CN111279403A - Terminal device, roadside device, communication system, and communication method - Google Patents

Abstract

The present invention provides a terminal device, a roadside device, a communication system, and a communication method capable of suppressing congestion in human-to-vehicle communication and quickly and reliably notifying pedestrians and drivers of vehicles of the presence of pedestrians and vehicles. It is provided with: a person-vehicle communication unit (13) that performs direct communication with the vehicle-mounted terminal (3) based on person-vehicle communication as a first communication method; and a wireless LAN communication unit (14) that communicates with the vehicle-mounted terminal (3) perform indirect communication based on the second communication method via a roadside machine (5) installed on the road; and a control unit (16) that determines whether or not its own device is based on state information related to the state of its own device In the dangerous state, either the direct communication or the indirect communication is selected according to the result of the determination.

Description

Terminal device, roadside device, communication system, and communication method

technical field

The present invention relates to a terminal device that transmits a message including position information of its own device to other terminal devices through human-vehicle communication, a roadside device installed on a road and communicating with the terminal device, and a terminal device including the terminal device and the roadside device. A communication system, and a communication method for transmitting a message from a terminal device to another terminal device by human-vehicle communication.

Background technique

In recent years, research toward the practical application and popularization of a wireless system for safe driving assistance using ITS (Intelligent Transport System) has progressed. In this safe driving assistance wireless system, vehicle-to-vehicle communication including vehicle-to-vehicle communication for communication between in-vehicle terminals mounted on the vehicle and road-to-vehicle communication for communication between a roadside device installed on a road and an in-vehicle terminal are performed. By exchanging messages such as location information, etc., the driver of the vehicle is reminded to avoid accidents.

In addition, in recent years, in order to prevent pedestrian accidents, a person-to-vehicle communication that communicates between a pedestrian terminal held by a pedestrian and an in-vehicle terminal has been proposed. In this person-vehicle communication, the pedestrian terminal and the in-vehicle terminal directly exchange messages including position information and the like to notify the in-vehicle terminal of the presence of a pedestrian, and to inform the pedestrian terminal of the presence of a vehicle, thereby enabling the pedestrian terminal to respond to pedestrians at an appropriate timing. Since both the pedestrian and the driver of the vehicle are alerted, a great effect can be expected in preventing pedestrian accidents.

In such a person-vehicle communication, when there are many pedestrians and vehicles such as at the intersection of a busy street, the number of pedestrian terminals and vehicle-mounted terminals increases, and the traffic volume of the person-vehicle communication increases, and there is a possibility that person-vehicle communication may occur. It is necessary to avoid the congestion of the person-to-vehicle communication as much as possible, so it is expected to reduce the traffic of the person-to-vehicle communication.

As a technology related to the reduction of the communication amount of such person-vehicle communication, a technique has been known in which first communication (V2X communication: road-vehicle communication and In a communication system based on human-vehicle communication), a second communication based on a wireless LAN or the like is performed between a roadside machine and a pedestrian terminal, and a first communication (road-vehicle communication) is performed between a roadside machine and an in-vehicle terminal (refer to Patent Document 1). ).

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2017-68335

SUMMARY OF THE INVENTION

Invention to solve problem

Furthermore, in the human-vehicle communication system, when the second communication different from the person-vehicle communication is to be performed, the congestion of the person-vehicle communication can be suppressed even if the number of terminals is increased, as in the prior art. However, when the pedestrian terminal and the vehicle-mounted terminal are configured to communicate indirectly via the roadside device, it takes time to transmit and receive messages between the pedestrian terminal and the vehicle-mounted terminal. Therefore, when a pedestrian or a vehicle is in a dangerous state, it is desirable to transmit a message by direct communication (human-vehicle communication) in order to promptly and reliably notify the presence of the pedestrian or vehicle to the nearby pedestrian or vehicle driver.

In addition, in a situation where the communication quality of the person-to-vehicle communication is degraded or the traffic volume of the person-to-vehicle communication increases and packet collisions frequently occur, a communication error occurs and retransmissions are frequently performed due to packet errors. In such a situation, direct communication (human-vehicle communication) in which messages should arrive quickly sometimes becomes slower than indirect communication. On the other hand, when the pedestrian is a person who needs to be looked after, such as a dementia patient, or when the vehicle is an emergency vehicle such as an ambulance or a fire engine, it is necessary to notify the surrounding pedestrians and the driver of the vehicle as soon as possible. the presence of the person and the vehicle. Therefore, when the urgency of the notification is particularly high, it is desirable to transmit the message by both direct communication and indirect communication.

Therefore, the main object of the present invention is to provide a communication method capable of suppressing human-vehicle communication by selecting an appropriate communication method from among two communication methods of human-vehicle communication (direct communication) between terminal devices and indirect communication via roadside devices A terminal device, a roadside device, a communication system, and a communication method that can quickly and reliably notify surrounding pedestrians and drivers of vehicles of the presence of pedestrians and vehicles.

solution to the problem

A terminal device of the present invention transmits a message including the position information of its own device to another terminal device through human-vehicle communication, and the terminal device is configured to include a first communication unit that communicates with the other terminal device as a first communication unit. A direct communication based on the human-vehicle communication of a communication method; a second communication unit that performs indirect communication with the other terminal device via a roadside device installed on a road based on the second communication method; and a control unit , which selects the communication mode of either or both of the direct communication and the indirect communication based on device information related to at least any one of the state and attributes of its own device, and sends the selected communication mode to The message is sent to the other terminal device.

In addition, a roadside device of the present invention is installed on a road and communicates with a terminal device. The roadside device is configured to include a communication unit that transmits and receives a message including position information between the terminal devices. a relay; and a control unit that collects device information on at least one of the status and attributes of the terminal device from the terminal device, and selects direct communication between the terminal devices and via itself based on the device information Either or both of the communication methods of the indirect communication performed by the device, and a message including information on the selected communication method is transmitted from the communication unit to the terminal device.

In addition, the communication system of the present invention is configured to include: a terminal device that transmits a message including position information of its own device to other terminal devices through human-vehicle communication; and a roadside device that is installed on a road and communicates with the terminal device performing communication, wherein the terminal device includes: a first communication unit that performs direct communication based on the human-vehicle communication as a first communication method with the other terminal device; and a second communication unit that communicates with the other terminal device. performing indirect communication based on the second communication method between the other terminal devices via a roadside device installed on the road; and a control unit that, based on device information related to at least one of the state and attribute of its own device, One or both of the communication modes of the direct communication and the indirect communication are selected, and the message is sent to the other terminal device through the selected communication mode.

In addition, the communication method of the present invention is a communication method for transmitting a message including position information of the own device from a terminal device to other terminal devices through human-vehicle communication, in which the communication method is based on the state and attribute of the own device. device information related to at least any one of the devices to select either one or both of the direct communication based on the human-vehicle communication as the first communication method and the indirect communication based on the second communication method via the roadside device installed on the road The communication mode of the party is selected, and the message is sent to the other terminal device through the selected communication mode.

effect of invention

According to the present invention, since the communication method of either or both of the direct communication and the indirect communication is selected based on the device information, it is possible to suppress the congestion of the human-vehicle communication, and to notify the surrounding pedestrians and the driver of the vehicle quickly and reliably. The presence of pedestrians, vehicles.

Description of drawings

FIG. 1 is an overall configuration diagram of a communication system according to the first embodiment.

FIG. 2 is an explanatory diagram showing a transmission state of a message by the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the first embodiment.

FIG. 3 is a block diagram showing a schematic configuration of the pedestrian terminal 1 according to the first embodiment.

FIG. 4 is a block diagram showing a schematic configuration of the in-vehicle terminal 3 according to the first embodiment.

FIG. 5 is a block diagram showing a schematic configuration of the roadside machine 5 according to the first embodiment.

6 is a flowchart showing an operation procedure of the pedestrian terminal 1 , the vehicle-mounted terminal 3 , and the roadside device 5 when the pedestrian terminal 1 according to the first embodiment transmits a message.

FIG. 7 is a flowchart showing an operation procedure of the pedestrian terminal 1 , the in-vehicle terminal 3 , and the roadside machine 5 when the in-vehicle terminal 3 according to the first embodiment transmits a message.

FIG. 8 is a flowchart showing a procedure for selecting a communication method by the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the first embodiment.

FIG. 9 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the second embodiment.

FIG. 10 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the second embodiment.

FIG. 11 is a flowchart showing a procedure of selecting a communication method by the pedestrian terminal 1 according to the second embodiment.

FIG. 12 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the third embodiment.

FIG. 13 is a flowchart showing a procedure of selecting a communication method by the pedestrian terminal 1 according to the third embodiment.

FIG. 14 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fourth embodiment.

FIG. 15 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 according to the fourth embodiment.

FIG. 16 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fifth embodiment.

FIG. 17 is a flowchart showing a procedure of selecting a communication method by the pedestrian terminal 1 according to the fifth embodiment.

FIG. 18 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the sixth embodiment.

FIG. 19 is a flowchart showing a procedure of selecting a communication method by the pedestrian terminal 1 according to the sixth embodiment.

FIG. 20 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the seventh embodiment.

FIG. 21 is an explanatory diagram showing the registration content of the priority table according to the seventh embodiment.

FIG. 22 is a flowchart showing a procedure of selecting a communication method by the in-vehicle terminal 3 according to the seventh embodiment.

FIG. 23 is a block diagram showing a schematic configuration of the roadside machine 5 according to the eighth embodiment.

FIG. 24 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the ninth embodiment.

FIG. 25 is an explanatory diagram showing the content of a message transmitted from the pedestrian terminal 1 according to the ninth embodiment.

FIG. 26 is a flowchart showing a procedure for selecting a communication method by the pedestrian terminal 1 according to the ninth embodiment.

FIG. 27 is an explanatory diagram showing the transmission and reception of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the tenth embodiment.

FIG. 28 is an explanatory diagram showing the content of a message transmitted from the in-vehicle terminal 3 according to the tenth embodiment.

FIG. 29 is a flowchart showing a procedure of selecting a communication method by the in-vehicle terminal 3 according to the tenth embodiment.

FIG. 30 is an explanatory diagram showing the content of a message transmitted from the in-vehicle terminal 3 according to the eleventh embodiment.

FIG. 31 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 according to the eleventh embodiment.

FIG. 32 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 according to the twelfth embodiment.

Detailed ways

The first invention accomplished in order to solve the above-mentioned problem is a terminal device that transmits a message including the position information of its own device to another terminal device through person-to-vehicle communication, the terminal device being configured to include a first communication unit that communicates with The other terminal devices perform direct communication based on the human-vehicle communication as a first communication method; Indirect communication using two communication methods; and a control unit that selects one or both of the direct communication and the indirect communication based on device information related to at least one of the state and attributes of its own device. A communication method, and the message is sent to the other terminal device through the selected communication method.

According to this, the communication method of either or both of the direct communication and the indirect communication is selected based on the device information, so that it is possible to suppress the congestion of the human-vehicle communication and to promptly and reliably notify the pedestrians and the drivers of the vehicles in the vicinity of walking. the presence of the person and the vehicle.

In addition, according to the second aspect of the invention, the control unit is configured to determine whether or not its own device is in a dangerous state based on state information on the state of its own device included in the device information, and to select the direct The means of communication of either party in the communication and the indirect communication.

According to this, it is possible to appropriately switch between direct communication and indirect communication according to the states of pedestrians and vehicles, so that it is possible to suppress congestion in human-vehicle communication, and to promptly and reliably notify surrounding pedestrians and drivers of vehicles of a dangerous state the presence of terminal devices (pedestrians, vehicles).

In addition, according to the third aspect of the invention, the control unit is configured to determine a dangerous state when it is detected based on the state information that the user of the own device has taken a predetermined dangerous action.

Accordingly, it is possible to promptly and reliably notify the surrounding pedestrians and the driver of the vehicle of the presence of the pedestrian who is taking a dangerous action.

In addition, according to the fourth aspect of the invention, the control unit is configured to determine that the vehicle is in a dangerous state when it is detected, based on the state information, that the vehicle in which the own device is installed has performed a predetermined dangerous drive.

Accordingly, it is possible to promptly and reliably notify the surrounding pedestrians and the driver of the vehicle of the presence of the vehicle that is driving dangerously.

In addition, according to the fifth aspect of the present invention, the control unit determines that the control unit is in a dangerous state when its own device is located in a predetermined dangerous area based on the state information.

Accordingly, it is possible to promptly and reliably notify surrounding pedestrians and the driver of the vehicle of the presence of the pedestrian in the danger zone.

In addition, according to the sixth aspect of the invention, the control unit is configured to determine that the control unit is in a dangerous state when its own device is moving at a speed equal to or greater than a predetermined value based on the state information.

Thereby, the presence of the terminal device (pedestrian, vehicle) moving at a high speed can be notified promptly and reliably to the surrounding pedestrians and the driver of the vehicle.

In addition, according to the seventh aspect of the invention, the control unit determines whether or not the own device is located in a specific area based on the position information and map information of the own device, and selects the communication method based on the result of the determination.

According to this, even when a large number of terminal apparatuses exist in a specific area, it is possible to suppress the congestion of person-to-vehicle communication (direct communication).

