JP2010033346A - Roadside-vehicle communication system - Google Patents

Abstract

A road-to-vehicle communication system capable of efficiently using a limited communication capacity while suppressing duplicate reception.
A road-to-vehicle communication system includes a roadside device and an in-vehicle device. The driving support ECU 20 of the in-vehicle device 2 includes an identical information extraction unit 41 and a request unit 42. The same information extraction unit 41 extracts, from the transmission information transmitted from the roadside device 1, the same information that is information related to the same object as the object detected by the preceding vehicle with the sensor 26. The request unit 42 requests the roadside device 1 to exclude the same information extracted by the same information extraction unit 41 from the transmission information of the roadside device 1. As a result, duplicate reception can be omitted, and a limited communication capacity can be used efficiently.
[Selection] Figure 1

Description

  The present invention relates to a road-vehicle communication system that performs communication between a roadside device and a vehicle.

Conventionally, as a road-to-vehicle communication system that performs communication between a roadside device and a vehicle, for example, as described in Japanese Patent Application Laid-Open No. 2003-203299, a preceding vehicle passes through a communication area of a roadside device, and then a subsequent vehicle passes the roadside. It is known that the latest obstacle information received from the device is received from the following vehicle by inter-vehicle communication. In this system, the latest obstacle information is acquired as much as possible to avoid obstacles and to support driving.
JP 2003-203299 A

  However, in the above-described system, when an obstacle included in the transmission information of the roadside device is detected by the autonomous sensor of the preceding vehicle, the succeeding vehicle transmits the information on the obstacle by inter-vehicle communication with the preceding vehicle. It is possible to obtain. For this reason, since the subsequent vehicle receives the same obstacle information again from the roadside device even though it has been received from the preceding vehicle, there is a problem of redundant reception. In addition, due to this duplicate reception, when the subsequent vehicle communicates with the roadside device, there is less opportunity to acquire other useful information for the host vehicle, particularly information that cannot be acquired without using road-to-vehicle communication, and the limited communication capacity Is difficult to use efficiently.

  Accordingly, the present invention has been made to solve such a technical problem, and provides a road-to-vehicle communication system capable of efficiently using a limited communication capacity while suppressing duplicate reception. With the goal.

  That is, the road-to-vehicle communication system according to the present invention is a road-to-vehicle communication system that performs communication between a roadside device and a vehicle. The vehicle-to-vehicle information that is provided in the vehicle and acquires information related to the object detected by the sensor of the preceding vehicle through vehicle-to-vehicle communication. An acquisition unit, an identical information extraction unit that is provided in the vehicle and extracts the same information, which is information related to the same object as the object detected by the sensor of the preceding vehicle, from the transmission information of the roadside device; Requesting means for requesting the roadside apparatus to exclude the same information extracted by the same information extracting means from the transmission information of the roadside apparatus or lowering the priority of the transmission; A request acquisition means for acquiring a priority request, and a transmitter provided in the roadside device for transmitting information to the vehicle based on the request acquired by the request acquisition means. If, provided in the vehicle, and is configured to and a road-to-vehicle information acquiring means for acquiring transmission information transmitted by the transmission means.

  According to this invention, the information of the object detected by the sensor of the preceding vehicle can be acquired from the preceding vehicle through inter-vehicle communication. Then, the same information, which is information related to the same object as detected by the sensor of the preceding vehicle, is extracted from the transmission information of the roadside device, and the extracted same information is excluded from the transmission information of the roadside device or transmitted. By requesting the roadside device to lower the priority, the redundant reception of the same information can be suppressed. As a result, an opportunity to acquire other useful information for the host vehicle, particularly information that cannot be acquired without using road-to-vehicle communication, can be obtained, so that the limited communication capacity can be efficiently used.

  In the road-to-vehicle communication system according to the present invention, the same information extracting means extracts the same information by comparing the object information detected by the preceding vehicle with the sensor and the object information received by the preceding vehicle from the roadside device. Is preferred. In this case, the same information can be easily extracted.

  ADVANTAGE OF THE INVENTION According to this invention, the road-to-vehicle communication system which can utilize a limited communication capacity efficiently is provided, suppressing duplicate reception.

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

  FIG. 1 is a schematic configuration diagram of a road-vehicle communication system according to an embodiment of the present invention. As shown in FIG. 1, the road-to-vehicle communication system according to the present embodiment includes, for example, a roadside device 1 installed on the road side and an in-vehicle device 2 installed on the vehicle.

