Transmitter / receiver device, transmission / receiver method, and program

Abstract

The present invention provides a transmitting and receiving device that can notify those nearby of the presence of traffic participants, even in areas where a wireless network environment is not available or where the communication environment is poor. [Solution] The transmitting / receiving device 1 is a transmitting / receiving device 1 mounted on an object located on the communication path from the traffic participant to the vehicle 6 while not moving in the traffic area, and comprises a radio 17 having a receiving mode and a transmitting mode, a setting unit 22 that sets the radio 17 to receive mode or transmit mode, and an acquisition unit that acquires location information indicating the location of the object and map information related to the location information. The setting unit 22 sets the radio 17 to receive mode or transmit mode based on at least the location information and map information. When the radio 17 is set to receive mode, it receives a VRU signal from a terminal device held by the traffic participant and transmits VRU information based on the VRU signal to the vehicle 6, which is the transmission target.

Description

Technical Field

[0001] The present disclosure relates to a transmission / reception device, a transmission / reception method, and a program.

Background Art

[0002] To reduce traffic accidents, it is desired to detect traffic participants present in blind spots that are not visible from a vehicle.

[0003] In this regard, Patent Document 1 discloses a positioning system as a technique for improving positioning accuracy. The positioning system includes a mobile terminal that transmits communication signals, a plurality of anchor devices that receive communication signals from the mobile terminal and transmit measurement information signals, and a server that calculates the position of the mobile terminal based on the measurement information signals received from the plurality of anchor devices.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0005] In Patent Document 1, in order to detect traffic participants present in blind spots, the position of the mobile terminal carried by the traffic participant is calculated using a wireless network composed of anchor devices and a server, and a notification is sent to the driver of the vehicle.

[0006] However, in areas where the wireless network environment is not well-established or in areas with poor communication conditions, it is difficult to detect the position of the mobile terminal, and there is a risk that notifications cannot be sent to traffic participants and vehicle drivers. When such a communication interruption occurs, there arises a problem that traffic participants and vehicle drivers cannot obtain notifications indicating each other's presence.

[0007] Therefore, this disclosure aims to provide a transmitting and receiving device, etc., that can notify those around the presence of traffic participants even in areas where a wireless network environment is not available or where the communication environment is poor. [Means for solving the problem]

[0008] A transmitting and receiving device according to one aspect of the present disclosure comprises a traffic participant and a vehicle moving within a traffic area, and a transmitting and receiving device mounted on an object located on a communication path from the traffic participant to the vehicle while the vehicle is not moving within the traffic area, the device comprising: a radio having a receiving mode and a transmitting mode; a setting unit for setting the radio to either the receiving mode or the transmitting mode; and an acquisition unit for acquiring location information indicating the location of the object and map information related to the location information, wherein the setting unit sets the radio to either the receiving mode or the transmitting mode based on at least the location information and the map information, and when the radio is set to the receiving mode, it receives a VRU signal from a terminal device held by the traffic participant and transmits VRU information based on the VRU signal to the vehicle, which is the transmission target. [Effects of the Invention]

[0009] The transmitting and receiving devices described herein make it possible to notify those around traffic participants of their presence even in areas where a wireless network environment is not available or where the communication environment is poor. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram of a transmitting and receiving device. [Figure 2] Figure 2 shows a non-moving vehicle equipped with a radio that emits VRU signals, and traffic participants. [Figure 3] Figure 3 shows non-moving vehicles in a traffic area, traffic participants hidden in the blind spots of the non-moving vehicles, and moving vehicles. [Figure 4]Figure 4 shows a convex mirror in a traffic area, traffic participants hidden in the blind spot, and a vehicle in motion. [Figure 5] Figure 5 shows the modes of the radio equipment installed in non-moving vehicles within a traffic area, traffic participants hidden in the blind spots of the non-moving vehicles, and moving vehicles. [Figure 6] Figure 6 is a flowchart showing an example of the operation of the transmitting and receiving device. [Figure 7] Figure 7 is a flowchart showing an example of the operation following step S28 in Figure 6. [Figure 8] Figure 8 shows the horizontal AoA (Angle of Arrival) of a non-moving vehicle. [Figure 9] Figure 9 shows the relationship between the horizontal area of ​​view (AoA) in front of a parked, non-moving vehicle and the distance ahead. [Figure 10] Figure 10 shows the modes of the radio equipment installed on a convex mirror in a traffic area without traffic restrictions such as one-way streets, a traffic participant hidden in the blind spot, and a vehicle. [Figure 11] Figure 11 shows the mode of the wireless devices installed on traffic-controlled areas and the devices themselves, depending on the time of day. [Figure 12] Figure 12 is a flowchart showing an example of the operation of the setting process for the transmitting and receiving device in an installed object. [Figure 13] Figure 13 is a flowchart showing an example of operation when setting the radio mode based on the parking position. [Figure 14] Figure 14 shows the horizontal AoA and elevation AoA of a non-moving vehicle. [Figure 15] Figure 15 shows multiple non-moving vehicles and vehicles parked in a parking lot. [Figure 16] Figure 16 is a flowchart showing an example of the operation between a transmitter mounted on an object and a room vacancy detection device. [Figure 17]Figure 17 is a diagram showing the relationship between the modes of wireless devices mounted in a plurality of non-traveling vehicles parked in a parking lot and travel paths. [Figure 18] Figure 18 is a diagram showing a case where a transmitter is installed on the ceiling of a parking lot. [Figure 19] Figure 19 is a flowchart showing an operation example of the transmitter and the non-traveling vehicle in a case where the transmitter is installed on the ceiling of the parking lot. [Figure 20] Figure 20 is a diagram showing cases where there are vacant parking spaces and where there are no vacant parking spaces, in a scenario where transmitters and parking spaces are installed in one-to-one correspondence on the ceiling of a parking lot. [Figure 21] Figure 21 is a flowchart showing an operation example of the transmitter and the non-traveling vehicle in a case where transmitters and parking spaces are installed in one-to-one correspondence on the ceiling of the parking lot. [Figure 22] Figure 22 is a flowchart showing an operation example of a transmission / reception apparatus that transmits VRU information to a traveling object. [Figure 23] Figure 23 is a diagram showing VRU attribute data. [Figure 24] Figure 24 is a diagram showing a warning light, traffic participants, and a traveling object that are installed near the entrance of a store having a parking lot. [Figure 25] Figure 25 is a flowchart showing an operation example of the warning light installed near the entrance of the store having the parking lot. [Figure 26] Figure 26 is a flowchart showing an operation example when a non-traveling vehicle starts traveling. [Figure 27] Figure 27 is a flowchart showing another operation example when a non-traveling vehicle starts traveling. [Mode for Carrying Out the Invention]

[0011] The embodiments of this disclosure will be described in detail below with reference to the drawings. The embodiments described below are all specific examples of this disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection configurations of components, steps, and the order of steps shown in the following embodiments are examples only and are not intended to limit this disclosure. Accordingly, any components in the following embodiments that are not described in an independent claim will be described as optional components.

[0012] Furthermore, each figure is a schematic diagram and not necessarily a strictly accurate representation. Therefore, for example, the scale and other aspects may not necessarily match in each figure. Also, in each figure, substantially identical components are given the same reference numerals, and redundant explanations are omitted or simplified.

[0013] The embodiments will be described in detail below with reference to the drawings.

[0014] (Embodiment) <Structure> First, the transmitting / receiving device 1, the transmitting / receiving method, and the program in this embodiment will be described with reference to Figures 1 to 5.

[0015] Figure 1 is a block diagram of the transmitting / receiving device 1. Figure 2 is a diagram showing a non-moving vehicle 10 equipped with a radio 17 that emits a VRU signal, and a traffic participant. Figure 3 is a diagram showing a non-moving vehicle 10 in a traffic area, a traffic participant hidden in the blind spot of the non-moving vehicle 10, and a vehicle 6. Figure 4 is a diagram showing an installation 5 in a traffic area, a traffic participant hidden in the blind spot, and a vehicle 6. Figure 5 is a diagram showing the mode of the radio 17 mounted on the non-moving vehicle 10 in a non-moving vehicle 10 in a traffic area, a traffic participant hidden in the blind spot of the non-moving vehicle 10, and a vehicle 6.

[0016] As shown in Figure 1, the transmitting / receiving device 1 is a device that can recognize the presence of traffic participants by acquiring VRU signals from participant terminal devices 2 of traffic participants moving within a traffic area. The transmitting / receiving device 1 is mounted on, for example, an object. The object is a vehicle such as a motorcycle, electric motorcycle, or automobile that is parked in a traffic area and is not moving, or an installation 5 such as a convex mirror installed in a traffic area. A non-moving vehicle is a vehicle that is not moving. Being in a non-moving state means that the vehicle is parked in a traffic area and is not moving. In this embodiment, a vehicle in a non-moving state may be called a non-moving vehicle 10.

[0017] Participant terminal device 2 is a terminal device carried by the traffic participant. Participant terminal device 2 can transmit VRU signals to its surroundings. The VRU signals contain VRU attribute data that indicates the attributes of the traffic participant. The VRU attribute data includes the traffic participant's age, gender, and type, etc. Types include pedestrian, cyclist, wheelchair user, kick scooter user, etc. Participant terminal device 2 can transmit VRU information containing the VRU attribute data to the transmitting / receiving device 1.