In addition, the eighth invention is configured such that the control unit determines whether or not its own device is located in any one of the area around the intersection, the area around the intersection, and the area around the parking place of the specific vehicle as the predetermined condition of the specific area.

As a result, the risk of the surrounding area of the intersection where predetermined conditions such as the separation of the sidewalk and the roadway by the structure are satisfied, and the area around the intersection where the vehicle is driven at a slow speed to temporarily stop at the intersection is reduced. Therefore, even if Even if the terminal device located in such a low-risk specific area is used for indirect communication, it is possible to avoid a decrease in safety. In addition, the surrounding area of the parking place of a specific vehicle is set to indirect communication, and the roadside device can recognize whether or not it is a person who wants to take the bus based on the information received from the terminal device of the pedestrian, so it is possible to avoid the need to take the bus The occupant of the car is mistakenly identified as a high-risk person who wants to rush out and cross the road.

In addition, in the ninth aspect of the invention, when the control unit is located in the surrounding area of the crossing which is the specific area, the control unit is configured to perform the operation based on the operation information of the road interceptor acquired from the control device of the interceptor. It is determined whether or not the road interceptor is in the pass-prohibited state, and the communication method is selected based on the result of the determination.

According to this, when the road interceptor is in the traffic-prohibited state, the vehicle travels slowly in the surrounding area of the crossing to temporarily stop, so the danger in the surrounding area of the crossing is low. Therefore, even if the terminal device located in the surrounding area of the crossing is to be Even if it is set to indirect communication, it is possible to avoid a decrease in security.

In addition, in the tenth invention, when the control unit is located in a surrounding area of a parking place of a specific vehicle, which is the specific area, the control unit is configured based on the information included in the message received from the other terminal device. The attribute information and position information of other vehicles, and map information are used to determine whether or not the specific vehicle has approached within a predetermined distance to the parking spot, and a communication method is selected based on the result of the determination.

According to this, by selecting direct communication, it is possible to promptly and reliably notify pedestrians and drivers of vehicles in the vicinity of the parking lot that a specific vehicle is approaching the parking lot.

In addition, in the eleventh invention, the control unit is configured to determine whether or not another device that is already performing the direct communication exists in the vicinity of the own device based on the communication method information included in the message received from the other terminal device. The terminal device selects the communication method based on the result of the determination.

Accordingly, by giving priority to the direct communication of the terminal device that has started the direct communication first, and restricting the direct communication of the other terminal devices, it is possible to suppress the congestion of the person-to-vehicle communication (direct communication).

In addition, the twelfth invention is configured such that the control unit determines whether or not a specific vehicle exists within a predetermined distance of the own device based on the position information and attribute information included in the message received from the other terminal device, and based on this The communication method of either the direct communication or the indirect communication is selected based on the result of the determination.

With this, by prioritizing direct communication with a terminal device installed in a specific vehicle such as an emergency vehicle, and restricting direct communication with other terminal devices, it is possible to suppress congestion in inter-personal communication (direct communication) and to quickly and reliably walk to the surrounding area. The operator, the driver of the vehicle, notifies the presence of the specific vehicle.

In addition, the thirteenth invention is configured such that the control unit discriminates, based on attribute information included in a message received from the other terminal device, the type of the other terminal device existing in the vicinity of the own device, and based on the The communication method of either the direct communication or the indirect communication is selected according to the priority according to the category.

Accordingly, by prioritizing the direct communication of the terminal device with a higher priority and restricting the direct communication of other terminal devices, it is possible to suppress the congestion of the human-vehicle communication (direct communication), and to quickly and reliably communicate with pedestrians and vehicles in the surrounding area. The driver notifies the existence of a terminal device with a high priority.

In addition, the fourteenth invention is configured such that the control unit selects the direct communication when the user of the own device is a specific person based on the attribute information related to the attribute of the own device included in the device information and the means of communication between the two parties of the indirect communication.

According to this, when the user of the own device is a specific person, the message is transmitted by both the direct communication and the indirect communication, so that it is possible to suppress the congestion of the inter-personal communication, and in particular, it is possible to advance the walking to the surrounding area. The operator or the driver of the vehicle notifies the existence of a specific person of high urgency to be notified.

In addition, the fifteenth invention is configured such that the control unit selects the direct communication when the vehicle of the own device is a specific vehicle based on the attribute information related to the attribute of the own device included in the device information. and the means of communication between the two parties of the indirect communication.

According to this, when the vehicle of the own device is a specific vehicle, the message is transmitted by both the direct communication and the indirect communication, so that it is possible to suppress the congestion of the human-to-vehicle communication, and especially to the surrounding pedestrians. . The driver of the vehicle notifies in advance the existence of a specific vehicle of high urgency to notify.

In addition, the sixteenth invention is configured such that, based on the attribute information related to the attribute of the own device included in the device information, the control unit determines that the vehicle of the own device is a specific vehicle and the vehicle is of high urgency. In the case of the state, the communication method of both the direct communication and the indirect communication is selected.

Accordingly, by limiting the transmission of messages based on both the direct communication and the indirect communication to the case where the urgency of the notification is high, it is possible to further suppress the congestion of the human-vehicle communication.

In addition, in the seventeenth invention, the control unit is configured such that, based on the attribute information on the attribute of the own device included in the device information, the vehicle of the own device is a specific vehicle and there are many vehicles around the vehicle. In the case of a pedestrian, the communication method of both the direct communication and the indirect communication is selected.

Accordingly, by limiting the transmission of messages based on both the direct communication and the indirect communication to when there are many pedestrians in the surrounding area, it is possible to further suppress the congestion of the person-to-vehicle communication.

In addition, the eighteenth invention is a roadside apparatus installed on a road and communicating with a terminal apparatus, the roadside apparatus being configured to include a communication unit that transmits a message including position information between the terminal apparatuses. transmission and reception are relayed; and a control unit that collects device information related to at least one of the state and attribute of the terminal device from the terminal device, and selects a direct link between the terminal devices based on the device information As for the communication method of either or both of the communication and the indirect communication via the own device, a message including information on the selected communication method is transmitted from the communication unit to the terminal device.

According to this, as in the first invention, either one or both of the direct communication and the indirect communication communication method is selected based on the device information, so it is possible to suppress the congestion of the person-to-vehicle communication, and to quickly and reliably communicate with pedestrians in the vicinity. , The driver of the vehicle informs the pedestrian, the presence of the vehicle.

In addition, the nineteenth invention is a roadside device installed on a road and communicating with a terminal device, wherein the roadside device is configured to include a first communication unit that communicates with the terminal device through road-to-vehicle communication as the first communication method. a second communication unit for relaying the transmission and reception of messages including location information between the terminal devices; relaying transmission and reception of a message of information; and a control unit that selects the first communication according to the type of the terminal device when receiving a message including the location information of the terminal device from the terminal device Either one of the unit and the second communication unit relays the message including the location information of the terminal device to the other terminal device.

According to this, by appropriately switching the communication method for transmission from the roadside device to the terminal device according to the type of the terminal device, such as a pedestrian terminal or an in-vehicle terminal, it is possible to suppress the congestion of the human-vehicle communication and to use a plurality of communications The method promptly and reliably notifies the presence of pedestrians and vehicles to nearby pedestrians and drivers of vehicles from a roadside device to a terminal device.

In addition, the twentieth invention is a communication system comprising: a terminal device that transmits a message including position information of its own device to other terminal devices through human-vehicle communication; and a roadside device that is installed on a road and communicates with all other terminal devices. The terminal device communicates, and the communication system is configured such that the terminal device includes a first communication unit that performs direct communication based on the human-vehicle communication as a first communication method with the other terminal device; a second communication unit that performs indirect communication with the other terminal device via a roadside device installed on the road based on the second communication method; and a control unit that performs indirect communication based on at least one of the state and attribute of the device with itself Device information related to either party is used to select the communication mode of either or both of the direct communication and the indirect communication, and the message is sent to the other terminal device through the selected communication mode.

According to this, as in the first invention, either one or both of the direct communication and the indirect communication communication method is selected based on the device information, so it is possible to suppress the congestion of the person-to-vehicle communication, and to quickly and reliably communicate with pedestrians in the vicinity. , The driver of the vehicle informs the pedestrian, the presence of the vehicle.

In addition, the twenty-first invention is a communication method for transmitting a message including position information of its own device from a terminal device to another terminal device through human-vehicle communication, the communication method being configured to be based on a communication with the own device device information related to at least one of the state and the attribute to select between the direct communication based on the human-vehicle communication as the first communication method and the indirect communication based on the second communication method via the roadside device installed on the road The communication mode of either party or both parties, the message is sent to the other terminal device through the selected communication mode.

According to this, as in the first invention, either one or both of the direct communication and the indirect communication communication method is selected based on the device information, so it is possible to suppress the congestion of the person-to-vehicle communication, and to quickly and reliably communicate with pedestrians in the vicinity. , The driver of the vehicle informs the pedestrian, the presence of the vehicle.

In addition, the twenty-second invention is a communication method of a roadside device installed on a road and communicating with a terminal device, the communication method being configured to transmit and receive a message including position information between the terminal devices performing a relay to select direct communication between the terminal devices and indirect communication via its own device based on device information on at least one of the status and attributes of the terminal devices collected from the terminal devices The communication method of either or both parties in the communication sends a message including information on the selected communication method to the terminal device.

According to this, as in the first invention, either one or both of the direct communication and the indirect communication communication method is selected based on the device information, so it is possible to suppress the congestion of the person-to-vehicle communication, and to quickly and reliably communicate with pedestrians in the vicinity. , The driver of the vehicle informs the pedestrian, the presence of the vehicle.

In addition, the twenty-third invention is a communication method of a roadside apparatus that is installed on a road and relays transmission and reception of messages including position information between terminal apparatuses, the communication method being configured to: When the terminal device receives the message including the position information of the terminal device, it selects the road-to-vehicle communication as the first communication method and the second communication method different from the first communication method according to the type of the terminal device. Either one relays the message including the location information of the terminal device to the other terminal device.

According to this, as in the first invention, either one or both of the direct communication and the indirect communication communication method is selected based on the device information, so it is possible to suppress the congestion of the person-to-vehicle communication, and to quickly and reliably communicate with pedestrians in the vicinity. , The driver of the vehicle informs the pedestrian, the presence of the vehicle.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

(first embodiment)

FIG. 1 is an overall configuration diagram of a communication system according to the first embodiment.

This communication system includes a pedestrian terminal 1 (terminal device) and a mobile information terminal 2 carried by pedestrians, an in-vehicle terminal 3 (terminal device) and a navigation device 4 mounted on a vehicle, and a roadside machine 5 (roadside device), Pedestrian-to-vehicle communication is performed between the pedestrian terminal 1 and the vehicle-mounted terminal 3 , and wireless LAN communication such as WiFi (registered trademark) is performed between the pedestrian terminal 1 and the vehicle-mounted terminal 3 via the roadside device 5 .

In the human-vehicle communication, messages including required information such as position information are transmitted and received between the pedestrian terminal 1 and the vehicle-mounted terminal 3 . In this human-vehicle communication, transmission is performed by ITS wireless communication, that is, wireless communication using a frequency band (eg, 700 MHz frequency band, 5.8 GHz frequency band) used in a safe driving assistance wireless system using ITS (Intelligent Transport System: Intelligent Transportation System). and receive messages.

In wireless LAN communication, the roadside device 5 is the master device (access point), the pedestrian terminal 1 and the vehicle-mounted terminal 3 are slave devices, and the roadside device 5 transmits messages between the pedestrian terminal 1 and the vehicle-mounted terminal 3 and receive to relay. In addition, in person-vehicle communication and wireless LAN communication, the form and content of messages are common.

The pedestrian terminal 1 is connected to the mobile information terminal 2 . The mobile information terminal 2 is a smart phone, a mobile phone, a tablet terminal, a wearable terminal and the like. In the pedestrian terminal 1, when it is determined that the need for caution is required by sending and receiving a message with the in-vehicle terminal 3, an instruction for caution is output to the mobile information terminal 2. The instruction of the terminal 1 performs an output operation (for example, sound output, vibration, etc.) of a warning to the occupant.

The in-vehicle terminal 3 is connected to the navigation device 4 . The navigation device 4 guides the driver on a route. In the in-vehicle terminal 3 , when it is determined that a caution reminder is required by sending and receiving a message with the pedestrian terminal 1 , an instruction of the caution reminder is output to the navigation device 4 , and the navigation device 4 , based on a message from the in-vehicle terminal 3 , Instruct to perform output actions (such as sound output, screen display, etc.) of the driver's attention warning.

In addition, the pedestrian terminal 1 may be built in the mobile information terminal 2 , and the in-vehicle terminal 3 may be built in the navigation device 4 .

In addition, the pedestrian terminal 1 itself may perform an output operation of alerting. In addition, the in-vehicle terminal 3 itself may perform the output operation of the attention warning. In addition, the in-vehicle terminal 3 may communicate with the mobile information terminal 2 held by the driver, so that the mobile information terminal 2 may perform an output operation of the driver's attention warning.