  The roadside device 1 includes a communication control unit 10 and a communication unit 11. The communication control unit 10 controls transmission and reception in the communication unit 11, records communication data, and the like, and is configured mainly by a computer including a CPU, a ROM, and a RAM, for example. The communication control unit 10 has a function of providing information on obstacles and the like existing around the traveling route of the vehicle in response to a request from the vehicle traveling in the communication area.

  Information such as an obstacle is recorded in the communication control unit 10. Information such as obstacles is ranked as high accuracy, medium accuracy, and low accuracy according to the transmission priority, and the higher the priority, the higher the accuracy. And the communication control part 10 functions as a request | requirement acquisition means which acquires the transmission priority request | requirement or exclusion request | requirement regarding a specific object from a vehicle. For example, when low-accuracy transmission regarding a specific obstacle is requested from the vehicle, the communication control unit 10 acquires the request, selects low-accuracy information, and transmits it to the vehicle.

  The communication unit 11 transmits and receives information signals, inputs a signal received by the antenna 12 to the communication control unit 10, and transmits a signal output from the communication control unit 10. The communication unit 11 and the antenna 12 are installed in the vicinity of a traveling path on which the vehicle travels, for example, above or on the side of the traveling path, and are capable of spot communication with the traveling vehicle. An optical beacon is preferably used as the communication unit 11 and the antenna 12, but other than the optical beacon may be used.

  The in-vehicle device 2 is installed in a vehicle, acquires information through road-to-vehicle communication with the roadside device 1 or vehicle-to-vehicle communication with another vehicle, and executes driving support based on the acquired information. The in-vehicle device 2 includes a driving assistance ECU (Electronic Control Unit) 20, a road-to-vehicle communication unit 21, an inter-vehicle communication unit 23, an HMI (Human Machine Interface) 25, and a sensor 26.

  The driving support ECU 20 performs overall control, and is configured mainly by a computer including a CPU, a ROM, and a RAM, for example. The driving support ECU 20 acquires information such as the position of an obstacle and the stop position of the vehicle by communication, and appropriately executes alerting, warning, control intervention, etc. to the driver of the vehicle.

  The road-to-vehicle communication unit 21 is a road-to-vehicle information acquisition unit that acquires information according to the travel route of the host vehicle through communication with the roadside device 1 on the infrastructure side. The road-to-vehicle communication unit 21 transmits vehicle information through the antenna 22 and receives transmission information from the roadside device 1.

  The vehicle-to-vehicle communication unit 23 is a vehicle-to-vehicle information acquisition unit that acquires information possessed by another vehicle through communication with another vehicle. For example, when the vehicle is traveling in a group of vehicles, the vehicle-to-vehicle communication unit 23 communicates with other vehicles in the vehicle group. Used for. The vehicle-to-vehicle communication unit 23 communicates with other vehicles through the antenna 24 and transmits and receives information within the vehicle group, so that information can be shared within the vehicle group. For example, the inter-vehicle communication unit 23 acquires the position information of the obstacle detected by the preceding vehicle with the sensor 26 through communication with the preceding vehicle traveling at the head of the vehicle group.

  The HMI 25 functions as an interface in the in-vehicle device 2 and includes an input unit such as an operation switch of the in-vehicle device 2 and a driving support output unit such as a speaker and a monitor.

  The sensor 26 monitors the periphery of the host vehicle and detects objects such as other vehicles and obstacles existing in the vicinity. The sensors 26 are attached, for example, on the front, rear, left, and right sides of the vehicle, and detect obstacles that exist on the front, rear, and left and right sides of the host vehicle. Examples of the sensor 26 include a millimeter wave radar, a laser radar, and a stereo camera. Then, the sensor 26 outputs information such as the detected obstacle to the driving support ECU 20.

  The brake ECU 31 performs brake control of the vehicle, and performs forced braking of the vehicle in response to a control signal from the driving support ECU 20 when performing control intervention as driving support. The engine ECU 32 controls the engine of the vehicle, and forcibly drives the vehicle by receiving a control signal from the driving assistance ECU 20 when performing control intervention as driving assistance. The steering ECU 33 performs steering control of the vehicle, and executes a forced steering operation of the vehicle in response to a control signal from the driving assistance ECU 20 when performing control intervention as driving assistance.