[0018] The traffic area is a road (roadway and / or sidewalk) where moving objects can travel, a parking lot, etc. Moving objects include vehicles such as motorcycles, scooters, and automobiles, and people carrying mobile devices. Traffic participants are vulnerable road users (VRUs), such as pedestrians and cyclists.

[0019] The transmitting / receiving device 1 is mounted on a non-moving vehicle 10. Alternatively, the transmitting / receiving device 1 may also be mounted on the installation 5, the moving vehicle 6, and the participant terminal device 2.

[0020] The transmitting / receiving device 1 includes a processing unit 11, a VRU attribute data extraction unit 12, a VRU position and velocity estimation unit 13, a VRU arrival time estimation unit 14, a storage unit 16, and a plurality of radios 17.

[0021] The processing unit 11 acquires ignition switch ON information, shift lever information, parking brake information, etc., from the ECU (Electronic Control Unit) 30 installed in the non-running vehicle 10 via CAN (Controller Area Network).

[0022] Furthermore, the processing unit 11 acquires location information, map information, and time information from a navigation system equipped with GPS (Global Positioning System) devices installed in the non-moving vehicle 10.

[0023] The processing unit 11 includes a determination unit 21 and a setting unit 22. The processing unit 11 is an example of an acquisition unit.

[0024] The determination unit 21 can determine whether the vehicle is in a non-moving state, that is, whether it is a non-moving vehicle 10 or a moving vehicle, based on ignition switch ON information, shift lever information, parking brake information, time information, location information, and map information. The determination unit 21 outputs the result of determining whether the vehicle is in a non-moving state to the setting unit 22.

[0025] Furthermore, the determination unit 21 can also determine whether or not a vehicle is parked in a traffic area based on shift lever information, parking brake information, location information, and map information. The determination unit 21 outputs the result of determining whether or not a vehicle is parked in a traffic area to the setting unit 22.

[0026] Furthermore, the determination unit 21 can also determine the traffic area type based on location information and map information. The determination unit 21 outputs the result of determining whether the parking location is a public road or a parking lot to the setting unit 22. The traffic area type is, for example, a public road (general road, roadway, etc.) or a parking lot.

[0027] The setting unit 22 can set each of the multiple radio units 17 to either receive mode or transmit mode based on the results of determining whether the vehicle is not in motion, whether it is parked in a traffic area, and whether the parking location is a public road or a parking lot.

[0028] The setting unit 22 can set each of the multiple radios 17 to either receive mode or transmit mode based on location information and map information. Furthermore, the setting unit 22 can also take time information into consideration and set each of the multiple radios 17 to either receive mode or transmit mode based on location information, map information, and time information. Since there are roads in the traffic area that are restricted by time of day, the setting unit 22 can also take time information into consideration and set each of the multiple radios 17 to either receive mode or transmit mode. Note that the transmitting / receiving device 1 of the installation 5 installed on the road, such as a convex mirror, only needs to acquire time information.

[0029] The setting unit 22 may acquire the RSSI (Received Signal Strength Indicator) and angle of arrival from the participant terminal device 2 based on the VRU position and velocity estimation unit 13. In this case, the setting unit 22 can also set each of the multiple radios 17 to either receive mode or transmit mode based on the RSSI and angle of arrival.

[0030] Each of the multiple radio units 17 is a wireless communication unit having a receive mode and a transmit mode. The radio unit 17 can be set by the setting unit 22 to either receive mode, which allows it to receive VRU signals transmitted by the participant terminal device 2, or transmit mode, which allows it to transmit VRU information based on the VRU signal to the target vehicle 6. When the radio unit 17 is in receive mode, a communication path is formed between the participant terminal device 2 and the radio unit 17. When the radio unit 17 is in transmit mode, a communication path is formed between the vehicle 6 and the radio unit 17. This enables one-to-many multicast communication, such as between the participant terminal device 2 and multiple non-moving vehicles 10 and installations 5 in the traffic area, and also enables one-to-one unicast communication, such as between the participant terminal device 2 and non-moving vehicles 10, installations 5 in the traffic area, or between non-moving vehicles 10 and the vehicle 6. This embodiment mainly describes multicast communication, but is not limited to this communication. As described above, the VRU information includes VRU attribute data, but may also include the location, speed, and time of the traffic participant. In this embodiment, the vehicle 6 that is the target of VRU information transmission is simply referred to as vehicle 6.

[0031] The VRU attribute data extraction unit 12 can extract VRU attribute data from the VRU signal received by the radio 17. The VRU attribute data extraction unit 12 outputs the extracted VRU attribute data to the setting unit 22.

[0032] Furthermore, the VRU attribute data extraction unit 12 can also operate in digital key mode if the vehicle number included in the extracted VRU attribute data matches the vehicle number (digital key) stored in the storage unit 16. In this case, the VRU position and speed estimation unit 13, the VRU arrival time estimation unit 14, the processing unit 11, and the setting unit 22 may be stopped.

[0033] The VRU position and speed estimation unit 13 calculates the RSSI and angle of arrival of the VRU signal received from the participant terminal device 2 by each of the multiple radios 17. Based on the RSSI and angle of arrival of each of the multiple radios 17, the VRU position and speed estimation unit 13 estimates the position and speed of the traffic participant. The VRU position and speed estimation unit 13 outputs the estimated position and speed of the traffic participant to the VRU arrival time estimation unit 14. The VRU position and speed estimation unit 13 is an example of an estimation unit.

[0034] The VRU arrival time estimation unit 14 obtains the position and speed of the traffic participant from the VRU position and speed estimation unit 13. Based on the position and speed of the traffic participant, the VRU arrival time estimation unit 14 estimates the time it will take for the traffic participant to reach the non-moving vehicle 10 on which the transmitting / receiving device 1 is installed. The VRU arrival time estimation unit 14 is an example of an estimation unit.

[0035] The setting unit 22 outputs information for transmitting notification data to the vehicle 6, etc., to the radio 17 in transmission mode. Specifically, the setting unit 22 outputs VRU-related information such as attribute data of any objects present between traffic participants and non-moving vehicles 10, the number of traffic participants calculated from VRU signals received by multiple radios 17, arrival times, and attribute data to the radio 17 set to transmission mode.

[0036] As a result, the radio 17 in transmission mode transmits VRU-related information to the vehicle 6, etc., so that the vehicle 6, etc. can recognize the presence of traffic participants based on the VRU-related information. In other words, the transmitting / receiving device 1 can inform the vehicle 6, etc. of the presence of traffic participants hidden in the blind spot of the non-moving vehicle 10.

[0037] In the above example, the presence of a traffic participant hidden in the blind spot of the non-moving vehicle 10 is given to the moving vehicle 6, but this is not the only example. The transmitting / receiving device 1 of this embodiment can, of course, also inform traffic participants of the presence of a moving vehicle 6 hidden in the blind spot of the non-moving vehicle 10. When the non-moving vehicle 10 and the moving vehicle 6 are read interchangeably, the radio 17 in transmission mode transmits attribute data of the objects, the number of moving vehicles 6, the arrival time, attribute data, etc., to the participant terminal device 2, etc., so that traffic participants can recognize the presence of the moving vehicles 6.

[0038] The memory unit 16 stores unique data of the object when the transmitting / receiving device 1 is installed. If the object is a vehicle, the unique data includes the vehicle length, vehicle height, vehicle width, steering wheel position, etc. If the object is an installed object 5, the data includes the installation location, height, width, installation orientation, etc.

[0039] Each of the multiple radios 17 can receive a VRU signal from the participant terminal device 2. Each of the multiple radios 17 extracts VRU attribute data from the VRU signal and outputs it to the VRU attribute data extraction unit 12, the VRU position and velocity estimation unit 13, the setting unit 22, and the processing unit 11, etc.

[0040] Each of the multiple radio units 17 has a receive mode and a transmit mode. Each of the multiple radio units 17 is set to either receive mode or transmit mode by the setting unit 22.

[0041] Therefore, when the wireless device 17 is set to receive mode by the setting unit 22, it can receive VRU signals from terminal devices located around the object.

[0042] Furthermore, when the radio 17 is set to transmission mode by the setting unit 22, it can transmit VRU information such as the attribute data of the object output from the setting unit 22, the number of traffic participants calculated from the VRU signals received by multiple radios 17, arrival times, and attribute data to the surrounding vehicles 6, etc.

[0043] As shown in Figure 2, multiple radio units 17 are mounted on the non-moving vehicle 10. In this embodiment, the radio units 17 are positioned in four locations: the right front end of the non-moving vehicle 10, the left front end of the non-moving vehicle 10 (behind the front bumper, etc.), the right rear end of the non-moving vehicle 10, and the left rear end of the non-moving vehicle 10 (behind the rear bumper, etc.). Note that the position of the radio units 17 is not limited to this embodiment and may be positioned on the roof of the non-moving vehicle 10, the windshield of the non-moving vehicle 10, the right door mirror, the left door mirror, the rear windshield, etc. Each of the multiple radio units 17 is configured to receive the VRU signal emitted by the participant terminal device 2. For example, if the multiple radio units 17 are connected in a one-to-one correspondence with multiple antennas, since the position of each antenna is different, the multiple radio units 17 can estimate different arrival angles θ1, θ2, θ3, and θ4 when receiving the VRU signal emitted by the participant terminal. The differences in these angles of arrival are derived from the phase difference of the signals received by each of the multiple radio transceivers 17. From these estimated angles of arrival, the position of the traffic participant (participant terminal device 2) can be calculated.

