Information processing apparatus and information processing method

Abstract

An information processing device includes a communication section (100) for performing data communication with a plurality of other vehicles (B) existing around a host vehicle (A), and a controller (110) that controls the data communication performed by the communication section (100). The controller (110) determines each of the other vehicles (B) whose communication quality with the host vehicle (A) does not satisfy a prescribed criterion as a target moving body. The controller (110) determines, for each target moving body, a relative position with respect to the host vehicle (A) and a reception power of a radio wave received from the target moving body. The controller (110) controls a directivity related to wireless communication of the communication section (100) based on the relative positions and the reception powers of the other vehicles (B) respectively.

Description

Technical Field

[0001] This invention relates to an information processing apparatus and an information processing method. Background Technology

[0002] Patent Document 1 discloses a communication device having a communication unit for inter-vehicle communication with multiple other vehicles present in the vicinity of the vehicle via an antenna unit. The communication device further includes: an acquisition unit that acquires information related to the multiple other vehicles; and a control unit that controls the directivity of the antenna unit based on the information acquired by the acquisition unit.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-67880 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] The method disclosed in Patent Document 1 controls the directionality of the antenna section of other vehicles detected by the radar device. Therefore, even for other vehicles that may affect future driving, the directionality of the antenna section of those other vehicles is not controlled until the radar device actually detects them. Therefore, there is a concern that the required information may not be properly received.

[0008] The present invention was made in view of this problem, and its object is to provide an information processing apparatus and an information processing method capable of appropriately receiving the required information.

[0009] Solution for solving the problem

[0010] One aspect of the present invention relates to an information processing apparatus comprising: a communication unit for data communication with second mobile bodies existing around a first mobile body; and a controller for controlling the data communication performed through the communication unit. The controller identifies each second mobile body whose communication quality with the first mobile body does not meet a predetermined benchmark as a target mobile body, and controls the directionality of the communication unit related to wireless communication based on the relative position and received power of each target mobile body.

[0011] The effects of the invention

[0012] According to the present invention, the required information can be received appropriately. Attached Figure Description

[0013] Figure 1 This is a structural diagram illustrating the communication network involved in this embodiment.

[0014] Figure 2A This is a diagram illustrating the typical mode of operation for the communications department.

[0015] Figure 2B This is a diagram illustrating the directional pattern of the communications unit.

[0016] Figure 3 This is a flowchart illustrating the process of vehicle-to-vehicle communication in a communication network.

[0017] Figure 4 This is a diagram illustrating the driving conditions and the first area involved in this embodiment.

[0018] Figure 5 This is a diagram illustrating the driving conditions and the second area involved in this embodiment.

[0019] Figure 6 It is a diagram illustrating the position of the center of gravity of the power at the target location.

[0020] Figure 7 This is a diagram illustrating a directional beam pointing towards a target location.

[0021] Figure 8 This is an explanatory diagram showing a roadside unit. Detailed Implementation

[0022] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same structures are labeled with the same reference numerals, and descriptions are omitted.

[0023] Reference Figure 1 This embodiment describes the communication network. The communication network of this embodiment includes vehicle A and vehicle B. Vehicle A and vehicle B are examples of moving bodies (first moving body and second moving body). Vehicle A is the vehicle itself, and vehicle B is another vehicle located around the vehicle itself. Figure 1 In the diagram, only one vehicle B is drawn, but there can be multiple vehicles B.

[0024] Vehicle A and Vehicle B can be either vehicles with autonomous driving capabilities or vehicles without autonomous driving capabilities. Furthermore, Vehicle A and Vehicle B can also be vehicles capable of switching between autonomous driving and manual driving. In this embodiment, we will describe Vehicle A and Vehicle B as vehicles with autonomous driving capabilities.

[0025] The communication network also includes 300 roadside units and 400 base stations.

[0026] Vehicle A is equipped with a communication unit 100 that has data communication capabilities. Vehicle B is equipped with a communication unit 200 that has data communication capabilities. Each communication unit 100 and 200 consists of, for example, one or more antennas, modems, application processors, memory, etc.

[0027] Communication unit 100 and communication unit 200 can communicate directly. Hereinafter, communication between communication unit 100 and communication unit 200 will be defined as direct communication. Direct communication can also be expressed as vehicle-to-vehicle communication. In this embodiment, vehicle A and vehicle B can share various data, including vehicle information (vehicle A and vehicle B), through direct communication.

[0028] Communication unit 100 and communication unit 200 can also communicate with each other via base station 400 and a network (not shown) (such as a mobile phone network). Base station 400 is a fixed, non-mobile communication device and serves as an access point for the coverage network. In contrast to direct communication, communication between communication unit 100 and communication unit 200 via base station 400 and the network is defined as indirect communication.

[0029] Direct communication bypasses base station 400 and network, thus enabling low-latency and simple data transmission. Indirect communication is used when transmitting large amounts of data that cannot be transmitted via direct communication, or when information is repeatedly transmitted within a certain time frame. Furthermore, indirect communication can be used when direct communication is not feasible.

[0030] Each communication unit 100, 200 is capable of communicating with the roadside unit 300. The roadside unit 300 is, for example, a fixed communication device installed in road equipment on the shoulder of a road, distributing data containing prescribed information to vehicles on the road. The roadside unit 300 is also sometimes referred to as an RSU (roadside unit) or an ITS (intelligent transport systems) point.

