Communication device and communication method

Abstract

The communication device (21) is configured so as to be able to communicate with a message including target object information. A communication device (21) is provided with: a grouping unit (31) that determines whether or not to group a plurality of objects sensed using a sensor; a message generation unit (32) that generates, on the basis of the packet, a message including aggregated information for aggregating the plurality of targets into a target group; and a message transmission unit (33) that transmits a message including the aggregated information.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority from Japanese Patent Application No. 2022-88382 filed in Japan on May 31, 2022, and the entire contents are incorporated herein by reference. Technical Field

[0003] The disclosure of this specification relates to a technology for communicating a message including object information. Background Art

[0004] Patent Document 1 discloses communicating a message including information about a single object sensed by a sensor.

[0005] Patent Document 1: Japanese Patent No. 6844642

[0006] For example, in densely populated towns where there are a lot of pedestrians and other road users, the number of objects sensed by sensors is also large. However, when communicating messages containing information about individual objects, the amount of information or the number of messages also increases according to the number of objects, and there is a concern that the communication load and the processing load in message processing will increase. Summary of the invention

[0007] The purpose of the disclosure of this specification is to provide a communication device and a communication method that reduce one or both of the communication load and the processing load in message processing.

[0008] The embodiment disclosed herein is a communication device configured to communicate a message including object information, comprising:

[0009] A grouping unit, which determines whether to group multiple objects sensed by the sensor;

[0010] a message generating unit that generates a message including summary information that summarizes a plurality of objects into an object group based on the grouping; and

[0011] The message sending unit sends a message containing summary information.

[0012] In addition, another disclosed method is a communication method executed by at least one processor for communicating a message containing object information, comprising:

[0013] Decide whether to group multiple objects sensed by the sensor;

[0014] Based on the grouping, generating a message including summary information aggregating the plurality of objects into an object group; and

[0015] Send a message containing summary information.

[0016] According to these methods, the message to be sent includes summary information of a group of objects based on the grouping of a plurality of objects sensed by the sensor. By summarizing the object information that can be gathered into the object group, it is possible to suppress the increase in the amount of information or the number of messages compared to the case where a plurality of objects are sent as individual information. Therefore, it is possible to reduce one or both of the communication load and the processing load in the message processing.

[0017] In addition, another disclosed aspect is a communication device configured to communicate a message including object information, comprising:

[0018] A grouping unit, which determines whether to group multiple objects sensed by the sensor;

[0019] a message generating unit that determines whether to include information of each object and each object group after grouping in the message, removes the object and object group determined not to be included in the message, and generates a message including information of the object and object group determined to be included in the message; and

[0020] The message sending unit sends the generated message.

[0021] According to such a method, the message to be sent is a message in which the object and the object group determined not to be included in the message are removed from the multiple object marks sensed by the sensor. And this judgment is performed on the information of each object mark and each object group after being summarized based on the grouping. That is, by summarizing the object mark information and judging the necessity of sending, it is possible to suppress the increase in the amount of information or the number of messages. Therefore, it is possible to reduce one or both of the communication load and the processing load in the message processing.

[0022] In addition, the reference numerals in parentheses in the claims exemplarily show the correspondence relationship with the parts of the embodiments described later, and do not limit the technical scope. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram showing an example architecture of a V2X communication device.

[0024] Figure 2 is a diagram illustrating an example of a V2X message.

[0025] Figure 3 This is a diagram showing the logical interface for CPS and other layers.

[0026] Figure 4 It is the functional block diagram of CPS.

[0027] Figure 5 It is a diagram showing the basic structure of CPM.

[0028] Figure 6 It is a diagram showing the structure of POC.

[0029] Figure 7 This is a diagram for explaining a method of extracting object marker data.

[0030] Figure 8 This is a diagram for explaining a method of extracting object marker data.

[0031] Fig. 9 It is a diagram of the system structure.

[0032] Fig.10 This is a diagram of the control unit.

[0033] Fig.11 It is a flowchart showing the process of generating and sending CPM.

[0034] Fig.12 Yes means Fig.11 Flowchart of the detailed processing of S3.

[0035] Fig.13 It means next Fig.11 Flowchart of the processing performed.

[0036] Fig.14 Yes means Fig.11 A flowchart of the detailed processing of S4 is shown below.

[0037] Fig.15 Yes means Fig.11 A flowchart of the detailed processing of S6 is shown below.

[0038] Fig.16 Yes means Fig.11 Flowchart of the detailed processing of S3.

[0039] Fig.17 Yes means Fig.11 A flowchart of the detailed processing of S6 is shown below.

[0040] Fig.18 Yes means Fig.11 A flowchart of the detailed processing of S6 is shown below.

[0041] Fig.19 It means in Fig.11 Flowchart of the processing performed before S1. DETAILED DESCRIPTION

[0042] Hereinafter, a plurality of embodiments are described based on the accompanying drawings. In addition, sometimes, by attaching the same reference numerals to the corresponding constituent elements in each embodiment, repeated descriptions are omitted. In the case where only a part of the composition is described in each embodiment, the other parts of the composition can apply the composition of other embodiments described in advance. In addition, not only the combination of the composition explicitly stated in the description of each embodiment, but also the composition of a plurality of embodiments can be partially combined with each other even if it is not explicitly stated, as long as the combination does not particularly cause an obstacle.

[0043] (First Embodiment)

[0044] The communication device disclosed in the present invention is configured to communicate messages containing object mark information. As one embodiment, the communication device is mounted on a vehicle. The communication device can also be called a V2X communication device. The V2X communication device can also perform communication between vehicles, vehicles and bicycles, vehicles and mobile terminals, vehicles and roadside devices, etc. The V2X communication device can be equivalent to a vehicle-mounted device, or it can be included in a vehicle-mounted device. Sometimes the vehicle-mounted device is called an OBU (On-Board Unit).

[0045] The communication device can also correspond to the roadside machine that constitutes the infrastructure, and the roadside machine is sometimes called RSU (RoadSide Unit). The communication device can also serve as an element that constitutes ITS (Intelligent Transport System). When serving as an element of ITS, the communication device can correspond to an ITS site (ITS-S) or be included in ITS-S. ITS-S is a device for exchanging information, and can be any of OBU, RSU, and mobile terminals, and can also be included in these devices. A mobile terminal is, for example, a PDA (Personal Digital Assistant) or a smart phone.

[0046] The communication device may correspond to a WAVE (Wireless Access in Vehicular) device disclosed in accordance with IEEE1609, or may be included in the WAVE device.

[0047] In this embodiment, the communication device is a V2X communication device. The V2X communication device has the function of providing a collective perception service (Collective Perception Service; hereinafter referred to as CPS). In CPS, the V2X communication device communicates a collective perception message (Collective Perception Message; hereinafter referred to as CPM). In addition, even if the communication device is an RSU or a mobile terminal, the same or similar method as disclosed below can be applied.

[0048] <About V2X communication>

[0049] exist Figure 1 An exemplary architecture of a V2X communication device according to an embodiment of the present disclosure is shown. Figure 1 The architecture shown is based on the baseline architecture of ITS-S according to the EU standard. Figure 1 The architecture shown is structured to include an application layer 110 , a device layer 120 , a network & transport layer 140 , an access layer 130 , a management layer 150 , and a security layer 160 .

[0050] The application layer 110 installs or supports various applications 111. Figure 1 , as examples of the application 111, a traffic safety application 111a, an efficient traffic information application 111b, and other applications 111c are shown.

[0051] The device layer 120 supports the execution of various use cases defined in the application layer 110. The device layer 120 can support the same or similar functions as the upper three layers (application layer, presentation layer, and session layer) in the OSI reference model. In addition, the device refers to providing functions, information, and data. The device layer 120 can also provide the functions of a V2X communication device. For example, the device layer 120 can also provide Figure 1 The functions shown include application support 121 , information support 122 , and communication support 123 .

[0052] Application support 121 has the function of supporting a basic application set or message set. An example of a message is a V2X message. V2X messages can include periodic messages such as CAM (Cooperative Awareness Message) and event messages such as DENM (Decentralized Environmental Notification Message). In addition, device layer 120 can also support CPM.

[0053] Information support 122 has the function of providing common data or database used by basic application sets or message sets. An example of a database is a local dynamic map (LDM).

[0054] The communication support 123 has the function of providing services for communication and session management. For example, the communication support 123 provides address mode and session support.

[0055] In this way, the device layer 120 supports an application set or a message set. That is, the device layer 120 generates a message set or a message based on the information that the application layer 110 should send and the service that should be provided. The messages generated in this way are sometimes called V2X messages.

[0056] The access layer 130 has an external IF (InterFace) 131 and an internal IF 132, and can send messages / data received in the upper layer via a physical channel. For example, the access layer 130 can perform data communication or support data communication through the following communication technologies. Communication technologies include, for example, communication technologies based on IEEE802.11 and / or 802.11p standards, ITS-G5 wireless communication technologies based on physical transmission technologies of IEEE802.11 and / or 802.11p standards, 2G / 3G / 4G (LTE) / 5G wireless mobile communication technologies including satellite / broadband wireless mobile communications, broadband terrestrial digital broadcasting technologies such as DVB-T / T2 / ATC, GNSS communication technologies, and WAVE communication technologies.

[0057] The network & transport layer 140 can use various transmission protocols and network protocols to form a vehicle communication network between the same / different types of networks. The transport layer is a connection layer between the upper layer and the lower layer. The upper layer includes the session layer, presentation layer, and application layer 110. The lower layer includes the network layer, data link layer, and physical layer. The transport layer can manage the sent data in a way that it arrives at the destination correctly. At the sending source, the transport layer processes the data into data packets of appropriate size for efficient data transmission. On the receiving side, the transport layer restores the received data packets to the original file. Examples of transmission protocols are TCP (Transmission Control Protocol), UDP (User Datagram Protocol), and BTP (Basic Transport Protocol).

[0058] The network layer can manage logical addresses. In addition, the network layer can also determine the distribution path of the data packet. The network layer can also receive the data packet generated at the transport layer and attach the logical address of the destination to the header of the network layer. The transmission path of the data packet can also consider unicast / multicast / broadcast between vehicles, between vehicles and fixed stations, and between fixed stations. As a network protocol, the geolocation routing communication protocol, mobility support, or IPv6 networking related to the geolocation routing communication protocol can also be considered.

[0059] like Figure 1 As shown, the architecture of the V2X communication device may further include a management layer 150 and a security layer 160. The management layer 150 manages the transmission and interaction of data between management layers. The management layer 150 includes a management information base 151, a restriction management 152, an inter-layer management 153, a site management 154, and an application management 155. The security layer 160 manages the security of all layers. The security layer 160 includes a firewall and intrusion check management 161, an authentication, approval, and configuration file management 162, and a security management information base 163.