The roadside device 5 is installed in a place where there are many pedestrians and vehicles, such as the vicinity of a traffic light at an intersection, and congestion is likely to occur through the person-to-vehicle communication between the pedestrian terminal 1 and the vehicle-mounted terminal 3 .

Next, the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the first embodiment will be described. FIG. 2 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 .

In the present embodiment, among the pedestrian terminal 1 and the vehicle-mounted terminal 3 , it is possible to select between direct communication, which transmits and receives messages directly between the pedestrian terminal 1 and the vehicle-mounted terminal 3 by person-to-vehicle communication, and direct communication, which transmits and receives messages directly between the pedestrian terminal 1 and the vehicle-mounted terminal 3, and the roadside machine 5 by way of direct communication. The wireless LAN communication performed is either of indirect communication of sending and receiving a message between the pedestrian terminal 1 and the vehicle-mounted terminal 3 as a communication method for sending a message.

In addition, in ITS, messages are periodically transmitted at predetermined intervals (for example, 100 ms), and the transmission timing of messages is the same regardless of whether the communication method is direct communication or indirect communication.

Here, when the pedestrian terminal 1 and the vehicle-mounted terminal 3 are located outside the communication area of the roadside device 5, indirect communication via the roadside device 5 cannot be performed, so direct communication is selected. On the other hand, when the pedestrian terminal 1 and the in-vehicle terminal 3 enter the communication area of the roadside machine 5 and can perform indirect communication, the direct communication is switched to the indirect communication.

In addition, in the present embodiment, in the pedestrian terminal 1, the communication method (direct communication or indirect communication) is selected based on the device information related to the state of the pedestrian. In particular, in the present embodiment, it is determined whether or not the pedestrian is in a dangerous state, and the communication method is selected based on the result of the determination.

That is, as shown in FIG. 2(A-1), when the pedestrian is not in a dangerous state, indirect communication is selected, and a message is transmitted from the pedestrian terminal 1 to the in-vehicle terminal 3 via the roadside device 5 by wireless LAN communication. On the other hand, as shown in FIG. 2(A-2), when a pedestrian is in a dangerous state, the indirect communication is switched to the direct communication, and a message is directly transmitted from the pedestrian terminal 1 to the vehicle-mounted terminal 3 through the person-vehicle communication.

Here, in the present embodiment, when a dangerous action of the pedestrian, such as running out or falling, is detected, it is determined that the pedestrian is in a dangerous state.

In addition, in the present embodiment, when the pedestrian enters the dangerous area, it is determined that the pedestrian is in a dangerous state. In addition, the dangerous area is, for example, any area with high risk, such as an area adjacent to the roadway among the sidewalks without a protective structure for separating the sidewalk and the roadway, and the surrounding area of a dangerous intersection where accidents frequently occur, and It is preset in the map information.

In addition, in the present embodiment, when the owner of the pedestrian terminal 1 rides a bicycle, a motorcycle, or the like, and the pedestrian moves at a speed equal to or higher than a predetermined value (regarded as the upper limit value of the normal walking speed), It is determined that the pedestrian is in a dangerous state.

In addition, in the present embodiment, when the pedestrian is a person with a high possibility of taking dangerous actions, such as a child, an elderly person, and a dementia patient, it is determined that the pedestrian is in a dangerous state.

In addition, in the present embodiment, the in-vehicle terminal 3 selects a communication method (direct communication or indirect communication) according to the state of the vehicle. In particular, in the present embodiment, it is determined whether or not the vehicle is in a dangerous state, and the communication method is selected based on the result of the determination.

That is, as shown in (B-2) of FIG. 2 , when the vehicle is not in a dangerous state, indirect communication is selected, and a message is transmitted from the vehicle-mounted terminal 3 to the pedestrian terminal 1 via the roadside device 5 by wireless LAN communication. On the other hand, as shown in (B-1) of FIG. 2 , when the vehicle is in a dangerous state, the indirect communication is switched to the direct communication, and a message is directly transmitted from the vehicle terminal 3 to the pedestrian terminal 1 through the person-vehicle communication.

Here, in the present embodiment, when the vehicle is moving at a speed equal to or higher than a predetermined value (regarded as the upper limit value of the normal traveling speed), it is determined that the vehicle is in a dangerous state.

In addition, in the present embodiment, it is determined that the vehicle is in a dangerous state when the vehicle is running dangerously, such as abrupt acceleration, abrupt steering, serpentine movement, or the like.

Next, the schematic configuration of the pedestrian terminal 1 according to the first embodiment will be described. FIG. 3 is a block diagram showing a schematic configuration of the pedestrian terminal 1 .

The pedestrian terminal 1 includes a positioning unit 11 , a state detection unit 12 , a person-to-vehicle communication unit 13 (first communication unit), a wireless LAN communication unit 14 (second communication unit), an input/output unit 15 , a control unit 16 , and a storage unit 17 .

The positioning unit 11 measures the position of its own device using a satellite positioning system such as GPS (Global Positioning System) and QZSS (Quasi-Zenith Satellite System), and acquires the position information of its own device. In addition, the location information of the own device may be acquired by using the positioning function of the mobile information terminal 2 .

The state detection unit 12 detects the state of the own device (the pedestrian carrying the own device), and includes an acceleration sensor 25 and an orientation sensor 26 .

The human-vehicle communication unit 13 transmits a message to the in-vehicle terminal 3 by broadcasting through the human-vehicle communication, and also receives a message transmitted from the in-vehicle terminal 3 . In this human-vehicle communication, wireless communication is performed using a frequency band employed in a safe driving assistance wireless system using ITS.

The wireless LAN communication unit 14 transmits messages to the in-vehicle terminal 3 via the roadside device 5 through wireless LAN communication such as WiFi (registered trademark), and receives messages transmitted from the in-vehicle terminal 3 via the roadside device 5 .

Input and output of information are performed between the input/output unit 15 and the mobile information terminal 2 . Based on the information output from the input/output unit 15 , the mobile information terminal 2 performs an action of alerting the pedestrian.

The storage unit 17 stores map information, programs executed by the processors constituting the control unit 16 , and the like. Also, map information may be acquired from the mobile information terminal 2 .

The control unit 16 includes a message control unit 21 , a communication method selection unit 22 , a collision determination unit 23 , and a caution warning control unit 24 . The control unit 16 is constituted by a processor, and each unit of the control unit 16 is realized by the processor executing a program stored in the storage unit 17 .

The message control unit 21 controls transmission of messages including pedestrian information such as terminal ID and position information. At this time, a message is transmitted from the person-vehicle communication unit 13 or the wireless LAN communication unit 14 according to the selection result of the communication method selection unit 22 .

The communication method selection unit 22 selects a communication method (direct communication or indirect communication) when transmitting a message to the in-vehicle terminal 3 .

In this communication method selection unit 22, first, based on the beacon signal transmitted from the roadside apparatus 5 by broadcasting, it is determined whether or not the own apparatus is within the communication area of the roadside apparatus 5, that is, whether indirect communication is possible or not, When the device is not within the communication area of the roadside device 5, direct communication is selected.

On the other hand, when the own device is within the communication area of the roadside machine 5, the state information indicating whether the own device (the own pedestrian) is in a dangerous state, such as the detection result of the state detection unit 12, is acquired, and based on the The state information is used to determine whether or not the pedestrian is in a dangerous state, and a communication method is selected based on the result of the determination. That is, when the own pedestrian is in the dangerous state, direct communication is selected, and when the own pedestrian is not in the dangerous state, the indirect communication is selected.

Here, in the present embodiment, when it is detected based on the detection result of the state detection unit 12 that the own pedestrian has taken a dangerous action such as rushing out or falling, it is determined that the own pedestrian is in a dangerous state. Specifically, when it is detected from the detection result of the acceleration sensor 25 that the pedestrian of the own is suddenly running (sudden acceleration), and it is detected from the detection result of the orientation sensor 26 that the pedestrian of the own has suddenly changed the orientation. In the case of a (sharp turn), it is determined to be overrun. In addition, when a sudden downward movement is detected based on the detection result of the acceleration sensor 25, it is determined that it has fallen.

In addition, in the present embodiment, when the own pedestrian is located in a predetermined dangerous area based on the current position information of the own pedestrian acquired by the positioning unit 11 and the map information stored in the storage unit 17, It is determined that the pedestrian is in a dangerous state.

In addition, in the present embodiment, the moving speed of the pedestrian is acquired from the transition state of the position information of the own pedestrian acquired by the positioning unit 11, and the walking speed of the own pedestrian is set at a predetermined value (which is regarded as a normal walking speed). When moving at a speed higher than the upper limit of ), it is determined that the pedestrian is in a dangerous state.

In addition, in the present embodiment, when the own walker is a person with a high possibility of taking dangerous actions, such as a child, an elderly person, a dementia patient, etc., based on the attribute information of the own walker, it is determined that the walker is dangerous state. In addition, the information on whether or not the person is highly likely to take a dangerous action may be stored in the storage unit 17 in advance as attribute information of the pedestrian.

The collision determination unit 23 determines whether or not there is a risk of the vehicle colliding with the own pedestrian based on the position information of the pedestrian acquired by the positioning unit 11 and the position information of the vehicle included in the message received from the vehicle terminal 3 . .

The caution reminder control unit 24 executes a caution reminder for its own pedestrian based on the determination result of the collision determination unit 23 . In the present embodiment, an instruction of caution is output to the mobile information terminal 2 via the input/output unit 15, and the mobile information terminal 2 performs an output operation (for example, sound output, vibration, etc.) of the caution for pedestrians in accordance with the instruction. .

Next, the schematic configuration of the in-vehicle terminal 3 according to the first embodiment will be described. FIG. 4 is a block diagram showing a schematic configuration of the in-vehicle terminal 3 .

The in-vehicle terminal 3 includes a positioning unit 31 , a state detection unit 32 , a person-to-vehicle communication unit 33 (first communication unit), a wireless LAN communication unit 34 (second communication unit), an input/output unit 35 , a control unit 36 , and a storage unit 37 .

The positioning unit 31 measures the position of the own device using a satellite positioning system such as GPS and QZSS, and acquires the position information of the own device. In addition, the positioning function of the navigation device 4 can be used to acquire the position information of the own device.

The state detection unit 32 detects the state of its own device (vehicle on which the own device is mounted), and includes an acceleration sensor 45 and an orientation sensor 46 .

The person-to-vehicle communication unit 33 broadcasts a message to the pedestrian terminal 1 through the person-to-vehicle communication, and also receives a message transmitted from the pedestrian terminal 1 . In this human-vehicle communication, wireless communication is performed using a frequency band employed in a safe driving assistance wireless system using ITS.

The wireless LAN communication unit 34 transmits a message to the pedestrian terminal 1 via the roadside device 5 by wireless LAN communication such as WiFi (registered trademark), and receives a message transmitted from the pedestrian terminal 1 via the roadside device 5 .

Input and output of information is performed between the input/output unit 35 and the navigation device 4 . Based on the information output from the input/output unit 35 , the navigation device 4 performs an operation of alerting the driver.

The storage unit 37 stores map information and a program executed by a processor constituting the control unit 36 . In addition, map information may be acquired from the navigation device 4 .

The control unit 36 includes a message control unit 41 , a communication method selection unit 42 , a collision determination unit 43 , and a caution warning control unit 44 . The control unit 36 is constituted by a processor, and each unit of the control unit 36 is realized by the processor executing a program stored in the storage unit 37 .

The message control unit 41 controls transmission of messages including vehicle information such as terminal ID and position information. At this time, a message is transmitted from the person-vehicle communication unit 33 or the wireless LAN communication unit 34 according to the selection result of the communication method selection unit 42 .

The communication method selection unit 42 selects a communication method (direct communication or indirect communication) when transmitting a message to the pedestrian terminal 1 .

The communication method selection unit 42 first determines whether or not the own device is within the communication area of the roadside device 5, that is, whether indirect communication is possible, based on the beacon signal transmitted from the roadside device 5 by broadcasting, If the device is not within the communication area of the roadside machine 5, direct communication is selected.

On the other hand, when the own device is within the communication area of the roadside device 5, state information indicating whether the own device (own vehicle) is in a dangerous state, such as the detection result of the state detection unit 32, is acquired, and based on the state information to determine whether the own vehicle is in a dangerous state, and select a communication method based on the result of the determination. That is, when the own vehicle is in a dangerous state, direct communication is selected, and when the own vehicle is not in a dangerous state, indirect communication is selected.

Here, in the present embodiment, the moving speed of the own vehicle is acquired from the transition state of the position information of the own vehicle acquired by the positioning unit 31, and the moving speed of the own vehicle is set at a predetermined value (which is regarded as a normal running speed) in the own vehicle. When moving at a speed higher than the upper limit of ), it is determined that the own vehicle is in a dangerous state.

In addition, in the present embodiment, when it is detected based on the detection result of the state detection unit 32 that the own vehicle has performed a dangerous driving such as sudden acceleration, sharp turn (sudden turning), serpentine movement, etc., it is determined that the own vehicle is the own vehicle. in a dangerous state. Specifically, a sharp acceleration of the own vehicle is detected based on the detection result of the acceleration sensor 45 , and a sharp turn and serpentine movement of the own vehicle are detected based on the detection result of the orientation sensor 46 .