[0031] In this embodiment, the roadside unit 300 acts as a transmitting station, and the communication units 100 and 200 act as receiving stations. Downlink communication occurs between the roadside unit 300 and the communication units 100 and 200. Of course, reverse uplink communication is also possible between the roadside unit 300 and the communication units 100 and 200. In this case, the communication units 100 and 200 act as transmitting stations, and the roadside unit 300 acts as a receiving station. The communication between the communication units 100 and 200 and the roadside unit 300 is also referred to as road-to-road communication.

[0032] The distribution data from the roadside machine 300 includes roadside machine data representing information about the roadside machine 300 and traffic data representing information about vehicles present around the roadside machine 300. The roadside machine 300 information includes its location information, etc. The vehicle information includes its location information, speed information, and direction of travel information, etc.

[0033] Next, the structure of vehicle A will be explained.

[0034] Vehicle A includes the aforementioned communication unit 100, GPS receiver 101, map information acquisition unit 102, object sensor 103, and controller 110. The communication unit 100, GPS receiver 101, map information acquisition unit 102, and controller 110 constitute the information processing device for realizing vehicle-to-vehicle communication as shown in this embodiment.

[0035] GPS receiver 101 detects the position information of vehicle A on the ground by receiving radio waves from artificial satellites. The position information of vehicle A detected by GPS receiver 101 includes latitude, longitude, and time information. GPS receiver 101 outputs the detected position information of vehicle A to controller 110. Furthermore, the method for detecting the position information of vehicle A is not limited to GPS receiver 101. For example, a method called odometry can also be used to estimate the position. Odometry is a method for estimating the position of vehicle A by calculating the amount of movement and direction of movement of vehicle A based on its rotation angle and angular velocity. Additionally, GPS (Global Positioning System) is part of GNSS (Global Navigation Satellite System).

[0036] The map information acquisition unit 102 acquires map information showing the structure of the road traveled by vehicle A. The map information acquisition unit 102 can have a map database storing map information, or it can acquire map information from an external map data server via cloud computing. Alternatively, the map information acquisition unit 102 can also acquire map information using vehicle-to-vehicle communication or road-to-vehicle communication.

[0037] Map information includes node information and link information. Node information includes the type and location of nodes such as intersections and branch points. Link information includes the type, length, number of lanes, curvature, and gradient of the links connecting the nodes. Additionally, link information includes road structure information such as the absolute position of lanes and their connectivity. Map information also includes traffic rules and road signs.

[0038] An object sensor 103 is mounted on vehicle A and is used to detect objects around vehicle A. The object sensor 103 includes a camera, lidar, radar, millimeter-wave radar, laser rangefinder, sonar, etc. These sensors detect moving and stationary objects surrounding vehicle A. Moving objects include other vehicles (including vehicle B) and pedestrians, while stationary objects include obstacles, fallen objects, etc. Specifically, when other vehicles are present around vehicle A, the sensor detects their identification number, position, speed, type (vehicle model), height, direction of travel, past travel trajectory, and future trajectory based on past travel trajectory. The object sensor 103 outputs the detected data to the controller 110.

[0039] The controller 110 may be composed of, for example, a microcomputer. The controller 110 may have, for example, a hardware processor such as a CPU (Central Processing Unit), memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus.

[0040] The microcomputer contains a computer program that enables it to function as an information processing device. The microcomputer executes the computer program to function as multiple information processing circuits within the information processing device. The controller 110 includes a communication control unit 111, which is one example of multiple information processing circuits.

[0041] The communication control unit 111 controls wireless communication (data communication) conducted through the communication unit 100.

[0042] The communication control unit 111 performs functions such as switching the operating mode of the communication unit 100 and controlling the beam formed by the communication unit 100. The communication unit 100 has a normal mode and a directional mode as its switchable operating modes.

[0043] Reference Figure 2AThe normal mode will now be explained. The normal mode is a mode in which wireless communication is performed within a predetermined range (area) without controlling the directionality of the communication unit 100 related to wireless communication. When operating in the normal mode, the communication unit 100, specifically, the antenna of the communication unit 100, forms a normal beam Bn within the predetermined range (area). The normal beam Bn is, for example, a beam formed uniformly in all directions and is not directional in any particular direction. The normal beam Bn is formed within a circular area centered on the communication unit 100 and with a predetermined distance as its radius. In this way, the predetermined range for forming the normal beam Bn can also be set as a circular area with a predetermined distance as its radius; alternatively, the predetermined range can be set as a predetermined range with directionality in a predetermined direction, such as the vehicle's direction of travel. Thus, in the normal mode, the antenna of the communication unit 100 forms the normal beam Bn within the predetermined range.

[0044] Vehicle A can communicate with vehicle B, which exists within the area forming the normal beam Bn. The area where communication with the communication unit 100 operating in normal mode is possible is called the normal communication area. The normal communication area basically corresponds to the area forming the normal beam Bn. However, due to the influence of the communication environment, such as the attenuation of radio waves and the presence of obstructions, even within the area forming the normal beam Bn, it is sometimes impossible to communicate with vehicle B with a communication quality of a certain level or higher. That is, the normal communication area refers to the area where communication with vehicle B is possible with a communication quality of a certain level or higher, and is not necessarily the same area as the area forming the normal beam Bn (the defined range).

