Wireless roadside machine, communication method, communication system, program, and on-vehicle communication machine

Abstract

To provide a wireless roadside machine, a communication method, a communication system, and a program capable of transmitting information necessary for an automatic driving vehicle vehicle, and also, to provide an on-vehicle communication machine capable of receiving information necessary for the automatic driving vehicle.SOLUTION: A wireless roadside machine according to an aspect can communicate with an on-vehicle communication machine installed on an automatic driving vehicle. The wireless roadside machine has a transmission unit that transmits target information corresponding to a driving condition of the automatic driving vehicle to the automatic driving vehicle.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a wireless roadside device, a communication method, a communication system, a program, and an in-vehicle communication device. [Background technology]

[0002] In recent years, Intelligent Transport Systems (ITS) have been attracting attention as a technology that can prevent the risk of traffic accidents. Non-Patent Document 1 defines the standard specifications for a transport communication system that has wireless roadside units, which are base stations installed on the roadside, and in-vehicle communication units, which are mobile stations installed in vehicles.

[0003] Meanwhile, autonomous vehicles have also been attracting attention in recent years. An autonomous vehicle is a vehicle capable of autonomous driving and equipped with an autonomous driving system (or autonomous driving device) that performs autonomous driving by substituting all of the driver's recognition, prediction, judgment, and operation. The Ministry of Land, Infrastructure, Transport and Tourism specifies levels of autonomous driving. Generally, autonomous vehicles are considered to be at level 3 or above. That is, level 3 is a level where the autonomous driving device performs driving operations in a limited area, and the driver takes over driving when it is difficult for the autonomous driving device to operate. Level 4 is a level where the autonomous driving device takes over all driving operations in a limited area. Furthermore, level 5 is a level where the autonomous driving device takes over all driving operations, with no restrictions on driving area. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] ARIB STD-T109 Version 1.3 "700MHz Band Intelligent Transport Systems" [Non-patent document 2] Ministry of Land, Infrastructure, Transport and Tourism, "Names of Autonomous Driving Vehicles," Internet: https: / / www.mlit.go.jp / jidosha / anzen / 01asv / report06 / file / siryohen_4_jidountenyogo.pdf Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a wireless roadside device, a communication method, a communication system, and a program capable of transmitting information required for an autonomously driven vehicle, and an in-vehicle communication device capable of receiving information required for an autonomously driven vehicle. [Means for solving the problem]

[0006] A wireless roadside device according to a first aspect is a wireless roadside device capable of communicating with an on-board communication device installed in an autonomous vehicle. The wireless roadside device has a transmitter that transmits target information to the autonomous vehicle according to the driving situation of the autonomous vehicle.

[0007] A communication method according to a second aspect is a communication method for a wireless roadside device capable of communicating with an on-board communication device installed in an autonomously driven vehicle, the communication method including a step of transmitting target information corresponding to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle.

[0008] A communication system according to a third aspect includes an on-board communication device installed in an autonomous vehicle and a wireless roadside device capable of communicating with the on-board communication device. In the communication system, the wireless roadside device transmits target information corresponding to a driving situation of the autonomous vehicle to the autonomous vehicle. In the communication system, the on-board communication device receives the target information.

[0009] The program according to the fourth aspect is a program that causes a computer of a wireless roadside device capable of communicating with an onboard communication device installed in an autonomous vehicle to execute a process of transmitting target information to the autonomous vehicle according to the driving conditions of the autonomous vehicle.

[0010] An on-board communication device according to a fifth aspect is an on-board communication device mounted on an autonomous vehicle. The on-board communication device has an on-board sensor that detects targets. The on-board communication device also has a transmitter that transmits, to a wireless roadside device, a target information request message that requests target information for an area that the on-board sensor cannot acquire. The on-board communication device also has a receiver that receives target information from the wireless roadside device. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to provide a wireless roadside device, a communication method, a communication system, and a program capable of transmitting information necessary for an autonomously driven vehicle, and also to provide an in-vehicle communication device capable of receiving information necessary for an autonomously driven vehicle. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a communication system according to the first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a wireless roadside device according to the first embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of the vehicle-mounted communication device according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of operation according to the first embodiment. [Figure 5] FIG. 5 is a diagram illustrating an example of traveling of the autonomously driven vehicle according to the first embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of an area according to the first embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of traveling of the autonomously driven vehicle according to the first embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of traveling of the autonomously driven vehicle according to the first embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of traveling of the autonomously driven vehicle according to the first embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of traveling of the autonomously driven vehicle according to the first embodiment. [Figure 11] FIG. 11 is a diagram illustrating an example of traveling of the autonomously driven vehicle according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] [First embodiment] As described above, an autonomous vehicle is equipped with an automatic driving device. For example, an autonomous vehicle uses an on-board sensor installed in the vehicle as part of the automatic driving device to detect surrounding obstacles (or other vehicles) and people (or pedestrians), and performs autonomous driving using the detection results.

[0014] On the other hand, autonomous vehicles may perform autonomous driving using target information acquired from wireless roadside devices. Target information includes, for example, traffic light color information, target information, etc. Target information is information about targets such as people and vehicles. Specifically, target information includes, for example, target speed information, target (travel) direction (or orientation) information, target position information, target detection time, etc.

[0015] For example, an autonomous vehicle can stop at an intersection by using traffic light color information acquired from a wireless roadside device. Furthermore, an autonomous vehicle can perform actions such as avoiding obstacles or stopping in front of a person walking on the sidewalk by using target information acquired from a wireless roadside device. In this way, an autonomous vehicle can ensure traffic safety and smooth traffic flow by using information acquired from a wireless roadside device.

[0016] Here, attention is focused on a wireless roadside device. The wireless roadside device is installed, for example, at an intersection and detects targets present near the intersection. The wireless roadside device transmits target information related to the detected targets. In this case, the wireless roadside device may set a reference position (or reference point) at the intersection and detect targets based on the reference position. Specifically, for example, the following occurs.

[0017] First, a wireless roadside device may detect multiple targets close to a reference position. When detecting targets, the wireless roadside device can also acquire position information for each target. Therefore, when detecting multiple targets, the wireless roadside device can transmit target information for each target in order, starting with the target closest to the reference position, based on the position information for each target.

