Information generation device, information generation method, and program for information generation device

Abstract

For example, when generating transmission data for mobile-to-mobile communication with a limited amount of data, the present invention provides an information generation device that generates information that can be effectively utilized by the receiving mobile device. [Solution] An information generation device that can be mounted on a mobile body estimates control attributes related to the operation control of other mobile bodies that are within a communication range from the mobile body's position, and relatively large numbers of these control attributes, and generates transmission information to be sent to other mobile bodies, including mobile body information of items that are prioritized according to the estimated control attributes from among multiple items of mobile body information that include information related to the operation control of the mobile body.

Description

Technical Field

[0001] This application belongs to the technical field of information generation devices, information generation methods, and programs for information generation devices.

Background Art

[0002] Inter-vehicle communication is performed between moving objects, and mutual information is used for vehicle driving support. In Patent Document 1 below, a communication device for a vehicle is disclosed that divides information into a plurality of divided information, determines a priority for the divided information, determines the number of transmissions of information with a high priority, and repeatedly transmits information with a high priority.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when various moving objects with different control attributes related to the driving control of moving objects, for example, different levels of autonomous driving, are mixed, in the technology described in Patent Document 1 above, since the items of moving object information required according to the control attributes are different, it has been difficult to communicate effectively with the transmission data of inter-vehicle communication with a limited data amount.

[0005] Therefore, this application has been made in view of the above problems, and an example of the problem is to provide an information generation device or the like that can generate information that can be effectively used by the receiving moving object when generating transmission data for moving object communication with a limited data amount.

Means for Solving the Problems

[0006] To solve the above problems, the invention described in claim 1 is an information generating device that can be mounted on a mobile body, comprising: estimation means for estimating control attributes relating to the operation control of other mobile bodies located within a communication range from the position of the mobile body, which are relatively numerous; and information generating means for generating transmission information to be transmitted to the other mobile body, including mobile body information of items that are prioritized according to the estimated control attributes from among a plurality of items of mobile body information including information relating to the operation control of the mobile body.

[0007] Furthermore, the invention described in claim 5 includes an estimation step in which the estimation means estimates control attributes relating to the operation control of other mobile bodies that are within a communication range from the position of the mobile body, and which control attributes are relatively numerous; and an information generation step in which the information generation means generates transmission information to be transmitted to the other mobile body, including mobile body information of items that are prioritized according to the estimated control attributes from among a plurality of items of mobile body information relating to the operation control of the mobile body. [Brief explanation of the drawing]

[0008] [Figure 1] This block diagram shows an example of the schematic configuration of an information generation device according to an embodiment. [Figure 2] This is a schematic diagram showing an example of the general configuration of a vehicle-to-vehicle communication system according to an embodiment. [Figure 3] This is a schematic diagram illustrating an example of a driving environment. [Figure 4] This is a schematic diagram illustrating an example of a driving environment. [Figure 5] This is a schematic diagram illustrating an example of a driving environment. [Figure 6] This is a block diagram showing an example of the general configuration of a vehicle-to-vehicle communication device for an autonomous vehicle. [Figure 7] Figure 6 is a schematic diagram showing an example of a database for a vehicle-to-vehicle communication device. [Figure 8] This flowchart shows an example of the operation of the vehicle-to-vehicle communication device during transmission according to the embodiment. [Figure 9] This is a schematic diagram showing an example of information to be transmitted. [Figure 10] It is a schematic diagram showing an example of information for transmission. [Figure 11] It is a flowchart showing an example of the operation of the vehicle-to-vehicle communication device at the time of reception according to the embodiment. [Figure 12] It is a flowchart showing a second embodiment of the operation of the vehicle-to-vehicle communication device at the time of transmission. [Figure 13] It is a schematic diagram showing an example of information for transmission. [Figure 14] It is a schematic diagram showing an example of information for transmission.

Mode for Carrying Out the Invention

[0009] The mode for carrying out the present application will be described with reference to FIG. 1. Note that FIG. 1 is a block diagram showing an example of the schematic configuration of the information generation device according to the embodiment.

[0010] As shown in FIG. 1, the information generation device 1 includes an estimation unit 1a and an information generation unit 1b.

[0011] Examples of the information generation device 1 include a navigation device mounted on a moving body, a mobile terminal device, etc. Examples of the mobile terminal device include a portable wireless telephone including a smartphone, a PDA, etc. Examples of the moving body include an automobile, a bicycle, a person, a railway, a ship, an airplane, etc.

[0012] The information generation device 1 performs wireless communication with the information generation devices 1 of other moving bodies.

[0013] In this configuration, the estimation unit 1a estimates a control attribute related to the operation control of other moving bodies existing within the communicable range from the position of the moving body, and the control attribute with a relatively large number.

[0014] Here, the communicable range from the position of the moving body, that is, the range in which vehicle-to-vehicle communication is possible, is, for example, a range of about several hundred meters from the moving body, but the communicable range varies depending on the radio wave intensity, frequency, and obstacles.

