point on the road 10 located in the traveling direction of the vehicle 110. You may decide that it is necessary to do so.
  • the terminal device 120 detects pedestrians crossing the point on the road 10 located in the traveling direction of the vehicle 110 based on an image of the point on the road 10 located in the traveling direction of the vehicle 110, which is imaged by an imaging device (not shown) installed in the vehicle 110 or the terminal device 120.
  • the terminal device 120 receives from the roadside device 200 an image of a point on the road 10 located in the traveling direction of the vehicle 110, which is captured by an imaging device (not shown) installed in the roadside device 200, and based on the image. The presence of a pedestrian crossing the point may also be detected.
  • the terminal device 120 detects the presence of a pedestrian crossing a point on the road 10 located in the traveling direction of the vehicle 110 and whose distance to the vehicle 110 is within a predetermined value. It may be determined that the speed should be reduced.
  • FIG. 1 shows an example in which the terminal device 120 detects that a pedestrian has crossed a point on the road 10 located in the traveling direction of the vehicle 110.
  • the terminal device 120 may determine that the vehicle 110 should be decelerated in response to detecting that not only a pedestrian but also another vehicle 130 has crossed the point. Furthermore, the terminal device 120 may determine that the vehicle 110 should be decelerated in response to detecting that a pedestrian and/or another vehicle 130 is present at the location.
  • the terminal device 120 decelerates the vehicle 110 in response to acquiring, as environmental information, information indicating that there is a risk that the vehicle 110 will collide with another vehicle 130 at the intersection 30. You may decide that it is necessary.
  • the terminal device 120 may perform vehicle-to-vehicle communication with another terminal device 140 installed in another vehicle 130, and based on information regarding the other vehicle 130 transmitted from the other terminal device 140, the terminal device 120 When it is determined that there is a risk of colliding with another vehicle 130 at the intersection 30, it may be determined that the vehicle 110 should be decelerated. Further, the terminal device 120 may perform road-to-vehicle communication with the roadside device 200, and may receive information regarding another vehicle 130 transmitted from another terminal device 140 via the roadside device 200.
  • Information related to the vehicle 110 is information transmitted and received between the terminal device 120 and another terminal device 140 installed in another vehicle 130 or between the terminal device 120 and the roadside machine 200.
  • the information related to the vehicle 110 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 information related to the vehicle 110 includes information related to the position of the vehicle 110, information related to the traveling speed of the vehicle 110, and/or information related to the moving direction of the vehicle 110. Further, the information related to the vehicle 110 may include an ID assigned to identify the terminal device 120, and the like.
  • the information regarding the vehicle 110 may include information regarding the shape of the vehicle 110, such as the width of the vehicle 110 and/or the length of the vehicle 110.
  • Information regarding the vehicle 110 may be periodically broadcast by the terminal device 120. Alternatively, the information may be broadcast at a timing according to the result of carrier sense by the terminal device 120.
  • ITS Connect is a registered trademark.
  • the terminal device 120 sends information indicating that the vehicle 110 is approaching the next stop 300 and that there is a person who wishes to board the vehicle 110 at the stop 300 as environmental information. Depending on the information obtained, it may be determined that the vehicle 110 should be decelerated.
  • the stop 300 may include an infrared sensor, and the presence or absence of passengers who wish to board the vehicle 110 at the stop 300 may be detected using the infrared sensor.
  • the stop 300 may include a wireless communication terminal that transmits information regarding the presence or absence of passengers using an infrared sensor to the terminal device 120.
  • the terminal device 120 Based on the information received from the wireless communication terminal, the terminal device 120 detects that a passenger who wishes to board the vehicle 110 is present at the next stop 300 and that the vehicle 110 approaches the next stop 300. It may be determined that the vehicle 110 should be decelerated in response to detecting that the vehicle 110 is moving. The terminal device 120 acquires information indicating that there are passengers who wish to get off at the next stop 300, instead of information indicating that there are people who wish to get on the vehicle 110 at the next stop 300. You can. A get-off button is provided inside the vehicle 110 that a passenger who wishes to get off at the next stop 300 can press to indicate to the driver of the vehicle 110 and/or the vehicle 110 and the terminal device 120 that he/she wishes to get off the vehicle.
  • the terminal device 120 may determine that the vehicle 110 should be decelerated in response to the fact that the next stop 300 is approaching and the exit button has been pressed.