[0044] Furthermore, if only three of the four radios 17 are able to receive signals, the position of the traffic participant (participant terminal device 2) may be calculated by determining the angle of arrival of the three radios 17. For this reason, the number of radios 17 mounted on a non-moving vehicle 10 is not limited to four; it may be three or fewer, or five or more. In addition, multiple radios 17 may be mounted on the non-moving vehicle 10 in a symmetrical manner.

[0045] <Operation> The operation examples of the transmitting / receiving device 1, the transmitting / receiving method, and the program will be explained with reference to Figures 5 and 6.

[0046] Figure 6 is a flowchart illustrating an example of the operation of the transmitting / receiving device 1. Figure 6 illustrates, for example, the case shown in Figure 5, where a vehicle 6 is traveling in a traffic area and a non-moving vehicle 10 is present in front of it.

[0047] First, the processing unit 11 acquires ignition switch ON information, shift lever information, and parking brake information from the ECU 30 installed in the non-moving vehicle 10 via CAN (Controller Area Network). Furthermore, the processing unit 11 acquires location information, map information, and time information from the GPS (Global Positioning System) navigation system installed in the non-moving vehicle 10 (S11).

[0048] Next, the determination unit 21 of the processing unit 11 determines whether the shift lever is in the parking position based on the shift lever information (S12). If the determination unit 21 determines that the shift lever is not in the parking position (NO in S12), the process in step S12 is repeated.

[0049] On the other hand, if the determination unit 21 determines that the shift lever is in the parking position (YES in S12), it determines whether the parking brake is ON or not based on the parking brake information (S13).

[0050] Next, if the determination unit 21 determines that the parking brake is not in the ON state (NO in S13), it determines that the non-moving vehicle 10 is not parked and repeats the process in step S12.

[0051] On the other hand, if the determination unit 21 determines that the parking brake is ON (YES in S13), it determines, based on location information and map information from the navigation system, whether the number of acquired satellites is 4 or more and the road width is 5m or more (S14). Here, it determines that the GPS position accuracy is low and the non-moving vehicle 10 is not in the parking lot, or the non-moving vehicle 10 is not on a narrow road.

[0052] Next, if the determination unit 21 determines that the number of satellites acquired is 4 or more and the road width is 5m or more (YES in S14), it determines whether the traffic area where the non-moving vehicle 10 is located is a public road or not, based on the location information and map information (S15). In other words, the determination unit 21 determines the type of traffic area.

[0053] The determination unit 21 determines that the traffic area where the non-moving vehicle 10 is located is a public road (YES in S15), and then determines that the non-moving vehicle 10 is located on the public road (S16).

[0054] Next, the determination unit 21 determines, based on location information, map information, and time information, whether the public road where the non-moving vehicle 10 is located is a one-way road (S17). In other words, the determination unit 21 determines the type of road. The type of road includes one-way roads, roads other than one-way roads (for example, roads with two-way traffic, parking lot roads), etc.

[0055] If the determination unit 21 determines that the public road where the non-moving vehicle 10 is located is a one-way road (YES in S17), the setting unit 22 sets the two radios 17 located on the rear side (right rear and left rear) of the non-moving vehicle 10 to transmit mode and the two radios 17 located on the front side (right front and left front) of the non-moving vehicle 10 to receive mode (S18). In other words, there is a possibility that there are traffic participants in front of the non-moving vehicle 10, and other vehicles 6 (mainly other vehicles) will always approach from behind the non-moving vehicle 10. In this case, the non-moving vehicle 10 creates a blind spot, and the vehicles 6 and traffic participants cannot see each other. For this reason, the setting unit 22 sets the radios 17 located on the front side of the non-moving vehicle 10 to receive mode to make it easier to receive VRU signals, and sets the radios 17 located on the rear side of the non-moving vehicle 10 to transmit mode to make it easier to transmit VRU information to the vehicles 6.

[0056] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 6.

[0057] On the other hand, if the determination unit 21 determines that the public road where the non-moving vehicle 10 is located is not a one-way road (NO in S17), it determines, based on location information, map information, and time information, whether the non-moving vehicle 10 is positioned on the left side of the public road relative to the direction of travel (S19). In other words, the determination unit 21 determines the position of the non-moving vehicle 10 on the road (whether it is parked on the right or left side) on the public road where it is parked.

[0058] Next, if the determination unit 21 determines that the non-moving vehicle 10 is positioned on the left side with respect to the direction of travel on the public road (YES in S19), it determines whether the driver's seat is right-hand drive or not based on the unique data stored in the memory unit 16 (S20).

[0059] If the determination unit 21 determines that the driver's seat is right-hand drive (YES in S20), then, as shown in Figure 5, the setting unit 22 sets the two radios 17 located on the right side of the non-moving vehicle 10 to transmit mode and the two radios 17 located on the left side of the non-moving vehicle 10 to receive mode (S21). In other words, an environment is created on the right side of the non-moving vehicle 10 where the vehicle 6 and traffic participants can pass. As shown in Figure 5, traffic participants may be located in front of or behind the non-moving vehicle 10, and the vehicle 6 (mainly another vehicle) may be located on the opposite side of the non-moving vehicle 10 from the traffic participants. In this case, the non-moving vehicle 10 creates a blind spot, and the vehicle 6 and traffic participants cannot see each other. Therefore, the setting unit 22 sets the radio 17 located on the left side (front left and rear left) of the non-moving vehicle 10, which does not affect the reception of the VRU signal, to receive mode, and sets the radio 17 located on the right side (front right and rear right) of the non-moving vehicle 10 to transmit mode, in order to facilitate the transmission of VRU information to the driving body 6.

[0060] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 6.

[0061] On the other hand, if the determination unit 21 determines that the driver's seat is left-hand drive (NO in S20), the setting unit 22 sets the two radios 17 located on the left side of the non-moving vehicle 10 to transmit mode and the two radios 17 located on the right side of the non-moving vehicle 10 to receive mode (S22). In other words, an environment is formed on the right side of the non-moving vehicle 10 where the vehicle 6 and traffic participants can pass. Traffic participants may be located in front of or behind the non-moving vehicle 10, and the vehicle 6 (mainly another vehicle) may be located on the opposite side of the non-moving vehicle 10 from the traffic participants. In this case, the non-moving vehicle 10 creates a blind spot, and the vehicle 6 and traffic participants cannot see each other. For this reason, the setting unit 22 sets the radios 17 located on the right side of the non-moving vehicle 10, which do not significantly affect the reception of the VRU signal, to receive mode, and sets the radios 17 located on the left side of the non-moving vehicle 10, which do not significantly affect the transmission of VRU information to the vehicle 6, to transmit mode.

[0062] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 6.

[0063] Next, if the determination unit 21 determines that the non-moving vehicle 10 is not positioned on the left side relative to the direction of travel on the public road (NO in S19), it determines whether the driver's seat is right-hand drive or not based on the unique data stored in the memory unit 16 (S23).

[0064] If the determination unit 21 determines that the driver's seat is right-hand drive (YES in S23), it performs the process in step S22. Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 6.

[0065] On the other hand, if the determination unit 21 determines that the driver's seat is left-hand drive (NO in S23), it performs the process in step S21. Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 6.

[0066] Returning to step S15, the determination unit 21 determines that the traffic area where the non-moving vehicle 10 is located is not a public road (NO in S15), and determines that the non-moving vehicle 10 is located in a parking lot other than a public road (S24).

[0067] Next, the determination unit 21 determines, based on the shift lever information, whether or not the reverse gear, which is "R", was selected when the shift lever was in the position of "R" before parking the non-moving vehicle 10 (S25).

[0068] If the determination unit 21 determines that the reverse gear, "R," was selected in the position of the shift lever of the non-moving vehicle 10 for at least 1 second before parking (YES in S25), it means that the non-moving vehicle 10 entered the parking lot facing backward. In this case, it is considered that a passage for moving objects is formed in front of the non-moving vehicle 10, and it is possible that traffic participants are located behind the non-moving vehicle 10. In this case, the non-moving vehicle 10 creates a blind spot, and the moving object 6 and traffic participants cannot see each other. For this reason, the setting unit 22 sets the radio 17 located at the rear of the non-moving vehicle 10, which is more likely to receive VRU signals, to receive mode, and sets the radio 17 located at the front of the non-moving vehicle 10, which is more likely to transmit VRU information to the moving object 6, to transmit mode (S26).

[0069] On the other hand, if the determination unit 21 determines that the reverse gear ("R") is not selected when the non-moving vehicle 10's shift lever is in the position "R" before parking (NO in S25), it means that the non-moving vehicle 10 entered the parking lot facing forward. In this case, it is thought that a passage for moving objects is formed behind the non-moving vehicle 10, and it is possible that traffic participants are located in front of the non-moving vehicle 10. In this case, the non-moving vehicle 10 creates a blind spot, and the moving object 6 and traffic participants cannot see each other. For this reason, the setting unit 22 sets the radio 17 located in front of the non-moving vehicle 10, which is more likely to receive VRU signals, to receive mode, and sets the radio 17 located behind the non-moving vehicle 10, which is more likely to transmit VRU information to the moving object 6, to transmit mode (S27).

[0070] Returning to step S14, if the determination unit 21 determines that the number of acquired satellites is not 4 or more and the road width is not 5m or more (NO in S14), it determines that the GPS position accuracy is low and the non-moving vehicle 10 is in a parking lot or on a narrow road (S28).

[0071] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 6.