  Further, the driving support ECU 20 includes an identical information extraction unit 41 and a request unit 42. The same information extraction unit 41 is means for extracting from the transmission information transmitted from the roadside device 1 the same information that is information relating to the same object as the object detected by the preceding vehicle by the sensor 26. Specifically, the same information extraction unit 41 compares the position information of the object (for example, an obstacle) detected by the preceding vehicle with the sensor 26 and the position information of the object acquired by the preceding vehicle from the roadside device 1. Then, it is determined whether or not each piece of position information relates to the same object. And when each positional information is related to the same object, that is, when the information transmitted from the roadside device 1 includes the information of the object detected by the preceding vehicle by the sensor 26, the same information The extraction unit 41 extracts information on the object.

  The position information of the object detected by the preceding vehicle with the sensor 26 and the position information of the object acquired by the preceding vehicle from the roadside device 1 are acquired from the preceding vehicle by the inter-vehicle communication unit 23. Further, the information related to the same object includes information such as the shape and size of the object in addition to the position information of the object.

  The requesting unit 42 excludes the same information extracted by the same information extracting unit 41 from the transmission information of the roadside device 1 or requests the roadside device 1 through the road-to-vehicle communication unit 21 to lower the priority of transmission. It is. For example, when the information transmitted from the roadside device 1 also includes information on the object detected by the preceding vehicle by the sensor 26, the information on this object is not acquired via the roadside device 1, Since it is possible to acquire from the preceding vehicle using communication, the request unit 42 requests the roadside device 1 not to transmit the information on the object from the roadside device 1.

  Next, the operation of the road-vehicle communication system according to the present embodiment will be described.

  FIG. 2 is a plan view showing a situation where the road-vehicle communication system according to the embodiment is applied at an intersection. As shown in FIG. 2, the intersection T1 in front is a cross road, and a route B extends in the straight direction, a route D extends in the left turn direction, and a route E extends in the right turn direction. The travel path from the travel position of the vehicle M3 to the intersection T1 in front is a path A. Intersection T2 is a crossroad where a traffic light is installed, and route C extends in a straight direction, route F in a left turn direction, and route G in a right turn direction. The roadside device 1 is installed in front of the intersection T1.

  The vehicles M1 to M3 are traveling in a group of vehicles. The vehicles M1 to M3 communicate with each other at least the position of the host vehicle, the travel route, and the position information of the obstacle through the inter-vehicle communication unit 23 of the in-vehicle device 2. For example, the vehicles M1 to M3 transmit the position information of the obstacle detected by the own vehicle with the sensor 26 and the position information of the obstacle acquired by the own vehicle through communication with the roadside device 1 to other vehicles in the vehicle group. And share location information of obstacles.

  When the vehicles M <b> 1 to M <b> 3 approach the antenna 12 and enter the communication area, the vehicles M <b> 1 to M <b> 3 communicate with the roadside device 1 through the road-vehicle communication unit 21. For example, when the vehicles M <b> 1 to M <b> 3 are traveling in a row, the vehicles M <b> 1 to M <b> 3 sequentially communicate with the roadside device 1 in the preceding order, and receive information according to the traveling plan of the host vehicle. Specifically, the vehicles M <b> 1 to M <b> 3 transmit information such as the vehicle group ID, the number of vehicle group components, the travel rank in the vehicle group, the travel route, and the like to the roadside device 1. It requests transmission of information such as position information of obstacles on the route, road alignment information, etc., and acquires these information.

  In FIG. 2, vehicles M1 and M2 have completed communication with the roadside device 1 and are traveling on a route B past an intersection T1. On the other hand, the vehicle M3 enters the communication area by approaching the antenna 12 and communicates with the roadside device 1 through the road-to-vehicle communication unit 21.

  In the vicinity of the intersection T1, the bicycle (moving obstacle) B1 approaches the intersection T1 at a constant speed. In the route E, the bicycle (moving obstacle) B2 is moving away from the intersection T1 at a constant speed. In the route G, the vehicle (stationary obstacle) M10 is parked in the parking area. In addition, a large building T is built at a corner where the route A and the route D intersect. The bicycle B1 is shielded by the building T as it approaches the intersection T1, and enters the blind spot of the roadside device 1.

  FIG. 3 is a flowchart showing the operation of the road-vehicle communication system according to this embodiment. The control process in FIG. 3 is a process performed on the vehicle side, and is repeatedly executed at a predetermined cycle by the driving support ECU 20 of the vehicle M3, for example.