[0018] Second, the wireless roadside device may detect multiple targets that arrive at the reference position earlier than the other targets. When detecting targets, the wireless roadside device can acquire speed information and direction information of each target. Therefore, when the wireless roadside device detects multiple targets, it can transmit target information about the targets in order of arrival toward the reference position, starting with the target that arrives earliest, based on the speed information and direction information of each target.

[0019] In this way, the wireless roadside device can prioritize the target information based on distance or time with respect to the reference position, and transmit the target information including the priority.

[0020] However, in an autonomous vehicle, distance-based or time-based target information may not necessarily be the target information needed. For example, when an autonomous vehicle turns left at an intersection, even if it acquires distance-based (or time-based) target information about a target on a road it has already traveled, this may not be the information needed for turning left. Thus, depending on the driving situation of the autonomous vehicle, the target information transmitted from the wireless roadside unit may not be needed.

[0021] Therefore, the first embodiment aims to enable a wireless roadside device to transmit target information necessary for an autonomous vehicle, and also aims to enable an in-vehicle communication device to receive target information necessary for an autonomous vehicle.

[0022] A communication system according to an embodiment will be described below with reference to the drawings. In the following description of the drawings, identical or similar parts are denoted by identical or similar reference numerals. The communication system described below may also be referred to as a transportation communication system.

[0023] (Example of communication system configuration) First, a configuration example of a communication system according to the first embodiment will be described. The following mainly describes a transportation communication system using wireless communication based on the standard of Non-Patent Document 1. However, the communication system according to the first embodiment is not limited to this standard, and may perform wireless communication based on the V2X (Vehicle-to-Everything) standard of 3GPP (Third Generation Partnership Project) (registered trademark; the same applies hereinafter) or the IAB (Integrated Access Backhaul) standard of 3GPP.

[0024] 1 is a diagram showing an example of the configuration of a communication system 10 according to the first embodiment. As shown in FIG. 1, the communication system 10 includes a wireless roadside device 100 and an on-board communication device 250 mounted on an autonomously driven vehicle 200.

[0025] The wireless roadside device 100 is installed, for example, at an intersection. The wireless roadside device 100 may be installed on a pole provided near the intersection. Alternatively, the wireless roadside device 100 may be installed on a utility pole provided near the intersection. Alternatively, the wireless roadside device 100 may be installed on a traffic signal light (for example, a traffic light). However, in the first embodiment, it is assumed that there is no traffic light at the intersection, as shown in FIG. 1 .

[0026] The wireless roadside device 100 may also be connected to a server device via a communication line. The server device is called a central device, and may collect various types of traffic information based on information received by the wireless roadside device 100 from an in-vehicle communication device or the like, and manage road traffic. The wireless roadside device 100 may also be called a base station. Note that, although the example shown in FIG. 1 shows an example in which one wireless roadside device 100 is installed at an intersection, multiple wireless roadside devices 100 may also be installed at an intersection.

[0027] The autonomous vehicle 200 may be, for example, a vehicle capable of operating at autonomous driving level 3 or higher. The autonomous vehicle 200 may be any vehicle capable of autonomous driving, such as a standard automobile, a light automobile, a large automobile, or a motorcycle. The autonomous vehicle 200 is provided with an on-board communication device 250. The on-board communication device 250 may be a stationary communication device that is fixedly provided in the autonomous vehicle 200, or may be a portable communication device that is temporarily connected to each autonomous vehicle 200 via a cable. The on-board communication device 250 may also be referred to as a mobile station. Note that although the communication system 10 shown in FIG. 1 illustrates an example in which one autonomous vehicle 200 is provided, multiple autonomous vehicles 200 may also be provided. Furthermore, if multiple autonomous vehicles 200 are provided in the communication system 10, multiple on-board communication devices 250 may also be provided. In this case, one on-board communication device 250 may be provided for each automatically driven vehicle 200, or multiple on-board communication devices 250 may be provided for each automatically driven vehicle 200.

[0028] In the communication system 10 shown in FIG. 1, the wireless roadside device 100 is capable of wireless communication with the in-vehicle communication device 250. Communication between the wireless roadside device 100 and the in-vehicle communication device 250 is called road-to-vehicle communication. The wireless roadside device 100 is also capable of wireless communication with other wireless roadside devices, and this communication is called road-to-road communication. The in-vehicle communication device 250 is also capable of wireless communication with in-vehicle communication devices of other vehicles, and this communication is called vehicle-to-vehicle communication. In the first embodiment, an example will be described in which the wireless roadside device 100 performs road-to-vehicle communication with the in-vehicle communication device 250, but the wireless roadside device 100 itself may perform road-to-road communication with other wireless roadside devices, and the in-vehicle communication device 250 itself may perform vehicle-to-vehicle communication with in-vehicle communication devices of other vehicles.

[0029] (Road-to-vehicle communication) Here, the road-to-vehicle communication described in Non-Patent Document 1 will be described.

[0030] In the communication system 10, road-to-vehicle communication, road-to-roadside communication, and vehicle-to-vehicle communication are each performed in a time-division manner, taking interference into consideration.

[0031] In road-to-vehicle communication, a road-to-vehicle communication period is allocated to the wireless roadside device 100. In road-to-vehicle communication, the wireless roadside device 100 broadcasts (announces) a road-to-vehicle message during the road-to-vehicle communication period. The road-to-vehicle message includes information about the road-to-vehicle communication period. The road-to-vehicle message has a predetermined format that complies with, for example, the "ITS Wireless Roadside Device Communication Application Common Standard" issued by the Universal Traffic Management System (UTMS) Association. Specifically, the wireless roadside device 100 secures its own transmission time by broadcasting a road-to-vehicle message that includes, as its own transmission information, a transmission time and road-to-vehicle communication period information (number of transfers and road-to-vehicle communication period length).