  • the terminal device 120 acquires information indicating that there are passengers who wish to get off the vehicle 110 at the next stop 300 as well as information indicating that there are passengers who wish to get off the vehicle 110 at the next stop 300. You can.
  • the terminal device 120 may determine that the vehicle 110 should be decelerated in response to acquiring information indicating that an emergency vehicle is approaching the vehicle 110 as environmental information.
  • the emergency vehicle may be a police vehicle and/or an ambulance vehicle on an emergency run.
  • the emergency vehicle may have a wireless communication terminal capable of transmitting information related to the emergency vehicle, and the terminal device 120 transmits information related to the emergency vehicle based on the information related to the emergency vehicle transmitted from the wireless communication terminal included in the emergency vehicle. It may also be detected that a vehicle is approaching vehicle 110.
  • the terminal device 120 determines that the vehicle 110 should be decelerated based on the environmental information
  • the terminal device 120 sends a notification to the vehicle 110 indicating that the vehicle 110 should be decelerated based on passenger information that is information related to the passengers of the vehicle 110.
  • the timing to output the notification to the driver is determined, and the notification is output at the timing.
  • the terminal device 120 includes, as passenger information, information related to the number of passengers in the vehicle 110, information related to the boarding positions of the passengers riding in the vehicle 110, and straps and/or handrails (not shown) provided in the vehicle 110. At least one of the information related to the presence or absence of contact is acquired.
  • the terminal device 120 When the terminal device 120 detects the presence of a passenger standing in the vehicle 110 based on the passenger information, the terminal device 120 outputs a notification to the driver of the vehicle 110 indicating that the vehicle 110 should be decelerated.
  • the first timing is determined as the first timing. Further, when the terminal device 120 detects that there are no standing passengers in the vehicle 110 based on the passenger information, the terminal device 120 notifies the driver of the vehicle 110 that the vehicle 110 should be decelerated.
  • the timing for outputting is determined to be the second timing. The first timing is earlier than the second timing.
  • the driver of the vehicle 110 should be forced to decelerate the vehicle 110 at an earlier timing than when there is no standing passenger riding in the vehicle 110. It is possible to make the driver of the vehicle 110 aware of this and urge the driver of the vehicle 110 to decelerate the vehicle 110 more gently. Therefore, it is possible to reduce the risk of a passenger standing in the vehicle 110 falling over.
  • the terminal device 120 may be configured to be able to receive data obtained from a sensor (not shown) installed in the vehicle 110. Alternatively, the terminal device 120 may be configured to be connectable to a server or cloud where data acquired by a sensor installed in the vehicle 110 is recorded. The terminal device 120 may determine that there is a passenger standing in the vehicle 110 based on data acquired from a sensor installed in the vehicle 110. For example, the terminal device 120 recognizes the number of passengers riding in the vehicle 110 and the number of passengers sitting in the vehicle 110 based on data acquired from a sensor installed in the vehicle 110. You can. If the number of passengers riding in the vehicle 110 does not match the number of passengers riding in the vehicle 110 while sitting, the terminal device 120 determines that there are passengers riding in the vehicle 110 while standing. You can.
  • the terminal device 120 determines whether a passenger is standing in the vehicle 110 while riding the vehicle 110. It may be determined that there are passengers. Furthermore, if the terminal device 120 can detect that the strap and/or the handrail provided inside the vehicle 110 are being touched based on the data acquired from the sensor installed in the vehicle 110, However, it may be determined that there are passengers on board. The terminal device 120 determines whether there is a passenger standing in the vehicle 110 based on an image of the inside of the vehicle 110 captured by an imaging device (not shown) installed inside the vehicle 110 or in the terminal device 120. may be detected.
  • the terminal device 120 may output a voice urging the vehicle 110 to decelerate, such as "Please decelerate.”, as a notification indicating that the vehicle 110 should be decelerated.
  • the notification may include the reason why it was determined that the vehicle 110 should be slowed down, such as "A pedestrian is crossing the road ahead.”
  • the notification may include the reason for determining that the vehicle 110 should be slowed down and a request to slow down the vehicle 110, such as "A pedestrian is crossing the road ahead. Please slow down.” Good too.
  • the roadside device 200 may communicate with the terminal device 120 (road-to-vehicle communication). 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. 5).