[0015] As an example of control attributes related to the driving control of a moving body, there are levels of autonomous driving and automatic steering defined by institutions in various countries. For example, when the moving body is a vehicle, the levels range from the lowest automation level 0 to the highest automation level 4. Further, for example, the control attributes may be classified into two attributes: autonomous driving and safe driving support. When the control attribute is autonomous driving, it may correspond to, for example, levels 3 and 4, and when it is safe driving support, it may correspond to levels 0 to 2. When the control attribute is autonomous driving, it may also correspond to, for example, levels 2 to 4, and when it is safe driving support, it may correspond to levels 0 and 1.

[0016] When the moving body is a vehicle, the estimation of the control attribute may be performed based on the type of road on which the vehicle is traveling. For example, when the vehicle is traveling on a highway, the probability that the vehicle is operating in autonomous driving is high, and it is estimated that there are relatively more autonomous driving vehicles within the range where vehicle-to-vehicle communication is possible compared to vehicles with safe driving support or vehicles that are not executing the function of autonomous driving. Also, the estimation of the control attribute may be performed based on the result of vehicle-to-vehicle communication. For example, the control attribute is estimated from the number of values of the control attribute (e.g., autonomous driving level) included in the transmission information sent and received from other moving bodies existing within the range where vehicle-to-vehicle communication is possible with the moving body. Further, it may be estimated using a camera mounted on the moving body to photograph the surroundings. For example, the control attribute is estimated based on the vehicle type and the like captured by the camera.

[0017] The information generation means 1b generates transmission information to be transmitted to other moving bodies, including the moving body information of the items to be prioritized according to the estimated control attribute among a plurality of items of moving body information including information related to the driving control of the moving body.

[0018] Here, as an example of the items of moving body information, there are items such as the moving body speed, the ON / OFF item of the lights equipped on the moving body, the ON / OFF item of the windshield wipers, the item of the type of road on which it is traveling (highway, general road, mountain road, suburban road (e.g., a road in an area with less traffic volume compared to the city center), road in the city, etc.), and the position of the moving body by GPS (Global Positioning System). Examples of data include: relative position to features (high-precision location information), link ID for road sections connecting nodes on the map data, intersection information (three-way intersections, crossroads, link IDs of intersecting roads, presence of traffic lights, location, traffic congestion status, etc.), attributes of the driver operating the moving object (gender, age, etc.), driver's state (awake, drowsy), autonomous driving level, and merging information.

[0019] Furthermore, examples of items in the mobile information include the status of the lane keeping function, the status of the distance keeping function, the status of the tracking function for the moving object ahead, and information on surrounding moving objects (for example, the type of vehicle and control attributes of surrounding moving objects).

[0020] Furthermore, examples of mobile information items include destination information and route information from a navigation system.

[0021] Furthermore, the merge information items are divided into items such as the scheduled merge time, the scheduled merge location, the link ID of the road to merge, and the traffic congestion information of the road to merge. Regarding the scheduled merge time item, options include a detailed scheduled merge time (e.g., in microseconds) and a less detailed scheduled merge time (e.g., in minutes). Regarding the scheduled merge location, options include a detailed scheduled merge location (e.g., with millimeter precision) and a less detailed scheduled merge location (e.g., in meters).

[0022] The intersection information section, like the merging information section, may include both detailed and less detailed items regarding location, etc.

[0023] The items related to autonomous driving, such as detailed location information, are not information specifically required for driving in safety driving assistance modes, but rather items unique to autonomous driving.

[0024] Furthermore, information regarding the driving control of a mobile vehicle is necessary for its autonomous driving. This information varies depending on the level of automation, the type of vehicle (vehicle type, etc.), and the vehicle's control mechanism. Examples include the vehicle's speed, its detailed current position (e.g., relative position to landmarks, link ID, etc.), and detailed merging information (detailed planned merging time, detailed planned merging location, road type, etc.).

[0025] As an example of information to be transmitted, it is sufficient to include at least the mobile information of items that are prioritized according to the estimated control attributes. The items of the information to be transmitted may be divided into mandatory items and optional items. For example, mandatory items may include the control attributes of the mobile body, the current position of the mobile body, the speed of the mobile body, and the direction of travel of the mobile body. If the control attribute is automatic driving, the mandatory item may be the detailed current position (the relative position of the mobile body to the terrain) instead of the current position. If the control attribute is driving in safe driving support mode, the mandatory items may include the driver's status, the position information of surrounding mobile bodies, the direction of travel, etc.

[0026] The fields for transmission information may include mandatory fields regardless of control attributes. For example, the fields for the control attributes of the mobile object and the current location may be mandatory fields regardless of control attributes.

[0027] Please note that there is a limit to the size of the data that can be sent, and the items that can be included in the information will vary depending on the data size of each item, the priority of each item, etc.

[0028] The information generation device 1 may also acquire information about the moving environment in which the moving object is moving.

[0029] Examples of mobility environment information include information about the location of the moving object (including its current location), information about the situation the object is encountering, and information about the time the object is traveling. Examples of location information include road type information (e.g., highway, suburban road, town road, mountain road), location information of the moving object, intersection information, and merging information. Examples of situation information include weather information and traffic congestion. Examples of time information include date, time of day (day, night, evening, etc.), and season. Furthermore, as an example of mobility environment information, location information may also be map information based on current location information.