[0060] exist Figure 2 V2X message is illustrated. V2X message can also be called ITS message. V2X message can be generated in application layer 110 or device layer 120. Specific examples of V2X message are CAM, DENM, CPM.

[0061] The transport layer in the network & transport layer 140 generates a BTP data packet. The network layer in the network & transport layer 140 can encapsulate the BTP data packet to generate a geolocation routing protocol data packet. The geolocation routing protocol data packet is encapsulated as an LLC (Logical Link Control) data packet. Figure 2 In the example above, data can also contain message sets. Message sets are, for example, basic security messages.

[0062] BTP is a protocol for sending V2X messages generated in the device layer 120 to the lower layer. BTP headers are of type A and type B. A type BTP header includes the destination port and the source port required for sending and receiving in bidirectional data packet transmission. A type BTP header can include the destination port and destination port information required for transmission in non-bidirectional data packet transmission.

[0063] The fields included in the BTP header are described. The destination port identifies the device entity corresponding to the destination of the data (BTP-PDU) included in the BTP packet. The BTP-PDU is the unit transmission data in BTP.

[0064] The transmission source port is a field generated in the case of the BTP-A type. The transmission source port indicates the port of the protocol entity of the device layer 120 at the transmission source of the corresponding data packet. This field can have a size of 16 bits.

[0065] The destination port information is a field generated in the case of BTP-B type. It provides additional information when the destination port is a well-known port. This field can have a size of 16 bits.

[0066] The geographic location routing communication protocol data packet includes a basic header and a common header according to the network layer protocol, and selectively includes an extended header according to the geographic location routing communication protocol mode. The geographic location routing communication protocol header is described below.

[0067] LLC packets are packets with an LLC header attached to a geolocation protocol packet. The LLC header provides a function to distinguish IP data from geolocation protocol data for transmission. IP data and geolocation protocol data can be distinguished based on the Ethernet type of SNAP (Subnetwork Access Protocol).

[0068] When transmitting IP data, the Ethernet type may be set to x86DD and included in the LLC header. When sending geolocation routing protocol data, the Ethernet type may be set to 0x86DC and included in the LLC header. The receiver confirms the Ethernet type field of the LLC data packet header and can forward the data packet to the IP data path or the geolocation routing protocol path and process it according to the value of the Ethernet type field of the LLC data packet header.

[0069] The LLC header contains DSAP (Destination Service Access Point) and SSAP (Source Service Access Point). The LLC header contains a control field ( Figure 2 Control), protocol ID, and Ethernet type.

[0070] V2X communication devices can also provide various services for traffic safety and traffic efficiency. One of the services may also be a cooperative awareness (CA (Cooperative Awareness)) service. Cooperative awareness in road traffic means that road users and roadside infrastructure can understand each other's position, dynamics and attributes. Road users refer to all users on and around the road for traffic safety or control, such as cars, trucks, motorcycles, bicycles, pedestrians, etc., and roadside infrastructure refers to equipment such as road signs, traffic lights, partitions, and entrances. Among them, pedestrians, people moving in wheelchairs, etc. can be said to be vulnerable road users.

[0071] Identification of each other is the basis for applications such as traffic safety and traffic efficiency. Mutual identification can be performed through regular information exchange between road users such as between vehicles (V2V), between vehicles and infrastructure (V2I), between infrastructure and vehicles (I2V), and between all objects and all objects (X2X) based on a wireless network called a V2X network.

[0072] In applications for cooperative safe driving and traffic efficiency, it is required to develop the recognition of the situation around the V2X communication device, including the presence and behavior of road users. For example, the V2X communication device can recognize the situation through its own sensors and communication with other V2X communication devices. In this case, the CA service can specify the method of notifying its own position, behavior, and attributes by sending CAM by the V2X communication device.

[0073] In this way, in CA services, the V2X communication device can assist traffic safety by regularly providing its own position and status to surrounding V2X communication devices. However, in CA services, there is a limitation that only the information of the corresponding V2X communication device itself can be shared. In order to overcome this limitation, service development such as CPS124 is needed.

[0074] <CPS and CPM>

[0075] CPS 124 can specify the method by which a V2X communication device notifies other V2X communication devices of the detected positions, behaviors, and attributes of surrounding road users and other objects. For example, CPS 124 can share the information contained in CPM with other V2X communication devices by sending CPM. In addition, CPS 124 can also be a function that can be added to all types of object information communication devices participating in road traffic.

[0076] CPM is a message exchanged between V2X communication devices via the V2X network. CPM can be used to generate a collective perception of road users and other objects detected and / or identified by the V2X communication device. The identified road users or objects may also be road users or objects that do not have a V2X communication device, but are not limited to this.

[0077] As described above, the V2X communication device that shares information via the CAM only shares information related to the V2X communication device's own recognition status with other V2X communication devices for collaborative perception. In this case, road users who do not have a V2X communication device are not part of the system, so their understanding of situations related to safety and traffic management is limited.

[0078] As a method to improve this situation, it is considered that a system capable of identifying road users and objects equipped with V2X communication devices and road users and objects not equipped with V2X communication devices may notify the existence and status of road users and objects not equipped with V2X communication devices to other V2X communication devices. In this way, since CPS124 collaboratively identifies the existence of road users and objects not equipped with V2X communication devices, it is possible to easily improve the safety and traffic management performance of the system equipped with V2X communication devices.

[0079] like Figure 3 As shown, CPS 124 may also be an entity of the device layer 120 that enables the CPM protocol to operate. For example, CPS 124 may also be a part of the application support domain of the device layer 120.

[0080] CPS 124 can provide two services, for example, CPM transmission and reception. CPS 124 can also be fundamentally different from CA services in that it cannot receive input data related to the host V2X communication device from VDP (Vehicle Data Provider) 125 and POTI (position and time) unit 126.

[0081] The transmission of CPM includes the generation and transmission of CPM. In the process of generating CPM, the V2X communication device of the transmission source generates CPM, and then the CPM is sent to the network & transport layer 140 for transmission. The V2X communication device of the transmission source may also be referred to as the transmission source V2X communication device, the host V2X communication device, etc.

[0082] In order to collect relevant information for CPM generation and distribute the received CPM content for additional processing, CPS 124 may also connect with other entities in the device layer 120 and V2X applications in the device layer 120. In the V2X communication device, the entity used for data collection may be a function that provides object detection in a host object detector.

[0083] Furthermore, in order to distribute (or send) CPM, CPS 124 may also use services provided by protocol entities of the network & transport layer 140. For example, in order to exchange CPM with other V2X communication devices, CPS 124 may also be connected to the network & transport layer 140 through NF-SAP. NF-SAP is a service access point between the network & transport layer 140 and the device layer 120.

[0084] Furthermore, in order to access the security service to send and receive CPM, CPS124 may also be connected to the security entity through the SAP between the security layer 160 and the device layer 120, namely, SF-SAP. In addition, CPS124 may also be connected to the management entity through the SAP between the management layer 150 and the device layer 120, namely, MF-SAP. In addition, when CPS124 directly provides the received CPM data to the application, it may also be connected to the application layer 110 through the SAP between the device layer 120 and the application layer 110, namely, FA-SAP.

[0085] The distribution of CPM may differ depending on the communication system used. For example, in the ITS-G5 network defined by ETSI EN 302 663, CPM may be directly transmitted from the V2X communication device of the transmission source to all V2X communication devices within the communication range. Since the transmission power is changed according to the relevant area, the communication range may be affected in particular by the V2X communication device of the transmission source.

[0086] Furthermore, CPM may be generated periodically at a frequency controlled by CPS 124 in the V2X communication device of the transmission source. The generation frequency may also be determined by the radio channel load determined by the distributed congestion control. In addition, the state of the detected non-V2X object, such as the dynamic behavior of the position, speed or direction, and the transmission of CPM of the same perceived object by other V2X communication devices may also be considered to determine the generation frequency.

[0087] Furthermore, if the V2X communication device on the receiving side receives the CPM, the content of the CPM can be used in the functions in the V2X communication device on the receiving side, such as the V2X application and / or LDM 127, through CPS 124. For example, LDM 127 is sometimes updated with the received CPM data. The V2X application can also extract the information from LDM 127 for additional processing.

[0088] like Figure 4 As shown, CPS124 can provide the following sub-functions for CPM transmission and reception. The CPM encoding unit 1241 constructs or generates CPM according to a predefined format. There is a case where the latest vehicle-mounted data is included in the CPM. The CPM decoding unit 1242 decrypts the received CPM. The CPM transmission management unit 1243 executes the protocol action of the V2X communication device of the transmission source. The actions that can be executed in the CPM transmission management unit 1243 include the start and end of the CPM transmission action, the determination of the CPM generation frequency, and the triggering of CPM generation. The CPM reception management unit 1244 can execute the protocol action of the receiving side V2X communication device. Specifically, it can include the triggering of the CPM decoding function in CPM reception, the provision of the received CPM data to the LDM127 or the V2X application of the receiving side V2X communication device, the information check of the received CPM, etc.

[0089] The modulation and coding scheme (MCS) in CPM affects the resulting channel usage. In scenarios that require larger data packets, using a higher MCS increases bandwidth efficiency and eases channel congestion. For example, the modulation scheme can be QAM16 or higher.

[0090] Next, the distribution of CPM is described in detail. Specifically, the requirements for CPM distribution, the start and end of CPS124, CPM trigger conditions, CPM generation cycle, constraints, etc. are described. CPM distribution can use point-to-multipoint communication specified by ETSI EN302 663. For example, when ITS-G5 is used for the distribution of CPM, a control channel (G5-CCH) can also be used. CPM generation can be triggered and managed by CPS124 during the operation of CPS124. CPS124 can be started together with the start of the V2X communication device and can be ended when the V2X communication device ends.

[0091] The host V2X communication device can send CPM whenever it detects at least one object with sufficient reliability that needs to be exchanged with a nearby V2X communication device. Regarding the inclusion of detected objects, CPS should consider the trade-off between the life of the object and the channel utilization. For example, from the perspective of an application that uses the information received by CPM, it is necessary to provide information that is updated as frequently as possible. However, from the perspective of the ITS-G5 stack, it is necessary to minimize channel utilization, so a lower transmission cycle is required. Therefore, it is preferred that the V2X communication device take this into consideration and appropriately include the detected objects and object information in the CPM. The transmission period (also called T_GenCpm) can be limited to a range greater than 100ms and less than 1000ms. The transmission period can also be changed dynamically, in which case the transmission period can also be called a transmission interval. In addition, in order to reduce the message size, it is necessary to send after the object is evaluated.