[0045] Reference Figure 2B The directional mode will now be explained. The directional mode is a mode that controls the directional properties of the communication unit 100 related to wireless communication. In this specification, the directional properties related to wireless communication will be simply referred to as "directional." When operating in directional mode, the antenna of the communication unit 100 forms a directional beam Bd. The directional beam Bd is a beam formed towards a specific direction, possessing directional properties for that specific direction. The direction corresponds to the horizontal component of the direction. The directional beam Bd is formed as a beam with a predetermined beamwidth Bd2 centered on a beam axis Bd1 that becomes a predetermined azimuth angle. The azimuth angle of the beam axis Bd1 and the beamwidth Bd2 can be adjusted separately, thereby adjusting the directional properties of the communication unit 100. In this way, the directional mode is equivalent to an operating mode in which the antenna of the communication unit 100 possesses directional properties.

[0046] Vehicle A can communicate with vehicle B located within the area forming a directional beam Bd. The directional beam Bd is formed to be longer along the beam axis Bd1, with a distance (distance along the axis) greater than the radius of a normal beam Bn. Furthermore, assuming vehicle B is located in the same position, the received power when communicating using the directional beam Bd is higher than the received power when communicating using the normal beam Bn. Therefore, by using the directional beam Bd, communication with vehicle B located outside the normal communication area is also possible. The directional beam Bd is a beam capable of data communication with vehicle B located in a position where data communication is impossible via the normal beam Bn. That is, the directional mode is such that, compared to the normal mode, data communication with vehicle B located in a position where data communication is impossible in the normal mode can be achieved by controlling the directional beam.

[0047] When the communication unit 100 operates in directional mode, the communication control unit 111 controls the directional beam Bd. Control of the directional beam Bd includes adjusting the azimuth angle of the beam axis Bd1 and beamforming the beamwidth Bd2. The communication control unit 111 controls the directivity of the communication unit 100, i.e., the directivity of the beam formed by the antenna of the communication unit 100, through beamforming.

[0048] The communication unit 100 broadcasts vehicle A's location data, including its current location and travel plan information, to the vicinity of vehicle A. The broadcast uses a direct communication method. This direct communication method can be, for example, DSRC conforming to IEEE 802.11p (frequency: 5.9 GHz band) or cellular V2X conforming to 3GPP Release 14 and later specifications.

[0049] The current location information is obtained by associating the latitude and longitude of vehicle A's current location with the time when the location was acquired.

[0050] Driving plan information refers to driving plan data that includes future driving route data and speed plan data obtained by associating vehicle speed with the future location of vehicle A. Future driving route data (future route data) contains information about the path vehicle A will take in the future. Future driving route data can be route information up to a pre-set destination, or it can be data obtained by associating the future location (latitude, longitude) with a predetermined elapsed time based on speed plan data. For example, driving plan information is data obtained by adding speed plan data to data following SAE J2735 (Dedicated Short Range Communications (DSRC) Message Set Dictionary). Furthermore, "future" refers to a point in time that will arrive after a specified period of time from the present.

[0051] Table 1 shows an example of vehicle A location data broadcast. Vehicle A location data is a data packet containing header and content data.

[0052] [Table 1]

[0053]

[0054] As shown in Table 1, the header of the vehicle A location data stores the identification number of vehicle A, which is the source of the data, and identification information indicating the type of content contained in the content data (e.g., an ID indicating the current location information, driving plan information, etc.). The content data stores the current location information and driving plan information, which are obtained by associating latitude and longitude with the time when this location information was acquired.

[0055] In addition to controlling wireless communication via communication unit 100, communication control unit 111 also performs data processing functions required for various processes to execute wireless communication. Vehicle A location data, which is a data packet containing header and content data, is generated by communication control unit 111 based on data acquired from GPS receiver 101, etc., and data pre-recorded in the memory of controller 110. Vehicle A location data is transmitted by communication unit 100 and received by communication unit 200 of vehicle B.

[0056] Communication unit 100 receives vehicle B location data sent by communication unit 200 of vehicle B, and outputs the received vehicle B location data to communication control unit 111. Communication control unit 111 obtains vehicle B location data from communication unit 100. The receipt of vehicle B location data by communication unit 100 means that direct communication has been established between vehicle A and vehicle B.

[0057] In relation to this embodiment, the communication control unit 111 uses a data processing function to identify each vehicle B whose communication quality with vehicle A does not meet a predetermined standard as a target vehicle. The communication control unit 111 determines the relative position of each target vehicle relative to vehicle A, and the received power as the energy of the radio waves received from the target vehicle. Based on the relative position and received power of each target vehicle, the communication control unit 111 controls the directionality of the communication unit 100.

[0058] Next, the structure of vehicle B will be explained.

[0059] like Figure 1 As shown, vehicle B includes the aforementioned communication unit 200, GPS receiver 201, map information acquisition unit 202, object sensor 203, and controller 210. The communication unit 200, GPS receiver 201, map information acquisition unit 202, and controller 210 constitute the information processing device for realizing vehicle-to-vehicle communication as shown in this embodiment.

[0060] The GPS receiver 201, map information acquisition unit 202, and object sensor 203 have the same functions as the GPS receiver 101, map information acquisition unit 102, and object sensor 103. Similarly, the controller 210, like the controller 110, is composed of a microcomputer equipped with a hardware processor, memory, and various interfaces. The controller 210 includes a communication control unit 211 as an example of multiple information processing circuits. The communication control unit 211 has the same functions as the communication control unit 111, including controlling wireless communication via the communication unit 200 and performing various data processing functions required for wireless communication, such as generating vehicle B location data.