[0072] Next, we proceed to the process from step S28 in Figure 6 to step S31 in Figure 7. Here, we will explain the operation examples of the transmitting / receiving device 1, the transmitting / receiving method, and the program with reference to Figures 7 and 8.

[0073] Figure 7 is a flowchart showing an example of the operation following step S28 in Figure 6. Figure 8 is a diagram relating the horizontal AoA of the non-moving vehicle 10.

[0074] As shown in Figure 7, if the GPS position accuracy is low and the non-moving vehicle 10 is in a parking lot or on a narrow road, the determination unit 21 determines, based on the position information and map information, whether the traffic area where the non-moving vehicle 10 is located is a public road and a one-way road (S31).

[0075] If the determination unit 21 determines that the traffic area where the non-moving vehicle 10 is located is a public road and a one-way road (YES in S31), the setting unit 22 sets the two radios 17 located on the rear side of the non-moving vehicle 10 to transmit mode and the two radios 17 located on the front side of the non-moving vehicle 10 to receive mode (S32). In this way, the setting unit 22 can set the radios 17 to receive mode or transmit mode based at least on location information.

[0076] In other words, there is a possibility that traffic participants are present in front of the non-moving vehicle 10, and other vehicles 6 (mainly other vehicles) will always approach from behind the non-moving vehicle 10. In this case, the non-moving vehicle 10 creates a blind spot, and the vehicles 6 and traffic participants cannot see each other. For this reason, the setting unit 22 sets the radio 17 located in front of the non-moving vehicle 10 to receive mode to make it easier to receive VRU signals, and sets the radio 17 located behind the non-moving vehicle 10 to transmit mode to make it easier to transmit VRU information to the vehicles 6.

[0077] If the determination unit 21 determines that the traffic area where the non-moving vehicle 10 is located is not a public road and is not a one-way road (NO in S31), the setting unit 22 resets the mode of each of the multiple radios 17 to its initial setting (S33).

[0078] Next, the determination unit 21 determines whether or not it has received a VRU signal from the participant terminal device 2 (S34).

[0079] If the determination unit 21 determines that it has not received a VRU signal from the participant terminal device 2 (NO in S34), it returns to the process in step S33.

[0080] On the other hand, if the determination unit 21 determines that it has received a VRU signal from the participant terminal device 2 (YES in S34), the setting unit 22 sets the mode of all radios 17 to receive mode for a predetermined time (S35). The predetermined time is, for example, a few seconds. In addition, after receiving the VRU signal from the participant terminal device 2, the determination unit 21 can also determine from the reception status whether the non-moving vehicle 10 is stopped on either one side or the other side of the roadway.

[0081] Next, the determination unit 21 determines whether or not there is only one traffic participant (S36).

[0082] If the determination unit 21 determines that there is one traffic participant (YES in S36), it determines, based on the VRU signal received from the participant terminal device 2, whether the forward horizontal AoA is -10 to 0 degrees or the rear horizontal AoA is -170 to 180 degrees (S37).

[0083] Here, horizontal AoA is the receiving angle. In this embodiment, as shown in Figure 8(a), when viewing the non-moving vehicle 10 from above, a center line parallel to the front-rear direction is defined from the center of the non-moving vehicle 10. The center line in front of this center is defined as 0 degrees, and the center line behind this center is defined as 180 degrees. The direction clockwise from the front center line is defined as the positive side of horizontal AoA, and the direction counterclockwise from the rear center line is defined as the negative side of horizontal AoA.

[0084] If the determination unit 21 determines that the front horizontal AoA is -10 to 0 degrees or the rear horizontal AoA is -170 to 180 degrees (YES in S37), the setting unit 22 sets the two radios 17 located on the driver's side (right side in this case) of the non-moving vehicle 10 to transmit mode and sets the two radios 17 located on the passenger side (left side in this case) of the non-moving vehicle 10 to receive mode (S38). In other words, from the perspective of the driver sitting in the driver's seat of the non-moving vehicle 10, the participant terminal device 2 is located on the left front or left rear. In either case, to ensure that the VRU signal can be received from the participant terminal device 2, the setting unit 22 sets the radio 17 located on the right side, which is the driver's side of the non-moving vehicle 10, to transmit mode and sets the radio 17 on the left side, which is the passenger side, to receive mode.

[0085] If the determination unit 21 determines that the front horizontal AoA is not between -10 and 0 degrees, or that the rear horizontal AoA is not between -170 and 180 degrees (NO in S37), the setting unit 22 sets the two radios 17 located on the right side, which is the driver's side of the non-moving vehicle 10, to receive mode, and sets the two radios 17 located on the left side, which is the passenger side of the non-moving vehicle 10, to transmit mode (S39). In other words, from the perspective of the driver sitting in the driver's seat of the non-moving vehicle 10, there is no participant terminal device 2 on either the left front or left rear side. For this reason, in order to receive the VRU signal from the participant terminal device 2, the setting unit 22 sets the radio 17 on the right side, which is the driver's side of the non-moving vehicle 10, to receive mode, and sets the radio 17 located on the left side, which is the passenger side, to transmit mode.

[0086] On the other hand, if the determination unit 21 determines that there is more than one traffic participant, i.e., multiple participants (NO in S36), it determines, based on the VRU signal received from the participant terminal device 2, whether or not traffic participants are present only in front of or behind the non-moving vehicle 10 (S40).

[0087] If the determination unit 21 determines that traffic participants are present only in front of or behind the non-moving vehicle 10 (YES in S40), it determines, based on the VRU signal received from the participant terminal device 2, whether the front horizontal AoA is -10 to 35 degrees or the rear horizontal AoA is -170 to 145 degrees (S41).

[0088] If the determination unit 21 determines that the forward horizontal AoA is -10 to 35 degrees, or the rear horizontal AoA is -170 to 145 degrees (YES in S41), it performs the process in step S38.

[0089] On the other hand, if the determination unit 21 determines that the forward horizontal AoA is not between -10 and 35 degrees, or that the rear horizontal AoA is not between -170 and 145 degrees (NO in S41), it performs the process in step S39.

[0090] On the other hand, in step S40, if the determination unit 21 determines that there are no traffic participants in front of or behind the non-moving vehicle 10 (NO in S40), it determines whether the horizontal AoA of the traffic participants in front of or behind the non-moving vehicle 10 is within the specified angle (S42).

[0091] If the determination unit 21 determines that the horizontal AoA of a traffic participant located in front of or behind the non-moving vehicle 10 is within the specified angle (YES in S42), it performs the process in step S38.

[0092] On the other hand, if the determination unit 21 determines that the horizontal AoA of a traffic participant located in front of or behind the non-moving vehicle 10 is not within the specified angle (NO in S42), it performs the process in step S39.

[0093] Here, "within the specified angle" means that the following conditions are met regardless of whether the non-moving vehicle 10 is parked on the left or on the right. Note that Figures 8(b) to (e) illustrate the case where the non-moving vehicle 10 is parked on the left, but the same applies to the case where it is parked on the right. This applies when any of the following conditions are met: (b) in Figure 8, the front horizontal AoA relative to the non-moving vehicle 10 is -10 to 0 degrees and the rear horizontal AoA relative to the non-moving vehicle 10 is -170 to 180 degrees; (c) in Figure 8, the front horizontal AoA relative to the non-moving vehicle 10 is -10 to 0 degrees and the rear AoA relative to the non-moving vehicle 10 is 145 to 180 degrees; (d) in Figure 8, the front horizontal AoA relative to the non-moving vehicle 10 is 0 to 35 degrees and the rear horizontal AoA relative to the non-moving vehicle 10 is 145 to 180 degrees; or (e) in Figure 8, the front horizontal AoA relative to the non-moving vehicle 10 is 0 to 35 degrees and the rear horizontal AoA relative to the non-moving vehicle 10 is -170 to 180 degrees.

[0094] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 7.

[0095] Note that in Figure 7, the position of traffic participants may be considered based on the RSSI.

[0096] Here, the gap distance between the outer wall and the non-moving vehicle 10 changes depending on the width of the non-moving vehicle 10 and the road width, so the theoretical value of horizontal AoA is expected to change. For this reason, the threshold may be changed according to the road width. The gap distance, forward distance, and road width will be explained with reference to Figure 9.

[0097] Figure 9 shows the relationship between the forward horizontal AoA (AoA) and the forward distance for a non-moving vehicle 10 parked on the road. Figure 9(a) shows the gap distance, forward distance, and road width when the non-moving vehicle 10 is parked on the left side. Figure 9(a) illustrates the case where the forward horizontal AoA of a traffic participant relative to the non-moving vehicle 10 is between -10 and 0 degrees. Figure 9(b) illustrates the case where the forward horizontal AoA of a traffic participant relative to the non-moving vehicle 10 is between -10 and 35 degrees.

[0098] For example, as shown in Figure 9(c), consider a case where a non-moving vehicle 10 with a width of 1.7m is parked on a road with a width of 4m in a traffic area. Also, as shown in Figure 9(d), consider a case where a non-moving vehicle 10 with a width of 1.7m is parked on the left side of a road with a width of 3m in a traffic area. The same applies if the non-moving vehicle 10 is parked on the right side of the road.

[0099] Figures 9(c) and 9(d) show the relationship between the forward distance from the non-moving vehicle 10 to the traffic participant and the forward horizontal area of ​​area (AoA). In Figures 9(c) and 9(d), the case where the traffic participant (VRU) is to the right of the non-moving vehicle 10 is shown by a solid line, and the case where the traffic participant (VRU) is to the left of the non-moving vehicle 10 is shown by a dashed line. In Figures 9(c) and 9(d), for example, when the forward distance is greater than 20m, the horizontal AoA approaches 0deg, but when the forward distance is less than 20m, the horizontal AoA increases.