[0092] <CPM Structure>

[0093] exist Figure 5 The structure of CPM is shown. As described above, CPM may be a message exchanged between V2X communication devices in a V2X network. In addition, CPM may also be used to generate a collective perception of road users and / or other objects detected and / or perceived by the V2X communication device. That is, CPM may also be an ITS message for generating a collective perception of objects detected by the V2X communication device.

[0094] CPM may also include status information and attribute information of road users and objects detected by the source V2X communication device. The content may vary depending on the type of road users or objects detected and the detection performance of the source V2X communication device. For example, when the object is a vehicle, the status information may at least include the actual time, location, and information related to the motion state. The attribute information may include attributes such as size, vehicle type, and role in road traffic.

[0095] CPM can also supplement CAM and play the same role as CAM. That is, it can also be used to improve collaborative recognition. CPM can also include information about detected road users or objects that can be observed from the outside. CPS124 can also include a method to reduce the duplication or repetition of CPMs sent by different V2X communication devices by confirming CPMs sent by other stations.

[0096] By receiving CPM, the V2X communication device on the receiving side can identify the existence, type and status of the road user or object detected by the V2X communication device of the transmitting source. The received information can be used by the V2X communication device on the receiving side to support V2X applications for improving safety, traffic efficiency and travel time. For example, the V2X communication device on the receiving side can estimate the risk of collision with the road user or object by comparing the received information with the status of the detected road user or object. In addition, the V2X communication device on the receiving side can also notify the user via the human-machine interface (HMI) of the V2X communication device on the receiving side, and can also automatically take corrective measures.

[0097] Reference Figure 5 The general format of CPM is described. This format can also be indicated as ASN (Abstract Syntax Notation).1. Data elements (DE) and data frames (DF) not defined in this disclosure can be derived based on the common data dictionary specified by ETSI TS102 894-2. Figure 5 As shown, the CPM may include a common ITS protocol unit header / ITS packet data unit (hereinafter referred to as ITS PDU header) and multiple containers.

[0098] The ITS PDU header is a header containing information related to the protocol version, message type, and the ITS ID of the V2 communication device of the sender. The ITS PDU header is a common header used in ITS messages and exists at the beginning of the ITS message. The ITS PDU header is also called a common header.

[0099] The plurality of containers may include a management container, a station data container, a sensor information container, a perceived object container, and a free space addendum container.

[0100] The sensor information container is also sometimes called the field-of-view container. The field-of-view information container is also sometimes recorded as FOC. The perception object container is also recorded as POC. CPM may also include a management container as a required container, and use a site data container, a sensor information container, a perception object container, and a free space ancillary container as arbitrary containers. The sensor information container, the perception object container, and the free space ancillary container may also be multiple containers. The upper limit of the sensor information container, the perception object container, and the free space ancillary container that can be included in one CPM message may be set identically or independently. The upper limit of the number of containers may be, for example, 128.

[0101] Each container is described below. DF represents a data frame and DE represents a data element. Each container is composed of a sequence of optional or required DE and / or DF.

[0102] The management container provides basic information about the source ITS-S, regardless of whether it is a vehicle or roadside station. In addition, the management container can contain the station type, the reference position, and optionally information about the current message segment. The station type indicates the type of ITS-S. The reference position is the position of the source ITS-S. The information related to the message segment describes the segmentation information when the CPM is segmented into multiple messages due to message size constraints.

[0103] In addition to the common information provided by the management container, the site data container also provides more specific information related to the ITS-S of the originating source. When the ITS-S of the originating source is a vehicle, the site data container includes an originating vehicle container (Originating Vehicle Container; hereinafter referred to as OVC). The OVC may contain information that overlaps with the CAM to a certain extent. The ITS-S that receives the CPM from the originating source also receives the CAM from the same originating source. In addition, the OVC may include additional parameters that are not provided by the CAM. The additional optional parameters may include at least one of the vehicle heading angle, pitch angle, roll angle, vehicle height, and trailer data.

[0104] When the originating ITS-S is an RSU, an originating RSU container is included. The originating RSU container includes an ID related to the road or intersection where the RSU exists. The originating RSU container may include optional parameters for referencing the road infrastructure provided by the road lane topology service.

[0105] The sensor information container lists information related to each sensor installed on the vehicle or RSU to detect surrounding objects. In the case where the V2X communication device is equipped with multiple sensors, it is possible to add multiple sensor information containers. All sensors recorded in the sensor information container are attached with temporary IDs (sensor IDs) used sequentially in the perception object container in order to associate the perceived object information with a specific sensor.

[0106] The DF of each sensor information may include a sensor type indicating the type of sensor system. It may be a specific sensor type of the type of fused target information formed by fusion of multiple sensors. For example, different types of sensors such as radar, LiDAR, and composite sensor fusion systems can be installed in the ITS-S. Therefore, the sensor information container provides different possibilities for describing the characteristics of the sensor system.

[0107] The vehicle sensor description DF is used to describe sensors installed on mobile stations such as vehicles. The stationary sensor variant DF is used to describe stationary sensors installed on RSUs. In this way, the descriptions of the two sensor types can be different. Either sensor type can be used to describe the inspection performance of the ITS-S. This can be an actual parameter of the perception system. The actual parameter can be, for example, the actual perception range or the perception area where the perception system can be applied, that is, the area where the object is detected by the perception system.

[0108] Sensor type indicates the type of sensor. The following lists the types of sensors. The numbers in parentheses are flags corresponding to the types. For example, the sensor types are undefined (0), radar (1), LiDAR (2), mono video (3), stereo vision (4), night vision (5), ultrasonic (6), pmd (7), fusion (8), induction loop (9), spherical camera (10), and a combination of these (11). Pmd is photo mixing device. A spherical camera is also called a 360-degree camera.

[0109] The perceived object container is used to record objects sensed by sensors associated with the V2X communication device of the transmission source. The perceived object container can be added to all objects sensed by ITS-S. The perceived object container can also provide classification and position consistent with road data.

[0110] Figure 6 Table 1 is a configuration example of a perception object container in CPM. DF and DE defined in the perception object container will be described with reference to Table 1.

[0111] The object ID shown in Table 1 is an identifier assigned to a detected object. The object ID is constant as long as the object is sensed by the distributed ITS-S.

[0112] The sensor ID list is a list of sensor IDs that provide measurement data, and the sensor ID of the sensor information container is referenced through this list.

[0113] The measurement time provides the time difference from the message's delta time to the measurement time. A negative value indicates that the state of the specified object is after the delta time was calculated, i.e., after the most recent ITS-S position update used to calculate the delta time.

[0114] Object age provides the elapsed time of the object being detected and recorded.

[0115] Object reliability is the reliability associated with an object. Object reliability indicates the reliability of the existence of an object and its characteristics. The value of object reliability can be expressed by a value of 1 to 100 representing a percentage. When the value of object reliability is 0, it can be indicated that the reliability of the object is unknown. When the value of object reliability is 101, it can be indicated that the reliability cannot be calculated and the required reliability level defined according to the corresponding standard of the applied DE cannot be applied.

[0116] The absolute distance is the absolute distance from the reference point of the ITS-S at the time of measurement to the detection target. The absolute distance can be provided by three DFs: x distance, y distance, and z distance. The x distance is the absolute distance in the x direction from the reference point of the ITS-S at the time of measurement to the detection target. The y distance is the absolute distance in the y direction from the reference point of the ITS-S at the time of measurement to the detection target. The z distance is the absolute distance in the z direction from the reference point of the ITS-S at the time of measurement to the detection target. When the ITS-S is a vehicle, the x direction, y direction, and z direction are based on the coordinate system specified by ISO 8855. When the ITS-S is an RSU, a coordinate system is used in which y represents the north, x represents the east, and z represents the vertical direction.

[0117] Relative speed is the relative speed of the detection target from the reference point of the ITS-S during measurement. The relative speed can be provided by three DFs: x speed, y speed, and z speed. The x speed is the relative speed of the detection target in the x direction from the reference point of the ITS-S during measurement. The y speed is the relative speed of the detection target in the y direction from the reference point of the ITS-S during measurement. The z speed is the relative speed of the detection target in the z direction from the reference point of the ITS-S during measurement.

[0118] Relative acceleration is the relative velocity of the detection target from the reference point of the ITS-S during measurement. Relative acceleration can be provided by three DFs: x acceleration, y acceleration, and z acceleration. x acceleration is the relative acceleration of the detection target in the x direction from the reference point of the ITS-S during measurement. y acceleration is the relative acceleration of the detection target in the y direction from the reference point of the ITS-S during measurement. z acceleration is the relative acceleration of the detection target in the z direction from the reference point of the ITS-S during measurement.

[0119] The yaw angle is the relative yaw angle of the object from the reference point of the ITS-S. When the ITS-S is a vehicle, the yaw angle is based on the x direction of the vehicle in the coordinate system specified by ISO 8855. In the case of an RSU, the yaw angle is measured by a positive value that takes into account the direction of the object rotating counterclockwise from the x direction in a coordinate system where y represents north, x represents east, and z represents the vertical direction. The reliability of the yaw angle can be described based on a 95% reliability level predefined for the component.

[0120] The size is the size of the target object provided by the sensor or the environmental model. The size can be provided by three DFs: the first plane size, the second plane size, and the vertical size. The first plane size is the initial size of the target object provided by the sensor or the environmental model. The first plane size is always contained in a plane that is perpendicular to the direction of the angle indicated by the yaw angle and contains the reference point of the target object. The second plane size is the second size of the target object provided by the sensor or the environmental model. The second plane size is always contained in a plane that contains the yaw angle and the direction of the angle indicated by the reference point of the target object. The vertical size is the vertical size of the target object provided by the sensor or the environmental model. The size can be described with a 95% reliability level pre-defined for the component. The size value of the target object that can be estimated as the average of the current distribution and the size accuracy associated with the specified value can be stored in the DF of the size.

[0121] The reference point is the reference point of the detected object that provides the measurement data. If the reference point of the object cannot be determined, the reference point is regarded as the center point of the detected object. The reference point is contained in a plane perpendicular to the direction of the yaw angle.

[0122] Dynamic state is the classification of the sensed object corresponding to the ability to move. Dynamic state indicates whether the detected object is classified as a dynamic object. In the case where the value is 0, the dynamic state indicates that the object is generally moving. In the case where the value is 1, the dynamic state indicates that the object was dynamic in the past. In the case where the value is 2, the dynamic state indicates that the object has not moved in the past observation.