[0032] The in-vehicle communication device 250 that has received the road-to-vehicle message synchronizes its time based on the transmission time included in the road-to-vehicle message, stops its own transmission based on road-to-vehicle communication period information included in the road-to-vehicle message, and performs transmission at a timing other than the transmission period of the wireless roadside device 100. Specifically, the in-vehicle communication device 250 broadcasts (notifies) the vehicle information message using the CSMA / CA (Carrier Sense Multiple Access / Collision Avoidance) method during times other than the road-to-vehicle communication period allocated to the wireless roadside device 100 and during road-to-vehicle communication periods not allocated to the wireless roadside device 100. The wireless roadside device 100 receives the vehicle information message transmitted from the in-vehicle communication device 250 during the road-to-vehicle communication period that was not used for transmitting its own road-to-vehicle message.

[0033] In this way, a message transmitted from the wireless roadside device 100 may be referred to as a road-to-vehicle message. The wireless roadside device 100 may transmit a road-to-vehicle message including the above-mentioned target information, thereby enabling the wireless roadside device 100 to notify the automatically driven vehicle 200 of the target information detected by the wireless roadside device 100. The automatically driven vehicle 200 can also obtain information about targets that it cannot detect by itself by performing automatic driving using the target information obtained from the wireless roadside device 100. Therefore, the communication system 1 can assist the automatically driven vehicle 200 in its automatic driving, thereby enabling safe automatic driving assistance for the automatically driven vehicle 200.

[0034] As described above, a message transmitted from the in-vehicle communication device 250 may be referred to as a vehicle information message. The in-vehicle communication device 250 may transmit a vehicle information message including its own target information detected by an in-vehicle sensor. This enables the in-vehicle communication device 250 to transmit target information detected by the autonomous vehicle 200 to a server device via the wireless roadside device 100, thereby enabling the server device to facilitate smooth traffic flow in the transportation system.

[0035] (Example of wireless roadside unit configuration) Next, an example of the configuration of the wireless roadside device 100 will be described.

[0036] FIG. 2 is a diagram illustrating an example of the configuration of the wireless roadside device 100 according to the first embodiment.

[0037] The wireless roadside device 100 includes a transmitter 110, a receiver 120, a target detection unit 130, a controller 140, and a memory unit 150.

[0038] The transmitter 110 transmits a radio signal under the control of the controller 140. The transmitter 110 may include a radio circuit and an antenna. In this case, the radio circuit converts (up-converts) a message (e.g., a road-to-vehicle message) output from the controller 140 into a radio signal in a radio band and outputs the signal to the antenna. The antenna transmits the radio signal.

[0039] The receiving unit 120 receives a radio signal under the control of the control unit 140. The receiving unit 120 may include a radio circuit and an antenna. In this case, the antenna receives the radio signal transmitted (or notified) from the in-vehicle communication device 250. The antenna outputs the received radio signal to the radio circuit. The radio circuit converts (down-converts) the radio signal into a received signal in the baseband, thereby extracting, for example, a vehicle information message transmitted from the in-vehicle communication device 250. The radio circuit outputs the received signal (for example, the vehicle information message) to the control unit 140.

[0040] The target detection unit 130 detects a target. The target detection unit 130 may detect a target, for example, in the following manner.

[0041] First, the target detection unit 130 may detect targets using a LiDAR (Light Detection and Ranging) function. Specifically, the target detection unit 130 may include an irradiation unit that irradiates laser light and a reflected light detection unit that detects light reflected from the target. In this case, the reflected light detection unit can detect whether the target is a person (e.g., a pedestrian) or a vehicle, or, if it is a vehicle, what type of vehicle it is (e.g., a compact car, a standard-sized car, a large car, etc.), based on the reflected light. Furthermore, assuming that the reflected light detection unit is installed in a fixed position, it may acquire target position information based on the time when the laser light is irradiated and the time when the reflected light is received. Furthermore, the reflected light detection unit may acquire target direction information and speed information from the time transition of the position information. The reflected light detection unit may generate target information including the type of target, target position information, target direction information, and target speed information, and output the target information to the control unit 140.

[0042] Second, the target detection unit 130 may detect targets from video captured by a camera using a learning function. Specifically, the target detection unit 130 may include a camera and an image processing unit. In this case, the image processing unit may compare the video data captured by the camera with training data for each type of target (person, automobile, bicycle, etc.) stored in the storage unit 150, and detect the type of target for the video data using a known learning function. Furthermore, since the camera is installed at a fixed position, the image processing unit may detect target position information based on image data. Furthermore, the image processing unit may acquire target direction information and speed information from the time progression of the position information. The image processing unit may generate target information including the type of target, target position information, target direction information, and target speed information, and output the target information to the control unit 140.

[0043] In this way, the target detection unit 130 outputs the detected target to the control unit 140 as target information.

[0044] The control unit 140 performs various controls in the wireless roadside device 100. The control unit 140 includes at least one memory (or storage unit) and at least one processor electrically connected to the memory. The memory stores programs executed by the processor and information used in processing by the processor. The processor executes the programs stored in the memory to perform various functions and various processes. Note that the processing or operations executed by the wireless roadside device 100 in the operation examples described below may be performed by the control unit 140 (or processor).

[0045] The storage unit 255 stores various information or data under the control of the control unit 140. When the target detection unit 130 performs target detection using a learning function, the storage unit 255 may store training data for the target. The stored information or data may be read out by the control unit 140 as needed.

[0046] (Example of vehicle communication device configuration) Next, an example of the configuration of the vehicle-mounted communication device 250 will be described.

[0047] FIG. 3 is a diagram showing an example of the configuration of the vehicle-mounted communication device 250 according to the first embodiment.

[0048] As shown in FIG. 3, the in-vehicle communication device 250 includes a transmitter 251, a receiver 252, an in-vehicle sensor 253, a controller 254, and a memory 255.

[0049] The transmitter 251 transmits a radio signal under the control of the controller 254. The transmitter 251 may include a radio circuit and an antenna. In this case, the radio circuit converts (up-converts) a message (e.g., a vehicle information message) output from the controller 254 into a radio signal in a radio band and outputs the signal to the antenna. The antenna transmits the radio signal.