  • FIG. 4 is a diagram showing a configuration example of the vehicle 110 and the terminal device 120.
  • the vehicle 110 includes a terminal device 120 and a driving control section 14.
  • the terminal device 120 includes an environmental information acquisition unit 11 that acquires environmental information that is information related to the environment, and a passenger information acquisition unit 11 that acquires information related to the passenger of the vehicle 110. It has an information acquisition section 12. Furthermore, the terminal device 120 according to one embodiment determines that the vehicle 110 should be decelerated based on the environmental information, and controls to determine the timing to output a notification indicating that the vehicle 110 should be decelerated based on the passenger information. and an output unit 13 that notifies the driver of the vehicle 110 that the vehicle 110 should be decelerated in accordance with the timing determined by the control unit 15.
  • the terminal device 120 can output the notification at a timing that corresponds to the condition of the passenger of the vehicle 110.
  • the terminal device 120 may include a positioning signal receiving section 16 in addition to the above configuration.
  • the environmental information acquisition unit 11 includes a communication unit 11a and an environmental image acquisition unit 11b.
  • the communication unit 11a may perform inter-vehicle communication by broadcasting with another terminal device 140 installed in another vehicle 130 using an antenna. Alternatively, the communication unit 11a may perform road-to-vehicle communication with the roadside device 200 by broadcasting. The communication unit 11a may perform vehicle-to-vehicle communication with another terminal device 140 and road-to-vehicle communication with the roadside device 200 using one antenna. Alternatively, the communication unit 11a may have one antenna corresponding to each communication. The antenna may be located externally or internally to vehicle 110. The antenna may be an omnidirectional antenna. The antenna may be a directional antenna having directivity. The antenna may be an adaptive array antenna whose directivity can be dynamically changed.
  • 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 or 5.8 GHz band). In this case, the communication unit 11a may transmit the packet to the other vehicle 130 and/or the roadside machine 200 at a timing when the radio wave frequency is available.
  • Information regarding the vehicle 110 may be configured by 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).
  • the wireless communication method of the communication unit 11a is a method compliant with ARIB (Association of Radio Industries and Businesses) STD-T109.
  • the wireless communication method of the communication unit 11a may be a method based on the 3GPP V2X standard.
  • the wireless communication method of the communication unit 11a may be a method compliant with wireless LAN (Local Area Network) standards such as the IEEE (Institute of Electrical and Electronics Engineers) 802.11 series. .
  • the communication unit 11a may be configured to be compatible with all of these communication standards. Note that IEEE is a registered trademark.
  • the communication unit 11a has a transmitting unit that performs signal processing on the baseband signal output by the control unit 15, converts it into a wireless signal, and transmits the wireless signal from an antenna.
  • the communication unit 11a also includes a reception unit that converts a radio signal received by the antenna into a baseband signal, performs signal processing on the baseband signal, and outputs the signal after the signal processing to the control unit 15.
  • the communication unit 11a may transmit information regarding the vehicle 110 at a timing according to the carrier sense result. Furthermore, the communication unit 11a may periodically broadcast information regarding the vehicle 110.
  • the communication unit 11a may acquire information regarding other vehicles 130 from other vehicles 130 traveling on other roads 20 that intersect at intersections 30 with the road 10 on which the vehicle 110 travels.
  • the communication unit 11a may receive information regarding the other vehicle 130 through vehicle-to-vehicle communication with another terminal device 140 installed in the other vehicle 130.
  • the communication unit 11a may receive information regarding another vehicle 130 transmitted from the other vehicle 130 to the roadside device 200 through roadside vehicle communication with the roadside device 200.
  • the communication unit 11a also acquires data transmitted by a wireless communication terminal (not shown) provided at the next stop 300, regarding whether or not there is a person who wishes to board the vehicle 110 at the next stop 300. Good too.
  • the stop 300 may be provided with an infrared sensor, and the data may be acquired by the infrared sensor.
  • the communication unit 11a may directly receive the data broadcast by the wireless communication terminal provided at the next stop 300. Alternatively, the communication unit 11a may receive the data broadcasted by the wireless communication terminal through road-to-vehicle communication with the roadside device 200 that received the data.
  • the communication unit 11a may acquire information related to an emergency vehicle from an emergency vehicle traveling around the vehicle 110.
  • the emergency vehicle may be a police vehicle and/or an ambulance vehicle on an emergency run.