[0061] Reference Figures 3 to 7 This will illustrate the process of vehicle-to-vehicle communication in a communication network. Figure 3 The process shown in the flowchart is handled by vehicle A (and) Figure 1 The controller 110 (corresponding to vehicle A) executes the commands. The operation mode of the communication unit 100 is initially set to normal mode. Furthermore, in the following description, it is assumed that... Figure 4 The diagram illustrates a situation where vehicle A is traveling at an intersection. Vehicle A is currently traveling along the first road connecting to the intersection represented by node N1. Vehicle A's current position is Pa(Xa,Xb), a predetermined distance ahead of the intersection. Let's assume that vehicle A's future path is a left turn at the intersection.

[0062] The four other vehicles B1 to B4 (respectively with...) Figure 1Two other vehicles, B1 and B3, are traveling along the intersection that intersects with the first road at the intersection represented by node N1. Vehicle B1 is currently at position Pb1(Xb1,Yb1) after passing the intersection, and vehicle B3 is currently at position Pb3(Xb3,Yb3) a specified distance ahead of the intersection. Additionally, vehicle B2 is traveling in the same lane as vehicle A in the first road, and vehicle B4 is traveling in the opposite lane of the first road. Vehicle B2 is currently ahead of vehicle A and a specified distance ahead of the intersection, at position Pb2(Xb2,Yb2), and vehicle B4 is currently at position Pb4(Xb4,Yb4) a specified distance away from the intersection.

[0063] First, controller 110 determines the future location to which vehicle A will travel (S10). For example, controller 110 obtains vehicle speed plan data contained in vehicle A's location data and determines the future location based on that speed plan data. Alternatively, controller 110 may obtain future travel path data contained in vehicle A's location data and determine the future location based on the future travel path.

[0064] Controller 110 determines whether the driving condition of vehicle A is a condition requiring attention. An example of a condition requiring attention is as follows: Figure 4 The controller 110 determines the situation of vehicle A traveling at an intersection as shown. This determination is made by referring to the map information acquired by the map information acquisition unit 102 and the future position of vehicle A. If the future position of vehicle A corresponds to an intersection, or if the future travel path of vehicle A includes an intersection, the controller 110 determines that the driving situation of vehicle A is a situation that requires attention.

[0065] Next, controller 110 determines the first area where other vehicles of most concern to vehicle A are located. When vehicle A is about to turn left at an intersection, it needs to be aware of other vehicles B3 crossing the intersection to enter the intersection. Therefore, controller 110, based on map information, determines the area containing other vehicles entering the intersection within the intersection as the first area R1. Furthermore, the other vehicles of most concern to vehicle A are those arriving at the intersection at the same time as vehicle A. Therefore, controller 110 determines the distance from vehicle A to the intersection as the reference distance. Controller 110 may also set the first area R1 from a position closer to the reference distance from the intersection.

[0066] The controller 110 switches the operating mode of the communication unit 100 from the normal mode to the directional mode. Then, the controller 110 controls the directional beam Bd to scan the first region R1 in the azimuth direction (S12). By scanning the first region R1 using the directional beam Bd, other vehicles B3 located in the first region R1 are detected. In addition, other vehicles B2 located between the first region R1 and the vehicle A are also detected simultaneously. The communication unit 100 communicates with the other vehicles B2 and B3 (communication unit 200), thereby the controller 110 obtains the vehicle B position data of the other vehicles B2 and B3 respectively.

[0067] For other vehicles that are far from vehicle A or that are out of sight due to obstructions, if communication is conducted using the normal beam Bn, the received power of the radio waves received from other vehicles is below a certain level. In this case, the communication quality with other vehicles does not meet the specified standards. On the other hand, when switching to the directional beam Bd, the received power exceeds a certain level, so communication is possible even with such other vehicles. Therefore, the controller 110 identifies other vehicles whose communication quality (e.g., received strength) is below a certain threshold, detected by scanning the first region R1 using the directional beam Bd, as vehicles whose communication quality does not meet the specified standards. Figure 4 In the example shown, other vehicles B2 and B3 are identified as the target vehicles.

[0068] If there are sufficient communication resources (step S14: "Yes"), the controller 110 refers to the map information to determine whether there is a second area R2 (S16).

[0069] The second area, R2, follows the first area, R1, and is where other vehicles that vehicle A should be aware of reside. If vehicle A intends to turn left at an intersection, other vehicles on the intersection after the left turn may affect vehicle A's travel plan. Therefore, it is also necessary to pay attention to other vehicles B1 that have passed through the intersection. Therefore, if... Figure 5 As shown, controller 110 designates the area containing other vehicles that have passed through the intersection as the second area R2. Furthermore, other vehicles that vehicle A should pay attention to are those located near the intersection. Therefore, controller 110 can also designate a specified area adjacent to the intersection as the second area R2.

[0070] In the presence of a second region R2 (S16: "Yes"), the controller 110 maintains the directional beam Bd used for communication with other vehicles B3 in the first region R1, while controlling the scanning of the new directional beam Bd to scan the second region R2 in the azimuth direction (S18). By scanning the second region R2 using the directional beam Bd, other vehicles B1 located in the second region R2 are detected. The communication unit 100 communicates with the other vehicles B1 (communication unit 200), thereby the controller 110 acquires the vehicle B position data of the other vehicles B1.