[0100] In Figure 9(c), when the non-moving vehicle 10 is parked on the right side of the road, the forward horizontal AoA becomes approximately 35 degrees when the distance in front of it is about 5 meters, and when the non-moving vehicle 10 is parked on the left side of the road, the forward horizontal AoA becomes approximately -10 degrees when the distance in front of it is about 5 meters.

[0101] In Figure 9(d), when the non-moving vehicle 10 is parked on the right side of the road, the forward horizontal AoA becomes approximately 25 degrees when the distance in front of it is approximately 5 meters, and when the non-moving vehicle 10 is parked on the left side of the road, the forward horizontal AoA becomes approximately -10 degrees when the distance in front of it is approximately 5 meters.

[0102] In this case, as shown in Figure 9(a), regardless of whether the non-moving vehicle 10 is parked on the left or on the right, if one traffic participant is in front of the non-moving vehicle 10, the forward horizontal AoA will be -10 to 0 degrees when the forward distance from the non-moving vehicle 10 to the traffic participant is approximately 5 meters. Similarly, when the rear distance from the non-moving vehicle 10 to the traffic participant is approximately 5 meters, the rear horizontal AoA will be -170 to 180 degrees.

[0103] Furthermore, as shown in Figure 9(b), in both the case of the non-moving vehicle 10 being parked on the left or on the right, if multiple traffic participants are present in front of the non-moving vehicle 10, the forward horizontal AoA will be -10 to 35 degrees when the forward distance from the non-moving vehicle 10 to the traffic participants is approximately 5 meters. Similarly, when the rear distance from the non-moving vehicle 10 to the traffic participants is approximately 5 meters, the rear horizontal AoA will be -170 to 145 degrees.

[0104] Furthermore, in addition to the angle of arrival (horizontal AoA), the forward or backward distance (Tx-Rx distance) from the non-moving vehicle 10 to the traffic participant, calculated using RSSI based on Frith's transfer formula in Figure 9(e), may also be taken into consideration. For example, when the participant terminal device 2 transmits a VRU signal at 8 dBm, the distances are -66 dBm ≈ 20 m and -70 dBm ≈ 40 m. Therefore, the determination unit 21 may make a determination based on the forward or backward distance and the measured value of the horizontal AoA.

[0105] Furthermore, AoA measurements may have a measurement variability of approximately ±5 degrees. In this case, the threshold may be set to take this measurement variability into account.

[0106] Next, with reference to Figures 10 and 11, we will explain the operation examples of the transmitting / receiving device 1, the transmitting / receiving method, and the program when the target object is installed object 5.

[0107] Figure 10 shows the modes of the radio 17 mounted on the installation 5 in a traffic area without traffic restrictions such as one-way streets, a traffic participant hidden in a blind spot, and a vehicle 6. Figure 11 shows the modes of the installation 5 and the radio 17 mounted on the installation 5 in a traffic area with traffic restrictions that vary depending on the time.

[0108] For example, as shown in Figures 10 and 11, the installation 5 located on the road may be changed to a one-way street direction change, or to a one-way street with no traffic restrictions, depending on whether or not there are traffic restrictions and the time specified.

[0109] For example, as shown in Figure 10, in the case of an installation 5 on a road without traffic restrictions, the mode of the radio 17 is not changed between transmission mode and reception mode. For example, in Figure 10, one installation 5 with two mirrors is arranged side by side along the road, and the radio 17 located in a position that makes it easy to receive VRU signals from traffic participants in the blind spot of the vehicle 6 is set to reception mode, and the radio 17 located in a position that makes it easy for the vehicle 6 to receive signals is set to transmission mode. In the case of a T-junction like in Figure 10, the radio 17 located in the center is set to reception mode, and the other is set to transmission mode.

[0110] On the other hand, as shown in Figures 11(a1) and (b1), in the case of the installation 5 on a road where traffic regulations are time-specified one-way, the mode of the radio 17 is varied according to the specified time period. Figure 11(a1) is a time-specified sign, Figure 11(b1) is a time-specified sign for a specific time only, Figures 11(a2) and (b2) are signs indicating that one-way traffic is permitted in a specified direction during the time-specified period (6-9), and Figures 11(a3) and (b3) are signs indicating that one-way traffic is lifted during periods other than the time-specified period (6-9).

[0111] As shown in Figures 11(a2), (a3), and (b2), if a time is specified, the radio 17 located in front of the vehicle 6 in the direction of travel is set to transmit mode, and the radio 17 located on the opposite side of the vehicle 6 in the direction of travel is set to receive mode. Also, as shown in Figure 11(b3), during times other than those specified, one of the two radios 17 installed on each of the two mirrors is set to transmit mode, and the other radio 17 located further away is set to receive mode. For one-way roads with time restrictions, the settings for transmit and receive modes may be stored in the storage unit 16 along with the location information.

[0112] In this case, as shown in Figure 12, the transmitting / receiving device 1 performs the following processing.

[0113] Figure 12 is a flowchart showing an example of the operation of the setting process for the transmitting / receiving device 1 in the installed object 5.

[0114] First, the transmitting / receiving device 1 performs initial setup of the transmission mode and reception mode stored in the storage unit 16 for multiple radios 17 (S52).

[0115] Next, the determination unit 21 of the transmitting / receiving device 1 determines whether the time indicated by the time information matches the time period of the one-way road with a time designation (S53). For example, as a means of obtaining the correct time, a GPS receiver may be provided to receive UTC (Universal time coordinated) (starting from 0:00 AM on January 6, 1980 (9:00 AM Japan time)) along with location information, or a radio-controlled clock that receives radio waves transmitted from a standard time signal transmission station and corrects the time may be used.

[0116] If the determination unit 21 determines that the time indicated by the time information does not match the time period of the one-way road with a time designation (NO in S53), it returns to step S52.

[0117] On the other hand, if the determination unit 21 determines that the time indicated by the time information matches the time period of a one-way road with a time limit (YES in S53), the setting unit 22 sets the radio 17 to the time-limited target mode stored in the memory unit 16 (S54). Specifically, the setting unit 22 sets the radio 17 to the mode specified in the memory unit 16. For example, as shown in (a2), (a3), and (b2) of Figure 11, if it is a one-way road with a time limit, the radio 17 in the direction the vehicle 6 is approaching is set to transmit mode, and the other to receive mode. If it is not a one-way road with a time limit, as shown in (b3) of Figure 11, the transmit mode and receive mode of the radio 17 are set as shown in Figure 10.

[0118] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 12.

[0119] Next, with reference to Figures 13 and 14, the processing of the transmitting / receiving device 1 when the object includes a non-moving vehicle 10 and an installed object 5 will be explained in more detail.

[0120] Figure 13 is a flowchart showing an example of operation when setting the mode of the radio 17 based on the parking position. Figure 14 is a diagram relating the horizontal AoA and elevation angle AoA of a non-moving vehicle 10.

[0121] First, as shown in Figure 13, let's consider the case where the GPS position accuracy is low and the non-moving vehicle 10 is in a parking lot or on a narrow road. In this case, the non-moving vehicle 10 can estimate its position on the road (whether it is positioned on the right or left side relative to the direction of travel) by receiving a notification signal from the installation 5 installed in the traffic area.

[0122] In this case, the determination unit 21 determines, based on location information and map information, whether the traffic area where the non-moving vehicle 10 is located is a public road and a one-way road (S61).

[0123] If the determination unit 21 determines that the traffic area where the non-moving vehicle 10 is located is a public road and a one-way road (YES in S61), the setting unit 22 sets the two radios 17 located on the rear side of the non-moving vehicle 10 to transmit mode and the two radios 17 located on the front side of the non-moving vehicle 10 to receive mode (S62). In other words, there is a possibility that traffic participants are present in front of the non-moving vehicle 10, and other vehicles 6 (mainly other vehicles) will always approach from behind the non-moving vehicle 10. In this case, the non-moving vehicle 10 creates a blind spot, and the vehicles 6 and traffic participants cannot see each other. For this reason, the setting unit 22 sets the radios 17 located on the front side of the non-moving vehicle 10 to receive mode to make it easier to receive VRU signals, and sets the radios 17 located on the rear side of the non-moving vehicle 10 to transmit mode to make it easier to transmit VRU information to the vehicles 6.

[0124] If the determination unit 21 determines that the traffic area where the non-moving vehicle 10 is located is not a public road and is not a one-way road (NO in S61), the setting unit 22 resets the mode of each of the multiple radios 17 to its initial setting (S63).

[0125] Next, the determination unit 21 determines whether or not it has received a signal from a source other than the participant terminal device 2 (S64). In other words, the determination unit 21 determines whether or not it has received a signal from an installed object 5 such as a convex mirror.

[0126] If the determination unit 21 determines that it has not received a signal from the installed object 5 (NO in S64), it returns to the process in step S63.

[0127] On the other hand, if the determination unit 21 determines that it has received a signal from the installed object 5 (YES in S64), it estimates the horizontal AoA and the elevation angle AoA (S65).

[0128] Here, we will explain horizontal AoA and elevation AoA.