  • the emergency vehicle may have a wireless communication terminal capable of transmitting information related to the emergency vehicle, and the communication unit 11a directly receives information related to the emergency vehicle broadcast from the wireless communication terminal included in the emergency vehicle. You can.
  • the communication unit 11a may receive the data broadcasted by the wireless communication terminal through road-to-vehicle communication with the roadside device 200 that received the data.
  • the environmental image acquisition unit 11b acquires an image of the exterior of the vehicle 110.
  • the environmental image acquisition unit 11b may acquire images from a camera (not shown) installed inside or outside the vehicle 110.
  • the environmental image acquisition unit 11b may acquire an image captured by a camera (not shown) installed or connected to the roadside device 200 through road-to-vehicle communication with the roadside device 200.
  • the environmental image acquisition unit 11b itself may have an imaging function and be configured to be able to acquire images of the exterior of the vehicle 110.
  • the environmental image acquisition unit 11b may acquire an image related to a point on the road 10 located in the traveling direction of the vehicle 110.
  • the passenger information acquisition unit 12 includes a sensor information acquisition unit 12a and an in-vehicle image acquisition unit 12b.
  • the sensor information acquisition unit 12a may communicate with various sensors (not shown) installed inside the vehicle 110 using an antenna and receive data acquired by the various sensors.
  • the antenna may be located inside the vehicle 110.
  • the antenna may be an omnidirectional antenna.
  • the antenna may be a directional antenna having directivity.
  • the antenna may be an adaptive array antenna whose directivity can be dynamically changed.
  • the data acquired by the sensor may be stored in a server or cloud connected to a mobile line, and the sensor information acquisition unit 12a connects to the mobile line using an antenna and holds the data acquired by the sensor.
  • the data may be obtained by accessing the server that provides the information.
  • the data acquired by the sensor may be directly transmitted to the sensor information acquisition unit 12a depending on the type of sensor. Alternatively, the data may be stored on a server connected to the mobile line.
  • the sensor information acquisition unit 12a may receive data acquired by infrared sensors (not shown) provided at the entrance and exit of the vehicle 110, and based on the data, determine the number of people who have passed through the entrance and The number of people who passed through the exit may be calculated. Further, the sensor information acquisition unit 12a may calculate the number of passengers on board the vehicle 110 based on the number of people who have passed through the boarding gate of the vehicle 110 and the number of people who have passed through the exit gate. Further, the sensor information acquisition unit 12a may receive data acquired by a sensor (not shown) provided in each seat of the vehicle 110 for detecting whether a passenger is sitting, and based on the data. The number of passengers sitting in the vehicle 110 may also be calculated using the above method. The sensor for detecting whether a passenger is sitting may be a capacitive proximity sensor, a resistive film proximity sensor, and/or an infrared sensor.
  • the sensor information acquisition unit 12a may receive data acquired by a sensor (not shown) for detecting whether or not a passenger is present at a specific location inside the vehicle 110, and based on the data, The presence of passengers in the area may also be detected.
  • the sensor may be provided inside the vehicle 110.
  • the specific location inside the vehicle 110 may be any location other than the seats provided in the vehicle 110, for example, a location other than the seat near the boarding entrance or the exit exit of the vehicle 110. It may be.
  • the sensor for detecting whether a passenger is present at a specific location inside the vehicle 110 may be an infrared sensor. Alternatively, the sensor may be a capacitive proximity sensor and/or a resistive film proximity sensor.
  • the sensor information acquisition unit 12a may receive data acquired by a sensor (not shown) provided on a strap and/or a handrail inside the vehicle 110 for detecting contact, and based on the data, It may also be detected that the straps and/or handrails inside the vehicle 110 are being touched.
  • the sensor for detecting contact may be a capacitive proximity sensor and/or a resistive film proximity sensor.
  • the in-vehicle image acquisition unit 12b acquires an image inside the vehicle 110.
  • the in-vehicle image acquisition unit 12b may acquire images from a camera (not shown) installed inside the vehicle 110. Further, the in-vehicle image acquisition unit 12b itself may have an imaging function and be configured to be able to acquire images of the interior of the vehicle 110.
  • the positioning signal receiving unit 16 performs positioning based on, for example, a GNSS satellite signal, and outputs position information indicating the current geographical position (latitude and longitude) of the vehicle 110 to the control unit 15.