[0071] Similar to the scanning operation for the first region R1, by switching to the directional beam Bd, the received power exceeds a certain level, thus enabling communication even with other vehicles. Therefore, the controller 110 identifies other vehicles detected by the scanning operation for the second region R2 using the directional beam Bd, whose communication quality (e.g., received strength) is below a certain threshold, as vehicles whose communication quality does not meet the specified benchmark. Figure 5 In the example shown, other vehicle B1 is identified as the target vehicle.

[0072] When the scanning action for the required regions R1 and R2 is completed, as follows: Figure 6 As shown, controller 110 determines the target position Pc for turning the directional beam Bd. The target position Pc will be described in detail below.

[0073] First, controller 110 determines priorities for the three other vehicles B1 to B3. Controller 110 determines the current position and speed of each of the other vehicles B1 to B3 based on their respective vehicle B position data. Based on the current position and speed of vehicle A, controller 110 determines the relative position and relative speed of each of the other vehicles B1 to B3 relative to vehicle A. Then, controller 110 determines the priorities of the other vehicles B1 to B3 based on their respective relative positions and relative speeds. Based on these priorities, the order in which vehicle A should communicate with other vehicles is determined. In this embodiment, other vehicles that have a greater impact on the future travel of vehicle A are given higher priorities.

[0074] This section explains the concept of priority in determining the actions of other vehicles B1 through B3. First, due to traffic congestion or other unforeseen circumstances, other vehicle B1 may sometimes stop shortly after passing the intersection. In this situation, vehicle A, which is attempting to turn left at the intersection, cannot enter the intersection, necessitating a change in travel plan. However, since other vehicle B1 has already passed the intersection, its impact on vehicle A is less than that of other vehicles B2 and B3. On the other hand, other vehicle B2 is currently traveling in front of vehicle A, so there is a possibility that it may pass vehicle A due to slowing down. Furthermore, other vehicle B3 is approximately equidistant from the intersection as vehicle A is, so there is a possibility that it may pass vehicle A at the intersection. Therefore, other vehicles B2 and B3 have a greater impact on vehicle A.

[0075] The controller 110 determines the impact on vehicle A based on the relative positions and speeds of other vehicles B1 to B3, and then assigns a priority to each of the other vehicles B1 to B3. Figure 6 In the example shown, other vehicles B2 and B3 have higher priorities, while other vehicle B1 has a lower priority. Furthermore, when determining the priorities of other vehicles B1 to B3, the controller 110 can also refer to the future positions and future travel paths of other vehicles B1 to B3.

[0076] Additionally, when determining priorities, the controller 110 refers to the object detection results obtained from the object sensor 103. For example... Figure 6 As shown, another vehicle B2 is traveling in front of vehicle A. By detecting the other vehicle B2 using object sensor 103, information such as its position and speed can be obtained. Therefore, the priority of the other vehicle B2 can be lower than that of other vehicles B1 and B3, which cannot be detected by object sensor 103. Thus, controller 110 also considers the detection results of object sensor 103 to determine the final priority of other vehicles B1 to B3. Figure 6 In the example shown, other vehicles B1 and B3 have higher priority, while other vehicle B2 has lower priority.

[0077] For example, when the directional beam Bd is directed towards another vehicle B3 in the first region R1, the received power of other vehicles B2 and B3 that are close to the directional beam Bd shows a high value. For example, let's say the receiving power SN ratio of other vehicle B3 is 20dB or more and the receiving power SN ratio of other vehicle B2 is 10dB or more. On the other hand, the received power of other vehicle B1 in the second region R2, which is not directed towards the directional beam Bd, shows a low value compared to the received power of other vehicles B2 and B3. For example, the receiving power SN ratio of other vehicle B1 is 0dB or less.

[0078] Therefore, in order to communicate with other high-priority vehicles B1 and B3, controller 110 determines the target position Pc that the directional beam Bd should be directed towards. This target position Pc is defined by the centroid position of the power determined by the received power as the energy of the radio waves when signals (vehicle B position data) are received from other vehicles B1 and B3, and the relative positions of the other vehicles B1 and B3.

[0079] (Equation 1)

[0080] Pc=(Pb1×Gb1+Pb3×Gb3) / (2×(Gb1+Gb3))

[0081] Equation 1 represents the centroid position of the power received from other vehicles B1 and B3. Pb1 is the relative position of other vehicle B1, and Pb3 is the relative position of other vehicle B3. Additionally, Gb1 is the received power from other vehicle B1, and Gb3 is the received power from other vehicle B3.

[0082] like Figure 6 As shown, the target position (center of gravity of power) Pc is defined on the line segment connecting other vehicles B1 and B3, and is the point where that line segment is divided at a predetermined ratio. However, if the intersection where other vehicles B1 and B3 travel does not follow the line segment connecting them, the target position Pc may not exist on the intersection. Therefore, if the shape of the intersection does not match the line segment connecting other vehicles B1 and B3, the controller 110 can correct the line segment connecting them to a curve that follows the shape of the intersection. Moreover, preferably, the controller 110 corrects the target position Pc to the point on the corrected curve where the curve is divided at a predetermined ratio.