[0050] The receiving unit 252 receives a wireless signal under the control of the control unit 254. The receiving unit 252 may include a wireless circuit and an antenna. In this case, the antenna receives a wireless signal transmitted (or broadcast) from the wireless roadside device 100. The antenna outputs the received wireless signal to the wireless circuit. The wireless circuit converts (down-converts) the wireless signal into a received signal in the baseband, thereby extracting, for example, a road-to-vehicle message (or target information) transmitted from the wireless roadside device 100. The wireless circuit outputs the received signal (or road-to-vehicle message) to the control unit 140.

[0051] The on-vehicle sensor 253 detects a target. The on-vehicle sensor 253 in the on-vehicle communication device 250 may detect a target using a LiDAR function, similar to the target detection unit 130 described above. Alternatively, the on-vehicle sensor 253 may detect a target using a learning function from image data captured by a camera. In either case, the configuration of the on-vehicle sensor 253 may be the same as that of the target detection unit 130. The on-vehicle sensor 253 outputs the detected target to the control unit 254 as target information.

[0052] The control unit 254 performs various controls in the in-vehicle communication device 250. The control unit 254 includes at least one memory (or storage unit) and at least one processor electrically connected to the memory. The memory stores programs executed by the processor and information used in processing by the processor. The processor executes the programs stored in the memory to perform various functions and various processes. Note that each process or operation in the in-vehicle communication device 250, which will be described later, may be performed by the control unit 254. Furthermore, in the following, the control unit 254 is described as a block (hardware or function) that realizes the functions of the automatic driving device necessary for automatic driving, but the functions of the automatic driving device may be realized by hardware separate from the control unit 254.

[0053] The storage unit 255 stores various types of information or various types of data under the control of the control unit 254. The stored information or data may be read out by the control unit 254 as appropriate.

[0054] The in-vehicle communication device 250 may have a GNSS receiver and acquire position information of the vehicle itself. The GNSS receiver may be included in the in-vehicle sensor 253. The position information may be included in target information and transmitted from the transmitter 251 to the wireless roadside device 100.

[0055] (Operation example according to the first embodiment) Next, an example of operation according to the first embodiment will be described.

[0056] Fig. 4 is a diagram illustrating an example of operation according to the first embodiment. The example of operation shown in Fig. 4 will be explained by appropriately using examples of traveling of the autonomously driven vehicle 200 shown in Figs. 5 to 8.

[0057] The operation example shown in FIG. 4 is performed under the following assumptions, for example.

[0058] In other words, there are no traffic lights at the intersection.

[0059] Furthermore, before entering an intersection, the autonomous vehicle 200 detects surrounding targets using its own on-board sensor 253 without acquiring target information from the wireless roadside device 100, and performs autonomous driving.

[0060] Then, as shown in FIG. 5 (or FIG. 8), automatically driven vehicle 200 may perform the operation shown in FIG. 4 when entering an intersection.

[0061] First, when the on-board communication device 250 of the autonomous vehicle 200 makes a left turn (e.g., FIG. 4) or a right turn (e.g., FIG. 8), the vehicle makes a sudden movement due to the turning, and it may not be possible to acquire surrounding target information using only the on-board sensor 253. Therefore, when turning left or right, the on-board communication device 250 acquires target information from the wireless roadside device 100. As a result, even when the on-board sensor 253 cannot detect target information when the autonomous vehicle 200 turns left or right, it becomes possible to perform autonomous driving using the target information acquired from the wireless roadside device 100.

[0062] Second, the in-vehicle communication device 250 may have a limit on the number of target information items that it can process due to its own processing capacity. When the autonomously driven vehicle 200 turns left or right, there may be a case where the number of targets exceeds the limit. Therefore, by performing the operation shown in Fig. 4, the wireless roadside device 100 can limit the target information transmitted to only that required by the autonomously driven vehicle 200, thereby preventing the limit from being exceeded and enabling the autonomously driven vehicle 200 to acquire the target information required.

[0063] The operations shown in FIG. 4 are mainly performed by the control unit 140 of the wireless roadside device 100.

[0064] As shown in FIG. 4, in step S10, the wireless roadside device 100 starts processing.

[0065] In step S11, the target detection unit 130 starts detecting a target.

[0066] In step S12, the control unit 140 determines whether or not a target has been detected by the target detection unit 130, depending on whether or not target information has been acquired from the target detection unit 130. Step S12 is repeated until a target is detected by the target detection unit 130 (NO in step S12). When a target is detected in step S12, the process proceeds to step S13.

[0067] In step S13, control unit 140 detects the traveling direction at the intersection of autonomously driven vehicle 200. Specifically, control unit 140 detects a left turn or a right turn of autonomously driven vehicle 200 as the traveling direction at the intersection of autonomously driven vehicle 200. Control unit 140 detects a left turn or a right turn, for example, in the following manner.

[0068] First, the target detection unit 130 of the wireless roadside device 100 may detect the traveling direction (specifically, a left turn or a right turn) of the autonomous vehicle 200 at an intersection. Specifically, the target detection unit 130 may detect the inclination of the autonomous vehicle 200 with respect to the road and detect a left turn or a right turn based on the direction of the inclination. Generally, when a vehicle turns left, centrifugal force acts on the vehicle in the direction opposite to the left turn direction (i.e., the right side), causing the vehicle to tilt to the right. When the vehicle turns right, the vehicle tilts to the left side, opposite to the direction of the right turn. The target detection unit 130 detects the angle of inclination of the autonomous vehicle 200 with respect to the vertical direction of the road surface. The target detection unit 130 may detect this angle based on, for example, image data. Then, when the detected angle is equal to or greater than a threshold, the target detection unit 130 detects a change in traveling direction in the direction opposite to the inclination direction (i.e., a left turn or a right turn). In the example shown in FIG. 5, when the autonomous vehicle 200 makes a left turn, the autonomous vehicle 200 tilts to the left as seen from the wireless roadside device 100, and the target detection unit 130 detects this tilt and thereby detects a right turn as seen from the wireless roadside device 100 (i.e., a left turn as seen from the autonomous vehicle 200). In the case of FIG. 8, the autonomous vehicle 200 tilts to the right as seen from the wireless roadside device 100, and the target detection unit 130 detects this tilt and thereby detects a left turn as seen from the wireless roadside device 100 (i.e., a right turn as seen from the autonomous vehicle 200). However, since the direction changes depending on the installation position of the wireless roadside device 100, the wireless roadside device 100 takes this into consideration when detecting a left turn or a right turn as seen from the autonomous vehicle 200. Note that a right turn or a left turn refers to a right turn or a left turn as seen from the autonomous vehicle 200, with the autonomous vehicle 200 as the reference point, as described above. The target detection unit 130 outputs the detection result (left turn or right turn) to the control unit 140, and the control unit 140 detects the traveling direction (i.e., left turn or right turn) of the autonomously driven vehicle 200 at the intersection based on the detection result.