  • the positioning signal receiving unit 16 uses, for example, GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, BeiDou, NavIC (Navi GNSS of at least one of the Indian Constellation) and QZSS (Quasi-Zenith Satellite System) It consists of a receiver such as Note that GPS and QZSS are registered trademarks.
  • the positioning signal receiving unit 16 includes a receiver such as a GNSS and receives a GNSS satellite signal directly from the GNSS satellite.
  • the positioning signal receiving unit 16 may receive a GNSS satellite signal received by a GNSS receiver (not shown) installed separately in the vehicle 110. Further, based on a GNSS satellite signal received by a GNSS receiver installed in the vehicle 110, the positioning signal receiving unit 16 may receive the result of positioning performed by the GNSS receiver.
  • the output unit 13 outputs information to the driver of the vehicle 110 under the control of the control unit 15.
  • the output unit 13 includes at least one of a display that displays information and a speaker that outputs the information as audio.
  • the output unit 13 outputs information to at least one of a display and a speaker (not shown) that the vehicle 110 has separately.
  • the output unit 13 may output audio to the earphones.
  • the output unit 13 may transmit an instruction to the control unit 15 to continuously change the tension of the seat belt worn by the driver of the vehicle 110.
  • the output unit 13 may transmit to the control unit 15 an instruction to vibrate the seat of the driver of the vehicle 110 and/or the steering wheel operated by the driver of the vehicle 110.
  • the driving control unit 14 controls the engine or motor as a power source of the vehicle 110, a power transmission mechanism, a steering mechanism, a brake, etc.
  • the driving control unit 14 may cooperate with the control unit 15 to control the driving and steering of the vehicle 110.
  • the control unit 15 controls various functions in the terminal device 120 (and vehicle 110). For example, the control unit 15 controls the environmental information acquisition unit 11, the passenger information acquisition unit 12, and/or the output unit 13.
  • the control unit 15 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 15 may store identification information of the terminal device 120 and/or map information (for example, a dynamic map) in a memory as information used for processing in the processor.
  • the control unit 15 may determine that the vehicle 110 should be decelerated based on the environmental information acquired from the environmental information acquisition unit 11, and may control the output unit 13.
  • the control unit 15 acquires an image of a point on the road 10 located in the traveling direction of the vehicle 110 from the environmental information acquisition unit 11, and based on the image, detects pedestrians, bicycles, and/or other pedestrians at the point.
  • the vehicle 110 should be decelerated in response to determining that at least one of the vehicles 130 is present or that at least one of a pedestrian, a bicycle, and/or another vehicle 130 is crossing the point. You can judge.
  • control unit 15 controls the vehicle 110 based on information regarding other vehicles 130 traveling on another road 20 that intersects the road 10 on which the vehicle 110 travels at the intersection 30, which is acquired from the environmental information acquisition unit 11. It may be determined that the vehicle 110 should be decelerated in response to determining that there is a risk of colliding with another vehicle 130 at the intersection 30.
  • the method of determining the risk of collision between the vehicle 110 and another vehicle 130 at the intersection 30 since it is not related to the present disclosure, a conventionally proposed method will be used, and detailed explanation will be omitted. The determination can be made based on information regarding the positions of the vehicle 110 and other vehicles 130, information regarding the speed, information regarding the traveling direction, and information regarding the position of the intersection 30.
  • control unit 15 controls the boarding of the vehicle 110 at the next stop 300 based on the data obtained from the environmental information acquisition unit 11 regarding the presence or absence of a person who wishes to board the vehicle 110 at the next stop 300. It may be determined that the vehicle 110 should be decelerated in response to determining that the desired person is present and detecting that the vehicle 110 is approaching the next stop 300.
  • the control unit 15 may detect that a button (not shown) provided inside the vehicle 110 is pressed to indicate that the passenger of the vehicle 110 wishes to get off at the next stop 300. Instead of the presence of a person who wishes to board the vehicle 110 at the next stop 300, the presence of a passenger who wishes to get off the vehicle 110 at the next stop 300 may be detected.
  • the map information stored in the memory by the control unit 15 may include information related to the stop 300 on the operating route of the vehicle 110, and the control unit 15 may include information related to the stop 300 on the operating route of the vehicle 110, and the control unit 15 Based on the information and the information regarding the stop 300, it may be detected that the vehicle 110 is approaching the stop 300. In addition, the control unit 15 decelerates the vehicle 110 in response to determining that the emergency vehicle is approaching the vehicle 110 based on the information related to the emergency vehicle acquired from the environmental information acquisition unit 11. You may decide that it is necessary.