[0083] Once the target position Pc is determined, the controller 110 begins angle control of the directional beam Bd (S22). Figure 7As shown, controller 110 controls the directional beam Bd so that the directional beam Bd is oriented towards the target position Pc. That is, controller 110 adjusts the beam axis Bd1 of the directional beam Bd to a predetermined azimuth angle. The azimuth angle that the beam axis Bd1 should be oriented towards can be determined by calculating the azimuth angle when observing the target position Pc from vehicle A. By controlling the azimuth angle of the beam axis Bd1, the directional beam Bd is adjusted to be oriented towards the target position Pc.

[0084] Additionally, the controller 110 can also control the beamwidth Bd2 together with the angle control of the beam axis Bd1. The beamwidth Bd2 control is to adjust the beamwidth Bd2 to maximize the received power from other vehicles B1 and B3.

[0085] When the directional beam Bd is oriented towards the target location Pc, it becomes farther away for other vehicles B3, but closer for other vehicles B1. Compared to the case where the directional beam Bd is oriented towards other vehicles B3 in the first region R1, the received power of other vehicles B3 decreases, while the received power of other vehicles B1 increases. For example, the signal-to-noise ratio (SN ratio) of the received power of other vehicles B3 becomes 10 dB or more, and the SN ratio of the received power of other vehicles B1 also becomes 10 dB or more. Therefore, a certain level of communication quality can be ensured with multiple high-priority other vehicles B1 and B3.

[0086] When the directional beam Bd is directed toward the target position Pc, the controller 110 begins data communication with other high-priority vehicles B1 and B3. Then, the controller 110 recalculates the target position Pc based on the shifting positions of the other vehicles B1 and B3. Finally, the controller 110 controls the azimuth angle of the directional beam Bd based on the updated target position Pc.

[0087] Controller 110 monitors other vehicles B1 and B3 (S24). Monitoring of other vehicles B1 and B3 includes monitoring the current location of other vehicles B1 and B3.

[0088] The controller 110 determines whether other vehicles B1 and B3 meet the conditions for communication via the normal beam Bn. Specifically, if the distance between other vehicles B1 and B3 becomes shorter than a certain determination distance, or if the current position of other vehicles B1 and B3 is within the area of ​​the normal beam Bn, the controller 110 determines that the above conditions are met (S26: "Yes"), and switches the operation mode of the communication unit 100 to the normal mode (S28). On the other hand, if the controller 110 determines that the conditions are not met (step S26: "No"), it continues to monitor other vehicles B1 and B3 (S24).

[0089] Furthermore, preferably, in the absence of communication resources (step S14: "No") or in the absence of a second region R2 (step S16: "No"), the controller 110 performs the directional beam Bd angle control (S22) based on the current position of other vehicles B1 in the first region R1.

[0090] In this embodiment, the controller 110 of the information processing device controls the directionality of the communication unit 100 based on the relative positions and receiving power of each of the target vehicles. By taking into account the relative positions and receiving power of each target vehicle, the directionality of the communication unit 100 can be controlled in a manner that covers communication with multiple target vehicles. As a result, data communication can be performed between multiple target vehicles, and therefore the required information can be received appropriately.

[0091] In this embodiment, other vehicles whose paths include intersections along the future route of this vehicle are exemplified as target vehicles. These other vehicles are highly likely to influence the future travel of this vehicle, therefore it is preferable to treat them as target vehicles. This allows for the appropriate identification of other vehicles that may affect the future travel of this vehicle.

[0092] In this embodiment, the controller 110 of the information processing device controls the directionality of the communication unit 100 based on the priority determined for each target vehicle. Therefore, multiple target vehicles can be selected according to priority, and the directionality of the communication unit 100 can be controlled in a way that covers the desired target vehicles. As a result, data communication can be performed with the desired target vehicles, and thus the required information can be received appropriately.

[0093] In this embodiment, the controller 110 of the information processing device determines the priority of each target vehicle based on the detection results of the target vehicles detected by the object sensor 103. For target vehicles that can be detected by the object sensor 103, the information obtained by the object sensor 103 can be flexibly utilized, thus allowing the target vehicle to be determined as having a low priority for communication. Therefore, the priority of each target vehicle can be appropriately determined by using the detection results of the object sensor 103.

[0094] In this embodiment, the communication unit 100 can adjust its directivity by forming a directional beam Bd. In this case, the controller 110 controls the directivity of the directional beam Bd by adjusting the beam axis Bd1 and the beamwidth Bd2 respectively. Thus, the directivity of the communication unit 100 can be appropriately controlled.

[0095] In this embodiment, the controller 110 of the information processing device determines the centroid position (target position) of the power that the directional beam Bd should be oriented towards based on the relative positions and received power of each target vehicle, and controls the directional beam Bd to be oriented towards the centroid position. Thus, the directional beam Bd can be oriented towards a position where communication with each target vehicle is possible, thereby enabling the appropriate reception of the required information.

[0096] In this embodiment, the controller 110 of the information processing device corrects the center of gravity position so that it aligns with the path the target vehicle will eventually travel. The directional beam Bd can be controlled to align with the path of the target vehicle, thus enabling appropriate communication with the target vehicle.

[0097] In this embodiment, the controller 110 of the information processing device detects the received power by scanning the area around the vehicle A using a directional beam Bd and communicating with the target vehicle. This allows for the appropriate determination of the received power of the target vehicle.