  First, as shown in S10 of FIG. 3, it is determined whether or not other vehicle information has been received. If vehicle information of another vehicle has not been received, the control process is terminated. On the other hand, when the vehicle information of another vehicle is received, the reading process of the vehicle information of another vehicle is performed (S12). The vehicle information of the other vehicle includes not only the position information, the travel route information, and the vehicle speed information of the other vehicle, but also the position information of surrounding obstacles acquired by the other vehicle through communication with the roadside device 1, and the other vehicle by the sensor 26. The position information of the detected obstacle is also included. For example, when information on the preceding vehicle M2 is received, since the bicycles B1 and B2 are within the monitoring area of the sensor 26 of the vehicle M2, they are detected by the vehicle M2, so the position information on the bicycles B1 and B2 is read.

  When S12 ends, the process proceeds to S14, and the same information extraction process is performed. In this process, first, the position information of each obstacle is detected by comparing the position information of the obstacle detected by the preceding vehicle M2 with the sensor 26 and the position information of the obstacle acquired by the preceding vehicle M2 from the roadside device 1. A determination is made whether or not are related to the same obstacle. Then, when the position information of the obstacle detected by the preceding vehicle M2 by the sensor 26 is included in the position information of the obstacle acquired from the roadside device 1, the position information of the obstacle is extracted.

  In FIG. 2, the position information of the bicycles B <b> 1 and B <b> 2 is included in the position information of the obstacle acquired by the preceding vehicle M <b> 2 from the roadside device 1, and is also the position information of the obstacle detected by the vehicle M <b> 2 with the sensor 26. Therefore, the position information of the bicycles B1 and B2 is extracted. On the other hand, the position information of the parked vehicle M10 is the position information of the obstacle detected by the vehicle M2, but is not extracted because it is not included in the position information of the obstacle acquired from the roadside device 1.

  Then, the process proceeds to S16, and a transmission exclusion request process is performed. That is, the request unit 42 requests the roadside device 1 to exclude the position information of the bicycles B1 and B2, which are the same information, from the transmission information of the roadside device 1 based on the result extracted in S14. Since the bicycles B1 and B2 exist in the routes D and E, respectively, it is required to exclude the position information of the obstacles in the routes D and E. This process is performed simultaneously with the transmission of the vehicle information of the vehicle M3 to the roadside device 1.

  When S16 ends, the process proceeds to S18, and information transmitted from the roadside apparatus 1 is received. At this time, the position information of the bicycles B1 and B2 is excluded from the information transmitted from the roadside device 1. When the processing of S18 is finished, a series of control processing is finished.

  FIG. 4 is a flowchart showing the operation of the road-vehicle communication system according to the present embodiment. The control processing in FIG. 4 is processing performed on the roadside device 1 side, and is repeatedly executed at a predetermined cycle, for example, by the communication control unit 10 of the roadside device 1.

  First, as shown in S20 of FIG. 4, it is determined whether vehicle information has been received. This determination is made based on whether vehicle information is input from the vehicle in the communication unit 11, for example. In FIG. 2, when vehicles M1-M3 pass the position of the antenna 12, vehicle information is transmitted from each vehicle, and the road-vehicle communication apparatus 1 receives these vehicle information.

  If it is determined in S20 that vehicle information has not been received, the control process ends. On the other hand, if it is determined in S20 that the vehicle information has been received, the vehicle information is read (S22). At this time, the vehicle information includes the vehicle group ID, the number of vehicle group components, the travel rank within the vehicle group, the travel route information, and the like.

  The travel route information includes information on a route that the transmitted vehicle travels. For example, when the travel route of the vehicle M3 is routes A, B, and F, the vehicle M3 transmits information on the routes A, B, and F toward the antenna 12. The roadside device 1 receives and records the travel route information as one of the vehicle information.

  When S22 ends, the process proceeds to S24, and it is determined whether or not there is a transmission exclusion request from the vehicle. If it is determined that there is no request, the control process is terminated. On the other hand, when it is determined that there is a request, information regarding the requested obstacle is excluded from the transmission information, and information according to the travel route of the vehicle M3 is transmitted (S26).

  For example, when it is requested to exclude the position information of the bicycles B1 and B2, the communication control unit 10 excludes the position information of the bicycles B1 and B2 from the transmission information, and others according to the travel route of the vehicle M3. Is transmitted to the vehicle M3 through the communication unit 11. The transmission information of the roadside device 1 includes system information, signal information, and the like in addition to information on obstacles on the route.