[0123] Classification provides a classification of the described object. Multi-dimensional classification can be provided together with reliability. Classification is performed with a constant reliability. The classified DF can contain the category that best describes the detected object. Each category can provide optional sub-categories and the reliability associated with the sub-category.

[0124] Objects can be classified into five categories: unknown, vehicle, person, animal, and others. That is, the category needs to be set to any one of vehicle, person, animal, and others. In the vehicle, as a sub-category type, unknown (0), moped (1), motorcycle (2), car (3), bus (4), light truck (5), heavy truck (6), trailer (7), special vehicle (8), tram (9), emergency vehicle (10), and agricultural vehicle (11) can be recorded. The number in the brackets here is the value of the flag stored as the sub-category value.

[0125] In the case of people, as sub-category types, unknown (0), pedestrian (1), person moving in a wheelchair (2), cyclist (3), person moving on foot with a baby stroller (4), person moving on a scooter or the like (5), and group of people (6) can be described. The numbers in parentheses here are the values ​​of the flags stored as the values ​​of the sub-category.

[0126] The map matching position is an optionally provided map matching position of an object. The map matching position may be a position on the LDM of the object. The DF of the map matching position may also provide a lane ID and a longitudinal lane position indicating a lane on the road where the object exists.

[0127] The free space additional container is a container for free space information (i.e., free space information) identified by the V2X communication device of the transmission source. Free space is an area that is not occupied by road users or obstacles, and can also be called vacant space. Free space can also be called a space where a mobile body that moves with the V2X communication device of the transmission source can move.

[0128] exist Figure 7 , 8 , the sensor data extraction of the V2X communication device providing CPS124 is schematically shown. More specifically, Figure 7 A method for a V2X communication device to extract sensor data at a low level is shown. Figure 8 A method for a V2X communication device to extract sensor data at a high level is shown.

[0129] The source of the sensor data sent as part of CPM needs to be selected based on the requirements of the future data fusion process in the V2X communication device on the receiving side. In general, the data sent should be as close to the original sensor data as possible. However, simply sending the original sensor data, such as raw data, is not realistic. This is because the data rate and transmission period are very high.

[0130] Figure 7 as well as Figure 8 An embodiment that can be used to select data to be sent as part of a CPM is shown. Figure 7 In an embodiment, sensor data is acquired from different sensors and processed as part of a low-level data management entity. This entity is able to select object data to be inserted as part of the next CPM and, in addition, is able to calculate the validity of detected objects. Figure 7 In order to transmit the data of each sensor, the amount of data transmitted via the V2X network increases. However, the V2X communication device on the receiving side can efficiently utilize the sensor information.

[0131] exist Figure 8 In an implementation manner, sensor data or object data provided by a data fusion unit inherent to the manufacturer of the V2X communication device is sent as part of the CPM.

[0132] exist Figure 8 In the V2X communication, the amount of data transmitted through the V2X network is small because the integrated sensor data is transmitted through the data fusion unit. However, it has the disadvantage of being dependent on the collection method of the V2X communication device that collects sensor information. In addition, there is the possibility that different data fusion processes are implemented depending on the manufacturer.

[0133] <System Configuration Example>

[0134] The configuration of the system 20 for implementing ITS-S is as follows: Fig. 9 The system 20 may be an in-vehicle system or a roadside system. The communication device 21 included in the system 20 has the functions and configurations described below in addition to the functions and configurations of the communication devices such as the V2X communication device described so far.

[0135] The system 20 is configured to include a sensor 40, an object detection unit 41, a road data storage unit 42, and a communication device 21. When the system 20 is a vehicle-mounted system, the system 20 may be configured to further include a self-position estimation unit 43. The sensor 40 is provided for detecting and sensing an object. When the system 20 is a vehicle-mounted system, the sensor 40 is mounted on the vehicle. Multiple sensors 40 may be provided in one vehicle. When the system 20 is a roadside system, the sensor 40 is fixed to a road, a building, a pole, etc., and one or more sensors 40 are provided. The sensor 40 may be a camera, a millimeter wave radar, a sonar, a LiDAR, etc.

[0136] Objects can include dynamic objects and static objects. Dynamic objects include, for example, four-wheeled vehicles, two-wheeled vehicles such as motorcycles, pedestrians, and animals. Static objects include, for example, sign towers, triangular display boards, telephone poles, and fallen objects.

[0137] The object detection unit 41 acquires a signal containing information of sensor data from the sensor 40, and detects various object targets existing around the sensor 40. The object detection unit 41 can be implemented by a dedicated computer. The dedicated computer can have at least one memory and one processor. The memory can be a non-migrating physical storage medium that non-temporarily stores programs and data that can be read by the processor. For example, a rewritable volatile storage medium such as RAM (Random Access Memory) can also be set as the memory.

[0138] The information of the object detected and sensed by the sensor 40 and the object detection unit 41 is associated with the information required for generating the CPM, i.e., the sensor ID and other information contained in the sensor information container, and provided to the communication device 21. In addition, the object detection unit 41 may be included in the sensor 40 itself as a component of the sensor 40.

[0139] The road data storage unit 42 stores and stores road map data. The road data storage unit 42 can be implemented by a database having a storage medium. The road map data is data that represents the shape of the road. The road map data can include high-precision map data. The road map data can include LDM data. The road map data can be data that can distinguish lanes of the road. The road map data can be configured to be updated based on updated map data distributed from a road map distribution center.

[0140] The own position estimation unit 43 estimates the own position of the vehicle equipped with the system 20. For example, the own position estimation unit 43 has a GNSS (Global Navigation Satellite Systems) receiver that receives navigation signals sent by navigation satellites provided by the GNSS. The own position estimation unit 43 estimates the current own position in sequence based on the navigation signals received by the GNSS receiver. The current own position is represented by coordinates including latitude and longitude. In addition, the coordinates may include altitude. For example, the current own position may be used to determine the reference point of the above-mentioned ITS-S.

[0141] The communication device 21 is configured to be able to wirelessly communicate with other communication devices. The other communication devices may be other ITS-Ss, or may be V2X communication devices mounted on other ITS-Ss. The other communication devices may be V2X communication devices mounted on other vehicles, or may be V2X communication devices mounted on RSUs.

[0142] The communication device 21 can be realized by a DSRC (dedicated short range communications) communicator, a cellular V2X (C-V2X) communicator, etc. The communication device 21 includes a communication circuit 22 and a control unit 23 .

[0143] The communication circuit 22 is configured to include a modulation circuit, a demodulation circuit, and an amplifier circuit. The communication circuit 22 modulates and amplifies the message provided by the control unit 23 and transmits it from the antenna 22a. In addition, the communication circuit 22 demodulates and amplifies the message received by the antenna 22a and provides it to the control unit 23. The frequency used for communication can be, for example, a 5 GHz band or a 700 MHz band. In the case where the communication device 21 is a V2X communication device, the communication performed by the communication device 21 is V2X communication.

[0144] The control unit 23 controls the communication device 21. Fig.10As shown, the control unit 23 can be implemented by a dedicated computer 24. The dedicated computer 24 constituting the control unit 23 can also have at least one memory 24a and a processor 24b. The memory 24a can be at least one non-migrating physical storage medium such as a semiconductor memory, a magnetic medium, and an optical medium, which non-temporarily stores programs and data that can be read by the processor 24b. In addition, for example, a rewritable volatile storage medium such as RAM (Random Access Memory) can also be set as the memory 24a. The processor 24b, for example, includes at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer)-CPU as a core.

[0145] The control unit 23 includes a message acquisition unit 30 , a grouping unit 31 , a message generation unit 32 , and a message transmission unit 33 , which are functional blocks implemented by the processor 24 b executing a program.

[0146] The message acquisition unit 30 acquires messages sent by other communication devices via the antenna 22a and the communication circuit 22. The messages sent by other communication devices are CAM, CPM, DENM, etc. CPM may include at least one of information on an object detected by a sensor installed in a vehicle or RSU equipped with other communication devices, and information on a detected object further obtained by the vehicle or RSU from other vehicles or RSUs.

[0147] When the communication device 21 is installed in a vehicle, the message obtained by the message acquisition unit 30 can be provided to other systems in the same vehicle through the in-vehicle network. The in-vehicle network can be, for example, Ethernet, CAN (Controller Area Network), LIN (Local Interconnect Network), CXPI (Clock Extension Peripheral Interface), FlexRay, MOST (Media Oriented Systems Transport). Ethernet, CAN, CXPI, FlexRay, and MOST are registered trademarks. In addition, the message obtained by the message acquisition unit 30 is provided to the grouping unit 31.

[0148] The grouping unit 31 determines whether to group the plurality of objects based on at least one of the object information provided by the message acquisition unit 30 and the object information provided by the object detection unit 41. The determination may include determining to allocate the plurality of objects to one or more groups. One object group generated by grouping may be composed of two or more arbitrary objects. The maximum number of objects that can be included in one object group generated by grouping may be set based on the constraints of the message format.

[0149] The multiple objects mentioned here are multiple objects sensed by sensors. The multiple objects sensed by sensors may include objects sensed by sensors 40 provided by the system 20. The multiple objects sensed by sensors may include objects sensed by sensors that are not provided by the system 20 and are mounted on a vehicle or RSU equipped with the communication device 21, and the sensors are sensors that can obtain sensor data through a network. In addition, the multiple objects sensed by sensors may include objects sensed by sensors provided on vehicles or RSUs equipped with other communication devices, and the objects are objects for which information is provided through messages received from other communication devices.

[0150] The grouping unit 31 can implement grouping based on pre-defined grouping conditions. The grouping conditions are used in common between ITS-Ss that send and receive CPM. Multiple grouping conditions can be specified. In this case, the grouping unit 31 can select a grouping condition to be adopted from multiple grouping conditions based on the road environment, communication congestion conditions, etc. The grouping condition can also be called a summary condition of the detected objects, or simply a summary condition. In addition, the grouping condition can also be positioned as a kind of redundancy mitigation rule (Redundancy Mitigation Rules) for reducing the message size of CPM.

[0151] One grouping condition may be one of the multiple conditions described below. On the other hand, one grouping condition may be a condition that is a combination of the multiple conditions described below. Hereinafter, the process of setting a grouping object may include the process of setting a candidate for a grouping object, and includes the process of removing a grouping object from the final grouping by combining with other conditions.

[0152] The grouping conditions may include conditions related to the positions of the object markers. For example, the grouping unit 31 may group the two object markers when the absolute distance between the two object markers is less than a predetermined distance. The grouping unit 31 may remove the two object markers from the grouping targets when the absolute distance between the two object markers is greater than a predetermined distance.