[0030] Examples of places exclusively for the movement of moving objects include highways and expressways where vehicles travel.

[0031] As described above, according to the operation of the information generation device 1 according to the embodiment, mobile information for items that match the control attributes of a relatively large number of mobile objects can be preferentially included in the transmission information. Therefore, even if the amount of data in the transmission data is limited, the information can be effectively utilized by the receiving mobile object via vehicle-to-vehicle communication. [Examples]

[0032] [1. Overview of the configuration and functions of the vehicle-to-vehicle communication system and vehicle-to-vehicle communication device] (1.1 Overview of the configuration and functions of the vehicle-to-vehicle communication system)

[0033] Next, specific embodiments corresponding to the above-described embodiments will be explained with reference to the figures. The embodiments described below are examples in which the present invention is applied to a vehicle-to-vehicle communication system S in a vehicle, which is an example of a mobile device.

[0034] Figure 2 is a schematic diagram showing an example configuration of the vehicle-to-vehicle communication system S. Figures 3 to 5 are schematic diagrams showing an example of a driving environment.

[0035] As shown in Figure 2, the vehicle-to-vehicle communication system S of this embodiment is composed of multiple vehicles 5 (an example of a mobile entity) whose control attribute is automatic driving, and multiple vehicles 5 (an example of a mobile entity) whose control attribute is safe driving support mode. Each vehicle 5 is equipped with a vehicle-to-vehicle communication device 10 (an example of an information generation device). Note that the vehicle-to-vehicle communication devices 10 of each vehicle 5 do not have to be exactly the same, as long as they can communicate with each other.

[0036] Vehicle 5, which is an autonomous vehicle, is, for example, a vehicle with an automation level of Level 3 or Level 4. In the case of Level 3, acceleration, steering, and braking are all automatically controlled, but the user (driver) of vehicle 5 will perform acceleration, steering, and braking depending on the situation. In the case of Level 4, acceleration, steering, and braking are all automatically controlled.

[0037] Vehicle 5 operating in safe driving assistance mode is, for example, a vehicle with an automation level of Level 0 to Level 2. At Level 1 or Level 2, Vehicle 5 has either acceleration, steering, or braking automatically controlled. At Level 0, the user of Vehicle 5 is not controlled for acceleration, steering, or braking; only notifications regarding safe driving assistance are provided. Furthermore, Vehicle 5 operating in safe driving assistance mode includes vehicles with Level 3 or Level 4 autonomous driving capabilities that are operating at any of the Levels 0 to 2.

[0038] The expected number of autonomously driving vehicles 5 differs depending on whether the driving environment (an example of a travel environment) in which vehicle 5 is traveling is a highway or a regular road. As shown in Figure 3, for example, road R1 is a highway and road R2 is a regular road. On highway road R1, it is assumed that there are relatively many vehicles 5 performing autonomous driving functions. On regular road road R2, it is assumed that there are fewer vehicles 5 performing autonomous driving functions.

[0039] In the example shown in Figure 4, the driving environment in which vehicle 5 is traveling is such that roads R3 and R4 are approaching each other's intersection. Vehicles 5 near the intersection communicate with each other, including intersection information (an example of travel environment information).

[0040] In the example shown in Figure 5, the driving environment in which vehicle 5 is traveling is near the junction of road R5 and road R6. Vehicles 5 near the junction communicate with each other, including merging information (an example of travel environment information).

[0041] The vehicle-to-vehicle communication devices 10 communicate with each other using radio waves of a predetermined frequency. The vehicle-to-vehicle communication device 10 of the vehicle 5 identified from among the vehicles 5 and the vehicle-to-vehicle communication device 10 of other vehicles 5 different from the vehicle 5 communicate with each other using radio waves of a predetermined frequency.

[0042] The vehicle-to-vehicle communication device 10 installed in the autonomous vehicle 5 provides information related to driving control to the drive control unit (not shown), which controls the acceleration, steering, and braking of the vehicle 5.

[0043] In the vehicle 5 operating in safe driving support mode, the vehicle-to-vehicle communication device 10 provides the drive control unit with information regarding driving control for whichever of acceleration, steering, and braking is controllable, in the case of Level 1 or Level 2. In the case of Level 0, the vehicle-to-vehicle communication device 10 outputs information regarding safe driving support in the form of sound or display.

[0044] (1.2 Configuration and Function of Vehicle-to-Vehicle Communication Device 10) Next, the configuration and functions of the vehicle-to-vehicle communication device 10 will be explained using Figures 6 and 7.

[0045] Figure 6 is a block diagram showing an example configuration of the vehicle-to-vehicle communication device 10. Figure 7 is a schematic diagram showing an example of a database for the vehicle-to-vehicle communication device in Figure 6.

[0046] As shown in Figure 6, the vehicle-to-vehicle communication device 10, which functions as a computer, includes a communication unit 11, a storage unit 12, an output unit 13, an operation unit 14, a sensor information acquisition unit 15, and a control unit 16.

[0047] The communication unit 11 performs wireless communication using radio waves for communication with the vehicle-to-vehicle communication device 10 of other vehicles 5.