  FIG. 5 is an explanatory diagram of transmission information in the road-vehicle communication system according to the present embodiment. As shown in FIG. 5, information such as system information, signal information, and obstacle information existing on the routes A to G is transmitted to the vehicles M <b> 1 and M <b> 2 according to their travel routes. For these obstacle information, low-accuracy position information is selected and transmitted to the vehicles M1 and M2.

  On the other hand, since the vehicle M3 requests the roadside device 1 to exclude the position information of the bicycles B1 and B2 from the transmission information of the roadside device 1, the obstacle information existing on the routes D and E is obtained from the transmission information. Excluded. In FIG. 5, the hatched items for the vehicles M1 to M3 are selected and transmitted. System information, signal information, and obstacle information are real-time information based on the current state. Then, when the processing of S26 is finished, a series of control is finished.

  According to the road-to-vehicle communication system according to the present embodiment, the position information of the obstacle detected by the sensor 26 of the preceding vehicle M2 can be acquired from the preceding vehicle M2 through inter-vehicle communication. Then, position information of the bicycles B1 and B2 that are the same obstacles as the obstacles detected by the sensor 26 of the preceding vehicle M2 is extracted from the transmission information transmitted from the roadside device 1, and the extracted bicycle B1 is extracted. By requesting the roadside device to exclude the position information of B2 from the transmission information of the roadside device 1, it is possible to suppress the duplicate reception of the position information of the bicycles B1 and B2. This provides an opportunity to acquire other useful information for the vehicle M3, particularly information that cannot be acquired unless road-to-vehicle communication is used, so that the limited communication capacity can be used efficiently.

  In addition, the position information of the bicycles B1 and B2 changes with time. In particular, since the bicycle B1 enters the blind spot of the roadside device 1 as it approaches the intersection T1, the position information of the bicycles B1 and B2 detected by the vehicle M2 is Real-time performance is higher than information acquired from the device 1. For this reason, the position information of the bicycles B1 and B2 can be obtained more accurately.

  Furthermore, the same information extraction unit 41 compares the position information of the bicycles B1 and B2 detected by the preceding vehicle M2 with the sensor 26 with the object information received by the preceding vehicle M2 from the roadside device 1 so that the same obstacle is detected. Since the position information of a certain bicycle B1, B2 is extracted, the same information can be easily extracted.

  In addition, embodiment mentioned above demonstrated an example of the road-vehicle communication system which concerns on this invention, and the road-vehicle communication system which concerns on this invention is not limited to what was described in this embodiment. For example, in the above-described embodiment, the request unit 42 requests the roadside device 1 to exclude the position information of the same obstacle from the transmission information, but the transmission priority of the position information of the same obstacle. May be required to be lowered.

1 is a schematic configuration diagram of a road-vehicle communication system according to an embodiment of the present invention. It is a top view which shows the condition where the road-vehicle communication system which concerns on embodiment is applied in an intersection. It is a flowchart which shows operation | movement of the road-vehicle communication system which concerns on this embodiment. It is a flowchart which shows operation | movement of the road-vehicle communication system which concerns on this embodiment. It is explanatory drawing of the transmission information in the road-vehicle communication system which concerns on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Roadside apparatus, 2 ... In-vehicle apparatus, 10 ... Communication control part, 11 ... Communication part, 20 ... Driving assistance ECU, 21 ... Road-to-vehicle communication part, 23 ... Inter-vehicle communication part, 41 ... Same information extraction part, 42 ... Request Department.

Claims (2)

In a road-to-vehicle communication system that performs communication between a roadside device and a vehicle,
Vehicle-to-vehicle information acquisition means that is provided in the vehicle and acquires information on an object detected by a sensor of a preceding vehicle through vehicle-to-vehicle communication;
The same information extracting means provided in the vehicle for extracting the same information, which is information related to the same object as the object detected by the sensor of the preceding vehicle, from the transmission information of the roadside device;
Request means provided in the vehicle and requesting the roadside apparatus to exclude the same information extracted by the same information extracting means from the transmission information of the roadside apparatus or to lower the priority of the transmission;
Request acquisition means provided in the roadside device for acquiring an exclusion request or priority request of the request means;
A transmission unit that is provided in the roadside device and transmits information to the vehicle based on the request acquired by the request acquisition unit;
Road-to-vehicle information acquisition means provided in the vehicle for acquiring transmission information transmitted by the transmission means;
A road-to-vehicle communication system comprising: 2. The road-to-vehicle distance according to claim 1, wherein the same information extraction unit extracts the same information by comparing the object information detected by the preceding vehicle with a sensor and the object information received by the preceding vehicle from the roadside device. Communications system.

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