The collision determination unit 43 determines whether or not the own vehicle collides with the pedestrian based on the position information of the own vehicle acquired by the positioning unit 31 and the position information of the pedestrian included in the message received from the pedestrian terminal 1 . danger.

The caution reminder control unit 44 issues a caution reminder to the driver of the own vehicle based on the determination result of the collision determination unit 43 . In the present embodiment, an instruction for alerting the driver is output to the navigation device 4 via the input/output unit 35 , and the navigation device 4 performs an output operation (eg, audio output, screen display, etc.) for alerting the driver in accordance with the instruction.

Next, the schematic configuration of the roadside machine 5 according to the first embodiment will be described. FIG. 5 is a block diagram showing a schematic configuration of the roadside machine 5 .

The roadside device 5 includes a wireless LAN communication unit 51 , a control unit 52 , and a storage unit 53 .

The wireless LAN communication unit 51 receives messages transmitted from the pedestrian terminal 1 and the vehicle-mounted terminal 3 through wireless LAN communication such as WiFi (registered trademark), and transmits the received message to the pedestrian terminal 1 and the vehicle-mounted terminal 3 by broadcasting.

The storage unit 53 stores programs and the like executed by the processor constituting the control unit 52 .

The control unit 52 includes a message control unit 61 . The control unit 52 is constituted by a processor, and the message control unit 61 is realized by the processor executing a program stored in the storage unit 53 .

When the message control unit 61 receives a message transmitted from the pedestrian terminal 1 and the vehicle-mounted terminal 3 via the wireless LAN communication unit 51 , the message is transmitted from the wireless LAN communication unit 51 to the pedestrian terminal 1 and the vehicle-mounted terminal 3 .

In addition, the roadside machine 5 may transmit the received message every time it receives the message transmitted from the pedestrian terminal 1 and the vehicle-mounted terminal 3 , but may collectively transmit a plurality of received messages. That is, the pedestrian information and vehicle information included in each of the received messages can be stored in one message and transmitted.

In addition, the messages may be transmitted in an order different from the order in which they were received, depending on the content of the received messages. For example, the distance from the transmission source (pedestrian terminal 1, in-vehicle terminal 3) to the roadside machine 5 is calculated based on the position information included in the received message, and the message close to the transmission source of the roadside machine 5 is given priority, and the distance from the transmission source close to the roadside machine 5 is prioritized. The messages from the transmission source of the roadside machine 5 are transmitted sequentially. In addition, the priority is set for each terminal type (pedestrian terminal 1 and vehicle-mounted terminal 3 ) of the transmission source, and the message of the transmission source with the higher priority is transmitted first. In addition, in the case where the location of the transmission source has not changed based on the location information included in the received message, the received message is not transmitted.

Next, the operation procedure when the pedestrian terminal 1 according to the first embodiment transmits a message will be described. FIG. 6 is a flowchart showing an operation procedure of the pedestrian terminal 1 , the vehicle-mounted terminal 3 , and the roadside machine 5 .

In the pedestrian terminal 1, first, the positioning unit 11 acquires the position information of the own device (the own pedestrian) (ST101). Then, the message control unit 21 determines whether or not the pedestrian information is transmitted based on the position information of the own pedestrian, specifically, whether the own pedestrian is in a safe area such as indoors ( ST102 ).

Here, if the pedestrian information is being transmitted (YES in ST102), the communication method selection unit 22 selects the communication method (direct communication or indirect communication) when transmitting the message (ST103).

Then, in the message control unit 21, if the communication method selected by the communication method selection unit 22 is direct communication (YES in ST104), a message including the pedestrian information is transmitted from the person-vehicle communication unit 13 to the In-vehicle terminal 3 (ST105). On the other hand, if the communication method selected by the communication method selection unit 22 is indirect communication (NO in ST104 ), a message including the pedestrian information is transmitted from the wireless LAN communication unit 14 to the roadside device 5 ( ST106).

In the roadside device 5 , when the message control unit 61 receives a message transmitted from the pedestrian terminal 1 via the wireless LAN communication unit 51 ( ST201 ), the message is transmitted from the wireless LAN communication unit 51 to the in-vehicle terminal 3 . (ST202).

In the in-vehicle terminal 3, when a message transmitted from the pedestrian terminal 1 is received by the person-vehicle communication unit 33, or when a message transmitted from the roadside device 5 is received by the wireless LAN communication unit 34 (ST301), the collision determination is performed. In the section 43, a collision determination is performed based on the position information of the pedestrian included in the message, and the like, whether or not there is a risk of the own vehicle colliding with the pedestrian (ST302).

Then, in the caution warning control unit 44, based on the determination result of the collision determination unit 43, it is determined whether or not a caution warning to the driver is necessary (ST303). Here, when it is necessary to warn the driver (YES in ST303), the driver's attention is executed (ST304).

Next, the operation procedure when the in-vehicle terminal 3 according to the first embodiment transmits a message will be described. FIG. 7 is a flowchart showing an operation procedure of the pedestrian terminal 1 , the vehicle-mounted terminal 3 , and the roadside machine 5 .

In the in-vehicle terminal 3, when the engine of the vehicle is started, the communication method (direct communication or indirect communication) when transmitting a message is selected in the communication method selection unit 42 (ST401).

Then, in the message control unit 41, if the communication method selected by the communication method selection unit 42 is direct communication (YES in ST402), a message including vehicle information is transmitted from the person-vehicle communication unit 33 to the pedestrian user terminal 1 (ST403). On the other hand, if the communication method selected by the communication method selection unit 42 is indirect communication (NO in ST402 ), a message including vehicle information is transmitted from the wireless LAN communication unit 34 to the roadside device 5 (ST404 ) ).

In the roadside device 5 , when the message control unit 61 receives a message transmitted from the vehicle-mounted terminal 3 via the wireless LAN communication unit 51 ( ST501 ), the message is transmitted from the wireless LAN communication unit 51 to the pedestrian terminal 1 . (ST502).

In the pedestrian terminal 1, when a message transmitted from the in-vehicle terminal 3 is received by the person-vehicle communication unit 13, or when a message transmitted from the roadside device 5 is received by the wireless LAN communication unit 14 (ST601), the collision determination is performed. In the section 23, a collision determination is performed based on the position information of the vehicle and the like included in the message, whether or not there is a risk of the vehicle colliding with its own pedestrian (ST602).

Then, in the caution warning control unit 44, based on the determination result of the collision determination unit 23, it is determined whether or not a caution warning to the pedestrian is necessary (ST603). Here, when it is necessary to alert the pedestrian (YES in ST603 ), the alert for the pedestrian is executed ( ST604 ).

Next, the process of selecting the communication method by the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the first embodiment will be described. FIG. 8 is a flowchart showing the procedure of the communication method selection by the pedestrian terminal 1 (ST103 in FIG. 6 ) and the communication method selection by the vehicle-mounted terminal 3 (ST403 in FIG. 7 ).

As shown in FIG. 8(A) , in the communication method selection unit 22 of the pedestrian terminal 1 , first, based on whether or not the beacon signal transmitted from the roadside device 5 is received through the wireless LAN communication unit 14 , the own Whether the device is within the communication area of the roadside machine 5 (ST701). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST701), direct communication is selected (ST704).

On the other hand, when the own device is within the communication area of the roadside machine 5 (YES in ST701 ), then the state of the own device (own pedestrian) is acquired from the state detection unit 12 or the like. information (ST702). Then, based on the state information of the own pedestrian, it is determined whether or not the own pedestrian is in a dangerous state (ST703).

Here, when the pedestrian who detected himself suddenly ran (quick acceleration) based on the detection result of the acceleration sensor 25 of the pedestrian terminal 1, and the pedestrian who was detected by the detection result of the orientation sensor 26 suddenly changed his direction (quick acceleration) turn), it is judged as a dangerous state. In addition, when a sudden downward movement is detected based on the detection result of the acceleration sensor 25, it is determined as a dangerous state. When the own pedestrian is in a dangerous state (YES in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (NO in ST703), indirect communication is selected (ST705).

As shown in FIG. 8(B) , the communication method selection unit 42 of the in-vehicle terminal 3 first determines its own device based on whether or not the beacon signal transmitted from the roadside device 5 is received through the wireless LAN communication unit 34 . Is it within the communication area of the roadside device 5 (ST801). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST801), direct communication is selected (ST804).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST801 ), next, the state information of the own device (own vehicle) is acquired from the state detection unit 32 and the like (ST802). Then, based on the state information of the own vehicle, it is determined whether or not the own vehicle is in a dangerous state (ST803).

Here, when the vehicle terminal 3 detects a sudden acceleration of the vehicle based on the detection result of the acceleration sensor 45 , and a sharp turn or serpentine movement of the vehicle is detected based on the detection result of the orientation sensor 46 , it is determined that it is dangerous. state. When the own vehicle is in a dangerous state (YES in ST803), direct communication is selected (ST804). On the other hand, when the own vehicle is not in a dangerous state (NO in ST803), indirect communication is selected (ST805).

(Second Embodiment)

Next, the second embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIGS. 9 and 10 are explanatory diagrams showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the second embodiment.

In the first embodiment, it is determined whether a pedestrian or a vehicle is in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the result of the determination. In addition to the determination of the dangerous state, it is also determined whether a pedestrian or a vehicle is located in a specific area, and a communication method is selected based on the result of the determination. That is, when a pedestrian or a vehicle is not in a specific area with low risk, direct communication is selected, and when entering a specific area, if the own device is not in a dangerous state based on state information, direct communication is switched to indirect communication.

Thereby, even when there are a large number of pedestrian terminals 1 and vehicle-mounted terminals 3 in a specific area, since indirect communication is performed without being in a dangerous state, it is possible to suppress the congestion of direct communication (person-vehicle communication) .

In the present embodiment, a relatively low-risk region is defined as a specific region. For example, as shown in FIG. 9(A) , on a road in which a sidewalk and a roadway are separated by protective structures such as guardrails and green belts, the risk is low even at intersections. Therefore, in the present embodiment, the surrounding area of a low-risk intersection that satisfies such a predetermined condition is set as a specific area, and when a pedestrian or a vehicle enters the surrounding area of such an intersection, the direct communication is switched to the indirect communication. .

In addition, in the vicinity of the crossing, since the vehicle is temporarily stopped at the crossing, the moving speed of the vehicle is slow, so the risk is low. Therefore, in the present embodiment, as shown in FIG. 9(B) , the surrounding area of the crossing is set as a specific area, and when pedestrians or vehicles enter the surrounding area of the crossing, direct communication is switched to indirect communication.

In addition, in the vicinity of a bus stop, a person who wants to take a bus may be mistakenly identified as a person with a high risk (a person who wants to rush out or cross the road). Therefore, the person who wants to take the bus transmits the information indicating the thought to the roadside machine 5 installed around the bus stop, and the roadside machine 5 installed around the bus stop recognizes whether it is the person who wants to take the bus , and only the pedestrian information of the person who wants to rush out and cross the road, excluding the person who wants to take the bus, is sent to the surrounding vehicles. In this way, by setting the indirect communication via the roadside device 5 in the vicinity of the bus stop, it is possible to avoid erroneously recognizing a person who wants to ride the bus as wanting to rush out and cross the road. Therefore, in this embodiment, as shown in FIG. 10 , the surrounding area of the bus stop is set as a specific area, and when pedestrians and vehicles enter the surrounding area of the bus stop, direct communication is switched to indirect communication. In addition, when there is a stopped vehicle near the bus stop, the roadside machine 5 warns the stopped vehicle, thereby avoiding the problem that the bus cannot stop at the bus stop.

Next, the procedure of selecting the communication method by the pedestrian terminal 1 according to the second embodiment ( ST103 in FIG. 6 ) will be described. FIG. 11 is a flowchart showing a procedure of communication method selection by the pedestrian terminal 1 .

The communication method selection unit 22 of the pedestrian terminal 1 first determines whether or not its own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 14 . (ST701). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST701), direct communication is selected (ST704).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST701 ), next, the position information of the own pedestrian is acquired from the positioning unit 11 (ST711 ). Then, based on the position information of the own pedestrian and the map information stored in the storage unit 17, it is determined whether or not the own pedestrian is located in the specific area (ST712). Here, when the own pedestrian is not located in the specific area (NO in ST712), direct communication is selected (ST704).

On the other hand, when the own pedestrian is located in the specific area (YES in ST712 ), next, similarly to the first embodiment, the state information of the own pedestrian is acquired from the state detection unit 12 and the like ( ST702 ). ). Then, based on the state information of the own walker, it is determined whether or not the own walker is in a dangerous state ( ST703 ).

Here, when the own pedestrian is in a dangerous state (YES in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (NO in ST703), indirect communication is selected (ST705).

11 shows the procedure of the processing performed by the communication method selection unit 22 of the pedestrian terminal 1, the communication method selection unit 42 of the vehicle-mounted terminal 3 also performs the communication method selection process in the same procedure.

(third embodiment)

Next, a third embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 12 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the third embodiment.