[0048] The storage unit 12 is composed of, for example, a hard disk drive, a silicon disk drive, etc. The storage unit 12 includes a map database (map DB) 12a, an item statistics database (item statistics DB) 12b, etc.

[0049] Map database 12a stores information necessary for navigation, such as the locations of roads, facilities, intersections, and traffic regulations. For example, road information may include the location information of each link (e.g., the coordinates of the nodes at both ends of the link), the distance of the link, the road width, and the road name.

[0050] As shown in Figure 7, the item statistics database 12b stores the number of times each item has been received and used, associated with the item ID. Each item included in the transmission information received from other vehicles is counted, and the value is stored in the "Number of times received" column for each item. Of the values ​​of each item included in the received transmission information, the values ​​of the items used for driving in automatic driving or safe driving support mode are counted, and the value is stored in the "Number of times used" column for each item.

[0051] The memory unit 12 may also contain driver attribute information such as the gender and age of the driver operating the vehicle.

[0052] The storage unit 12 stores various programs for controlling the vehicle-to-vehicle communication device 10. Examples of these programs include operating systems, navigation systems, and application software for music playback. These programs may be acquired via a network such as a wireless communication network, or they may be recorded on a recording medium such as a CD or DVD and read via a drive device.

[0053] The output unit 13 outputs images, sounds, etc. The output unit 13 is, for example, an output means for a car navigation system and is composed of a liquid crystal display element or EL element, a speaker, etc.

[0054] The sensor information acquisition unit 15 includes sensors mounted on the vehicle (internal sensors) that measure the vehicle's own driving state, etc., and external sensors (external sensors) that measure the outside world of the vehicle and acquire information necessary for autonomous driving.

[0055] For example, internal sensors include the acceleration, speed, direction of travel, and tilt of the vehicle 5. Internal sensors also detect the steering wheel angle, the operating status of brakes, gears, wipers, etc., the direction indicated by the turn signals, and the on / off status of the lights. Furthermore, specific examples of internal sensors include gyro sensors, acceleration sensors, speed sensors, wheel rotation angle sensors, and steering angle sensors. Note that the absolute position of the vehicle 5 is acquired using a GNSS (Global Navigation Satellite System) positioning system such as GPS (Global Positioning System). The Tem may or may not be included in the internal sensor.

[0056] Other examples of external sensors include radar, driving space sensors (LIDAR: Light Detection and Ranging, Laser Imaging Detection and Ranging), and cameras that photograph the area around the vehicle.

[0057] Furthermore, the sensor information acquisition unit 15 may have a sensor that receives traffic information provided by the Road Traffic Information Communication System (VICS®: Vehicle Information and Communication System). The sensor information acquisition unit 15 also has a timer that measures the current time.

[0058] Furthermore, the sensor information acquisition unit 15 may be configured to acquire images from a camera that photographs the driver. In addition, the sensor information acquisition unit 15 may have a rain sensor.

[0059] Note that the sensors included will vary depending on the vehicle's control attributes. For example, the sensor information acquisition unit 15 of vehicle 5 operating in safe driving support mode does not need to have a driving space sensor.

[0060] The operation unit 14 is composed of, for example, operation buttons. If the output unit 13 is a touch-switch type display panel such as a touch panel, the operation unit 14 acquires the position information of the output unit 13 that the user has touched or is close to.

[0061] The control unit 16 includes, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The control unit 16 handles vehicle-to-vehicle communication. This controls the operation of each part of the device 10.

[0062] [2. Operation of the vehicle-to-vehicle communication device 10] Next, the operation of the vehicle-to-vehicle communication device 10 according to the embodiment will be explained with reference to the diagram.

[0063] (2.1 An example of the operation of the vehicle-to-vehicle communication device 10 during transmission) First, an example of the operation of the vehicle-to-vehicle communication device 10 during transmission will be explained using Figures 8 to 10.

[0064] Figure 8 is a flowchart showing an example of the operation of the vehicle-to-vehicle communication device 10 during transmission according to the embodiment. Figures 9 and 10 are schematic diagrams showing an example of information for transmission.

[0065] As shown in Figure 8, the vehicle-to-vehicle communication device 10 acquires vehicle environment information (an example of mobile environment information) (step S1). Specifically, the control unit 16 of the vehicle-to-vehicle communication device 10 acquires images of the area around the vehicle 5 from the camera of the sensor information acquisition unit 15. The control unit 16 also acquires information on the type of road the vehicle is currently traveling on from the current location information and map information of the sensor information acquisition unit 15.

[0066] Furthermore, the control unit 16 acquires the current time from the timer of the sensor information acquisition unit 15. The control unit 16 also acquires traffic information from the sensor information acquisition unit 15. The control unit 16 also acquires information such as road surface conditions and weather from the sensor information acquisition unit 15.

[0067] Next, the vehicle-to-vehicle communication device 10 acquires information about its own vehicle (step S2). Specifically, the control unit 16 acquires information from the internal sensors of the sensor information acquisition unit 15, such as the acceleration, speed, direction of travel, tilt, steering wheel angle, operating status of brakes, gears, wipers, etc., direction of turn signals, and on / off status of lights of its own vehicle 5. In the case of driver attributes, the control unit 16 may read user attribute information registered in the storage unit 12.