[0153] Here, the absolute distance may be calculated by referring to at least one of the distance of the target object provided by the target object detection unit 41 and the information of the absolute distance of the inspection target object container in the CPM received from other communication devices. The value of the prescribed distance may adopt a unique prescribed value. In addition, the value of the prescribed distance may also be changed according to the runway environment, communication congestion, etc. On the other hand, the grouping condition may not include the condition related to the position of the target object.

[0154] The grouping condition may include a condition related to the type of the object. The type of the object may be a category or a subcategory in the classification of CPM. For example, the grouping unit 31 may take multiple objects of the same category as the objects of grouping. The grouping unit 31 may remove multiple objects of different categories from the objects of grouping. Multiple objects of the same category but different subcategories may be taken as the objects of grouping. Multiple objects of the same category but different subcategories may also be removed from the objects of grouping. On the other hand, the grouping condition may not include a condition related to the type of the object.

[0155] The conditions related to the position of the object and the conditions related to the type of the object can be applied in combination. For example, the grouping unit 31 can treat the two object markers as objects for grouping when the absolute distance between the two object markers is below the specified distance and the two object markers are of the same type. The grouping unit 31 can remove the two object markers from the objects for grouping even if the absolute distance between the two object markers is below the specified distance and the two object markers are of different types. In addition, the specified distance here is a preset threshold value, and a common value can be used between vehicles and RSUs performing V2X communication. The specified distance can also be a value that varies depending on the type (e.g., category, subcategory) of the object marker that is the object of grouping. For example, the first distance can be used as the specified distance when the object marker that is the object of grouping is a pedestrian, and the second distance can be used as the specified distance when the object marker is a vehicle. The second distance can be smaller than the first distance. The second distance can also be larger than the first distance.

[0156] The grouping conditions may include conditions related to the identity of the sensors. For example, the grouping unit 31 may take multiple object marks sensed by the same sensor as the objects of grouping. The grouping unit 31 may remove object marks sensed by different sensors from the objects of grouping. The determination of whether the sensors are the same sensor may be implemented with reference to the sensor ID in the sensor information container of the CPM. For example, in the case where two vehicles are equipped with cameras of the same model (or specification), the two cameras may be processed as different sensors. That is, the multiple object marks sensed by only one of the two cameras may be taken as the objects of grouping.

[0157] In addition, the grouping unit 31 may group multiple objects sensed by the same type of sensor. The grouping unit 31 may exclude objects sensed by different types of sensors from the grouping targets. Whether the types of sensors are the same may be determined by referring to the sensor type in the sensor information container of the CPM.

[0158] In addition, the grouping unit 31 may group a plurality of objects of the same type sensed by the same sensor. On the other hand, the grouping conditions may not include conditions related to the identity of the sensors.

[0159] The grouping condition may include a condition related to the behavior of the object. The condition related to the behavior of the object may be a condition related to the similarity of the behavior. The similarity of the behavior may be determined based on the dynamic state, moving direction, instability of the moving direction, speed, acceleration, and a combination thereof of the object.

[0160] For example, for a plurality of objects whose speeds are limited to a predetermined common speed range and whose moving directions are limited to a predetermined common angle range, the similarity of the behaviors is confirmed. In the case where the common speed range is a range showing a smaller speed including the speed 0, the moving direction may not be included in the parameters for determining the similarity of the behaviors.

[0161] The grouping unit 31 may group a plurality of objects whose behaviors are confirmed to be similar. The grouping unit 31 may exclude a plurality of objects whose behaviors are not confirmed to be similar or whose behaviors are confirmed to be different from the objects to be grouped.

[0162] Here, a more specific example is given for grouping using similarity of behavior. For example, in a densely populated town, when a crosswalk changes from a stop signal (e.g., red light) to a go signal (e.g., green light), a large number of pedestrians begin to cross the crosswalk together. In this case, it is confirmed that a large number of pedestrians have similar behaviors related to speed and direction of movement. On the other hand, there are cases where the distance between pedestrians at both ends is far apart and it is not suitable to be aggregated into one object group. In this case, it is also possible to try to use other elements to cluster a large number of pedestrians into two or more object groups.

[0163] For example, the grouping unit 31 may detect whether there is a gap between a large number of pedestrians, and cluster the large number of pedestrians into two or more object groups using the gap as a boundary. Other elements may be subcategories of pedestrians in the classification of CPM objects, similarities of pedestrians' clothing, etc. On the other hand, the grouping conditions may not include conditions related to the behavior of objects.

[0164] The grouping condition may include a condition related to the importance of the object. The importance of the object may be set according to the possibility that a vehicle that is assumed to receive a message containing the object information will collide with the object (so-called collision possibility). The importance of an object that exists at a position that can be directly seen from a vehicle that is assumed to receive a message containing the object information may be set relatively low. The importance of an object that exists at a position that cannot be directly seen from the vehicle (i.e., an occlusion area) may be set relatively high.

[0165] For example, the grouping unit 31 may group objects whose importance is lower than a predetermined value. The grouping unit 31 may exclude objects whose importance is higher than a predetermined value from the grouping objects. On the other hand, the grouping conditions may not include conditions related to the importance of objects.

[0166] The grouping condition may include a condition related to the road shape. The grouping unit 31 may refer to the road map data stored in the road data storage unit 42 to determine the condition. In addition, the grouping unit 31 may further refer to the lane ID and the longitudinal lane position in the DF of the map matching position in the inspection object container of the received CPM. For example, the grouping unit 31 may group multiple vehicles existing in the same lane on the road. The grouping unit 31 may exclude vehicles existing in different lanes on the road from the grouping objects.

[0167] Here, the grouping conditions may include conditions related to the prediction of the future behavior of the object in addition to the conditions related to the road shape. For example, the grouping unit 31 may refer to the turn signal information of other vehicles detected by the sensor 40, the turn signal information of other vehicles obtained according to the received message, or the scheduled lane change information to implement the grouping. The grouping unit 31 may exclude multiple vehicles existing in the same lane on the road and the vehicles that have turned on the turn signal or scheduled lane change from the grouping objects.

[0168] On the other hand, the grouping conditions may not include conditions related to the road shape. In this case, the grouping conditions may include conditions related to the prediction of the future behavior of the target object.

[0169] The grouping conditions may also include conditions related to the fragility of the object. For example, when it is determined that the object is not a vulnerable road user, the grouping unit 31 may take the object as a target for grouping. When it is determined that the object is a vulnerable road user, the grouping unit 31 may remove the object from the targets for grouping. On the other hand, the grouping conditions may not include conditions related to the fragility of the object.

[0170] The grouping condition may include a condition related to the communication congestion condition around the communication device 21. For example, when the communication congestion exceeds a predetermined degree, the grouping unit 31 may group each object. When the communication congestion is below a predetermined degree, the grouping unit 31 may decide not to group each object and aggregate it into an object group. The congestion degree may be, for example, the utilization rate of wireless resources that can be used for narrow-area communication. In addition to or instead of the congestion degree, communication load, traffic condition data, etc. may be used as a judgment factor for whether to group.

[0171] As described above, the grouping unit 31 determines the grouping method for the plurality of objects and provides the result to the message generating unit 32. If the number of objects that can be processed in the message is small enough, the processing of the grouping unit 31 may be skipped, and the message may be generated and sent without aggregating the information of each object.

[0172] The message generation unit 32 generates a new message to be sent. The message generated by the message generation unit 32 is a message containing object information, such as CPM. The message generation unit 32 may also aggregate multiple received messages into a new message. The message generation unit 32 may also aggregate one or more received messages and information about moral objects sensed by the sensor 40 of the system 20 into a new message. In addition to CPM, the aggregated source message may also include CAM, DENM, etc.

[0173] The aggregation of the message may include generating aggregation information for aggregating a plurality of objects into one object group. The aggregation information for aggregating a plurality of objects into one object group may include aggregation information for aggregating a plurality of objects having information independently into one object group. The aggregation information for aggregating a plurality of objects into one object group may include aggregation information after aggregating one or more aggregated aggregation information and one or more objects having information independently into one object group. The aggregation information for aggregating a plurality of objects into one object group may include aggregation information after aggregating a plurality of aggregated aggregation information into one object group. Furthermore, the aggregation information for aggregating a plurality of objects into one object group may include aggregation information after extracting a part of the objects from the one or more aggregated aggregation information and aggregating them again. Here, the aggregation information may include information indicating the number of aggregated objects, that is, the number of objects constituting one object group.

[0174] The message generation unit 32 generates a message including summary information after the objects to be summarized among the plurality of objects are summarized into an object group, based on the allocation of the group determined by the grouping unit 31. The summary information can be stored in the perception object container of the CAM. For information of objects that are not grouped and summarized, one perception object container can be allocated to one object. For summary information of object groups that are grouped and summarized, one perception object container can be allocated to one object group. The following describes an example of operation in the perception object container of the summary information.

[0175] A new object ID may be assigned to the aggregated object group. The object ID may be a list of object IDs of all objects constituting the object group.

[0176] The sensor ID list may be a list of sensor IDs of all sensors that have provided measurement data of each target object constituting the target object group.

[0177] The object reliability may also be the reliability associated with the aggregated object group. The object reliability may be the average of the reliabilities of the objects constituting the object group. The object reliability may also be the lowest reliability among the reliabilities of the objects constituting the object group.

[0178] The absolute distance may be the absolute distance from the reference point of the ITS-S during measurement to the reference point of the target object group. The relative speed may be the relative speed of the reference point of the target object group observed from the reference point of the ITS-S during measurement. The relative acceleration may be the relative acceleration of the reference point of the target object group observed from the reference point of the ITS-S during measurement.

[0179] The size can be expressed by the size of a virtual quadrilateral or cuboid that includes all the objects constituting the object group. The reference point in the object group can be the center point of the quadrilateral or cuboid.

[0180] When all the objects constituting the object group are of the same type, the classification may be based on the type. When the objects constituting the object group are a mixture of objects of different types, the classification may be another classification, or may be an additional classification indicating the mixture. In the DF of the classification, a flag indicating whether it is a single object or an object group may be optionally set.

[0181] In addition, DF and / or DE may be optionally provided to provide the number of objects constituting the object group, the density of the objects in the object group, etc. The density of the objects in the object group may be the density of the objects in a quadrilateral or a cuboid of the prescribed size.

[0182] In addition, for individual objects that are not grouped, DF and / or DE that provide information indicating whether the object is a vulnerable road user may be optionally provided. In particular, when objects of the same type are not grouped in the grouping, it is preferred to provide information on the vulnerability of the object that is the basis for not grouping.