In the second embodiment, when a pedestrian and a vehicle are located in a specific area, indirect communication is selected, but in this embodiment, when a pedestrian and a vehicle are located in a specific area and the danger of pedestrians and vehicles is low When the specific condition is satisfied, indirect communication is selected between the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the specific area. In particular, in the present embodiment, the specific area is set as the surrounding area of the crossing, and the communication method is selected according to whether or not the road interceptor as the specific condition is in the pass-through state.

Specifically, as shown in (A) of FIG. 12 , even if a pedestrian and a vehicle are located in a specific area, when the road interceptor is in the pass-through state (the state in which the interceptor is turned on), the pedestrian terminal 1 and the The in-vehicle terminal 3 selects direct communication. On the other hand, as shown in (B) of FIG. 12 , when the road interceptor is in the pass-prohibited state (the state in which the interceptor is lowered), the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the crossing are directly The communication is switched to indirect communication.

As a result, when the road interceptor is in the traffic-prohibited state, the vehicle has to stop temporarily at the crossing, so the moving speed of the vehicle is slowed down, and the danger in the surrounding area of the crossing is reduced. Even if the terminal device is used for indirect communication, it is possible to avoid a decrease in security.

In addition, in the present embodiment, the roadside machine 5 acquires the operation information of the road interceptor from the crossing control device 7 that controls the road interceptor, adds the operation information of the road interceptor to a message, and transmits it from the roadside machine 5 to the The pedestrian terminal 1 and the in-vehicle terminal 3 acquire the operation information of the road interceptor from the pedestrian terminal 1 and the in-vehicle terminal 3 .

Next, the procedure of selecting the communication method by the pedestrian terminal 1 according to the third embodiment ( ST103 in FIG. 6 ) will be described. FIG. 13 is a flowchart showing a procedure of communication method selection by the pedestrian terminal 1 .

The communication method selection unit 22 of the pedestrian terminal 1 first determines whether or not its own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 14 . (ST701). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST701), direct communication is selected (ST704).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST701 ), next, the position information of the own pedestrian is acquired from the positioning unit 11 (ST711 ). Then, based on the position information of the own pedestrian and the map information stored in the storage unit 17, it is determined whether or not the own pedestrian is located in the surrounding area of the crossing (ST721). Here, when the own pedestrian is not located in the surrounding area of the crossing (NO in ST721), direct communication is selected (ST704).

On the other hand, when the own device is located in the surrounding area of the crossing (YES in ST721), next, the operation information of the interceptor is acquired from the crossing control device 7 (ST722).

Next, based on the operation information of the road interceptor, it is determined whether or not the road interceptor is in a traffic prohibited state (ST723). Here, when the road interceptor is not in the passage prohibited state, that is, when the road interceptor is in the passage permitted state (NO in ST723), direct communication is selected (ST704).

On the other hand, when the road interceptor is in the pass-prohibited state (YES in ST723 ), next, similarly to the first embodiment, the state information of its own pedestrian is acquired from the state detection unit 32 and the like (ST702 ). ). Then, based on the state information of the own pedestrian, it is determined whether or not the own pedestrian is in a dangerous state (ST703).

Here, when the own pedestrian is in a dangerous state (YES in ST703), direct communication is selected (ST704). On the other hand, when the own pedestrian is not in a dangerous state (NO in ST703), indirect communication is selected (ST705).

13 shows the procedure of the process performed by the communication method selection unit 22 of the pedestrian terminal 1, the communication method selection unit 42 of the vehicle terminal 3 also performs the same procedure as the communication method selection process.

(Fourth Embodiment)

Next, a fourth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 14 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fourth embodiment.

In the third embodiment, when pedestrians and vehicles are located in the surrounding area of a low-risk crossing and the road interceptor is in a traffic-prohibited state, among the pedestrian terminals 1 and the vehicle-mounted terminals 3 located in the surrounding area of the crossing Indirect communication is selected, but in this embodiment, when a specific vehicle approaches a parking lot, indirect communication is selected between pedestrian terminals 1 and vehicle-mounted terminals 3 located in a specific area around the parking lot. In particular, in this embodiment, a specific vehicle is a bus (route bus) and a parking place is a bus stop for description.

Specifically, as shown in FIG. 14(A) , when the bus is not within a predetermined distance from the bus stop, among the pedestrian terminals 1 and the vehicle-mounted terminals 3 located in the surrounding area of the bus stop Select direct communication. On the other hand, as shown in (B) of FIG. 14 , when the bus approaches within a predetermined distance from the bus stop, in the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the bus stop, Switch from direct communication to indirect communication. Also, when the bus departs from the bus stop by a predetermined distance or more from the bus stop, direct communication is returned.

Furthermore, the on-board terminal 3 of the bus always sends messages by direct communication.

Thereby, by giving priority to the direct communication of the vehicle-mounted terminal 3 of the bus, and restricting the direct communication between the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the bus stop, the congestion of the direct communication can be suppressed, and the speed and reliability of the direct communication can be suppressed. It notifies pedestrians and vehicle drivers around the bus stop of the approach of the bus. In particular, by notifying the driver of the vehicle stopped in the surrounding area of the bus stop of the approach of the bus, the vehicle can be made to quickly leave the surrounding area of the bus stop.

In addition, in the present embodiment, information indicating that the own vehicle is a bus is added to a message as attribute information and transmitted. Thereby, it is possible to identify whether or not the vehicle approaching the bus stop is a bus.

Next, the procedure of selecting the communication method by the in-vehicle terminal 3 according to the fourth embodiment ( ST401 in FIG. 7 ) will be described. FIG. 15 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 .

The communication method selection unit 42 of the in-vehicle terminal 3 first determines whether or not the own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 34 ( ST801). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST801), direct communication is selected (ST804).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST801 ), next, the position information of the own vehicle is acquired from the positioning unit 31 (ST811 ). Then, based on the position information of the own vehicle and the map information stored in the storage unit 37, it is determined whether or not the own vehicle is located in the surrounding area of the bus stop (ST812). Here, when the own vehicle is not located in the surrounding area of the bus stop (NO in ST812), direct communication is selected (ST804).

On the other hand, when the own vehicle is located in the surrounding area of the bus stop (YES in ST812 ), next, attribute information and position information of other vehicles included in the received message are acquired (ST813 ) ). Then, based on the attribute information, the position information, and the map information stored in the storage unit 37, it is determined whether or not the bus is approaching within a predetermined distance from the bus stop (ST814). Here, when the bus does not approach within a predetermined distance from the bus stop (NO in ST814), direct communication is selected (ST804).

On the other hand, when the bus approaches within the predetermined distance from the bus stop (YES in ST814), next, similarly to the first embodiment, the state detection unit 32 and the like acquires its own State information of the vehicle (ST802). Then, based on the state information of the own vehicle, it is determined whether or not the own vehicle is in a dangerous state (ST803).

Here, when the own vehicle is in a dangerous state (YES in ST803), direct communication is selected (ST804). On the other hand, when the own vehicle is not in a dangerous state (NO in ST803), indirect communication is selected (ST805).

15 shows the procedure of the processing performed by the communication method selection unit 42 of the vehicle-mounted terminal 3, the communication method selection unit 22 of the pedestrian terminal 1 also performs the communication method selection process in the same procedure.

In addition, in the present embodiment, a bus (route bus) is used as the specific vehicle, but other carpools such as taxis may be used as the specific vehicle. In this case, the taxi boarding spot becomes a parking place (riding spot) of a specific vehicle.

In addition, in the present embodiment, it is determined whether or not the bus is approaching within a predetermined distance from the bus stop based on the map information including the position information of the bus and the position information of the bus stop. The pedestrian terminal 1 and the in-vehicle terminal 3 in the surrounding area of the station can receive the message sent from the in-vehicle terminal 3 of the bus by entering the communication area of the person-to-vehicle communication by the bus, and determine that the bus is approaching to the relative distance. within the specified distance from the bus stop.

(Fifth Embodiment)

Next, a fifth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 16 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fifth embodiment.

In the first embodiment, it is determined whether the pedestrian is in a dangerous state and the communication method (direct communication or indirect communication) is selected according to the result of the determination, but in this embodiment, the determination of whether the pedestrian is in a dangerous state is not performed. , it is also determined whether other pedestrian terminals 1 existing in the vicinity are already performing direct communication, and a communication method is selected according to the result of the determination. That is, when another pedestrian terminal 1 is already performing direct communication, indirect communication is selected, and when there is no other pedestrian terminal 1 that is already performing direct communication, direct communication is selected.

Thereby, the pedestrian terminal 1 that has started the direct communication first is given priority, and the direct communication of the other pedestrian terminals 1 is restricted, whereby the congestion of the direct communication can be suppressed.

In addition, in the present embodiment, it is determined based on the message transmitted from the other pedestrian terminal 1 whether the other pedestrian terminal 1 is already performing direct communication. When a message is transmitted from the pedestrian terminal 1 to the in-vehicle terminal 3 by direct communication, the message is transmitted by broadcasting, so other pedestrian terminals 1 existing in the surrounding can receive the message.

In addition, by adding communication method information indicating direct communication to the message and transmitting it from the pedestrian terminal 1 performing the direct communication, the other pedestrian terminals 1 can recognize that the message is transmitted by the direct communication.

Next, the procedure of selecting a communication method by the pedestrian terminal 1 according to the fifth embodiment ( ST103 in FIG. 6 ) will be described. FIG. 17 is a flowchart showing a procedure for selecting a communication method by the pedestrian terminal 1 .

The communication method selection unit 22 of the pedestrian terminal 1 first determines whether or not the own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 34 . (ST701). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST701), direct communication is selected (ST704).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST701), next, the communication method information included in the message received within the predetermined time is acquired (ST731) . Then, based on the communication method information, it is determined whether or not a message transmitted by direct communication from another pedestrian terminal 1 has been received within a predetermined time (ST732). Here, when a message transmitted by direct communication is not received within a predetermined time (NO in ST732), direct communication is selected (ST704).

On the other hand, when a message transmitted by direct communication is received within a predetermined time (YES in ST732), next, the state information of the own pedestrian is acquired from the state detection unit 32 or the like (ST702). Then, based on the state information of the own pedestrian, it is determined whether or not the own pedestrian is in a dangerous state (ST703).

Here, when the own pedestrian is in a dangerous state (YES in ST703), direct communication is selected (ST704). On the other hand, when the own pedestrian is not in a dangerous state (NO in ST703), indirect communication is selected (ST705).

In addition, in the present embodiment, when the pedestrian terminal 1 receives a message from another pedestrian terminal 1 performing direct communication within a predetermined time, the indirect communication is selected, but other pedestrians performing direct communication are found from other pedestrians. The terminal 1 continues the indirect communication until a predetermined time elapses, and when the predetermined time elapses, the state in which the direct communication is restricted is released and the direct communication is returned.

In addition, the pedestrian terminal 1 that performs direct communication adds communication method instruction information indicating that direct communication is not to be performed within a predetermined period of time to the message and transmits it, and when the other pedestrian terminal 1 receives the message including the communication method instruction information, The pedestrian terminal 1 does not perform direct communication for a predetermined time.

17 shows the procedure of the process performed by the communication method selection unit 22 of the pedestrian terminal 1, but the communication method selection unit 42 of the vehicle terminal 3 also performs the communication method selection process in the same procedure.

(Sixth Embodiment)

Next, the sixth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 18 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the sixth embodiment.

In the first embodiment, it is determined whether pedestrians and vehicles are in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the result of the determination. In addition to the determination of the state, it is also determined whether or not a specific vehicle exists within a predetermined distance of the own device, and a communication method is selected based on the result of the determination. That is, when a specific vehicle is found within a predetermined distance of the own device, it switches from direct communication to indirect communication, and when the specific vehicle within a predetermined distance of the own device disappears, it returns to direct communication.

Furthermore, specific vehicles always send messages via direct communication.

As a result, the direct communication of the in-vehicle terminal 3 mounted on the specific vehicle is given priority, and the direct communication of the pedestrian terminal 1 and the in-vehicle terminal 3 existing in the vicinity of the specific vehicle is restricted, so that the congestion of the direct communication can be suppressed, and the speed and reliability of the direct communication can be suppressed. Pedestrians and drivers of vehicles in the surrounding area are notified of the presence of a specific vehicle.

In particular, in the present embodiment, emergency vehicles such as ambulances and fire engines are designated as specific vehicles. In addition, in the present embodiment, the in-vehicle terminal 3 of the emergency vehicle always transmits the message by direct communication. In addition, the in-vehicle terminal 3 of the emergency vehicle adds attribute information indicating that it is an emergency vehicle to a message and transmits it. Thereby, the pedestrian terminal 1 can recognize that it is an emergency vehicle. In addition, in the present embodiment, the distance between the emergency vehicle and the own device is calculated based on the position information of the emergency vehicle and the position information of the own pedestrian included in the message received from the in-vehicle terminal 3 of the emergency vehicle. the presence or absence of a specific vehicle within a specified distance of the device. In addition, the pedestrian terminal 1 warns in advance that the person does not rush out when its own pedestrian is a person with many dangerous actions. In addition, the predetermined distance can be made different depending on the walker.