[0068] Next, the vehicle-to-vehicle communication device 10 receives transmission information from another vehicle (step S3). Specifically, the control unit 16 receives transmission information from another transmitting vehicle within range of the radio waves via the communication unit 11. When the receiving vehicle 5 receives transmission information from another vehicle, the number of times each item included in the transmission information has been received is stored in the item statistics database 12b.

[0069] Next, the vehicle-to-vehicle communication device 10 estimates the control attributes of the most common vehicles in the surrounding area (step S4). For example, if the road type is an expressway, the control unit 16 estimates that the control attributes of the relatively common vehicles around the vehicle 5 are autonomous driving. Alternatively, the control unit 16 may compile statistics on the values ​​of the autonomous driving level item in the received transmission information, and if there are many other vehicles at level 3 or higher, it may estimate that the control attributes of the most common vehicles around the vehicle 5 are autonomous driving. For example, regarding the method of compiling statistics, the control attributes of vehicles may be aggregated for each vehicle ID that identifies other vehicles from communications received in the most recent second every second, and this may be reflected in changes to the items in the transmission information in near real time. The control unit 16 may also compile statistics on other vehicle data currently being received in real time. Alternatively, regarding the method of compiling statistics, the control unit 16 may use cumulative data from the past linked to the situation, such as the road type, to compile statistics. Alternatively, the control unit 16 may estimate and aggregate control attributes from the vehicle type, etc., captured by the camera to determine the control attributes of the relatively common vehicles around the vehicle 5.

[0070] Thus, the vehicle-to-vehicle communication device 10 functions as an example of an estimation means for estimating control attributes related to the driving control of other mobile bodies that are within communication range from the mobile body's position, and which are relatively numerous. When the mobile body is moving in a location reserved for the mobile body, the vehicle-to-vehicle communication device 10 functions as an example of an estimation means for estimating control attributes related to autonomous driving.

[0071] Next, the vehicle-to-vehicle communication device 10 selects items of vehicle information (an example of mobile information) to prioritize according to the estimated control attribute (step S5). For example, if the estimated control attribute is autonomous driving, the control unit 16 prioritizes selecting items of high-precision location information necessary for autonomous driving (detailed current location, detailed merging location if merging, etc.), high-precision time information (detailed merging time if merging), etc. However, if the control attribute of the vehicle 5 is driving in safe driving support mode, and the vehicle 5 does not have a driving space sensor and cannot acquire high-precision location information, the control unit 16 may select items of high-precision time information or prioritize other items such as the control attribute of the vehicle 5. The control unit 16 may also arbitrarily select items within the allowable range of the data capacity that can be transmitted at once. Alternatively, the control unit 16 may select the mobile information of the item itself instead of the item.

[0072] On the other hand, if the estimated control attributes indicate operation in safe driving support mode, the control unit 16 prioritizes selecting, for example, location information that is not highly accurate, driver attributes, driver status, etc.

[0073] Furthermore, if the estimated control attribute is for safe driving support mode, the control unit 16 may choose not to select the high-precision location information item. This is because, for example, if the estimated control attribute is for safe driving support mode, it is assumed that other vehicles receiving the data will not have the opportunity to use the high-precision location information. This is because, when the estimated control attribute is for safe driving support mode, prioritizing the selection of high-precision location information as transmission information would be contrary to the objective of generating information that can be efficiently used by other vehicles receiving the data, especially when the amount of data that can be transmitted at once is limited.

[0074] Thus, the vehicle-to-vehicle communication device 10 functions as an example of selection means for selecting items to be prioritized from among a plurality of items of mobile information, including information related to the driving control of the mobile body, according to the estimated control attributes. The vehicle-to-vehicle communication device 10 functions as an example of selection means for selecting mobile information of items to be prioritized from among the plurality of mobile information items, according to the mobile environment information.

[0075] Next, the vehicle-to-vehicle communication device 10 reads out statistics for the items (step S6). Specifically, the control unit 16 refers to the item statistics database 12b to read out the number of times each item has been received (an example of statistics) and the number of times it has been used (an example of statistics), and calculates the usage frequency (an example of statistics) for the number of uses per reception.

[0076] Thus, the vehicle-to-vehicle communication device 10 functions as an example of an acquisition means for obtaining statistical data on items of the information to be transmitted that have been used by other mobile entities.

[0077] Next, the vehicle-to-vehicle communication device 10 generates information for transmission (step S7). Specifically, the control unit 16 prioritizes the items selected in step S5 and determines which items to include in the information for transmission based on the data size of each item.

[0078] Furthermore, as shown in Figures 9 and 10, if there are required and optional items, the required items may always be included in the transmission information regardless of the control attributes. For example, if information on the approach of emergency vehicles such as ambulances or the routes they travel is acquired as surrounding vehicle information, this surrounding vehicle information may be given top priority and made a required item in the transmission information regardless of the control attributes. Also, for example, as shown in Figure 10, even if the control attributes of many surrounding vehicles are in safe driving support mode, the route information of the vehicle itself (the transmitting vehicle) and driving support information 1 (for example, if the vehicle itself is in a state where it is using the distance keeping function, information indicating that the function is being executed) may be made a required item.