[0183] The message transmission unit 33 converts the message such as CPM generated by the message generation unit 32 into data suitable for transmission and transmits it to the surrounding. CPM can be transmitted by point-to-multipoint communication. However, CPM can also be transmitted by communication methods other than point-to-multipoint communication such as point-to-point communication.

[0184] When the size of the encoded CPM exceeds the maximum transmission unit (MTU), the message transmission unit 33 divides the CPM into multiple pieces and transmits them. When the CPM is divided, the communication device on the receiving side can combine the CPM data into one after receiving all the divided CPMs.

[0185] After being sent, the message containing the summary information is processed by the vehicle and RSU on the receiving side. For example, the vehicle on the receiving side can use the summary information for autonomous driving or driving assistance. In autonomous driving, the information of the object group contained in the summary information can be used in speed planning and vehicle trajectory planning, which are used to ensure the safety of the object group. In driving assistance, the information of the object group contained in the summary information can be used in applications such as the PCS system (Pre-Crash Safety System) and the AES system (Automatic Emergency Steering System) for avoiding collisions with the object group. In addition, in driving assistance, it can be used to report the existence of the object group to the driver of the vehicle. The RSU on the receiving side can also use the summary information for further sharing with other vehicles, or for generating statistical data.

[0186] Here, yes Figure 4 The CPS structure diagram shown is similar to Fig. 9 The function of the message acquisition unit 30 is at least a part of the functions of the CPM decoding unit 1242 and the CPM reception management unit 1244. The function of generating and transmitting CPM through the grouping unit 31 and the message generation unit 32 is at least a part of the function of the CPM transmission management unit 1243. The function of the message transmission unit 33 to finally generate data and transmit it is at least a part of the function of the CPM encoding unit 1241.

[0187] <CPM generation and delivery process>

[0188] Next, use Fig.11 The flowchart of FIG. 1 illustrates an example of a processing method for generating and sending CPM. This processing method can also be said to be a communication method. Fig.11 The series of processes shown. The prescribed period may be a period shorter than T_GenCpm described later. The series of processes may be executed by at least one processor 24b of the control unit 23 to implement the functions of the message acquisition unit 30, the grouping unit 31, the message generation unit 32, and the message sending unit 33.

[0189] In S1, it is determined whether T_Now-T_LastCpm is greater than T_GenCpm. T_Now is the current time. T_LastCpm is the time when CPM was last sent. T_GenCpm is the period of generating CPM. Therefore, in S1, it is determined whether the period of sending CPM has passed since the last sending of CPM.

[0190] In S2, T_GenEvent is set to T_Now. T_GenEvent refers to the time when the event for generating CPM occurs. By setting T_GenEvent to T_Now, the time when CPM is generated is the current time.

[0191] In S3, a candidate for a perceived object is selected. A perceived object is an object that contains object characteristics in a perceived object container. The details of the processing of S3 are as follows: Fig.12 shown.

[0192] In S4, a sensor information container is generated. The details of the processing of S4 are as follows: Fig.13 shown.

[0193] In S5, it is determined whether the data of POC (i.e., Perception Object Container) or SIC (i.e., Sensor Information Container) is generated. If neither POC nor SIC is generated, the determination result of S5 is no. If the determination result of S5 is no, the CPM is not sent and the process ends. Fig.11 If the judgment result of S5 is yes, then enter S6.

[0194] In S6, an OVC (when the subject sending the CPM is a vehicle) and a management container are generated. Fig.15 shown.

[0195] In S7, T_LastCpmtimestamp is set as T_GenEvent. T_LastCpmtimestamp refers to the time when the CPM was last generated.

[0196] In S8, the next CPM is obtained. In S9, the CPM obtained in S8 is sent.

[0197] In S10, it is determined whether there are any unsent CPM segments. If the determination result of S10 is yes, the process returns to S8 to obtain and send the unsent CPM segments. If the determination result of S10 is no, the process ends. Fig.11 A series of processing.

[0198] Next, use Fig.12 , 13 The flowchart of S3 describes in detail the processing method of selecting the perceived object candidate.

[0199] exist Fig.12 In S301 shown in FIG. 1 , a list of objects is obtained from the environment model and stored in the object list. The environment model may be generated by the control unit 23. The environment model generated by other devices inside or outside the system 20 may also be obtained by the control unit 23. The environment model is an example of a representation of the result of estimating the characteristics of various objects. The object list is used in the Fig.12 The list of candidates for sensing the object may include information on the object reliability. The object included in the environment model may include objects sensed by the sensor 40. The object included in the environment model may be an object included in the object information of the CPM acquired by the message acquisition unit 30.

[0200] In S302, it is determined whether there is an object in the object list. If the determination result of S302 is no, the processing of S3 is terminated and the process proceeds to S4. If the determination result of S302 is yes, the process proceeds to S303.

[0201] In S303, the next object is obtained from the object list. In S304, it is determined whether the object reliability is above a preset threshold. In addition, S304 can be omitted and the process proceeds to S305. For example, if the object reliability is not determined, S304 can be omitted. If the result of S304 is negative, the process proceeds to Fig.13 If the judgment result of S304 is yes, then enter S305.

[0202] In S305, it is determined whether the object mark has been stored in the specified area of ​​the internal memory. For example, the internal memory is the memory 24a provided in the control unit 23, and the specified area is the area for storing data for generating CPM. If the determination result of S305 is no, that is, the object mark obtained in S303 has been stored in the internal memory, the process proceeds to Fig.13 If the judgment result of S305 is yes, then proceed to S306.

[0203] In S306, it is determined whether the object obtained in S303 belongs to the category of human or animal. In other words, it is determined whether the classification of the object obtained in S303 is human or animal. If the judgment result of S306 is no, it proceeds to S307. In S307, it is determined whether at least one of the distance, speed, direction, and elapsed time of the object has changed by more than the pre-set threshold value for each since the last CPM transmission. If the judgment result of S307 is yes, it proceeds to Fig.13 On the other hand, if the judgment result of S307 is otherwise, enter S310. Fig.13 S311.

[0204] If the result of S306 is yes, the process proceeds to S308. In S308, it is determined whether more than 500 ms have passed since the object acquired in S303 was included in the CPM. If the result of S308 is no, the process proceeds to S308. Fig.13 If the judgment result of S308 is yes, then enter S309. In S309, all humans and animals are included in the generated CPM. Then, enter Fig.13 S310.

[0205] exist Fig.13 In S310 shown, it is determined whether to group objects in the object list based on the grouping condition. In S311, based on the grouping determined in S310, a plurality of objects are grouped into an object group.

[0206] In S312, the object ID and T_GenEvent are stored in the internal memory, and a mark is added to the stored information for transmission.

[0207] In S313, determine whether it is the last object or object group in the object list. If the judgment result of S311 is no, return to S303. If the judgment result of S313 is yes, enter S314. In S314, based on the mark, make a list of candidates for the perception object container. After executing S314, enter Fig.11 S4.

[0208] Next, use Fig.14 The flowchart of S4 describes in detail the processing method of generating the sensor information container.

[0209] In S41, determine whether the value after subtracting T_LastSensorInfoContainer from T_now is greater than T_AddSensorInformation. T_LastSensorInfoContainer is the time when the sensor information container was last generated. T_AddSensorInformation refers to the cycle of adding sensor information containers. If the judgment result of S41 is "No", end Fig.14 processing and enter Fig.11 If the judgment result of S41 is yes, then enter S42.

[0210] In S42, the sensor parameters are queried from the database storing the sensor parameters to obtain the sensor parameters. In S43, a sensor information container is generated based on the sensor parameters obtained in S42. In S44, T_LastSensorInfoContainer is set to T_GenEvent. In other words, the time when the sensor information container is generated is set to the time when S2 is executed when the next CPM is created. Fig.14 After the processing is completed, enter Fig.11 S5.

[0211] Next, use Fig.15 The flowchart of S6 describes in detail the processing method of generating OVC and managing containers.

[0212] In S61, the station type is selected. If the station type is vehicle, the process proceeds to S62. In S62, an OVC is generated. After executing S62, the process proceeds to S65.

[0213] In the judgment of S61, if the station type is RSU, then enter S63. In S63, determine whether to send a MAP message. The MAP message is a message that provides the shape of the intersection or road segment around the RSU. If the judgment result of S63 is yes, then enter S64. In S64, generate a source RSU container containing a map message. Thereafter, enter S65. If the judgment result of S63 is no, do not execute S64 and enter S65.

[0214] In S65, a management container for undivided CPM is generated. The management container generated here may also include site type, reference point, segment information, and number of sensory object markers. The management container may also include information on grouping conditions used to determine grouping. The information on grouping conditions may be either a flag indicating the grouping conditions or an actual condition.

[0215] In S66, the code size of the CPM including all the generated containers is calculated. In addition, the CPM can include a free space additional container. When a free space additional container is generated, the code size of the CPM is calculated including the size of the free space additional container.

[0216] In S67, it is determined whether the size of the encoded CPM exceeds MTU_CPM. MTU_CPM is a maximum transmission unit of one CPM and is preset. MTU_CPM is determined based on the maximum transmission unit of the access layer 130.

[0217] If the judgment result of S67 is "No", the process proceeds to S68. In S68, a CPM including all the generated containers is generated. Thereafter, the process proceeds to Fig.11 On the other hand, if the judgment result of S67 is yes, the process proceeds to S69. In S69, the message segments are determined in order to divide the message. Thereafter, the process proceeds to Fig.11 S7.

[0218] (Effect)

[0219] Hereinafter, the effects of the first embodiment described above will be described.

[0220] According to the first embodiment, the message to be sent includes summary information of a group of object markers based on the grouping of a plurality of object markers sensed by the sensor. By summarizing the object marker information that can be gathered into the object marker group, it is possible to suppress the increase in the amount of information or the number of messages compared to the case where a plurality of object markers are sent as individual information. Therefore, it is possible to reduce one or both of the communication load and the processing load in the message processing.

[0221] In addition, according to the first embodiment, objects of the same type are grouped. If the object group is formed in this way, when the object information is reported or warned to the driver through the display device mounted on the vehicle, the description of the object group can be simple and complete. In addition, the ease of predicting the speed and other behaviors of the object group can be improved.

[0222] According to the first embodiment, objects of the same type sensed by the same type of sensor are grouped together. By forming object groups in this way, the information of the sensed object container of the CPM can be easily associated with the information of the sensor information container referred to by it, so that the information can be easily used.

[0223] In addition, according to the first embodiment, whether to group the multiple objects is determined based on the positions of the objects. For example, by grouping objects whose positions are less than a preset distance apart into an object group, vehicles receiving the message can easily respond to the object group by planning collision avoidance.