  • the control unit 15 may determine the timing to output a notification indicating that the vehicle 110 should be decelerated based on the passenger information acquired from the passenger information acquisition unit 12, and may control the output unit 13 at the timing.
  • the passenger information acquisition unit 12 determines that there is a passenger standing in the vehicle 110
  • the passenger information acquisition unit 12 determines a first timing to output a notification indicating that the vehicle 110 should be decelerated. If it is determined that there are no passengers standing while riding the vehicle, the second timing is determined as the timing for outputting a notification indicating that the vehicle 110 should be decelerated.
  • the control unit 15 compares the information regarding the number of passengers riding in the vehicle 110 and the information regarding the number of passengers sitting in the vehicle 110 acquired from the passenger information acquisition unit 12, and determines that the number of passengers matches.
  • control unit 15 determines that there is a passenger riding in the vehicle 110 while standing. Further, the control unit 15 determines that there is a passenger standing in the vehicle 110 based on data indicating that a passenger is present at a specific location inside the vehicle 110, which is acquired from the passenger information acquisition unit 12. You may. Furthermore, the control unit 15 determines that there is a passenger riding in the vehicle 110 while standing, based on information acquired from the sensor information acquisition unit 12a that indicates that the straps and/or handrails inside the vehicle 110 are being touched. You may decide to do so. In addition, the control unit 15 may determine that there is a passenger standing in the vehicle 110 based on the image of the interior of the vehicle 110 acquired by the passenger information acquisition unit 12.
  • the vehicle 110 has the terminal device 120.
  • the vehicle 110 does not need to have the terminal device 120; in that case, the vehicle 110 includes the environmental information acquisition section 11, the passenger information acquisition section 12, the output section 13, the driving control section 14, and the control section 15. and a positioning signal receiving section 16.
  • the terminal device 120 includes the environmental information acquisition section 11, the passenger information acquisition section 12, the output section 13, the control section 15, and the positioning signal reception section 16.
  • the terminal device 120 has only the control section 15, and the vehicle 110 has the environmental information acquisition section 11, the passenger information acquisition section 12, the output section 13, the driving control section 14, and the positioning signal reception section 16. may have.
  • the vehicle 110 and the terminal device 120 include an environmental information acquisition section 11, a passenger information acquisition section 12, an output section 13, a driving control section 14, a control section 15, and a positioning signal reception section 16.
  • the vehicle 110 and the terminal device 120 may not have the driving control section 14.
  • the control section 15 of the vehicle 110 or the terminal device 120 controls the engine or motor as the power source of the vehicle 110, and the power transmission. Mechanisms, steering mechanisms, brakes, etc. may also be controlled.
  • FIG. 5 is a diagram showing the configuration of the roadside machine 200 according to one embodiment.
  • the roadside machine 200 includes a communication section 21, a control section 22, and an interface 23.
  • the communication unit 21 performs wireless communication via an antenna.
  • the antenna may be located outside or inside the roadside machine 200.
  • the antenna may be an omnidirectional antenna.
  • the antenna may be a directional antenna having directivity.
  • the antenna may be an adaptive array antenna whose directivity can be dynamically changed.
  • the communication unit 21 performs broadcast-based road-to-vehicle communication with the vehicle 110 (terminal device 120).
  • the wireless communication method of the communication unit 21 is a method compliant with ARIB STD-T109.
  • the wireless communication method of the communication unit 21 may be a method based on the 3GPP V2X standard.
  • the wireless communication method of the communication unit 21 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 has a transmitting unit 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 an antenna.
  • the communication unit 21 also includes a reception unit that converts a radio signal received by the antenna into a baseband signal, performs signal processing, and outputs the signal after signal processing to the control unit 22.
  • the control unit 22 controls various functions in the roadside machine 200.
  • 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.
  • the communication unit 21 broadcasts roadside device information during the road-to-vehicle communication period assigned to the roadside device 200.
  • the roadside device information is information including information regarding the road.