Next, the procedure of selecting the communication method by the pedestrian terminal 1 according to the sixth embodiment ( ST103 in FIG. 6 ) will be described. FIG. 19 is a flowchart showing a procedure of communication method selection by the pedestrian terminal 1 .

The communication method selection unit 22 of the pedestrian terminal 1 first determines whether or not its own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 14 . (ST701). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST701), direct communication is selected (ST704).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST701 ), the position information and attribute information included in the message received from the in-vehicle terminal 3 are then acquired ( ST741). Then, based on the position information and attribute information of the vehicle-mounted terminal 3, it is determined whether or not there is an emergency vehicle within a predetermined distance of the own pedestrian (ST742). Here, when there is no emergency vehicle within a predetermined distance of the own pedestrian (NO in ST742), direct communication is selected (ST704).

On the other hand, when there is an emergency vehicle within a predetermined distance of the own pedestrian (YES in ST742 ), the state information of the own pedestrian is acquired from the state detection unit 12 or the like ( ST702 ). Then, based on the state information of the own pedestrian, it is determined whether or not the own pedestrian is in a dangerous state (ST703).

Here, when the own pedestrian is in a dangerous state (YES in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (NO in ST703), indirect communication is selected (ST705).

19 shows the procedure of the processing performed by the communication method selection unit 22 of the pedestrian terminal 1, the communication method selection unit 42 of the vehicle-mounted terminal 3 also performs the communication method selection process in the same procedure.

In addition, in this embodiment, it is determined whether or not there is an emergency vehicle within a predetermined distance of the own device based on the position information of the emergency vehicle and the position information of the own device, but the pedestrian terminal 1 and the vehicle terminal 3 may be used. Among them, the emergency vehicle can be determined to exist within a predetermined distance of its own device by receiving a message transmitted from the in-vehicle terminal 3 of the emergency vehicle by entering the communication area of the human-to-vehicle communication.

In addition, in the present embodiment, when a specific vehicle exists within a predetermined distance of the own device, indirect communication is selected, and when the specific vehicle within a predetermined distance of the own device disappears, direct communication is returned. , the indirect communication is continued until a predetermined time elapses after the emergency vehicle is detected, and when the predetermined time elapses, the direct communication restriction state is released and the direct communication is returned.

In addition, the in-vehicle terminal 3 of the emergency vehicle may attach the communication method instruction information indicating that direct communication is not to be performed for a predetermined time to be sent to the message, and when the pedestrian terminal 1 and other in-vehicle terminals 3 receive the communication method instruction including the communication method instruction In the case of a message of information, the pedestrian terminal 1 and the other in-vehicle terminals 3 do not perform direct communication for a predetermined time.

Alternatively, indirect communication may be selected when the emergency vehicle approaches within a predetermined distance of the own device, and direct communication may be returned when the emergency vehicle passes near the own device.

(Seventh Embodiment)

Next, a seventh embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 20 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the seventh embodiment. FIG. 21 is an explanatory diagram showing the registration content of the priority table.

In the above-described embodiment, it is determined whether pedestrians and vehicles are in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the result of the determination. However, in this embodiment, except whether pedestrians and vehicles are dangerous In addition to the determination of the state, the communication method is selected based on the type of moving objects (pedestrians, bicycles, electric wheelchairs, automobiles, motorcycles, etc.) existing in the vicinity of the own device. That is, the communication method is relatively selected according to whether or not there are pedestrians in the vicinity of the own device, or what kind of vehicle is there in the vicinity of the own device.

In particular, in the present embodiment, the priority of direct communication is set in advance for each type of moving object, and the vehicle-mounted terminal 3 compares the priority of the own vehicle with pedestrians and other vehicles existing in the vicinity of the own vehicle. The priority of the device is compared to select the communication method of its own device. Specifically, when there is a terminal with a higher priority than itself, indirect communication is selected, and when there is a terminal with a lower priority than itself, direct communication is selected.

Here, when the moving speed is high, the risk is high. In addition, when the moving speed is high, since the communication area of the roadside apparatus 5 is passed in a short time, there is little chance of sending a message by indirect communication, and there is little advantage in switching to indirect communication. Therefore, in the present embodiment, the higher the moving speed, the higher the priority is set, and the direct communication is selected for the terminal with a fast moving speed, and the indirect communication is selected for the terminal with a slow moving speed.

Specifically, the communication method selection unit 42 of the in-vehicle terminal 3 selects the communication method based on the priority table shown in FIG. 21 and the attribute information of the own device and the pedestrian terminal 1 and the in-vehicle terminal 3 existing in the surrounding area. . In addition, the priority table is stored in the storage unit 37 . In addition, by adding attribute information to a message and transmitting, the in-vehicle terminal 3 can determine whether there are pedestrians around the own device or what kind of vehicle is there around the own device.

Priorities corresponding to terminal attributes (pedestrians, bicycles, electric wheelchairs, automobiles, motorcycles) are registered in the priority table in advance, and based on the priority table, the priority of the own device is acquired according to the terminal attribute of the own device. The priority of the pedestrian terminal 1 and the vehicle-mounted terminal 3 is obtained according to the terminal attributes of the pedestrian terminal 1 and the vehicle-mounted terminal 3 existing in the surrounding area. The communication method of the own device is selected by comparing the priority of the own vehicle with the priorities of other vehicles existing in the vicinity of the own vehicle.

Here, high-speed vehicles such as automobiles and motorcycles have the highest priority. Therefore, direct communication is always selected in the in-vehicle terminal 3 of the high-speed vehicle.

On the other hand, low-speed vehicles such as electric wheelchairs and bicycles have higher priority than pedestrians and lower priority than high-speed vehicles. Therefore, in the in-vehicle terminal 3 of a low-speed vehicle, when there are pedestrians in the surrounding area, direct communication is performed. In addition, when there are no pedestrians in the surroundings and there are high-speed vehicles such as automobiles and motorcycles in the surroundings, indirect communication is selected, and when it is in a dangerous state, direct communication is selected.

Also, the Pacers have the lowest priority. Therefore, in the pedestrian terminal 1, the indirect communication is always set in the normal state, and the direct communication is selected in the dangerous state.

For example, as shown in FIG. 20(A) , when there is a pedestrian, indirect communication is selected in the pedestrian terminal 1, and direct communication is selected in the in-vehicle terminal 3 of a bicycle, an electric wheelchair, a motorcycle, or an automobile. On the other hand, as shown in FIG. 20(B) , when there is no pedestrian, indirect communication is selected in the in-vehicle terminal 3 of a bicycle or an electric wheelchair, and direct communication is selected in the in-vehicle terminal 3 of a motorcycle or an automobile communication.

In this way, in the present embodiment, the direct communication of the in-vehicle terminal 3 of the vehicle with high moving speed and high risk is prioritized, and the direct communication of the other in-vehicle terminals 3 and pedestrian terminals 1 is restricted, thereby suppressing the congestion of the direct communication. , and the presence of a fast-moving and highly dangerous vehicle can be quickly and reliably notified to surrounding pedestrians and vehicle drivers.

In addition, the holder of the pedestrian terminal 1 may ride on a bicycle or an electric wheelchair. In this case, information indicating that the bicycle or electric wheelchair is being used may be added to the message as attribute information and transmitted. In addition, in the pedestrian terminal 1, when there are pedestrians in the surrounding, direct communication is used, and when there are no pedestrians and there are high-speed vehicles such as motorcycles and automobiles in the surrounding, indirect communication is used.

Next, the procedure of selecting the communication method by the in-vehicle terminal 3 according to the seventh embodiment ( ST401 in FIG. 7 ) will be described. FIG. 22 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 .

The communication method selection unit 42 of the in-vehicle terminal 3 first determines whether or not the own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 34 ( ST801). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST801), direct communication is selected (ST804).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST801 ), next, the vehicle attribute information of the own vehicle stored in the storage unit 37 is acquired (ST821 ). Then, based on the vehicle attribute information of the own vehicle, it is determined whether or not the own vehicle is a high-speed vehicle such as an automobile or a motorcycle ( ST822 ). Here, when the own vehicle is a high-speed vehicle (YES in ST822), direct communication is selected (ST804).

On the other hand, when the own vehicle is not a high-speed vehicle, that is, when the own vehicle is a low-speed vehicle such as an electric wheelchair or a bicycle (NO in ST822), next, the data obtained from the pedestrian terminal 1 and other in-vehicle terminals are obtained. 3. Attribute information included in the received message (ST823). Then, it is determined whether or not there is a pedestrian around the own vehicle (ST824). Here, when there are pedestrians around the own vehicle (YES in ST824), direct communication is selected (ST804).

On the other hand, when there are no pedestrians around the own vehicle (NO in ST824 ), next, state information of the own vehicle is acquired from the state detection unit 32 or the like ( ST802 ). Then, based on the state information of the own vehicle, it is determined whether or not the own vehicle is in a dangerous state (ST803).

Here, when the own vehicle is in a dangerous state (YES in ST803), direct communication is selected (ST804). On the other hand, when the own vehicle is not in a dangerous state (NO in ST803), indirect communication is selected (ST805).

Also, in the pedestrian terminal 1, as in the example shown in FIG. 8(A) , the communication method selection unit 22 selects direct communication if it is in a dangerous state, and selects indirect communication if it is not in a dangerous state.

(Eighth Embodiment)

Next, the eighth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment.

In the above-described embodiment, it is assumed that the pedestrian terminal 1 and the vehicle-mounted terminal 3 individually select the communication method (direct communication or indirect communication) of their own devices, but in this embodiment, the roadside device 5 manages the surrounding The communication method of the pedestrian terminal 1 and the vehicle-mounted terminal 3 . That is, the roadside machine 5 collects the device information necessary for the selection of the communication method from the pedestrian terminal 1 and the vehicle-mounted terminal 3, determines the communication method of the pedestrian terminal 1 and the vehicle-mounted terminal 3, and notifies the pedestrian of the determined communication method. The terminal 1 and the in-vehicle terminal 3, among the pedestrian terminal 1 and the in-vehicle terminal 3, transmit messages through the communication method determined by the roadside machine 5.

Next, the schematic configuration of the roadside machine 5 according to the eighth embodiment will be described. FIG. 23 is a block diagram showing a schematic configuration of the roadside machine 5 .

As in the first embodiment (see FIG. 5 ), the roadside device 5 includes a wireless LAN communication unit 51 , a control unit 52 , and a storage unit 53 .

The wireless LAN communication unit 51 receives messages transmitted from the pedestrian terminal 1 and the vehicle-mounted terminal 3 through wireless LAN communication such as WiFi (registered trademark), and transmits the received message to the pedestrian terminal 1 and the vehicle-mounted terminal 3 by broadcasting. Further, the pedestrian terminal 1 and the vehicle-mounted terminal 3 transmit a message including the detection results of the state detection units 12 and 32, the position information, and the attribute information, which are state information necessary for selection of the communication method.

The storage unit 53 stores programs and the like executed by the processor constituting the control unit 52 . In addition, the storage unit 53 stores status information included in the messages received from the pedestrian terminal 1 and the in-vehicle terminal 3 .

The control unit 52 includes a message control unit 61 and a communication method selection unit 62 .

The communication method selection unit 62 acquires the state information of pedestrians and vehicles in the surrounding from the storage unit 53 , and determines whether the pedestrians and vehicles in the surrounding are in a dangerous state based on the state information and the map information stored in the storage unit 53 . As a result, the communication method is selected.

When the message control unit 61 receives a message transmitted from the pedestrian terminal 1 and the vehicle-mounted terminal 3 via the wireless LAN communication unit 51 , the message is transmitted from the wireless LAN communication unit 51 to the pedestrian terminal 1 and the vehicle-mounted terminal 3 . Further, the message control unit 61 transmits, to the pedestrian terminal 1 and the in-vehicle terminal 3 , a message including communication method instruction information for instructing to transmit the message by the communication method selected by the communication method selection unit 62 .

In the pedestrian terminal 1 and the in-vehicle terminal 3, when a message including the communication method designation information is received from the roadside machine 5, the message is transmitted by the designated communication method based on the communication method designation information. That is, when the pedestrian terminal 1 and the in-vehicle terminal 3 are instructed to communicate directly from the roadside machine 5, the pedestrian terminal 1 and the in-vehicle terminal 3 transmit a message to the surrounding pedestrian terminal 1 and the in-vehicle terminal 3 through the person-vehicle communication unit, and when indirect communication is instructed In the case of communication, a message is transmitted to the roadside device 5 through the wireless LAN communication unit.

In addition, in the present embodiment, the roadside machine 5 performs the process of selecting the communication method based on the status information by the pedestrian terminal 1 and the vehicle terminal 3 in the first embodiment. The roadside device 5 performs the process of selecting the communication method by the pedestrian terminal 1 and the vehicle-mounted terminal 3 . In particular, the structure in which the communication method selection process is performed by the roadside machine 5 is suitable for the management of existing in a specific area (the surrounding area of a crossing, a bus stop, etc.) as in the second embodiment, the third embodiment, and the fourth embodiment. In the case of the communication method of the pedestrian terminal 1 and the vehicle-mounted terminal 3 in the surrounding area).