[0224] In addition, according to the first embodiment, whether to group multiple objects is determined based on the similarity of the behaviors between the multiple objects. By grouping multiple objects with similar behaviors into an object group, the behavior of the object group can be easily expressed.

[0225] In addition, according to the first embodiment, whether to group the plurality of objects is determined based on the reliability of the sensor's perception. In particular, by grouping objects with similar reliability of the sensors that perceive the objects, even if the ITS-S on the receiving side has a specification for changing the operation of the object group based on the reliability of the sensor, the operation of the object group is easy.

[0226] In addition, according to the first embodiment, whether to group multiple objects is determined based on the importance of the objects. In particular, by not grouping objects with high importance into an object group but transmitting them as single object information, it is easy to take an appropriate response to the object.

[0227] In addition, according to the first embodiment, whether to group a plurality of objects is determined based on the lanes on the road where the objects exist. In particular, by not grouping vehicles in different lanes into the same object group, lane ID information can be appropriately stored in CPM.

[0228] According to the first embodiment, whether to group multiple object objects is determined based on the future behavior prediction of the object objects. By grouping object objects with similar future behavior predictions into object groups, the possibility of separating the future object groups and having to process them separately can be reduced.

[0229] According to the first embodiment, whether to group multiple marker objects is determined based on the communication congestion around the communication device 21. In the case of communication congestion, by grouping multiple marker objects into a smaller number of marker groups, it is possible to avoid a more severe communication load.

[0230] According to the first embodiment, information indicating the grouping condition determined during grouping is added to the message. By sharing the grouping condition with the ITS-S on the receiving side, the receiving side can use the grouping condition as reference information when grouping and aggregating objects.

[0231] According to the first embodiment, the size of the object group is represented by the size of a cuboid containing all the multiple objects grouped as the object group. In this way, the size of the object group can be stored in the same DF as the perceptual object container storing the individual objects in the CPM.

[0232] According to the first embodiment, when multiple objects of the same type are not grouped in the grouping, information indicating whether the ungrouped object is a vulnerable road user is added to the message. This makes it easy to take an appropriate response to the ungrouped object.

[0233] (Second Embodiment)

[0234] like Fig.16 , 17 As shown, the second embodiment is a modified example of the first embodiment. The second embodiment will be described focusing on the differences from the first embodiment.

[0235] The grouping unit 31 of the second embodiment determines whether to group a plurality of objects based on the initial grouping condition. Thereafter, the grouping unit 31 modifies the grouping condition based on the total number of objects and object groups or the assumed message size in the grouping based on the initial grouping condition. Then, the grouping unit 31 determines again whether to group a plurality of objects based on the modified grouping condition.

[0236] For example, when the total number of objects and object groups based on the initial grouping condition exceeds a prescribed number, the grouping unit 31 may modify the grouping condition. On the other hand, when the total number of objects and object groups based on the initial grouping condition is less than a prescribed number, the grouping unit 31 may not modify the grouping condition, but may finally adopt the grouping based on the initial grouping condition. The prescribed number here may be the maximum number of perceptual object containers that can be carried in one CPM in terms of format. That is, in order to avoid the division of CPM, the initial grouping condition is modified to a condition with a higher degree of aggregation.

[0237] Here, use Fig.16 An example of a processing method based on the total number is described in the flowchart of FIG. Fig.16 The processing of the first embodiment can be replaced by Fig.13 for use after processing.

[0238] exist Fig.16 In S1310 shown, for objects in the object list, it is determined whether to group them based on the initial grouping condition. In S1311, based on the grouping determined in S1310, a plurality of objects are grouped into an object group.

[0239] In S1313, it is determined whether the total number of the aggregated object marks plus the number of object mark groups exceeds a predetermined number. If the determination result of S1313 is yes, the process proceeds to S1314. If the determination result of S1313 is no, the process proceeds to S1316.

[0240] In S1314, the initial grouping condition is modified to a condition with a higher aggregation degree, and grouping is performed again based on the modified grouping condition. In S1315, based on the grouping determined in S1314, a plurality of objects are aggregated into an object group. The processing of S1316 to S1318 is the same as Fig.13 The processing of S312 to S314 is the same.

[0241] Instead of processing based on the total number, processing based on the message size can be used. For example, when the aggregated message size in the grouping based on the initial grouping condition exceeds the above-mentioned maximum transmission unit, the grouping unit 31 can modify the grouping condition. On the other hand, when the message size is below the maximum transmission unit, the grouping unit 31 may not modify the grouping condition, but may finally use the grouping based on the initial grouping condition. That is, in order to avoid the division of CPM, the initial grouping condition is modified to a condition with a higher aggregation degree.

[0242] Here, use Fig.17 The flowchart of illustrates an example of a processing method based on message size. Fig.17 The processing of the first embodiment can be replaced by Fig.15 At this time, the same processing as in the first embodiment can be used for the processing of S3. Fig.13 processing.

[0243] Fig.17 The processing of S2061~S2068 and Fig.15 On the other hand, if it is determined that the size of the CPM encoded in S2067 exceeds MTU_CPM, that is, exceeds the maximum transmission unit, the message is not divided in S2069.

[0244] In S2069, the initial grouping condition is modified to a condition with a higher aggregation degree, and grouping is performed again based on the modified grouping condition. Preferably, the modified grouping condition is a condition that can reliably send the message without dividing the message. In S2070, based on the grouping determined in S2069, a plurality of objects are aggregated into an object group.

[0245] (Third Embodiment)

[0246] like Fig.18 As shown, the third embodiment is a modified example of the first embodiment. The third embodiment will be described focusing on the differences from the first embodiment.

[0247] The message generation unit 32 aggregates the plurality of objects into objects and object groups based on the grouping by the grouping unit 31. Thereafter, the message generation unit 32 determines whether to include the aggregated information of each object and each object group in the message. The message generation unit 32 removes the object and object group determined not to be included in the message. The message generation unit 32 generates a message including the information of the object and object group determined to be included in the message.

[0248] The judgment here can be based on a predefined redundancy mitigation rule. The redundancy mitigation rule can include a frequency-based redundancy mitigation rule. That is, when the number of historical CPMs containing information on the same object and object group exceeds a pre-set threshold, the object and object group sensed by the local sensor can be removed from the CPM being generated.

[0249] The redundancy mitigation rule may include a dynamic redundancy mitigation rule, that is, when the difference between the current estimated position (or estimated speed) of the reference point of the object or the object group included in the last received CPM and the current estimated position (or estimated speed) of the object or the object group sensed by the local sensor is below a preset threshold, the object or the object group may be removed.

[0250] The redundancy mitigation rule may include a redundancy mitigation rule based on reliability, that is, when the historical CPMs contain information of the same object or object group, and the reliability of the object or object group in the historical CPMs is higher than the reliability in the perception of the local sensor, the object or object group may be removed.

[0251] In addition, the redundancy mitigation rules may include entropy-based redundancy mitigation rules, object-declared redundancy mitigation rules, distance-based redundancy mitigation rules, and the like.

[0252] Here, use Fig.18 An example of the processing method is described with reference to the flowchart of FIG. Fig.18 The processing of the first embodiment can be replaced by Fig.15 for use after processing.

[0253] Fig.18 The processing of S3061~S3068 and Fig.15 On the other hand, if it is determined that the size of the CPM encoded in S3067 exceeds MTU_CPM, that is, exceeds the maximum transmission unit, the message is not divided in S3069.

[0254] In S3069, the objects and the object groups to be included in the CPM are selected. In S3070, a CPM of a container including the objects and the object groups selected in S3069 is generated.

[0255] According to the third embodiment described above, the message to be sent is a message in which the object and the object group determined not to be included in the message are removed from the plurality of object marks sensed by the sensor. Furthermore, the determination is performed on the information of each object mark and each object group after being aggregated based on the grouping. That is, by aggregating the object mark information and determining the necessity of sending, it is possible to suppress the increase in the amount of information or the number of messages. Therefore, it is possible to reduce one or both of the communication load and the processing load in the message processing.

[0256] (Fourth Embodiment)

[0257] The fourth embodiment is a modified example of the first embodiment. The fourth embodiment will be described focusing on the differences from the first embodiment.

[0258] The message sending unit 33 sends CPM at a predetermined first interval. Consider the case where the message generating unit 32 confirms that the size of the object group summarized in the last sent CPM has changed by more than a preset threshold under the sending condition. In this case, the message sending unit 33 changes the sending interval of CPM to a second interval shorter than the first interval.

[0259] That is, in normal times, CPM is transmitted at a first interval that is sufficiently larger than 100 ms, and when the characteristics of the target object group, such as the shape, change greatly, the transmission interval is changed to a second interval close to 100 ms, which is the minimum value. In this way, by transmitting information of the target object group that tends to change dynamically at a shorter interval, the receiving vehicle or RSU can easily cope with the dynamic change of the target object group.

[0260] Here, use Fig.19 The flowchart of will now explain an example of a method for setting a transmission cycle. Fig.19 The processing can be inserted into the first embodiment Fig.11 The S1 is processed before use.

[0261] exist Fig.19 In S100 shown, it is determined whether the size of the target object group in the target object group information included in the last sent CPM has changed by more than a threshold value. If the determination result of S100 is no, the process proceeds to S101. If the determination result of S100 is yes, the process proceeds to S102.

[0262] In S101, T_GenCpm is set to T1. T1 is a value equivalent to the first interval. After executing S101, enter Fig.11 S1.

[0263] In S102, T_GenCpm is set to T2. T2 is a value corresponding to the second interval and is smaller than T1. After executing S102, the process proceeds to Fig.11 S1.

[0264] (Other Embodiments)

[0265] Although a plurality of embodiments have been described above, the present disclosure is not limited to these embodiments and can be applied to various embodiments and combinations within a scope not departing from the gist of the present disclosure.

[0266] As a modification example 1, it is also possible to Fig.17 If the result of the processing of S2069 and S2070 is that the size of the encoded CPM exceeds the maximum transmission unit, the CPM is divided.

[0267] As a second modification, it is also possible to Fig.18 When the result of the processing of S3069 and S3070 is that the size of the encoded CPM exceeds the maximum transmission unit, the CPM is divided.

[0268] As a third variation, the architecture and messages of the US standard may be used as the architecture and messages for communicating object information. The architecture and messages of the Japanese standard may be used as the architecture for communicating object information. The grouping function of the present disclosure or the aggregation function of multiple objects into an object group may be applied to various architectures and various messages adopted in various countries or regions.