  • the roadside device information is, for example, the "ITS wireless roadside device communication application common standard" published by the UTMS (Universal Traffic Management System) Association and/or the "5.8 GHz band/700 MHz band wireless DSSS communication application (optical/radio wave experiment)" It has a predetermined format based on the "Standard". Note that UTMS is a registered trademark.
  • control unit 22 may receive information regarding the vehicle 110 from the terminal device 120 through the communication unit 21. Further, the control unit 22 may broadcast the received information regarding the vehicle 110 to other terminal devices 140.
  • 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.
  • FIG. 6 is a diagram illustrating an example of a sequence related to determining the timing of notification to. This sequence is started when the control unit 15 detects that the environmental information acquisition unit 11 of the terminal device 120 has acquired environmental information.
  • step S101 the control unit 15 acquires environmental information from the environmental information acquisition unit 11.
  • step S102 the control unit 15 acquires passenger information from the passenger information acquisition unit 12.
  • step S103 the control unit 15 determines whether the vehicle 110 should be decelerated or stopped based on the environmental information acquired in S101. If “NO” in step S103, the control unit 15 determines the notification timing to the driver of the vehicle 110 according to the result of determining the necessity of deceleration of the vehicle 110 and determining the condition of the passengers riding in the vehicle 110. The determination process ends. On the other hand, if "YES” in step S103, the control unit 15 advances the process to step S104.
  • step S104 the control unit 15 determines whether there is a passenger standing in the vehicle 110 based on the passenger information acquired in step S102. If “YES” in step S104, the control unit 15 advances the process to step S105.
  • An example of a sequence related to determining the condition of a passenger riding in the vehicle 110 will be described later (see FIG. 7).
  • step S105 the control unit 15 determines the first timing to output a notification to the driver of the vehicle 110 indicating that the vehicle 110 should be decelerated, and advances the process to step S107.
  • step S104 the control unit 15 advances the process to step S106.
  • step S106 the control unit 15 determines the second timing to output a notification to the driver of the vehicle 110 indicating that the vehicle 110 should be decelerated, and the process proceeds to step S107.
  • step S107 the control unit 15 controls the output unit 13 to output a notification to the driver of the vehicle 110 indicating that the vehicle 110 should be decelerated at the timing determined in step S105 or step S106. , the process of determining the notification timing to the driver of the vehicle 110 according to the results of the determination of the necessity of deceleration of the vehicle 110 and the determination of the condition of the passengers riding in the vehicle 110 is completed.
  • FIG. 7 is a diagram illustrating an example of a sequence related to determining the state of a passenger riding in the vehicle 110, which is executed by the control unit 15 of the terminal device 120 according to an embodiment.
  • This sequence determines the notification timing to the driver of the vehicle 110 according to the determination of the necessity of deceleration of the vehicle 110 by the control unit 15 of the terminal device 120 and the determination of the condition of the passengers riding in the vehicle 110. It is started during such processing.
  • step S201 the control unit 15 determines the number of passengers riding in the vehicle 110 and the number of passengers sitting in the vehicle 110 based on the passenger information acquired in S102. Determine whether or not they match. If “NO” in step S201, the control unit 15 advances the process to step S206, which will be described later. On the other hand, if "YES” in step S201, the control unit 15 advances the process to step S202.
  • step S202 the control unit 15 determines whether a passenger is present at a predetermined position inside the vehicle 110 based on the passenger information acquired in S102. If “YES” in step S202, the control unit 15 advances the process to step S206, which will be described later. On the other hand, if "NO” in step S202, the control unit 15 advances the process to step S203.
  • step S203 the control unit 15 determines whether or not the strap and/or handrail provided inside the vehicle 110 is touched, based on the passenger information acquired in S102. If “YES” in step S203, the control unit 15 advances the process to step S206, which will be described later. On the other hand, if "NO” in step S203, the control unit 15 advances the process to step S204.
  • step S204 the control unit 15 determines whether there is a passenger riding in the vehicle 110 while standing, based on the captured image of the inside of the vehicle 110 included in the passenger information acquired in S102. If “YES” in step S204, the control unit 15 advances the process to step S206, which will be described later. On the other hand, if "NO” in step S204, the control unit 15 advances the process to step S205.
  • step S205 the control unit 15 determines that there is no passenger riding in the vehicle 110 while standing, and ends the process of determining the state of the passenger riding in the vehicle 110.
  • step S206 the control unit 15 determines that there is a passenger riding in the vehicle 110 while standing, and ends the process of determining the state of the passenger riding in the vehicle 110.