[0079] Furthermore, after determining the required items, if the item selected in step S5 is not a required item, the control unit 16 may make the item higher in rank than the optional items a required item.

[0080] Furthermore, the control unit 16 may select the top items with the highest frequency of use for reception (for example, the top 3 items). The control unit 16 may also weight each item according to its frequency of use to determine which items to include in the transmission information. The control unit 16 may also weight each item based on whether it is an item selected in step S5 (an example of an item prioritized according to control attributes), whether it is a mandatory item, and whether it is an item with high usage frequency, to determine which items to include in the transmission information. In this way, the vehicle-to-vehicle communication device 10 may function as an example of a selection means that selects items to prioritize according to estimated control attributes and statistics.

[0081] If the control attributes of many surrounding vehicles are estimated to be autonomous driving, the items are determined as shown in Figure 9, for example. The items for high-precision position information of the vehicle 5, which is necessary for the autonomous driving of other vehicles (the receiving vehicle), and the items for the control attribute level of the vehicle 5 are placed at the top. Furthermore, as optional items, items for the lane keeping function status, the distance keeping function status, and the forward vehicle following function status, which are supplementarily necessary for the autonomous driving of other vehicles, are included. Note that the items may or may not include items necessary for driving in safe driving support mode.

[0082] If the control attributes of many surrounding vehicles are estimated to be in safe driving support mode, the items are determined as shown in Figure 10, for example. For example, the driver status of vehicle 5 and surrounding vehicle information (an example of surrounding moving object information) are placed at the top of the required items. The destination information and route information of vehicle 5 are placed in the optional items.

[0083] Next, the control unit 16 acquires information corresponding to the items to be included in the determined transmission information. For example, in the case of the item for detailed current location, it acquires the detailed current location information acquired in step S2. In the case of the item for driver attributes, the control unit 16 acquires the information registered in the storage unit 12. In the case of the item for driver status, the control unit 16 determines the driver's status from the steering wheel operation status, images of the driver, etc.

[0084] Next, the control unit 16 includes the identification information of its own vehicle 5 in the header and generates transmission information in the determined order of items, such as item ID, data size, data value, next item ID, data size, data value, and so on.

[0085] Thus, the vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates transmission information to be sent to another vehicle, including vehicle information of items that are prioritized according to estimated control attributes from among a plurality of items of vehicle information, which includes information related to the driving control of the vehicle. The vehicle-to-vehicle communication device 10 functions as an example of essential item selection means that selects essential items that are required regardless of estimated control attributes. The vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates transmission information including vehicle information of essential items that are required.

[0086] Next, the vehicle-to-vehicle communication device 10 transmits information for transmission (step S8). Specifically, the control unit 16 broadcasts from its own vehicle 5, the transmitting vehicle, to the vehicle-to-vehicle communication device 10 of the other vehicle, the receiving vehicle, via the communication unit 11. The vehicle-to-vehicle communication 10 functions as an example of a communication means for transmitting information for transmission.

[0087] (2.2 An example of the operation of the vehicle-to-vehicle communication device when receiving a signal) Next, an example of the operation of the vehicle-to-vehicle communication device during reception will be explained using Figure 11.

[0088] Figure 11 is a flowchart showing an example of the operation of the vehicle-to-vehicle communication device during reception according to the embodiment.

[0089] As shown in Figure 11, the vehicle-to-vehicle communication device 10 acquires vehicle environment information as in step S1 (step S10).

[0090] Next, the vehicle-to-vehicle communication device 10 acquires information about its own vehicle 5, as in step S2 (step S11).

[0091] Next, the vehicle-to-vehicle communication device 10 receives transmission information from another vehicle, as in step S3 (step S12).

[0092] Next, the vehicle-to-vehicle communication device 10 outputs information on the driving control of its own vehicle 5, or outputs a notification (step S13). If the own vehicle 5 has the control attribute for automatic driving, the control unit 16 outputs information on driving control, such as how to control the drive of its own vehicle 5 based on its current position, direction of travel, speed, etc., based on the vehicle environment information, the own vehicle information, and the information to be transmitted from other vehicles.

[0093] When the vehicle 5 is in a safe driving support mode, the control unit 16 outputs information necessary for notifying the driver to the output unit 13 based on the vehicle environment information, the vehicle's own information, and the necessary items from the information to be transmitted from other vehicles. For example, if the vehicle is too close to the vehicle in front, the output unit 13 outputs a proximity warning. The control unit 16 compares the information of the other vehicle, such as its location, speed, and direction of travel, received from the information to be transmitted from other vehicles with the location information and direction of travel information of the vehicle 5, and if a vehicle is approaching at a merging point, intersection, etc., the output unit 13 outputs a warning. One example of notification to the driver is an image-based warning display from the vehicle's navigation system or voice warning guidance from the vehicle's speaker.

[0094] Next, the vehicle-to-vehicle communication device 10 increases the usage count for the items used among the items of information to be transmitted (step S14). If the vehicle 5 is in an automated driving control attribute, and the control unit 16 controls the driving of the vehicle 5 at a merging point using the detailed location information of other vehicles, the count of the usage count of the detailed location information item is increased in the item statistics database 12b based on the item ID used.