[0069] Second, the target object detection unit 130 may detect a right turn or a left turn by detecting that the autonomous vehicle 200 is traveling in (or entering) a left-turn lane or traveling in (or entering) a right-turn lane. If the target object detection unit 130 has a LiDAR function, an irradiation unit can emit laser light toward each dedicated lane and detect the reflected light, thereby detecting whether or not an autonomous vehicle is traveling in each dedicated lane. Furthermore, if the target object detection unit 130 has a learning function using image processing, a camera can capture an image of each dedicated lane, thereby detecting whether or not an autonomous vehicle is traveling in each dedicated lane.

[0070] Third, the control unit 140 of the wireless roadside device 100 may detect the traveling direction (i.e., a left turn or a right turn) of the autonomously driven vehicle 200 at an intersection based on information indicating the traveling direction of the autonomously driven vehicle 200 received from the on-board communication device 250. In the on-board communication device 250, for example, the on-board sensor 253 (or the control unit 254) detects the direction of the turn indicator (or blinker) of the autonomously driven vehicle 200. The transmission unit 251 of the on-board communication device 250 transmits information indicating the detected direction by including it in a vehicle information message. The information indicating the detected direction may be direction information of a target detected by the on-board sensor 253, or the direction information may be included in the target information. In other words, when the autonomously driven vehicle 200 makes a left turn or a right turn, the on-board communication device 250 transmits information indicating the direction. The receiver 120 of the wireless roadside device 100 receives the information indicating the direction, and the controller 140 detects whether the autonomous vehicle 200 is turning left or right at the intersection based on the information indicating the direction.

[0071] 4, if the control unit 140 detects a left or right turn of the autonomously driven vehicle 200 in step S13 (YES in step S13), the process proceeds to step S14. On the other hand, if the control unit 140 does not detect a left or right turn of the autonomously driven vehicle 200 in step S13 (NO in step S13), the process proceeds to step S15.

[0072] In step S14, the control unit 140 prioritizes the target information detected in step S12 according to whether the autonomously driven vehicle 200 is turning left or right.

[0073] Here, the prioritization of target information will be described.

[0074] Regarding the prioritization, first, the control unit 140 of the wireless roadside device 100 sets areas for roads around an intersection. Each area may be set in advance.

[0075] FIG. 6 is a diagram showing an example of areas according to the first embodiment. Each area may be assigned an area number that allows it to be distinguished from other areas. In the example of FIG. 6, area numbers are set for area #1, area #2, area #3, and area #4. In the example of FIG. 6, no area is set at the center of the intersection, but an area may be set at the center of the intersection. Alternatively, all or part of areas #1 to #4 may be overlapped, and each area may be set so as to include the center of the intersection.

[0076] Next, control unit 140 sets priority areas for each area of the road according to the traveling direction of autonomous vehicle 200. Fig. 7 shows an example of priority areas when autonomous vehicle 200 turns left. In the example shown in Fig. 7, control unit 140 sets area #2, which is in the opposite direction from the left turn, as priority area #1 (i.e., the area with the highest priority), and sets area #1, which is in the direction autonomous vehicle 200 is entering the intersection, as priority area #2 (i.e., the area with the next highest priority).

[0077] In the example of FIG. 7, the target located in area #2 is a target that may follow autonomous vehicle 200 from area #2 after autonomous vehicle 200 makes a left turn (for example, a vehicle approaching autonomous vehicle 200). Therefore, control unit 140 assigns the highest priority to the target located in area #2. However, because target information also includes direction information, control unit 140 may also set a target that is oriented in the same direction as the direction in which autonomous vehicle 200 is turning left as a target located in priority area #1.

[0078] On the other hand, targets present in area #1 can also be considered targets that may approach autonomous vehicle 200 when autonomous vehicle 200 enters the intersection. However, because autonomous vehicle 200 will be turning left, it is expected that the possibility of approaching autonomous vehicle 200 from area #1 is lower than in area #2. For this reason, control unit 140 sets area #2 as priority area #2. In this case as well, since the target information includes direction information, control unit 140 may set targets that have the same direction as the direction toward the intersection as targets present in priority area #2.

[0079] 7 is an example, and area #2 may be set as priority area #1, and area #4 may be set as priority area #4. The setting of priority areas may be changed depending on the road conditions around the intersection.

[0080] In some cases, multiple pieces of target information exist in each priority area. In such cases, the control unit 140 may prioritize the multiple pieces of target information, for example, as follows.

[0081] First, the control unit 140 may prioritize the target information in descending order of proximity to the position of the autonomously driven vehicle 200. The in-vehicle communication device 250 can transmit position information indicating the position of the host vehicle by including it in the vehicle information message. Furthermore, the target detection unit 130 generates target information including the position information when detecting each target. Therefore, the control unit 140 can prioritize the target information in descending order of distance to the autonomously driven vehicle 200, using the position information of the autonomously driven vehicle 200 and the position information of each target. By prioritizing the target information in descending order of distance to the autonomously driven vehicle 200, the autonomously driven vehicle 200 can identify the target closest to the host vehicle within the priority area.

[0082] Second, the control unit 140 may prioritize the target information in the order of earliest arrival of the target at the autonomous vehicle 200. Each piece of target information detected by the target detection unit 130 includes speed information and direction information of each target. Furthermore, the wireless roadside device 100 can acquire position information of the autonomous vehicle 200 from the in-vehicle communication device 250. Therefore, the control unit 140 can prioritize the target information in the order of earliest arrival of the target at the autonomous vehicle 200, using the speed information of each target, direction information of each target, and position information of the autonomous vehicle 200. Prioritizing the target information in the order of earliest arrival of the target at the autonomous vehicle 200 enables the autonomous vehicle 200 to identify the target that will arrive earliest to the vehicle within the priority area.