[0098] In this embodiment, the communication unit 100 has a switchable operating mode, which allows control over the directionality of the communication unit and a non-directional normal mode. The normal communication area is the area where data communication can be conducted with the communication unit 100 operating in normal mode. When the communication unit 100 operates in non-directional normal mode, there is a possibility that data communication cannot be effectively conducted with a communication target that can obtain desired information about other vehicles. However, by switching the operating mode of the communication unit 100 to directional mode, the directionality of the communication unit 100 can be controlled for the desired communication target. As a result, data communication with the communication target can be effectively conducted, and therefore, the required information can be appropriately received.

[0099] In the above embodiments, the situation of driving at an intersection is illustrated as a situation that should be noted. However, the situation that should be noted is any situation where there are other vehicles that may affect the future driving of this vehicle, such as when this vehicle is crossing over to another vehicle. For example, it could also be a situation where this vehicle, traveling in the driving lane, changes lanes to the overtaking lane. Other vehicles traveling in the overtaking lane may cross over to this vehicle, and therefore the possibility of affecting future driving is high. Therefore, in the case of lane changing, other vehicles with paths traveling in the overtaking lane along the road that this vehicle is traveling on are identified as target vehicles. Thus, it is possible to appropriately identify other vehicles that may affect the future driving of this vehicle. Furthermore, regarding the overtaking situation, in addition to the situation of overtaking using the overtaking lane, it can also be the situation of overtaking using the oncoming lane.

[0100] Furthermore, preferably, the controller 110 determines the target vehicle when it determines that the vehicle intends to overtake. For example, the controller 110 determines that the vehicle intends to overtake when it detects a permission signal from an occupant. Alternatively, the controller 110 may autonomously determine that the vehicle intends to overtake based on map information, data on vehicles ahead, and conditions such as the presence of an obstacle ahead in the vehicle's lane or a vehicle ahead traveling at a slower speed than the vehicle. In this way, by triggering the overtaking maneuver when the vehicle intends to overtake, the target vehicle can be determined at an appropriate time.

[0101] Furthermore, the situation to be noted is not limited to specific driving conditions. Additionally, when multiple other vehicles requiring communication exist, if a directional beam is formed, communication is only possible with specific other vehicles, thus a general beam is usually formed. However, if other vehicles exist outside the general communication area of ​​the communication unit 100, communication with these other vehicles is impossible. Furthermore, these other vehicles may sometimes affect the future driving of this vehicle. Therefore, by designating other vehicles existing outside the general communication area of ​​the communication unit 100 as target vehicles, even when multiple such target vehicles exist, the directionality of the communication unit 100 can be controlled to cover communication with multiple target vehicles. This allows for appropriate identification of other vehicles that may affect the future driving of this vehicle. For example, the controller 110 can perform scanning control on the directional beam Bd to scan the area around the vehicle, thereby determining the presence and reception strength of other vehicles located outside the general communication area.

[0102] Furthermore, in this embodiment, when a target vehicle is identified, the controller 110 controls the directional beam Bd to point towards the target vehicle. However, the purpose of communication between this vehicle and the target vehicle is to obtain information about target vehicles that may intersect with this vehicle. Additionally, even when the directional beam Bd is formed, depending on the communication environment, there may be situations where vehicle-to-vehicle communication is not possible, such as when there are obstructions between the vehicle and the target vehicle.

[0103] like Figure 8As shown, on the road where this vehicle travels, there are sometimes roadside units 300 that distribute vehicle information. Therefore, when a roadside unit 300 is present that transmits distribution data containing information about the target vehicle, the controller 110 can also control the directional beam Bd to be directed toward the roadside unit 300. For example, if the controller 110 can communicate with the roadside unit 300 during the aforementioned scanning operation, it can determine whether the roadside unit 300 is the one that transmits distribution data containing information about the target vehicle by analyzing the distribution data. In addition, the location information of the roadside unit 300 toward which the directional beam Bd should be directed can be obtained based on the distribution data.

[0104] In this way, the controller 110 can also control the direction of the communication unit 100 toward the roadside unit 300 that sends distribution data containing information related to the target vehicle. This enables reliable data communication with the roadside unit 300, thus allowing appropriate reception of information about target vehicles that are determined to be interleaved. That is, the controller 110 can also treat the roadside unit 300 that sends distribution data containing information about the target vehicle as the target vehicle itself, instead of the target vehicle itself.

[0105] Furthermore, according to the information processing method disclosed in this embodiment, similar to the information processing apparatus, the directionality of the communication unit 100 is controlled based on the relative positions and receiving power of each target vehicle. By taking into account the relative positions and receiving power of each target vehicle, the directionality of the communication unit 100 can be controlled in a manner that covers communication with multiple target vehicles. Therefore, data communication can be performed with multiple target vehicles, and thus the required information can be received appropriately.

[0106] Furthermore, this embodiment shows an example of implementing the multiple information processing circuits of controllers 110 and 210 through software. However, it is also possible to prepare dedicated hardware for performing each information processing step to construct the information processing circuits. Alternatively, multiple information processing circuits can be constructed using separate hardware.

[0107] Embodiments of the present invention have been described above; however, the discussions and drawings that form part of this disclosure should not be construed as limiting the invention. Various alternative embodiments, examples, and application techniques will become apparent to those skilled in the art based on this disclosure.