[0129] For example, a convex mirror, which is an example of an installed object 5, is generally set to a mirror body of 2.5m, or 1.8m if there is a road gradient. Considering this, as shown in Figures 14(a) and (b), when a non-moving vehicle 10 is parked on the left side of the road, the horizontal AoA can be estimated to be about -2deg at a distance of 20m ahead of point 1, and about -1deg at a distance of 40m ahead of point 2. Also, as shown in Figures 14(c) and (d), the elevation angle AoA can be estimated to be about 4deg at a distance of 20m ahead of point 1, and about 2deg at a distance of 40m ahead of point 2.

[0130] Thus, the determination unit 21 may estimate the horizontal AoA and elevation angle AoA by taking into account the mounting position of the radio 17 on the non-moving vehicle 10, the length from the lower end of the mirror body of the curve mirror, the road gradient of the parking location, etc. In this case, by improving the accuracy of the estimated angles for the horizontal AoA and elevation angle AoA, it is expected that the position of the non-moving vehicle 10 on the road can be estimated with greater accuracy.

[0131] Next, as shown in Figure 13, the determination unit 21 determines whether the horizontal AoA < 0 and elevation angle AoA < 0 conditions are met (S66).

[0132] If the determination unit 21 determines that the horizontal AoA < 0 and the elevation angle AoA < 0 conditions are met (YES in S66), it determines whether the driver's seat is right-hand drive or not based on the unique data stored in the memory unit 16 (S67).

[0133] If the determination unit 21 determines that the driver's seat is not right-hand drive (NO in S67), the setting unit 22 sets the two radios 17 located on the left side, which is the passenger side of the non-moving vehicle 10, to transmit mode, and sets the two radios 17 located on the right side, which is the driver's side of the non-moving vehicle 10, to receive mode (S68).

[0134] On the other hand, if the determination unit 21 determines that the driver's seat is on the right side (YES in S67), the setting unit 22 sets the two radios 17 located on the right side, which is the driver's seat side of the non-moving vehicle 10, to transmit mode, and sets the two radios 17 located on the left side, which is the passenger seat side of the non-moving vehicle 10, to receive mode (S69).

[0135] If the determination unit 21 determines that the conditions for horizontal AoA < 0 and elevation angle AoA < 0 are not met (NO in S66), it determines whether the driver's seat is right-hand drive or not based on the unique data stored in the memory unit 16 (S70).

[0136] If the determination unit 21 determines that the driver's seat is not right-hand drive (NO in S70), the setting unit 22 performs the process in step S69.

[0137] On the other hand, if the determination unit 21 determines that the driver's seat is right-hand drive (YES in S70), the setting unit 22 performs the process in step S68.

[0138] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 13.

[0139] Next, as shown in Figure 15, we will describe an object having a transmitter 50 equipped with a transmission function installed in a parking lot.

[0140] Figure 15 shows multiple non-moving vehicles 10 and a moving vehicle 6 parked in a parking lot.

[0141] In addition to the transmitter 50, the parking lot is equipped with vacancy detection devices 52, such as marker lights installed on the ceiling or driveway, and magnetic parking sensors installed on the floor within the parking spaces or vehicle compartments. The vacancy detection devices 52 may also include camera sensors, infrared sensors, etc.

[0142] A parking lot has a vehicle driveway and multiple parking spaces for vehicles facing the driveway. If there is a parking space on the side of a non-moving vehicle 10 parked in the parking lot, a transmitter 50 that emits a beacon signal when the parking lot is vacant may be installed. Preferably, in an indoor parking lot or a parking lot with a ceiling, the transmitter 50 may be installed in a location such as the ceiling close to the driveway.

[0143] In this case, as shown in Figures 15 and 16, the transmitter 50 mounted on the object and the vacancy detection device 52 perform the following processing.

[0144] Figure 16 is a flowchart showing an example of the operation of the transmitter 50 and the vacancy detection device 52 mounted on the object.

[0145] First, the vacancy determination device 52 acquires information indicating the vacancy status of the parking lot (S71). The information indicating the vacancy status is information indicating that a parking space exists on the side of a non-moving vehicle 10.

[0146] Next, the vacancy determination device 52 determines whether or not the room is vacant based on the information indicating the vacancy status (S72).

[0147] When the vacancy detection device 52 determines that the room is vacant based on the information indicating the vacancy status (YES in S72), it outputs an instruction to turn on the transmitter 50 (S73). As a result, the transmitter 50 emits a beacon signal.

[0148] On the other hand, if the vacancy determination device 52 determines that the room is not vacant based on the information indicating the vacancy status (NO in S72), it outputs an instruction to turn off the transmitter 50 (S74).

[0149] Then, the transmitter 50 and the vacancy detection device 52 complete the processing shown in the flowchart of Figure 15.

[0150] Next, referring to Figures 17 to 19, the processing of the transmitting / receiving device 1 when using a transmitter 50 installed in a parking lot will be explained in more detail.

[0151] Figure 17 shows the relationship between the modes of the wireless devices 17 installed in multiple non-moving vehicles 10 parked in a parking lot and the driving path. Figure 18 shows the case where the transmitter 50 is installed on the ceiling of the parking lot. Figure 19 is a flowchart showing an example of the operation between the transmitter 50 and the non-moving vehicles 10 when the transmitter 50 is installed on the ceiling of the parking lot.

[0152] As shown in Figure 17, the parking lot is provided with a driveway and multiple parking spaces facing the driveway. Multiple non-moving vehicles 10 are parked in the multiple parking spaces.

[0153] In this case, if there are traffic participants in the parking space on the opposite side of the road, the non-moving vehicle 10 may be in a blind spot, and the vehicle 6 traveling on the road and the traffic participants may not be able to recognize each other's presence.

[0154] Therefore, as shown in Figure 17, the transmitting / receiving device 1 sets the radios 17 located facing (alongside) the roadway in the multiple radios 17 mounted on the non-moving vehicle 10 to transmit mode, and sets the radios 17 located in positions not facing the roadway to receive mode.

[0155] The flowchart in Figure 19 assumes that the transmitters 50 are installed on the ceiling of the parking lot, as shown in Figures 18(a) and (b). Figures 18(a) and (b) assume that the number of transmitters 50 installed is minimized. In addition, the non-moving vehicle 10 is described as a right-hand drive vehicle.

[0156] First, as shown in Figure 19, the transmitting / receiving device 1 identifies the roads and parking spaces of the parking lot based on location information and map information from the navigation system, or a parking lot map obtained from the storage unit 16 or an external server (S81).

[0157] Next, the transmitting / receiving device 1 determines whether or not it has received a beacon signal from the transmitter 50 installed in the parking lot (S82). In this case, the transmitting / receiving device 1 may also determine whether or not it has continuously received beacon signals during the 2 seconds before stopping, from the time of parking until the vehicle 10 stops.

[0158] If the determination unit 21 of the transmitting / receiving device 1 determines that it has not received a beacon signal from the transmitter 50 installed in the parking lot (NO in S82), it repeats the process in step S82.

[0159] On the other hand, if the determination unit 21 determines that it has received a beacon signal from the transmitter 50 installed in the parking lot (YES in S82), it determines whether the beacon signal was received at or above a specified RSSI (S83). The specified RSSI is, for example, the RSSI (elevation angle) at a distance of 2m between the transmitter 50 and the radio 17 of the non-moving vehicle 10, for example, RSSI > -38dBm.

[0160] If the determination unit 21 determines that the beacon signal has been received at or above the specified RSSI (YES in S83), it determines whether the RSSI of the highest beacon signal is from the right rear radio 17 (S84).

[0161] If the determination unit 21 determines that the RSSI of the beacon signal with the highest value is from the right rear radio 17 (YES in S84), it determines that the non-moving vehicle 10 at the far right of Figure 18(a) has moved forward into the parking space (S85). In other words, the non-moving vehicle 10 at the far right of Figure 18(a) has moved forward into the parking space.

[0162] Next, as shown in Figure 18(a) for the rightmost non-moving vehicle 10, the setting unit 22 sets only the left front radio 17 near the passenger seat to receive mode, and sets the other radios 17 to transmit mode (S86).

[0163] This is because, when multiple vehicles are parked in a parking lot, the VRU signal from an area with a high concentration of metal may be blocked by the vehicles and become unreceivable. Alternatively, because the VRU signal is received through diffuse reflection from the vehicles, it may become impossible to determine the correct location of traffic participants based on the VRU signal. Therefore, if the radio 17 is located near the traffic participants and can receive the VRU signal directly from the traffic participants' participant terminal device 2, the correct location of the traffic participants can be determined. For this reason, it is considered appropriate to set the radio 17 located facing the road in the non-moving vehicle 10 to transmit mode and the other radios 17 to receive mode. In this case, the non-moving vehicle 10 can receive the VRU signal directly from traffic participants and transmit VRU information to the moving vehicle 6.

[0164] Next, if the determination unit 21 determines that the RSSI of the beacon signal with the highest value is not from the right rear radio 17 (NO in S84), it determines whether or not the RSSI of the beacon signal with the highest value is from the left front radio 17 (S87).

[0165] If the determination unit 21 determines that the RSSI of the beacon signal with the highest value is from the left front radio 17 (YES in S87), it determines that the non-moving vehicle 10 at the far right of Figure 18(b) has reversed into the parking space (S88). In other words, the non-moving vehicle 10 at the far right of Figure 18(b) is reversing into the parking space.

[0166] Next, the setting unit 22 sets only the right rear radio 17, which is behind the driver's seat, to receive mode, and sets the other radios 17 to transmit mode (S89).