[0083] FIG. 8 shows an example of setting priority areas when autonomous vehicle 200 makes a right turn. The example shown in FIG. 8 is just one example, and control unit 140 may set other areas as priority areas. Furthermore, as shown in FIG. 8, when turning right, areas different from those when turning left (e.g., FIG. 7) may be set as priority areas. When there is a plurality of pieces of target information within each priority area, control unit 140 may prioritize areas in descending order of distance to autonomous vehicle 200, or prioritize areas that will arrive earliest in relation to autonomous vehicle 200, as in the case of turning left.

[0084] In this way, control unit 140 detects the traveling direction of the autonomously driven vehicle (for example, a left turn or a right turn), sets a priority area for the road depending on the traveling direction, and prioritizes the target information based on the priority area. When there is multiple pieces of target information in the priority area, control unit 140 prioritizes the target information in order of proximity to autonomously driven vehicle 200, or prioritizes the target information in order of earliest arrival at autonomously driven vehicle 200.

[0085] 4, in step S15, control unit 140 determines whether or not a target information request message has been received. The target information request message is a message in which autonomously driven vehicle 200 requests target information for a predetermined area. The target information request message may be included in a vehicle information message.

[0086] For example, the on-board communication device 250 can detect surrounding targets using the on-board sensor 253 and output the targets as target information. However, there may be blind areas that cannot be detected by the on-board sensor 253. A blind area may occur, for example, due to a malfunction of the on-board communication device 250 (or the on-board sensor 253) or due to weather conditions such as snow accumulation, heavy rain, or sunlight (or backlighting). Alternatively, a blind area may exist from the beginning due to the installation position of the on-board sensor 253. Alternatively, a blind area may be an area that was initially detectable, but may become a blind area due to the driving conditions of the autonomously driven vehicle 200. For example, a blind area may occur due to the presence of an obstacle such as another vehicle or vegetation next to (or behind) the autonomously driven vehicle 200. The control unit 254 receives target information detected by the on-board sensor 253, and when target information for a certain specific area cannot be received from the on-board sensor 253 for position information included in the target information even after a predetermined time has elapsed, the control unit 254 may designate the specific area as an insensitive area. The control unit 254 designates the insensitive area that the on-board sensor 253 cannot acquire as a requested area, and generates a target information request message requesting target information for the requested area. The transmission unit 251 transmits (or notifies) the target information request message.

[0087] The receiver 120 of the wireless roadside device 100 receives the target information request message. Therefore, the control unit 140 may determine step S15 based on whether the receiver 120 has received the target information request message. If the controller 140 (or the receiver 120) has received the target information request message in step S15 (YES in step S15), the process proceeds to step S16. On the other hand, if the controller 140 (or the receiver 120) has not received the target information request message in step S15 (NO in step S15), the process proceeds to step S17.

[0088] In step S16, if there is a plurality of pieces of target information in the requested area, the control unit 140 prioritizes the pieces of target information. The prioritization is the same as the prioritization of the target information in the priority area in step S14. That is, the control unit 140 may prioritize the plurality of pieces of target information present in the requested area in descending order of distance to the autonomously driven vehicle 200, or may prioritize the target information in descending order of arrival time at the autonomously driven vehicle 200.

[0089] In step S17, when there is a plurality of pieces of target information detected by the target detection unit 130, the control unit 140 may prioritize the target information in descending order of distance to the autonomously driven vehicle 200, or in descending order of arrival time to the autonomously driven vehicle 200, based on the position information of the autonomously driven vehicle 200. In this case, the control unit 140 does not target target information within a specific area, such as target information within a priority area as in step S14, or target information within a requested area as in step S16, but simply prioritizes the target information when there are a plurality of pieces of target information. Note that, in step S17, the control unit 140 prioritizes the target information in descending order of distance or in descending order of arrival time based on the position of the autonomously driven vehicle 200, as described above. However, the reference is not limited to the position of the autonomously driven vehicle 200. For example, the control unit 140 may use (a predetermined position at) an intersection to which the autonomously driven vehicle 200 is heading (or will arrive) as the reference. In this case, for example, the control unit 140 may prioritize routes in descending order of distance or in descending order of arrival time, based on the intersection.

[0090] In step S18, the transmitter 110 transmits (announces) the prioritized target information. If there is a limit on the number of target information pieces that can be transmitted, the transmitter 110 transmits the target information in descending order of priority until the limit is reached. The transmitter 110 may transmit (announce) the vehicle ID of the automatically driven vehicle 200, which indicates the destination of the target information, together with the target information. This enables the wireless roadside device 100 to transmit target information to the automatically driven vehicle 200 identified by the vehicle ID.

[0091] In step S19, the control unit 140 ends the series of processes.

[0092] As described above, in the first embodiment, the wireless roadside device 100 transmits target object information corresponding to the driving situation (e.g., a left turn or a right turn) of the autonomously driven vehicle 200 to the autonomously driven vehicle 200 (or the in-vehicle communication device 250). For example, when the autonomously driven vehicle 200 is turning left (e.g., FIG. 7), target object information located in area #2 can be acquired preferentially. This target object is a target that may approach the autonomously driven vehicle 200 after the autonomously driven vehicle 200 turns left. Therefore, the autonomously driven vehicle 200 can use the target object information to perform autonomous driving, for example, by gradually increasing the speed. In other words, the target object information acquired by the autonomously driven vehicle 200 is target object information corresponding to the autonomous driving situation of the autonomously driven vehicle 200, and therefore can be information necessary for autonomous driving. The autonomously driven vehicle 200 can also ensure the safety of autonomous driving by using the target object information to perform autonomous driving.