In addition, a part of such a communication method selection process may be performed by the pedestrian terminal 1 and the vehicle-mounted terminal 3 . For example, the determination based on the position information may be performed by the roadside device 5 , and the determination based on the detection results of the state detection units 12 and 32 may be performed by the pedestrian terminal 1 and the vehicle-mounted terminal 3 .

(Ninth Embodiment)

Next, a ninth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 24 is an explanatory diagram showing the transmission and reception status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the ninth embodiment.

In the above-described embodiment, the pedestrian terminal 1 determines whether or not the pedestrian is in a dangerous state based on the device information related to the state of the own device, and selects either the direct communication or the indirect communication based on the result of the determination. However, when a communication error occurs in the direct communication, the message in the indirect communication sometimes reaches the in-vehicle terminal 3 earlier. Therefore, in the present embodiment, when the predetermined condition is satisfied, both the direct communication and the indirect communication communication method are selected, and the message is transmitted to the surrounding in-vehicle terminals 3 by both the direct communication and the indirect communication communication method. .

In particular, in the present embodiment, in the pedestrian terminal 1, before determining whether the own pedestrian is in a dangerous state, it is determined whether the own pedestrian is a specific person, and when the own pedestrian is a specific person, Regardless of whether or not its own pedestrian is in a dangerous state, both direct communication and indirect communication are selected.

In this case, in the surrounding in-vehicle terminals 3, the message is received from the pedestrian terminal 1 by both the direct communication and the indirect communication, but the message normally received first by either of the communication methods is used as the reception. As a result, collision determination is made based on the message that was normally received first. In addition, messages received by each communication method of direct communication and indirect communication may be combined.

Here, in the pedestrian terminal 1, the information about whether the own pedestrian is a specific person or not is stored in the storage unit 17 in advance as device information about the attribute of the own pedestrian. At this time, for example, the dangerous action taken by the own pedestrian is stored in the storage unit 17 as a dangerous action history record, and when the own pedestrian has taken many dangerous actions in the past based on the dangerous action history record, specifically In other words, when the number of dangerous actions taken in the past predetermined period is a predetermined number or more, it is sufficient to set the own walker as a specific person. In addition, when there is a care request from a protector such as the person or a family member due to reasons such as dementia or other chronic diseases, the person walking by the self may be set as a specific person. In this case, the protector such as the person and the family may perform the registration operation of the specific person through the pedestrian terminal 1 .

In addition, in the case where the road interceptor at the crossing has been lowered but is located in the crossing, the pedestrian terminal 1 may set its own pedestrian as a specific person. In this case, it can be considered that the elderly or the like cannot move in the crossing due to physical discomfort or the like while passing through the crossing, but the interceptor has already descended. Such a situation is very dangerous, so it is necessary to notify the train in advance that there is someone in the crossing, so it is effective to use both direct communication and indirect communication. It is sufficient to receive information on whether or not the interceptor has been lowered from a roadside device installed in the interceptor, a camera monitoring the interceptor, or the like. Alternatively, when the distance between the train and the own walker is approaching based on the position information of the train received from the onboard terminal installed in the train, the own walker may be set as a specific person.

In addition, regarding a specific person who is permitted to use both direct communication and indirect communication, a pedestrian in a broad sense may include bicycles, wheelchairs, electric wheelchairs, electric wheelchairs, agricultural machinery, and the like.

Next, a message transmitted from the pedestrian terminal 1 according to the ninth embodiment will be described. FIG. 25 is an explanatory diagram showing the content of a message transmitted from the pedestrian terminal 1 .

In the message control part 21 of the pedestrian terminal 1, the message of the person-vehicle communication is generated according to the format of the message of the ITS communication. This message has a common area in which predetermined information is stored, and a free area (extension area) in which the user can store arbitrary information. Predetermined information such as the pedestrian ID (the terminal ID of the pedestrian terminal 1 ) and the position information (longitude and latitude) of the own device is stored in the common area. In the free area, information indicating whether or not the own pedestrian is a specific person (specific person information) is stored as attribute information of the own pedestrian. When the own walker is a specific person, the specific person information is "1", and when the own walker is not a specific person, the specific person information is "0". In addition, as other attribute information, information such as crutches may be stored in the free area.

With this message, the presence of a specific person can be notified to the surrounding in-vehicle terminals 3 . As a result, the driver is alerted to the driver by the in-vehicle terminal 3, so that the driver can notice a specific person.

Next, the procedure of selecting a communication method by the pedestrian terminal 1 according to the ninth embodiment ( ST103 in FIG. 6 ) will be described. FIG. 26 is a flowchart showing a procedure of communication method selection by the pedestrian terminal 1 .

The communication method selection unit 22 of the pedestrian terminal 1 first determines whether or not its own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 14 . (ST701). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST701), direct communication is selected (ST704).

On the other hand, when the own device is within the communication area of the roadside device 5 (YES in ST701), it is next determined whether or not the own pedestrian is a specific person (ST751). Here, when the own pedestrian is a specific person (YES in ST751), both direct communication and indirect communication are selected (ST752).

On the other hand, when the own pedestrian is not a specific person (NO in ST751 ), next, the state information of the own pedestrian is acquired from the state detection unit 12 or the like ( ST702 ). Then, based on the state information of the own pedestrian, it is determined whether or not the own pedestrian is in a dangerous state (ST703).

Here, when the own pedestrian is in a dangerous state (YES in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (NO in ST703), indirect communication is selected (ST705).

(Tenth Embodiment)

Next, the tenth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment. FIG. 27 is an explanatory diagram showing the transmission and reception of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the tenth embodiment.

In the ninth embodiment, in the pedestrian terminal 1, when the predetermined condition is satisfied, specifically, when the own pedestrian is a specific person, the communication method of both direct communication and indirect communication is used. The message is sent to the surrounding in-vehicle terminals 3, but in the present embodiment, the in-vehicle terminal 3 transmits the message to the surrounding pedestrians by the communication method of both direct communication and indirect communication when a predetermined condition is satisfied. User terminal 1, vehicle terminal 3. In particular, in the present embodiment, in the in-vehicle terminal 3, when the own vehicle is an emergency vehicle (an ambulance, a fire engine, etc.) specific vehicle, transmission is performed by both direct communication and indirect communication. information.

In this case, the pedestrian terminal 1 and the in-vehicle terminal 3 in the surrounding area receive a message from the in-vehicle terminal 3 of a specific vehicle through both communication methods of direct communication and indirect communication, but will normally use either communication method first. The received message is used as the reception result, and the collision determination is performed based on the message received normally first. In addition, messages received by each communication method of direct communication and indirect communication may be combined.

Here, in the in-vehicle terminal 3, information on whether or not the own vehicle is a specific vehicle is stored in advance in the storage unit 37 as device information on the attributes of the own vehicle.

Next, a message transmitted from the in-vehicle terminal 3 according to the tenth embodiment will be described. FIG. 28 is an explanatory diagram showing the content of a message transmitted from the in-vehicle terminal 3 .

In the message control unit 41 of the in-vehicle terminal 3, the message of the human-vehicle communication is generated according to the format of the message of the ITS communication. This message has a common area in which predetermined information is stored, and a free area (extension area) in which the user can store arbitrary information. Predetermined information such as the vehicle ID (terminal ID of the in-vehicle terminal 3 ) and the position information (longitude and latitude) of the own device is stored in the common area. In the free area, information (specific vehicle information) indicating whether or not the own vehicle is a specific vehicle (emergency vehicle) is stored as attribute information of the own vehicle. When the own vehicle is a specific vehicle (emergency vehicle), the specific vehicle information is "1", and when the own vehicle is not the specific vehicle, the specific vehicle information is "0".

With this message, the pedestrian terminal 1 and the in-vehicle terminal 3 in the vicinity can be notified of the passing of the emergency vehicle. In this way, the pedestrian terminal 1 is used to warn the pedestrian, so that the pedestrian can notice the emergency vehicle, and the vehicle-mounted terminal 3 is used to warn the driver, so that the driver can avoid interfering with the emergency vehicle. driving the vehicle in a passable way.

Next, the procedure of selecting the communication method by the in-vehicle terminal 3 according to the tenth embodiment ( ST401 in FIG. 7 ) will be described. FIG. 29 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 .

The communication method selection unit 42 of the in-vehicle terminal 3 first determines whether or not the own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 34 ( ST801). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST801), direct communication is selected (ST804).

On the other hand, when the own device is within the communication area of the roadside apparatus 5 (YES in ST801), it is next determined whether or not the own vehicle is a specific vehicle (ST831). Here, when the own vehicle is the specific vehicle (YES in ST831), both the direct communication and the indirect communication are selected (ST832).

On the other hand, when the own vehicle is not the specific vehicle (NO in ST831 ), next, state information of the own vehicle is acquired from the state detection unit 32 or the like ( ST802 ). Then, based on the state information of the own vehicle, it is determined whether or not the own vehicle is in a dangerous state (ST803).

Here, when the own vehicle is in a dangerous state (YES in ST803), direct communication is selected (ST804). On the other hand, when the own vehicle is not in a dangerous state (NO in ST803), indirect communication is selected (ST805).

(Eleventh Embodiment)

Next, the eleventh embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment.

In the tenth embodiment, in the in-vehicle terminal 3, when the own vehicle is a specific vehicle such as an emergency vehicle (ambulance, fire engine, etc.), a message is transmitted by both direct communication and indirect communication. However, in this embodiment, only when there is device information related to the attribute that the own vehicle (emergency vehicle) is in a state of high urgency, it is transmitted by both direct communication and indirect communication. information.

Here, the emergency vehicle is in a state of high urgency, for example, when an ambulance rushes to rescue a patient at a critical moment, when a fire truck rushes toward a fire scene, or when a police car tracks a criminal.

In addition, the determination as to whether or not the own vehicle is in a state of high urgency is performed based on information about the urgency set for the own device. In this case, for example, when a member of an emergency vehicle or the like is dispatched, an input operation of information related to urgency may be performed through the in-vehicle terminal 3 . In addition, in the in-vehicle terminal 3, a state of high urgency can be detected based on the siren sound of an emergency vehicle. In this case, the siren sound may be changed according to the level of urgency. In addition, it may be determined that the urgency is high at the time when the dispatch request is received and a response is returned to the request. In addition, a communication device that communicates with the fire-fighting emergency command system may be mounted on the emergency vehicle, and the in-vehicle terminal 3 may acquire information related to urgency from the communication device. The information on whether or not the own vehicle is in a state of high urgency is stored in the storage unit 37 as device information related to the attributes of the own vehicle, and based on the device information, it is transmitted by both direct communication and indirect communication. information.

Next, a message transmitted from the in-vehicle terminal 3 according to the eleventh embodiment will be described. FIG. 30 is an explanatory diagram showing the content of a message transmitted from the in-vehicle terminal 3 .

In the present embodiment, as in the tenth embodiment, information (specific vehicle information) indicating whether or not the own vehicle is a specific vehicle (emergency vehicle) is stored as the own vehicle in the free area of the message of the human-to-vehicle communication Attribute information of , and information (emergency state information) indicating whether or not the emergency vehicle is in a state of high urgency is also stored. When the urgency is high, the emergency information is "1", and when the urgency is low, the emergency information is "0".

This message not only informs the pedestrian terminal 1 and the in-vehicle terminal 3 in the vicinity of the passing of the emergency vehicle, but also notifies that the emergency vehicle is in a state of high urgency.

Next, the procedure of selecting the communication method by the in-vehicle terminal 3 according to the eleventh embodiment ( ST401 in FIG. 7 ) will be described. FIG. 31 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 .

The communication method selection unit 42 of the in-vehicle terminal 3 first determines whether or not the own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 34 ( ST801). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST801), direct communication is selected (ST804).

On the other hand, when the own device is within the communication area of the roadside apparatus 5 (YES in ST801), it is next determined whether or not the own vehicle is a specific vehicle (ST831). Here, when the own vehicle is a specific vehicle (YES in ST831 ), it is next determined whether or not the own vehicle is in a state of high urgency ( ST841 ).

Here, when the own vehicle is in a state of high urgency (YES in ST841), both the direct communication and the indirect communication are selected (ST832).

On the other hand, when the own vehicle is in a state of low urgency (“NO” in ST841 ) or when the own vehicle is not a specific vehicle (“NO” in ST831 ), then, from The state detection unit 32 and the like acquire the state information of the own vehicle (ST802). Then, based on the state information of the own vehicle, it is determined whether or not the own vehicle is in a dangerous state (ST803).

Here, when the own vehicle is in a dangerous state (YES in ST803), direct communication is selected (ST804). On the other hand, when the own vehicle is not in a dangerous state (NO in ST803), indirect communication is selected (ST805).

(Twelfth Embodiment)

Next, the twelfth embodiment will be described. In addition, the point which is not mentioned in particular here is the same as that of the above-mentioned embodiment.

In the eleventh embodiment, when the own vehicle is a specific vehicle such as an emergency vehicle (ambulance, fire engine, etc.) and the own vehicle is in a state of high urgency, direct communication and indirect communication In this embodiment, when the own vehicle is a specific vehicle and there are many pedestrians in the vicinity of the own vehicle, only the specific vehicle uses both direct communication and indirect communication. to send messages by means of communication, and pedestrians only send messages by means of either direct communication or indirect communication.