[0095] When the vehicle 5, using the driving control attributes of the safe driving support mode, notifies that another vehicle is approaching at a merging point, intersection, etc., the count of the number of times each item of the information such as the location, speed, and direction of travel of the other vehicle in the transmission information received from the other vehicle is used is increased in the item statistics database 12b based on the item ID used.

[0096] As explained above, according to the operation of the embodiment, vehicle information for items that match the control attributes of a relatively large number of vehicles in the surrounding area can be preferentially included in the transmission information. Therefore, even if the amount of data transmitted is limited, the information can be effectively utilized by the receiving vehicle via vehicle-to-vehicle communication.

[0097] Furthermore, when selecting items that are required regardless of control attributes and generating transmission information that includes vehicle information for those required items, the required items will always be included. Therefore, the information can be effectively used regardless of whether the receiving vehicle's control attributes are in autonomous driving mode or safe driving support mode.

[0098] Furthermore, by obtaining statistical data for the items used among the items of the information to be transmitted, and selecting priority items based on the statistical data and control attributes, vehicle information of items with high statistical value can be effectively communicated.

[0099] Furthermore, if vehicle 5 is traveling on a road designated for vehicles only, such as a highway, and assuming the control attributes of autonomous driving are present, it is highly likely that autonomous driving is functioning on such roads. Therefore, effective communication can be established with vehicles that are operating under autonomous driving capabilities.

[0100] (2.3 Second embodiment of the operation of the vehicle-to-vehicle communication device 10 during transmission) Next, a second embodiment of the operation of the vehicle-to-vehicle communication device 10 during transmission will be described using Figures 12 to 14. The description will primarily focus on the operation that differs from the above embodiment.

[0101] Figure 12 is a flowchart illustrating a second embodiment of the operation of the vehicle-to-vehicle communication device during transmission. Figures 13 and 14 are schematic diagrams showing an example of information for transmission.

[0102] As shown in Figure 12, the vehicle-to-vehicle communication device 10 acquires vehicle environment information (step S21).

[0103] Thus, the vehicle-to-vehicle communication device 10 functions as an example of an acquisition means for acquiring information about the moving environment in which a moving object is in motion.

[0104] Next, the vehicle-to-vehicle communication device 10 acquires information about its own vehicle (step S22).

[0105] Next, the vehicle-to-vehicle communication device 10 receives transmission information from another vehicle (step S23).

[0106] Next, the vehicle-to-vehicle communication device 10 estimates the control attributes of the most common vehicles in the surrounding area (step S24). This step may be omitted.

[0107] Next, the vehicle-to-vehicle communication device 10 selects items of vehicle information to prioritize according to the vehicle environment information (an example of mobility environment information) (step S25). For example, if the vehicle 5 is near a merging point after comparing its current location with map information, the control unit 16 prioritizes selecting items related to merging information. If the vehicle 5 is near an intersection, the control unit 16 may prioritize selecting items related to intersection information. If the vehicle 5 is traveling on a highway, the control unit 16 may prioritize selecting items related to automatic driving, such as detailed current location information. If the vehicle 5 is traveling on a suburban road with low traffic volume due to congestion, the control unit 16 does not need to prioritize selecting items related to detailed current location. If the sensor information acquisition unit 15 determines that it is raining, the control unit 16 may prioritize selecting the wiper ON / OFF item. If the sensor information acquisition unit 15 determines that it is evening, the control unit 16 may prioritize selecting the vehicle light ON / OFF item.

[0108] Thus, the vehicle-to-vehicle communication device 10 functions as an example of a selection means that selects items to be prioritized from among multiple items of mobile information, including information related to the driving control of the mobile body, according to the mobile environment information. When the mobile body is moving in a location designated for mobile bodies, the vehicle-to-vehicle communication device 10 functions as an example of a selection means that selects items of mobile information to be prioritized from among multiple items of mobile information of the mobile body, according to the result of comparing the current location information and map information.

[0109] Next, the vehicle-to-vehicle communication device 10 reads out the statistics for the item (step S26).

[0110] Thus, the vehicle-to-vehicle communication device 10 functions as an example of an acquisition means for obtaining statistical data for items used among the items of information to be transmitted.

[0111] Next, the vehicle-to-vehicle communication device 10 generates information for transmission (step S27). Specifically, the control unit 16 prioritizes the items selected in step S25 and determines which items to include in the information for transmission based on the data size of each item.

[0112] Furthermore, as shown in Figures 13 and 14, if there are required and optional items, the information to be transmitted may be made to always include the required items. For example, as shown in Figure 14, even if the control attribute is set to safe driving support mode and the driver status item takes precedence, the control attribute level item may be made a required item.

[0113] Furthermore, as shown in Figures 13 and 14, if, after determining the required items, the item selected in step S25 is not a required item, the control unit 16 may make the item higher in rank than the optional items a required item.