[0167] Next, if the determination unit 21 determines that the RSSI of the beacon signal with the highest value is not from the left front radio 17 (NO in S87), it determines whether or not the RSSI of the beacon signal with the highest value is from the left rear radio 17 (S90).

[0168] If the determination unit 21 determines that the RSSI of the beacon signal with the highest value is from the left rear radio 17 (YES in S90), it determines that the leftmost non-moving vehicle 10 in Figure 18(b) has moved forward into the parking space (S91).

[0169] Next, the setting unit 22 sets only the front right radio 17 near the driver's seat to receive mode, and sets the other radios 17 to transmit mode (S92).

[0170] Next, if the determination unit 21 determines that the RSSI of the beacon signal with the highest value is not from the left rear radio 17 (NO in S90), it determines that the leftmost non-moving vehicle 10 in Figure 18(a) has reversed into the parking space (S93).

[0171] Next, as shown in the leftmost non-moving vehicle 10 in Figure 18(a), the setting unit 22 sets only the left rear radio 17, which is behind the passenger seat, to receive mode, and sets the other radios 17 to transmit mode (S94).

[0172] Next, if the determination unit 21 determines that the beacon signal was received at a level below the specified RSSI (NO in S83), it determines that the non-moving vehicle 10 is parked in a location where its side does not face the road (S95). Then, the transmitting / receiving device 1 proceeds to step S25 in Figure 6, and if it determines that the non-moving vehicle 10 is reversing into the parking space, it sets the radio 17 located at the rear to transmit mode, as shown in the non-moving vehicle 10 reversing into the parking space in the center of Figure 18(a). If the transmitting / receiving device 1 determines that the non-moving vehicle 10 is moving forward into the parking space, it sets the radio 17 located at the front to transmit mode, as shown in the forward-moving vehicle 10 in the center of Figure 18(b). As a result, as shown in Figure 17, all radio 17s located on the road-facing side of the parked non-moving vehicle 10 are in transmit mode, and all radio 17s not facing the road are in receive mode. Therefore, if a vulnerable road user is present within the area surrounded by non-moving vehicles 10, their presence can be transmitted to the moving vehicle 6, indicating the possibility of the vulnerable road user suddenly stepping out into the road.

[0173] Next, with reference to Figures 20 and 21, we will explain in more detail another process of the transmitting / receiving device 1 when using a transmitter 50 installed in a parking lot.

[0174] Figure 20 shows the case where a transmitter 50 and a parking space are installed one-to-one on the ceiling of a parking lot, with and without an available parking space. Figure 21 is a flowchart showing an example of operation between the transmitter 50 and a non-moving vehicle 10 when the transmitter 50 and parking space are installed one-to-one on the ceiling of a parking lot.

[0175] Next, the flowchart in Figure 21 assumes that the transmitter 50 is installed on the ceiling of the parking lot, as shown in Figures 20(a) to (c). In Figures 20(a) to (c), it is assumed that one transmitter 50 is installed for each parking space. Also, the non-moving vehicle 10 will be described as a right-hand drive vehicle.

[0176] First, as shown in Figure 21, the transmitting / receiving device 1 identifies the roads and parking spaces of the parking lot based on location information and map information, etc. from the navigation system, or parking lot map and parking lot attribute data, etc. obtained from the storage unit 16 or an external server, etc. (S100).

[0177] Next, the transmitting / receiving device 1 determines whether or not it has received a beacon signal from the transmitter 50 installed in the parking lot (S101). In this case, the transmitting / receiving device 1 may also determine whether or not it has continuously received beacon signals during the period from the parking maneuver to the vehicle coming to a complete stop, for example, in the 2 seconds before the vehicle comes to a complete stop.

[0178] If the determination unit 21 of the transmitting / receiving device 1 determines that it has not received a beacon signal from the transmitter 50 installed in the parking lot (NO in S101), it repeats the process in step S101.

[0179] On the other hand, if the determination unit 21 determines that it has received a beacon signal from the transmitter 50 installed in the parking lot (YES in S101), it determines whether or not the parking lot attribute data includes information about the side road (parking lot map and map information) (S102).

[0180] If the determination unit 21 determines that the parking lot attribute data includes information about the side road (YES in S102), it determines whether the front of the non-moving vehicle 10 is within the horizontal AoA and elevation angle AoA of the parking lot attribute data (S103).

[0181] If the determination unit 21 determines from location information and map information, etc., that the area in front of the non-moving vehicle 10 is within the horizontal AoA and elevation angle AoA of the parking lot attribute data (YES in S103), it determines that, for example, the rightmost non-moving vehicle 10 in Figure 20(a) has reversed into the parking space (S104).

[0182] Next, the determination unit 21 determines, based on the parking lot attribute data, whether the road on the side of the non-moving vehicle 10 is on the driver's side (S105).

[0183] Next, if the determination unit 21 determines from the location information and map information that the road on the side of the non-moving vehicle 10 is not on the driver's side (NO in S105), then, as shown in the rightmost non-moving vehicle 10 in Figure 20(a), the setting unit 22 sets only the radio 17 on the right rear side of the driver's seat to receive mode and sets the other radios 17 on the road side to transmit mode (S106).

[0184] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 21.

[0185] On the other hand, if the determination unit 21 determines that the road on the side of the non-moving vehicle 10 is on the driver's side (YES in S105), the setting unit 22 sets only the radio 17 on the left rear side of the passenger seat to receive mode, and sets the other radios 17 on the road side to transmit mode (S107), as shown in the non-moving vehicle 10 at the far left of Figure 20(a).

[0186] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 21.

[0187] Returning to step S103, the determination unit 21 determines that the front of the non-moving vehicle 10 is not within the horizontal AoA and elevation angle AoA of the parking attribute data (NO in S103), for example, the leftmost non-moving vehicle 10 in Figure 20(b) has moved forward into the parking space (S108).

[0188] Next, the determination unit 21 determines, based on the parking lot attribute data, whether the road on the side of the non-moving vehicle 10 is on the driver's side (S109).

[0189] Next, if the determination unit 21 determines that the road on the side of the non-moving vehicle 10 is not on the driver's side (NO in S109), the setting unit 22 sets only the radio 17 on the left front side of the passenger seat to receive mode, and sets the other radios 17 on the road side to transmit mode (S110), as shown in the non-moving vehicle 10 at the far right of Figure 20(b).

[0190] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 21.

[0191] On the other hand, if the determination unit 21 determines that the road on the side of the non-moving vehicle 10 is on the driver's side (YES in S109), the setting unit 22 sets only the radio 17 on the front right side of the driver's seat to receive mode and sets the other radios 17 to transmit mode (S111), as shown in the leftmost non-moving vehicle 10 in Figure 20(b).

[0192] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 21.

[0193] Returning to step S102, if the determination unit 21 determines that the parking attribute data does not contain information about the side road (NO in S102), it determines that the non-moving vehicle 10 is parked in a location that does not face the road (S112).

[0194] Then, the transmitting / receiving device 1 proceeds to step S25 in Figure 6, where it determines whether a non-moving vehicle 10 is entering the parking area, sets one of the two radios 17 facing the road (front or rear) to receive mode, and sets the remaining radio 17 to transmit mode.

[0195] As shown in Figures 20(a) and (b), when the non-moving vehicle 10 is parked, that is, when all the radios 17 are in the vehicle compartment, all the radios 17 located in the non-moving vehicle 10 are set to transmit mode. This makes it easier to identify traffic participants who are in hard-to-see locations. Also, as shown in Figure 20(c), even when the number of non-moving vehicles 10 decreases, the presence of traffic participants can still be notified to the vehicle 6. In addition, although not shown, when there are no non-moving vehicles 10, the vehicle 6 can visually confirm the presence of traffic participants, so transmission of VRU information from the non-moving vehicles 10 is not necessary.

[0196] Next, referring to Figure 22, we will explain the VRU information that the transmitting / receiving device 1 transmits to the vehicle 6.

[0197] Figure 22 is a flowchart showing an example of the operation of the transmitting / receiving device 1 that transmits VRU information to the vehicle 6.

[0198] The transmitting / receiving device 1 receives a VRU signal containing VRU attribute data, etc., from the participant terminal device 2. At this time, it may also calculate the number of traffic participants, the location of each traffic participant, the arrival time of each traffic participant, and the direction of each traffic participant's appearance, extract any changes to these, include them in the VRU information, and transmit the VRU information to the vehicle 6.

[0199] First, the determination unit 21 of the vehicle 6 determines whether or not it has acquired the VRU information transmitted by the transmitting / receiving device 1 (S121).

[0200] If the determination unit 21 of the vehicle 6 determines that it has not received the VRU information transmitted by the transmitting / receiving device 1 (NO in S121), it repeats the process in step S121.

[0201] On the other hand, if the determination unit 21 determines that it has acquired the VRU information transmitted by the transmitting / receiving device 1 (YES in S121), the VRU position and speed estimation unit 13 of the transmitting / receiving device 1 estimates the distance from the non-moving vehicle 10 to the traffic participant based on the UUID (Universally Unique Identifier) ​​and RSSI of the participant terminal device 2, and estimates the angle of arrival (direction of the traffic participant) from the phase difference (S122).

[0202] Next, the determination unit 21 determines whether or not data with the same UUID already exists (S123).

[0203] If the determination unit 21 determines that no data with the same UUID exists (NO in S123), it causes the storage unit 16 to newly save the UUID, the distance from the non-moving vehicle 10 to the traffic participant, and the arrival angle (S124).

[0204] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 22.