[0108] Explanation of reference numerals in the attached figures

[0109] A: Vehicle, this vehicle (first mobile body, information processing device); 100: Communication unit; 101: GPS receiver; 102: Map information acquisition unit; 103: Object sensor; 110: Controller; 111: Communication control unit; B: Vehicle, other vehicles (second mobile body, information processing device); 200: Communication unit; 201: GPS receiver; 202: Map information acquisition unit; 203: Object sensor; 210: Controller; 211: Communication control unit; 300: Roadside unit; 400: Base station.

Claims

1. An information processing apparatus including: a communication section mounted on a first mobile body, the communication section being configured to perform data communication with a plurality of second mobile bodies existing around the first mobile body; and a controller configured to control data communication performed by the communication section, the communication section being capable of adjusting a directivity related to wireless communication of the communication section by forming a beam having a directivity, the controller being configured to determine each of a plurality of second mobile bodies whose communication quality with the first mobile body does not satisfy a prescribed criterion as a target mobile body, the controller being configured to determine, for each of the target mobile bodies, a relative position with respect to the first mobile body, the controller being configured to determine, for each of the target mobile bodies, a reception power that is an energy of an electric wave received from the target mobile body, the controller being configured to calculate a center-of-gravity position of powers of electric waves received from the respective target mobile bodies among the plurality of target mobile bodies, on the basis of the relative positions and the reception powers of the respective target mobile bodies, and the controller being configured to control the directivity of the beam toward the center-of-gravity position. 2.The information processing apparatus according to claim 1, wherein the target mobile body is the second mobile body located outside a normal communication area of the communication section, or the second mobile body having a path of traveling along a passing lane of a road on which the first mobile body travels, or the second mobile body having a path that passes through an intersection included in a path on which the first mobile body will travel in the future. 3.The information processing apparatus according to claim 1 or 2, wherein the controller is configured to determine whether the first mobile body is to perform a passing maneuver, and the controller is configured to perform a process of determining the target mobile body in a case where it is determined that the first mobile body is to perform the passing maneuver. wherein 4.The information processing apparatus according to claim 1, wherein the beam formed by the communication section is a beam having a prescribed beam width centered on a beam axis that becomes a prescribed azimuth angle, the controller is configured to adjust the azimuth angle of the axis of the beam in such a manner that the beam is directed toward the center-of-gravity position, and the controller is configured to adjust the width of the beam in such a manner that the reception power from each of the plurality of target mobile bodies is maximized. 5.The information processing apparatus according to claim 1, wherein the controller is configured to correct the center-of-gravity position so that the center-of-gravity position is along paths on which the plurality of target mobile bodies will travel in the future. 6.The information processing apparatus according to claim 1, wherein the controller is configured to detect the reception power by controlling the directivity of the beam and performing communication with the target mobile bodies. 7.The information processing apparatus according to claim 2, wherein the communication section has a directivity mode capable of controlling a directivity related to wireless communication, and a normal mode that does not control a directivity related to wireless communication and performs wireless communication with respect to a pre-set area, as an action mode capable of being switched, and the normal communication area is an area in which data communication can be performed with the communication section acting in the normal mode. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8. The information processing apparatus according to any one of claims 1 to 7, wherein the communication section is capable of data communication with a roadside machine provided on a road on which the first mobile body travels, the controller processes the roadside machine that transmits distribution data containing information about the object mobile body as the object mobile body.

9. The information processing apparatus according to claim 1 or 2, wherein the controller determines a relative speed with respect to the first mobile body for each of the object mobile bodies, the controller decides a priority for each of the object mobile bodies among a plurality of the object mobile bodies based on the relative position and the relative speed of each of the object mobile bodies, the controller controls the directivity of the communication section with respect to wireless communication based on the priority decided for each of the object mobile bodies among a plurality of the object mobile bodies.

10. The information processing apparatus according to claim 9, wherein there is further provided an object sensor for detecting an object around the first mobile body, the controller decides a priority for each of the object mobile bodies among a plurality of the object mobile bodies based on a detection result of the object mobile bodies detected by the object sensor.

11. The information processing apparatus according to claim 1, wherein the barycentric position is a point defined on a line segment connecting a plurality of the object mobile bodies, and is a point at which the line segment is divided at a prescribed ratio.

12. The information processing apparatus according to claim 1, wherein the barycentric position is decided based on a reception power that is an energy of an electric wave received from a plurality of the object mobile bodies and a relative position of a plurality of the object mobile bodies.

13. An information processing method, which is an information processing method of an information processing apparatus, in which the information processing apparatus is provided with: a communication section mounted on a first mobile body, the communication section being for data communication with a plurality of second mobile bodies existing around the first mobile body; and a controller that controls data communication by the communication section, wherein the communication section is capable of adjusting the directivity of the communication section with respect to wireless communication by forming a beam having a directivity, in the information processing method, each of a plurality of the second mobile bodies for which a communication quality with the first mobile body does not satisfy a prescribed criterion is determined as an object mobile body, a relative position with respect to the first mobile body is determined for each of the object mobile bodies, a reception power that is an energy of an electric wave received from the object mobile body is determined for each of the object mobile bodies, a barycentric position of powers of electric waves received from a plurality of the object mobile bodies is found based on the relative position and the reception power of each of the object mobile bodies, the directivity of the beam is controlled toward the barycentric position.

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