[0093] Furthermore, in the first embodiment, when multiple pieces of target information exist in a priority area, the wireless roadside device 100 prioritizes the pieces of target information. As a result, for example, when there is a limit on the number of pieces of target information that can be transmitted from the wireless roadside device 100, the target information with the highest priority can be transmitted in order (i.e., the target information closest to the autonomous vehicle 200, or the target information that will reach the autonomous vehicle 200 the earliest). As a result, for example, the autonomous vehicle 200 can acquire the target information necessary for autonomous driving of its own vehicle even when there is a limit on the number of pieces of target information that can be received.

[0094] (Another example of operation 1) Although the first embodiment has been described with reference to an example in which no traffic lights are installed at the intersection, the present invention is not limited to this. For example, traffic lights may be installed at the intersection.

[0095] For example, in the example of FIG. 7 , if a traffic light is installed and autonomous vehicle 200 makes a left turn, there is a possibility that a target in area #2 will be stopped by the traffic light. Therefore, there is a possibility that there will be no target approaching autonomous vehicle 200 in area #2. Therefore, as shown in FIG. 9 , control unit 140 of wireless roadside device 100 may remove area #2 from the priority areas and set, for example, either area #1 or area #4 as priority area #1 (in the example of FIG. 9 , area #1 is set as priority area #1) and the other as priority area #2 (in the example of FIG. 9 , area #4 is set as priority area #2). Furthermore, in the example of FIG. 8 , if a traffic light is installed and autonomous vehicle 200 makes a right turn, there is a possibility that a target in area #4 will be stopped by the traffic light, and there is a possibility that there will be no target approaching autonomous vehicle 200 in area #4. Therefore, as shown in FIG. 10, the control unit 140 may remove area #4 from the priority area and set either area #1 or area #2 as priority area #1 (in the example of FIG. 10, area #1 is set as priority area #1), and the other as priority area #2 (in the example of FIG. 10, area #2 is set as priority area #2).

[0096] In this way, the control unit 140 can set priority areas depending on whether traffic lights are installed, thereby enabling implementation in the same way as the first embodiment.

[0097] (Another example of operation 2) Although the first embodiment has been described with reference to an example in which the intersection is a crossroads, the intersection is not limited to this. For example, the intersection may be a T-junction.

[0098] If the intersection is a T-junction, for example, as shown in Fig. 11, area #1 does not exist. Therefore, when autonomous vehicle 200 turns left, control unit 140 may set either area #2 or area #4 as priority area #1 (in the example of Fig. 11, area #2 is set as priority area #1), and the other as priority area #2 (in the example of Fig. 11, area #4 is set as priority area #2). When autonomous vehicle 200 turns right, control unit 140 may also set either area #2 or area #4 as priority area #1, and the other as priority area #2.

[0099] In this way, the control unit 140 can set priority areas according to the shape of the intersection, thereby achieving the same implementation as in the first embodiment.

[0100] (Another example 3) In the first embodiment, an example of a left turn or a right turn has been described as an example of a driving situation of the autonomously driven vehicle 200 at an intersection, but the present invention is not limited to this. The autonomously driven vehicle 200 may also be driving straight at an intersection.

[0101] Detection of automatically driven vehicle 200 traveling straight through an intersection may be performed, for example, as follows. That is, in-vehicle communication device 250 transmits target object information including position information and speed information, and wireless roadside device 100 receives the target object information. When control unit 140 of wireless roadside device 100 detects, based on the position information, that automatically driven vehicle 200 has reached a predetermined position before entering the intersection, control unit 140 detects, based on the speed information, whether the speed of automatically driven vehicle 200 at the predetermined position is equal to or greater than a speed threshold. If the speed of automatically driven vehicle 200 at the predetermined position is equal to or greater than the speed threshold, control unit 140 determines that automatically driven vehicle 200 will travel straight through the intersection, and if the speed of automatically driven vehicle 200 at the predetermined position is less than the speed threshold, determines that automatically driven vehicle 200 will not travel straight through the intersection (i.e., will turn left or right).

[0102] 7, for example, when the control unit 140 determines that the autonomous vehicle 200 will proceed straight through the intersection, it may set priority areas to areas #1, #2, and #4. It may be arbitrary which areas among areas #1, #2, and #4 are set as priority areas #1 to #3. This enables the wireless roadside device 100 to transmit target information according to the driving situation, as in the first embodiment.

[0103] (Another example 4) In the first embodiment, an example has been described in which the in-vehicle communication device 250 identifies the dead area of the in-vehicle sensor 253, but the identification of the dead area is not limited to this. For example, the wireless roadside device 100 may identify the dead area of the in-vehicle communication device 250.

[0104] In general, the wireless roadside device 100 is installed at a predetermined height from the ground. Therefore, the control unit 140 of the wireless roadside device 100 can identify blind areas of the on-board sensor 253 of the autonomously driven vehicle 200 (for example, areas shaded by the autonomously driven vehicle 200). Then, the target detection unit 130 of the wireless roadside device 100 can detect targets in the identified blind areas. The transmission unit 110 may transmit information about targets present in the blind areas to the autonomously driven vehicle 200, even if it does not receive a target information request message.

[0105] (Other operation example 5) In the first embodiment, an example has been described in which the in-vehicle communication device 250 transmits a target information request message including a requested area, but the information included in the target information request message is not limited to the requested area. For example, the target information request message may include information regarding a target detection period and a transmission time of the target information. The target detection unit 130 of the wireless roadside device 100 may detect targets during the requested detection period, and the transmission unit 110 of the wireless roadside device 100 may transmit the target information at the requested transmission time. (Other operation example 6) A timeout period may be preset in the target information request message described in the first embodiment. The control unit 140 of the wireless roadside device 100 starts counting from the time when the target information request message is received. When the count value reaches the timeout period, the control unit 140 stops transmitting target information for the requested area in accordance with the target information request message from the transmission unit 110. In this case, the control unit 140 determines in step S15 that the target information request message has not been received (NO in step S15) and performs the processes from step S17 onwards.