In a place with many pedestrians, such as a busy street, the driver of the vehicle pays attention to the pedestrian. Therefore, there is a high possibility of finding a dangerous action such as a pedestrian rushing out. Therefore, the urgency of the warning to the driver is low. In addition, there is a high possibility that the messages of the human-vehicle communication are simultaneously transmitted from the plurality of pedestrian terminals 1, so that the congestion of the human-vehicle communication is likely to occur. Therefore, only when there are many pedestrians in the vicinity of one's own vehicle, by transmitting a message by both direct communication and indirect communication, it is possible to suppress the congestion of human-vehicle communication and to advance walking to the surrounding area. The operator or the driver of the vehicle notifies the passage of a specific vehicle such as an emergency vehicle.

Here, the determination as to whether there are many pedestrians in the vicinity of the own vehicle may be performed based on the number of pedestrian terminals 1 existing in the vicinity. Specifically, the number of pedestrian terminals 1 that are the source of the received message is counted, and when the number of pedestrian terminals 1 is equal to or greater than a predetermined value, it is determined that there are many pedestrians in the vicinity of the own vehicle, that is, there are many pedestrians. Can. In addition, based on the map information, when the own vehicle is located in a specific area with many pedestrians, such as a busy street, it may be determined that there are many pedestrians in the vicinity of the own vehicle. Information on whether there are many pedestrians in the vicinity of the own vehicle may be stored in the storage unit 37 as the device information of the own vehicle, and a message may be transmitted by both direct communication and indirect communication based on the device information. .

Next, the procedure of selecting the communication method by the in-vehicle terminal 3 according to the twelfth embodiment ( ST401 in FIG. 7 ) will be described. FIG. 32 is a flowchart showing a procedure for selecting a communication method by the in-vehicle terminal 3 .

The communication method selection unit 42 of the in-vehicle terminal 3 first determines whether or not the own device is within the communication area of the roadside unit 5 based on whether or not the beacon signal transmitted from the roadside unit 5 is received through the wireless LAN communication unit 34 ( ST801). Here, when the own device is not within the communication area of the roadside apparatus 5 (NO in ST801), direct communication is selected (ST804).

On the other hand, when the own device is within the communication area of the roadside apparatus 5 (YES in ST801), it is next determined whether or not the own vehicle is a specific vehicle (ST831). Here, when the own vehicle is a specific vehicle (YES in ST831), it is next determined whether there are many pedestrians around the own vehicle (ST851).

Here, when there are many pedestrians around the own vehicle (YES in ST851), both direct communication and indirect communication are selected (ST832).

On the other hand, when there are few pedestrians around the own vehicle (“NO” in ST851 ) or when the own vehicle is not a specific vehicle (“NO” in ST831 ), then, from the state The detection unit 32 and the like acquire the state information of the own vehicle (ST802). Then, based on the state information of the own vehicle, it is determined whether or not the own vehicle is in a dangerous state (ST803).

Here, when the own vehicle is in a dangerous state (YES in ST803), direct communication is selected (ST804). On the other hand, when the own vehicle is not in a dangerous state (NO in ST803), indirect communication is selected (ST805).

Further, in the ninth embodiment to the twelfth embodiment, when the predetermined condition is satisfied, that is, when the pedestrian is a specific person or the vehicle is a specific vehicle, the direct communication and the indirect communication are selected. The communication method of both parties may be allowed to select the communication method of both direct communication and indirect communication when the communication volume is equal to or less than a predetermined value in addition to the above-mentioned conditions. In this case, the roadside device 5 may monitor the traffic and notify the pedestrian terminal 1 and the vehicle-mounted terminal 3 of the traffic.

In addition, in the ninth embodiment to the twelfth embodiment, when the predetermined condition is satisfied, the communication method of both the direct communication and the indirect communication is selected, and when the predetermined condition is not satisfied, according to whether the dangerous state Either the communication method of direct communication or indirect communication is selected, but when the predetermined condition is not satisfied, a predetermined communication method, eg, indirect communication, may be selected regardless of whether it is in a dangerous state.

In addition, in the ninth embodiment to the twelfth embodiment, the pedestrian terminal 1 and the vehicle-mounted terminal 3 independently perform either or both of the direct communication and the indirect communication. Similarly, the roadside device 5 performs the process of selecting the communication method of either or both of the direct communication and the indirect communication.

As above, the embodiment has been described as an example of the technology disclosed in this application. However, the technology in the present disclosure is not limited to this, and can be applied to the embodiment with changes, substitutions, additions, omissions, and the like. In addition, it is also possible to combine the respective constituent elements described in the above-mentioned embodiments to form a new embodiment.

For example, in the above-mentioned embodiment, the communication method of wireless LAN is used for the indirect communication via the roadside equipment, but the communication method used for the indirect communication is not limited to the wireless LAN, for example, it is possible to use 5G (5th generation mobile phone) Indirect communication is carried out by the communication method using high frequency bands such as high SHF frequency band and EHF frequency band.

In addition, in the embodiments other than the eighth embodiment, the selection of whether to perform direct communication or to perform indirect communication is assumed to be selected by the terminal device voluntarily according to the state of its own pedestrian or its own vehicle, but it may be set by The roadside machine selects the terminal device for direct communication. In this case, the terminal device may notify the roadside device of location information, status information, or a request for direct communication, etc. of its own device, and the roadside device determines the terminal device that allows direct communication, and notifies the terminal device of whether it is permitted or not. .

Industrial Availability

The terminal device, the roadside device, the communication system, and the communication method according to the present invention have the following effects: from among the two communication methods of human-vehicle communication (direct communication) between terminal devices and indirect communication via the roadside device By selecting an appropriate communication method, congestion of human-vehicle communication can be suppressed, and pedestrians and drivers of vehicles in the surrounding can be quickly and reliably notified of the presence of pedestrians and vehicles. A terminal device that transmits a message of the position information of its own device to other terminal devices, a roadside device installed on a road and communicating with the terminal device, a communication system including a terminal device and a roadside device, and a human-vehicle communication to transmit a message from A communication method or the like in which a terminal device transmits to other terminal devices is useful.

Description of reference numerals

1: pedestrian terminal (terminal device); 3: vehicle terminal (terminal device); 5: roadside machine (roadside device); 7: crossing control device; 11: positioning unit; 12: state detection unit; 13: person Inter-vehicle communication unit (first communication unit); 14: wireless LAN communication unit (second communication unit); 16: control unit; 31: positioning unit; 32: state detection unit; 33: human-vehicle communication unit (first communication unit) ); 34: Wireless LAN communication unit (second communication unit); 36: Control unit; 51: Communication unit; 52: Control unit.

Claims (23)

1. A terminal device for transmitting a message including position information of its own device to another terminal device by human-vehicle communication, the terminal device comprising:

a first communication unit that performs direct communication based on the human-vehicle communication as a first communication method with the other terminal device;

a second communication unit that performs indirect communication with the other terminal device by a second communication method via a roadside device installed on a road; and

and a control unit that selects a communication method of either or both of the direct communication and the indirect communication based on device information on at least either one of a state and an attribute of its own device, and transmits the message to the other terminal device in the selected communication method.

2. A terminal device according to claim 1,

the control unit determines whether or not the own device is in a dangerous state based on state information on a state of the own device included in the device information, and selects a communication method of either one of the direct communication and the indirect communication based on a result of the determination.

3. A terminal device according to claim 2,

the control unit determines that the device is in a dangerous state when it is detected that the user of the device takes a predetermined dangerous action based on the state information.

4. A terminal device according to claim 2,

the control unit determines that the vehicle is in a dangerous state when it is detected that the vehicle provided with the own device is running at a predetermined risk based on the state information.

5. A terminal device according to claim 2,

the control unit determines that the device is in a dangerous state when the device is located within a predetermined dangerous area based on the state information.

6. A terminal device according to claim 2,

the control unit determines that the device is in a dangerous state when the device is moving at a speed equal to or higher than a predetermined value based on the state information.

7. A terminal device according to claim 1,

the control unit determines whether or not the own device is located in a specific area based on the position information and the map information of the own device, and selects a communication method based on the determination result.

8. A terminal device according to claim 7,

the control unit determines whether or not the own device is located in any one of a peripheral area of the intersection, and a peripheral area of a parking place of the specific vehicle, which are predetermined conditions of the specific area.

9. A terminal device according to claim 7,

the control unit determines whether or not the road blocking machine is in the traffic-prohibited state based on the operation information of the road blocking machine acquired from the control device of the road blocking machine when the own device is located in the peripheral area of the crossing as the specific area, and selects the communication method based on the determination result.

10. A terminal device according to claim 7,

the control unit determines whether or not the specific vehicle has approached within a predetermined distance to the parking space based on attribute information and position information of the other vehicle and map information included in the message received from the other terminal device when the own device is located in a peripheral area of the parking space of the specific vehicle as the specific area, and selects a communication method based on a result of the determination.

11. A terminal device according to claim 1,

the control unit determines whether or not another terminal device that has already performed the direct communication is present in the vicinity of the own device, based on communication method information included in the message received from the another terminal device, and selects a communication method based on the determination result.

12. A terminal device according to claim 1,

the control unit determines whether or not a specific vehicle is present within a predetermined distance of the own device based on the position information and the attribute information included in the message received from the other terminal device, and selects the communication method of either the direct communication or the indirect communication based on the determination result.

13. A terminal device according to claim 1,

the control unit determines a type of the other terminal device existing in the vicinity of the own device based on attribute information included in the message received from the other terminal device, and selects a communication method of either the direct communication or the indirect communication based on a priority corresponding to the type.

14. A terminal device according to claim 1,

the control unit selects a communication method of both the direct communication and the indirect communication when a user of the own device is a specific person based on attribute information on an attribute of the own device included in the device information.

15. A terminal device according to claim 1,

the control unit selects a communication method of both the direct communication and the indirect communication when the vehicle of the own device is a specific vehicle based on attribute information on an attribute of the own device included in the device information.

16. A terminal device according to claim 1,

the control unit selects the communication method of both the direct communication and the indirect communication when the vehicle of the own device is a specific vehicle and the vehicle is in a state of high urgency based on attribute information on an attribute of the own device included in the device information.

17. A terminal device according to claim 1,

the control unit selects a communication method of both the direct communication and the indirect communication when the vehicle of the own device is a specific vehicle and there are many pedestrians in the vicinity of the vehicle based on attribute information on the attribute of the own device included in the device information.

18. A roadside device that is provided on a road and communicates with a terminal device, the roadside device comprising:

a communication unit that relays transmission and reception of a message including position information between the terminal apparatuses; and

and a control unit that collects device information on at least one of a state and an attribute of the terminal device from the terminal device, selects a communication method of either or both of direct communication between the terminal devices and indirect communication via its own device based on the device information, and transmits a message including information on the selected communication method from the communication unit to the terminal device.

19. A roadside device that is provided on a road and communicates with a terminal device, the roadside device comprising:

a first communication unit that relays transmission and reception of a message including position information between the terminal devices by way of road-to-vehicle communication as a first communication method;

a second communication unit that relays transmission and reception of a message including position information between the terminal apparatuses by a second communication method different from the first communication method; and

and a control unit that, when receiving a message including location information of the terminal device from the terminal device, selects one of the first communication unit and the second communication unit according to a type of the terminal device, and relays the message including the location information of the terminal device to another terminal device.

20. A communication system is provided with: a terminal device that transmits a message including position information of its own device to other terminal devices through human-vehicle communication; and a roadside device that is provided on a road and communicates with the terminal device, the communication system being characterized in that,

the terminal device includes:

a first communication unit that performs direct communication based on the human-vehicle communication as a first communication method with the other terminal device;

a second communication unit that performs indirect communication with the other terminal device by a second communication method via a roadside device installed on a road; and

and a control unit that selects a communication method of either or both of the direct communication and the indirect communication based on device information on at least either one of a state and an attribute of its own device, and transmits the message to the other terminal device in the selected communication method.

21. A communication method for transmitting a message including position information of its own device from a terminal device to other terminal devices by human-vehicle communication, the communication method being characterized in that,

selecting either one or both of direct communication by the person-to-person communication as a first communication method and indirect communication by a second communication method via a roadside device provided on the road, based on device information on at least either one of a state and an attribute of the own device,

and sending the message to the other terminal device by the selected communication mode.

22. A communication method of a roadside device that is installed on a road and communicates with a terminal device, the communication method of the roadside device being characterized in that,

relaying transmission and reception of a message including location information between the terminal devices,

selecting a communication method of either or both of direct communication between the terminal devices and indirect communication via its own device based on device information on at least either one of a state and an attribute of the terminal device collected from the terminal device,

and transmitting a message including information on the selected communication method to the terminal device.

23. A communication method of a roadside device that is installed on a road and relays transmission and reception of a message including position information between terminal devices, the method being characterized in that,

when a message including the location information of the terminal device is received from the terminal device, either one of road-to-vehicle communication, which is a first communication method, and a second communication method different from the first communication method is selected according to the type of the terminal device, and the message including the location information of the terminal device is relayed to another terminal device.

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