[0269] As a fourth variation, the system 20 may be an autonomous driving system or a driving assistance system as a vehicle-mounted system. In this case, the system 20 may further include autonomous driving planning functions, driving functions, and driving assistance functions such as emergency braking.

[0270] As a fifth modification, the shape of the object group specified in the perceived object container may be expressed by a shape other than a quadrilateral or a cuboid. For example, the shape of the object group may be expressed by a plurality of points such as a polygon. That is, the area surrounded by the plurality of points expressing the polygon may be an area including all the objects constituting the object group. The plurality of points may be expressed by relative position coordinates from a reference point of the ITS-S. The plurality of points may also be expressed by relative position coordinates from a reference point of the object group. When the shape of the object group is expressed by a polygon, the size in the perceived object container may be replaced by the coordinates of the plurality of points.

[0271] The message generation unit 32 may also calculate the similarity of the actual shape of the perceived object group to the quadrilateral or the cuboid, and select whether to express the shape of the object group by a quadrilateral or a cuboid or by a polygon according to the similarity. That is, when the similarity is higher than a preset threshold, the shape of the object group may be expressed by a quadrilateral or a cuboid. When the similarity is lower than the threshold, the shape of the object group may be expressed by a polygon.

[0272] The control unit and method described in the present disclosure may also be implemented by a dedicated computer that is programmed to execute one or more functions embodied by a computer program. Alternatively, the device and method described in the present disclosure may also be implemented by a dedicated hardware logic circuit. Alternatively, the device and method described in the present disclosure may also be implemented by one or more dedicated computers that are composed of a processor that executes a computer program and one or more hardware logic circuits. In addition, the computer program may also be stored as an instruction executed by a computer in a non-migratable tangible recording medium that can be read by a computer.

[0273] (Disclosure of technical ideas)

[0274] This specification discloses multiple technical concepts described in the following multiple items. Some items are described in a multiple dependent form by selectively citing the preceding item in the subsequent item. These items described in multiple dependent forms define multiple technical concepts.

[0275] <Technical Thought 1>

[0276] A communication device is a communication device configured to communicate a message including object information, comprising:

[0277] A grouping unit (31) determines whether to group a plurality of objects sensed by the sensor;

[0278] A message generating unit (32) generates a message including summary information for summarizing the plurality of objects into an object group based on the grouping; and

[0279] A message sending unit (33) sends a message including the above-mentioned summary information.

[0280] <Technical Thought 2>

[0281] According to the communication device described in technical idea 1, the grouping unit includes grouping objects of the same type.

[0282] <Technical Thought 3>

[0283] According to the communication device described in technical idea 2, the grouping unit includes grouping the objects of the same type sensed by the same sensor.

[0284] <Technical Thought 4>

[0285] According to the communication device described in any one of technical concepts 1 to 3, the grouping unit determines whether to group the plurality of objects based on positions of the objects.

[0286] <Technical Thought 5>

[0287] According to the communication device described in any one of technical concepts 1 to 4, the grouping unit determines whether to group the plurality of objects based on similarities in behaviors among the plurality of objects.

[0288] <Technical Thought 6>

[0289] According to the communication device described in any one of technical concepts 1 to 5, the grouping unit determines whether to group the plurality of target objects based on the reliability of perception by the sensor.

[0290] <Technical Thought 7>

[0291] According to the communication device described in any one of technical concepts 1 to 6, the grouping unit determines whether to group the plurality of objects based on the importance of the objects.

[0292] <Technical Thought 8>

[0293] According to the communication device described in any one of technical concepts 1 to 7, the grouping unit determines whether to group the plurality of objects based on a lane on a road where the objects exist.

[0294] <Technical Thought 9>

[0295] According to the communication device described in any one of technical concepts 1 to 8, the grouping unit determines whether to group the plurality of objects based on a prediction of future behavior of the objects.

[0296] <Technical Thought 10>

[0297] According to the communication device described in any one of technical concepts 1 to 9, the grouping unit determines whether to group the plurality of objects based on a communication congestion condition around the communication device.

[0298] <Technical Thought 11>

[0299] A communication device according to any one of technical ideas 1 to 10, wherein the grouping unit determines whether to perform the grouping on the multiple object labels based on an initial grouping condition, modifies the grouping condition based on the aggregated object labels in the group based on the initial grouping condition and the total number of object label groups or the aggregated message size, and again determines whether to perform the grouping on the multiple object labels based on the modified grouping condition.

[0300] <Technical Thought 12>

[0301] According to the communication device described in any one of technical concepts 1 to 11, the message generation unit expresses the size of the target object group included in the summary information by the size of a rectangular parallelepiped including all the plurality of target objects summarized in the target object group.

[0302] <Technical Thought 13>

[0303] According to the communication device recorded in technical idea 12, under the sending condition that the above-mentioned message sending unit sends the above-mentioned message at a prescribed first interval, when it is confirmed that the size of the above-mentioned object mark group summarized in the above-mentioned message sent last time has changed by more than a predetermined threshold value, the above-mentioned message sending unit changes the sending interval of the above-mentioned message to a second interval shorter than the above-mentioned first interval.

[0304] <Technical Thought 14>

[0305] According to the communication device described in any one of technical concepts 1 to 13, the message generation unit generates the message including information indicating the grouping condition determined in the grouping.

[0306] <Technical Thought 15>

[0307] According to the communication device described in any one of technical concepts 1 to 14, when the plurality of objects of the same type are not grouped in the grouping, the message generating unit generates a message to which information indicating whether the ungrouped objects are vulnerable road users is added.

[0308] <Technical Thought 16>

[0309] A communication device is a communication device configured to communicate a message including object information, comprising:

[0310] A grouping unit (31) determines whether to group a plurality of objects sensed by the sensor;

[0311] a message generating unit (32) for determining whether to include information of each object and each object group after the grouping in the message, and removing the object and object group determined not to be included in the message, and generating a message including the information of the object and object group determined to be included in the message; and

[0312] A message sending unit (33) sends the generated message.

[0313] <Technical Thought 17>

[0314] A communication method is a communication method for communicating a message containing object information and executed by at least one processor, comprising:

[0315] Decide whether to group multiple objects sensed by the sensor;

[0316] Based on the grouping, generating a message including summary information that summarizes the plurality of objects into an object group; and

[0317] Send a message containing the above summary information.

[0318] <Technical Thought 18>

[0319] A V2X communication system is a V2X communication system mounted on a vehicle or a roadside unit and used to communicate messages containing object information with other vehicles or other roadside units, and comprises:

[0320] A sensor (40) detects an object and generates the above-mentioned object information related to the detected object;

[0321] A processing system (33) having at least one processor (34b) and at least one storage medium (34a); and

[0322] A communication circuit (32) having an antenna (32a),

[0323] The above storage medium stores grouping conditions,

[0324] At least one processor executes:

[0325] Acquiring, through the communication circuit, a message containing the object information related to the object and sent from other vehicles or other roadside units;

[0326] Acquire the above-mentioned object information from the above-mentioned sensor;

[0327] determining whether to group the plurality of objects based on the object information contained in the message and the object information from the sensor based on the grouping condition;

[0328] Based on the grouping, generating a new message including summary information that summarizes the plurality of objects into an object group; and

[0329] A message containing the above-mentioned summary information is sent to other vehicles or other roadside units through the above-mentioned communication circuit.

[0330] <Technical Thought 19>

[0331] A V2X communication method is a V2X communication method for communicating a message containing object information with other vehicles or other roadside units, comprising:

[0332] Acquire, through the communication circuit, a message containing the above-mentioned object information related to the object and sent from other vehicles or other roadside units;

[0333] Acquiring the object information from a sensor that detects an object and generates the object information related to the detected object;

[0334] determining whether to group the plurality of objects based on the object information included in the message and the object information from the sensor based on a grouping condition stored in at least one storage medium;

[0335] Based on the grouping, generating a new message including summary information that summarizes the plurality of objects into an object group; and

[0336] A message containing the above-mentioned summary information is sent to other vehicles or other roadside units through the above-mentioned communication circuit.

Claims

1. A communication device, configured to communicate a message including object information, wherein: have: A grouping unit (31) determines whether to group a plurality of objects sensed by the sensor; A message generating unit (32) generates a message including summary information for summarizing the plurality of objects into an object group based on the grouping; as well as A message sending unit (33) sends a message including the above-mentioned summary information.

2. The communication device according to claim 1, wherein: The grouping unit may group objects of the same type.

3. The communication device according to claim 2, wherein: The grouping unit may group the objects of the same type sensed by the same sensor.

4. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of object markers according to positions of the object markers.

5. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of objects based on similarities in behaviors among the plurality of objects.

6. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of objects according to the reliability of the perception of the sensor.

7. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of objects based on the importance of the objects.

8. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of objects based on a lane on a road where the objects exist.

9. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of objects based on a prediction of future behavior of the objects.

10. The communication device according to claim 1, wherein: The grouping unit determines whether to group the plurality of objects according to a communication congestion condition around the communication device.

11. The communication device according to claim 1, wherein: The grouping unit determines whether to perform the grouping on the multiple object labels based on an initial grouping condition, modifies the grouping condition according to the aggregated object labels in the group based on the initial grouping condition and the total number of object label groups or the aggregated message size, and determines again whether to perform the grouping on the multiple object labels based on the modified grouping condition.

12. The communication device according to claim 1, wherein: The message generating unit expresses the size of the target object group included in the summary information by the size of a rectangular parallelepiped including all of the plurality of target objects summarized in the target object group.

13. The communication device according to claim 12, wherein: Under the sending condition that the message sending unit sends the message at a predetermined first interval, when it is confirmed that the size of the object group summarized in the message sent last time has changed by more than a preset threshold, the message sending unit changes the sending interval of the message to a second interval shorter than the first interval.

14. The communication device according to claim 1, wherein: The message generating unit generates a message including information indicating a grouping condition determined during grouping.

15. The communication device according to claim 1, wherein: When the plurality of objects of the same type are not grouped in the grouping, the message generating unit generates a message to which information indicating whether the objects not grouped are vulnerable road users is added.

16. A communication device configured to communicate a message including object information, wherein: have: A grouping unit (31) determines whether to group a plurality of objects sensed by the sensor; a message generating unit (32) for determining whether to include information of each object and each object group after the grouping in the message, and removing the object and object group determined not to be included in the message, and generating a message including the information of the object and object group determined to be included in the message; and A message sending unit (33) sends the generated message.

17. A communication method, for communicating a message containing object information, executed by at least one processor, wherein: Include: Decide whether to group multiple objects sensed by the sensor; Based on the grouping, generating a message including summary information that summarizes the plurality of objects into an object group; as well as Send a message containing the above summary information.

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