[0106] [Other embodiments] A program for causing a computer to execute each process according to the above-described embodiments may be provided. The program may be recorded on a computer-readable medium. The computer-readable medium can be used to install the program on a computer. Here, the computer-readable medium on which the program is recorded may be a non-transitory recording medium. The non-transitory recording medium is not particularly limited, and may be, for example, a CD-ROM or a DVD-ROM. Such a recording medium may be included in the control unit 140 of the wireless roadside device 100 and the control unit 254 of the in-vehicle communication device 250. The control unit 140 may implement each function described in the above-described embodiments by reading and executing the program from the recording medium. Therefore, the control unit 140 and the control unit 254 may be configured as a processor or controller, such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor).

[0107] Although the embodiments have been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design changes can be made without departing from the spirit of the invention. Furthermore, it is also possible to combine the embodiments, operation examples, or processes within a consistent range.

[0108] (Addendum) (Appendix 1) A wireless roadside device capable of communicating with an in-vehicle communication device mounted on an autonomous driving vehicle, a transmitting unit that transmits target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle; Wireless trackside machine.

[0109] (Appendix 2) The transmitting unit transmits the target information according to a driving situation of the autonomously driven vehicle at the intersection to the autonomously driven vehicle. Attachment 1 describes a wireless roadside device.

[0110] (Appendix 3) a control unit that detects a traveling direction of the autonomous vehicle at the intersection, the control unit sets priority areas of the road according to the traveling direction, and prioritizes the target information based on the priority areas; The transmitting unit transmits the prioritized target information. 1. A wireless roadside device according to claim 1 or 2.

[0111] (Appendix 4) The control unit detects the traveling direction of the autonomously driven vehicle at the intersection based on information indicating the traveling direction of the autonomously driven vehicle received from the in-vehicle communication device. 4. The wireless roadside device according to claim 1.

[0112] (Appendix 5) a target detection unit that detects a traveling direction of the autonomous driving vehicle, The control unit detects a traveling direction of the autonomous vehicle at the intersection based on a detection result by the target detection unit. 5. The wireless roadside device according to claim 1.

[0113] (Appendix 6) a target detection unit that detects a target within the priority area and outputs the target as the target information. 6. The wireless roadside device according to claim 1.

[0114] (Appendix 7) When a plurality of pieces of target information exist within the priority area, the control unit Prioritizing the target information in descending order of distance to the autonomously driven vehicle, or Prioritizing the target information in order of earliest arrival time to the autonomously driven vehicle. 7. The wireless roadside device according to claim 1.

[0115] (Appendix 8) The transmitting unit transmits the target information of the area requested by the autonomously driven vehicle. 8. The wireless roadside device according to claim 1.

[0116] (Appendix 9) A communication method in a wireless roadside device capable of communicating with an in-vehicle communication device mounted on an autonomous driving vehicle, comprising: transmitting target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle; Communication method.

[0117] (Appendix 10) An in-vehicle communication device installed in an autonomous driving vehicle; a communication system including a wireless roadside device capable of communicating with the in-vehicle communication device, the wireless roadside device transmits target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle; The vehicle-mounted communication device receives the target information. Communication system.

[0118] (Appendix 11) The computer of the wireless roadside device that can communicate with the on-board communication device installed in the autonomous driving vehicle and transmitting target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle. program.

[0119] (Appendix 12) An in-vehicle communication device mounted on an autonomous driving vehicle, an on-board sensor for detecting a target; a transmitter that transmits, to the wireless roadside device, a target information request message requesting target information of an area that cannot be acquired by the on-board sensor; a receiving unit that receives the target information from the wireless roadside device; In-vehicle communication device. [Explanation of symbols]

[0120] 10: Communication system 100: Wireless roadside unit 110: Transmitter 120: Receiver 130: Target detection unit 140: Control unit 200: Autonomous vehicle 250: In-vehicle communication device 251: Transmitter 252: Receiver 253: On-board sensor 254: Control unit

Claims

1. A wireless roadside device capable of communicating with an in-vehicle communication device mounted on an autonomous driving vehicle, a transmitting unit that transmits target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle; Wireless trackside machine.

2. The transmitting unit transmits the target information according to a driving situation of the autonomously driven vehicle at the intersection to the autonomously driven vehicle. The wireless roadside device according to claim 1.

3. a control unit that detects a traveling direction of the autonomous vehicle at the intersection, the control unit sets priority areas of the road according to the traveling direction, and prioritizes the target information based on the priority areas; The transmitting unit transmits the prioritized target information. The wireless roadside device according to claim 2.

4. The control unit detects the traveling direction of the autonomously driven vehicle at the intersection based on information indicating the traveling direction of the autonomously driven vehicle received from the in-vehicle communication device. The wireless roadside device according to claim 3.

5. a target detection unit that detects a traveling direction of the autonomous driving vehicle, The control unit detects a traveling direction of the autonomous vehicle at the intersection based on a detection result by the target detection unit. The wireless roadside device according to claim 3.

6. a target detection unit that detects a target within the priority area and outputs the target as the target information. The wireless roadside device according to claim 3.

7. When a plurality of pieces of target information exist within the priority area, the control unit Prioritizing the target information in order of proximity to the autonomously driven vehicle; or Prioritizing the target information in order of earliest arrival at the automatically driven vehicle.

7. The wireless roadside device according to claim 6.

8. The transmitting unit transmits the target information of the area requested by the autonomously driven vehicle. The wireless roadside device according to claim 1.

9. A communication method in a wireless roadside device capable of communicating with an in-vehicle communication device mounted on an autonomous driving vehicle, comprising: transmitting target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle; Communication method.

10. An in-vehicle communication device installed in an autonomous driving vehicle; a communication system including a wireless roadside device capable of communicating with the in-vehicle communication device, the wireless roadside device transmits target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle; The vehicle-mounted communication device receives the target information. Communication system.

11. The computer of the wireless roadside device that can communicate with the on-board communication device installed in the autonomous driving vehicle and transmitting target information according to a driving situation of the autonomously driven vehicle to the autonomously driven vehicle. program.

12. An in-vehicle communication device mounted on an autonomous driving vehicle, an on-board sensor for detecting a target; a transmitter that transmits, to the wireless roadside device, a target information request message requesting target information of an area that cannot be acquired by the on-board sensor; a receiving unit that receives the target information from the wireless roadside device; In-vehicle communication device.

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