[0114] If the vehicle lights ON / OFF option (an example of an item prioritized according to the mobility environment information) is selected in step S25, the vehicle lights ON / OFF option will take precedence in the optional items, as shown in Figure 13. Note that, as shown in Figure 13, the high-precision position information item and the control attribute level item, which are mandatory items, are examples of items that are mandatory regardless of the items prioritized according to the mobility environment information.

[0115] If the wiper ON / OFF option (an example of an item prioritized according to the travel environment information) is selected in step S25, the wiper ON / OFF option will take precedence in the options, as shown in Figure 14. Note that, as shown in Figure 14, the mandatory items such as the driver status and surrounding vehicle information are examples of items that are mandatory regardless of the items prioritized according to the travel environment information.

[0116] Furthermore, the control unit 16 may select the top items with the highest frequency of use for reception (for example, the top 3 items). The control unit 16 may also weight each item according to its frequency of use to determine which items to include in the transmission information. The control unit 16 may also weight each item based on whether it is an item selected in step S25 (an example of an item prioritized according to the mobile environment information), whether it is a mandatory item, and whether it is an item with high frequency of use, to determine which items to include in the transmission information. In this way, the vehicle-to-vehicle communication device 10 may function as an example of a selection means for selecting items to prioritize according to statistical data and mobile environment information.

[0117] Furthermore, if the control attributes of the most common vehicles in the surrounding area are estimated to be autonomous driving in step S24, the items are determined, for example, as shown in Figure 13. The items for high-precision position information and control attribute level, which are necessary for autonomous driving, are placed at the top. Then, in the optional items, the item for turning the vehicle's lights ON / OFF, which was selected in step S25, is placed at the top, followed by the items for the lane keeping function status, the distance keeping function status, and the forward vehicle following function status, which are supplementarily necessary for autonomous driving.

[0118] Furthermore, if your vehicle 5 is near a merging point, you may prioritize the merging information item in the required fields.

[0119] If, in step S24, the control attributes of the surrounding vehicles are estimated to be in safe driving support mode, then, for example, the items are determined as shown in Figure 14. For example, the driver status item and the surrounding vehicle item are placed at the top of the required items. Then, in the optional items, the vehicle wiper ON / OFF item, which was selected in step S25, is placed at the top, followed by the destination information item and the route information item.

[0120] The control unit 16 may determine which items to include in the transmission information by weighting them based on whether or not they were selected in step S25, whether or not they are required items, whether or not they are frequently used items, and the total number of control attributes of the estimated number of surrounding vehicles.

[0121] After determining the items to be included in the information to be transmitted, the control unit 16 acquires information corresponding to the determined items to be included in the information to be transmitted and generates the information to be transmitted.

[0122] Thus, the vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates transmission information to be transmitted to other mobile bodies, including mobile body information of items prioritized according to the mobile environment information from among multiple items of mobile body information relating to the mobile body. The vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates transmission information to be transmitted to the mobile body and other mobile bodies capable of mobile body-to-mobile communication, including mobile body information of items selected by the selection means. The vehicle-to-vehicle communication device 10 functions as an example of essential item selection means that selects essential items regardless of the items prioritized according to the mobile environment information. The vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates transmission information including mobile body information of essential items. The vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates the transmission information including mobile body information of selected items. The vehicle-to-vehicle communication device 10 functions as an example of information generation means that generates transmission information including mobile body information of at least items related to autonomous driving as mobile body information of prioritized items.

[0123] Next, the vehicle-to-vehicle communication device 10 transmits information for transmission (step S28).

[0124] As explained above, according to the operation of the embodiment, vehicle information corresponding to the vehicle environment information can be preferentially included in the information to be transmitted. Therefore, even if the amount of data transmitted is limited, the information can be effectively utilized by the receiving mobile device via vehicle-to-vehicle communication.

[0125] When selecting essential items regardless of priority based on mobile environment information, and generating transmission information that includes mobile information for the essential items, the essential items will always be included, allowing the receiving mobile device to effectively utilize the information.

[0126] When obtaining statistical data for the items used among the items of information to be transmitted, and selecting priority items based on the statistical data and vehicle environment information, it is possible to include vehicle information for items with high statistical value, thus enabling the receiving mobile device to effectively utilize the information.

[0127] Furthermore, if vehicle 5 is traveling on a road designated for vehicles only, such as a highway, prioritizing the selection of items related to autonomous driving indicates a high probability that autonomous driving is functioning on such roads. Therefore, the receiving mobile device, which is also operating autonomous driving, can effectively utilize the information. [Explanation of Symbols]

[0128] 1: Information generation device 1a: Estimation means 1b: Information generation means 5: Vehicles (mobile objects) 10: Vehicle-to-vehicle communication device (information generation device) S: Vehicle-to-vehicle communication system

Claims

[Claim 1] An information generation device that can be mounted on a mobile vehicle, An estimation means for estimating control attributes related to the operation control of other mobile bodies located within a communication range from the position of the aforementioned mobile body, which are relatively numerous; Information generation means for generating transmission information to be transmitted to other mobile bodies, including mobile body information of items that are prioritized according to the estimated control attributes, from among a plurality of items of mobile body information including information related to the operation control of the mobile body, An information generation device equipped with the following features.

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