  • Terminal device 120 may determine that vehicle 110 should be accelerated based on the environmental information, and may cause vehicle 110 to output a notification indicating that vehicle 110 should be accelerated. Furthermore, the terminal device 120 may determine that the speed of the vehicle 110 should be maintained based on the environmental information, and may cause the vehicle 110 to output a notification indicating that the speed of the vehicle 110 should be maintained.
  • information indicating that the vehicle 110 approaches a stop 300 located on the operating route later than the scheduled arrival time and that there is no person who wishes to board the vehicle 110 at the stop 300 is sent to the environment.
  • the terminal device 120 may determine that the vehicle 110 should be accelerated.
  • information indicating that the vehicle 110 approaches a stop 300 located on the operation route earlier than the scheduled arrival time and that there is no person who wishes to board the vehicle 110 at the stop 300 is transmitted to the environment.
  • the terminal device 120 may determine that the speed of the vehicle 110 should be maintained.
  • a program that causes the control unit 15 of the terminal device 120 to execute each of the above-described processes may be provided.
  • the program may be recorded on a computer readable medium.
  • Computer-readable media allow programs to be installed on a computer.
  • 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 and/or a DVD-ROM.
  • 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.
  • 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.
  • 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.
  • a traffic communication system comprising a vehicle and a terminal device installed in the vehicle,
  • the terminal device is Obtain environmental information that is information related to the environment and passenger information that is information related to passengers of the vehicle, determining that the vehicle should be decelerated based on the environmental information, and determining a timing for outputting a notification indicating that the vehicle should be decelerated based on the passenger information;
  • a traffic communication system that outputs the notification in the vehicle according to the timing.
  • the passenger information is first information that is information for confirming whether there is a passenger standing in the vehicle.
  • the first information includes information on the number of passengers in the vehicle, information on the positions of the passengers, and information on how the passengers use the straps of the vehicle and/or the handrails of the vehicle.
  • the terminal device is The timing is determined to be the first timing when it is detected that there is a passenger standing in the vehicle based on the first information.
  • Transportation communication system The timing is determined to be the first timing when it is detected that there is a passenger standing in the vehicle based on the first information.
  • the terminal device is The timing is determined to be the second timing when it is detected that there are no passengers standing in the vehicle based on the first information.
  • Transportation communication system The timing is determined to be the second timing when it is detected that there are no passengers standing in the vehicle based on the first information.
  • a terminal device installed in a vehicle, an environmental information acquisition unit that acquires environmental information that is information related to the environment; a passenger information acquisition unit that acquires passenger information that is information related to passengers of the vehicle; a control unit that determines that the vehicle should be decelerated based on the environmental information, and determines a timing for outputting a notification indicating that the vehicle should be decelerated based on the passenger information;
  • a terminal device comprising: an output unit that outputs the notification in the vehicle according to the timing.
  • the terminal device installed in the vehicle is a process of acquiring environmental information that is information related to the environment and passenger information that is information related to passengers of the vehicle; determining the timing to output a notification indicating that the vehicle should be decelerated based on the passenger information, and determining the timing to output a notification indicating that the vehicle should be decelerated based on the environmental information; A program that executes a process of outputting in the vehicle.

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Abstract

La présente invention concerne un dispositif terminal installé sur un véhicule. Lorsqu'il est déterminé que le véhicule doit être décéléré, le dispositif terminal : en réponse à la détection de la présence d'un passager debout dans le véhicule, détermine une première temporisation comme temporisation pour délivrer une notification indiquant à un opérateur du véhicule que le véhicule doit être décéléré ; en réponse à la détection de l'absence d'un passager debout dans le véhicule, détermine une seconde temporisation comme temporisation pour délivrer la notification à l'opérateur de véhicule ; et délivre la notification conformément à la temporisation déterminée. La première temporisation est antérieure à la seconde temporisation.
PCT/JP2023/017003 2022-05-25 2023-05-01 Système de communication de circulation, dispositif terminal et programme WO2023228687A1 (fr)

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JP2020003936A (ja) * 2018-06-26 2020-01-09 株式会社デンソー 車両制御方法、車両制御システム、及び車両制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020003936A (ja) * 2018-06-26 2020-01-09 株式会社デンソー 車両制御方法、車両制御システム、及び車両制御装置

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