[0205] On the other hand, if the determination unit 21 determines that data with the same UUID already exists (YES in S123), it stores the nth (a natural number greater than or equal to 1) calculation result (estimated distance from the non-moving vehicle 10 to the traffic participant, and the angle of arrival) in the storage unit 16 (S125). In other words, the determination unit 21 does not overwrite the calculation result, but rather stores n calculation results in the storage unit 16 like a history.

[0206] Next, the VRU position and velocity estimation unit 13 estimates the movement speed of the traffic participant and stores it in the memory unit 16, and the VRU arrival time estimation unit 14 estimates the arrival time of the traffic participant and stores it in the memory unit 16 (S126).

[0207] Next, the determination unit 21 deletes traffic participants that are far away from the radio 17, that is, traffic participants that have moved away, from the memory unit 16 (S127).

[0208] Next, the determination unit 21 determines whether or not it is the first transmission to the vehicle 6 (S128).

[0209] If the determination unit 21 determines that this is the first transmission to the vehicle 6 (YES in S128), it transmits the latest VRU information, in which the contents of the VRU information have been changed, to the vehicle 6 (S129).

[0210] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 22.

[0211] On the other hand, if the determination unit 21 determines that this is not the first transmission to the vehicle 6 (NO in S128), it determines whether or not there has been a change in the movement speed of each UUID stored in the memory unit 16 (S130). The determination unit 21 may also determine whether or not at least one of the following has been changed: the position of the traffic participant, the movement speed of the traffic participant, and the arrival time of the traffic participant.

[0212] If the determination unit 21 determines that there is no change in the movement speed of each UUID stored in the memory unit 16 (NO in S130), it sends the VRU information, which does not include the change information, to the vehicle 6 because the contents of the VRU information have not changed (S131).

[0213] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 22.

[0214] On the other hand, if the determination unit 21 determines that there has been a change in the movement speed of each UUID stored in the memory unit 16 (YES in S130), it extracts the traffic participant with the earliest arrival time from among the arrival times of each UUID estimated by the VRU arrival time estimation unit 14 (S132).

[0215] Next, the determination unit 21 determines that the contents of the VRU information may have been changed, and therefore transmits the VRU information, including the change information, to the vehicle 6 (S133).

[0216] Then, the transmitting / receiving device 1 completes the process shown in the flowchart in Figure 22.

[0217] In this way, by calculating the number of traffic participants, the position of each traffic participant, the arrival time of each traffic participant, and the direction of each traffic participant's departure, as well as the amount of change in these, the vehicle 6 can easily determine whether or not the VRU information has been changed.

[0218] Furthermore, by receiving VRU signals that include these, the vehicle 6 can suppress the increase in processing load for estimation and change flags on the vehicle side.

[0219] Since there is a limit to the amount of data that can be transmitted to the vehicle 6 regarding VRU information, the VRU attribute data included in the VRU information may be coded, as shown in Figure 23.

[0220] Figure 23 shows the VRU attribute data.

[0221] VRU attribute data may include gender, type, age group, and code. Gender is, for example, male or female. Type is, for example, walking, cycling, kick scooter, wheelchair, etc. Age groups are under 6 years old, 6-12 years old, 13-18 years old, 19-39 years old, 40-59 years old, and 60 years and older. Codes are set to correspond one-to-one with age groups. Codes are linked to the number of people, each UUID, etc.

[0222] Furthermore, as shown in Figures 24 and 25, by controlling the warning light 7 installed near the entrance of a store with a parking lot, traffic participants and vehicles 6 can be notified. The warning light 7 is equipped with the aforementioned transmitting and receiving device 1. The warning light 7 is an example of an installed device.

[0223] Figure 24 shows a warning light 7 installed near the entrance of a store with a parking lot, along with traffic participants and a vehicle 6. Figure 25 is a flowchart showing an example of the operation of the warning light 7 installed near the entrance of a store with a parking lot.

[0224] First, the determination unit 21 of the transmitting / receiving device 1 determines whether or not it has acquired the VRU information transmitted by the transmitting / receiving device 1 (S141).

[0225] If the determination unit 21 determines that it has not received the VRU information transmitted by the transmitting / receiving device 1 (NO in S141), it repeats the process in step S141.

[0226] On the other hand, when the determination unit 21 determines that it has acquired the VRU information transmitted by the transmitting / receiving device 1 (YES in S141), it determines whether the horizontal AoA of the traffic participant is within the specified angle (S142).

[0227] If the determination unit 21 determines that the horizontal AoA of the traffic participant is within the specified angle (YES in S142), it determines that the traffic participant is present near the entrance of the store (S143).

[0228] Next, the determination unit 21 determines whether or not data with the same UUID already exists (S144).

[0229] If the determination unit 21 determines that no data with the same UUID exists (NO in S144), it causes the storage unit 16 to newly save the UUID, the distance from the non-moving vehicle 10 to the traffic participant, and the angle of arrival (S145).

[0230] Then, the transmitting / receiving device 1 completes the process shown in the flowchart of Figure 25.

[0231] On the other hand, if the determination unit 21 determines that data with the same UUID already exists (YES in S144), it stores the nth (a natural number greater than or equal to 1) calculation result (estimated distance from the non-moving vehicle 10 to the traffic participant, and the angle of arrival) in the storage unit 16 (S146). In other words, the determination unit 21 does not overwrite the calculation result, but rather stores n calculation results in the storage unit 16 like a history.

[0232] Next, the VRU position and velocity estimation unit 13 estimates the movement speed of the traffic participant and stores it in the memory unit 16, and the VRU arrival time estimation unit 14 estimates the arrival time of the traffic participant and stores it in the memory unit 16 (S147).

[0233] Next, the determination unit 21 deletes traffic participants that are far away from the radio 17, that is, traffic participants that have moved away, from the memory unit 16 (S148).

[0234] Next, the determination unit 21 determines whether the warning light 7 is not illuminated and whether there is a traffic participant approaching the radio 17 (non-moving vehicle 10) (S149).

[0235] If the determination unit 21 determines that the warning light 7 is on and that there is a traffic participant approaching the radio 17 (non-moving vehicle 10) (YES in S149), it illuminates the warning light 7 (S150). As a result, the vehicle 6 and the traffic participant can recognize that they are approaching the entrance of the store by the light of the warning light 7.

[0236] Then, the transmitting / receiving device 1 completes the process shown in the flowchart of Figure 25.

[0237] On the other hand, if the determination unit 21 determines that the warning light 7 is not illuminated and that there are no traffic participants approaching the radio 17 (non-moving vehicle 10) (NO in S149), it determines whether or not there are traffic participants within the designated area (S151). The designated area is a predetermined area, such as a pedestrian crossing on a road.

[0238] If the determination unit 21 determines that a traffic participant is present within the designated area (YES in S151), it keeps the warning light 7 illuminated (S152). As a result, the vehicle 6 and the traffic participant can recognize that they are approaching the entrance of the store by the light of the warning light 7.

[0239] Then, the transmitting / receiving device 1 completes the process shown in the flowchart of Figure 25.

[0240] On the other hand, if the determination unit 21 determines that there are no traffic participants in the designated area (NO in S151), it determines that there are no traffic participants in the designated area (S153) and turns off the warning light 7 (S154).

[0241] Then, the transmitting / receiving device 1 returns to step S149 in Figure 25.

[0242] Returning to the process in step S142, the determination unit 21 determines that if the horizontal AoA of the traffic participant is not within the specified angle (NO in S142), then it determines that there is a traffic participant in the parking lot and the road (S155). In this case, there is no target to report, so the process ends.

[0243] Then, the transmitting / receiving device 1 completes the process shown in the flowchart of Figure 25.

[0244] Furthermore, a warning light 7 installed near the entrance of a store with a parking lot can also transmit VRU information to a vehicle 6 traveling on a road. In other words, in steps S150, S152, and S154, the warning light 7 may transmit VRU information to the vehicle 6.

[0245] Next, referring to Figure 26, we will explain the case in which a non-moving vehicle 10 equipped with a transmitting / receiving device 1 becomes a moving vehicle when it starts moving.

[0246] Figure 26 is a flowchart illustrating an example of operation when a non-moving vehicle 10 starts moving. Figure 26 assumes that the VRU attribute data includes a digital key.

[0247] When the non-moving vehicle 10 starts moving, the moving vehicle that was previously the non-moving vehicle 10 must stop receiving VRU signals and transmitting VRU information. Meanwhile, the moving vehicle 6 that was receiving VRU information from the non-moving vehicle 10 must also perform VRU detection itself.

[0248] First, the VRU attribute data extraction unit 12 of the transmitting / receiving device 1 extracts the VRU attribute data of traffic participants from the VRU signal received by the radio 17 (S161).

[0249] Next, the determination unit 21 of the transmitting / receiving device 1 determines whether or not the vehicle number is included in the VRU attribute data (S162).

[0250] Next, if the determination unit 21 of the transmitting / receiving device 1 determines that the VRU attribute data includes the vehicle number (YES in S162), it determines whether or not it is the first transmission to the vehicle 6 with the vehicle number (S163).

[0251] If the determination unit 21 determines that this is the first transmission to the vehicle No. 6 (YES in S163), it starts processing the digital key, changes the communication protocol, and ends the VRU information notification process to the vehicle No. 6 (S164).

[0252] Then, the transmitting / receiving device 1 completes the process shown in Figure 26.

[0253] On the other hand, if the determination unit 21 determines that this is not the first transmission to the vehicle No. 6 (NO in S163), the setting unit 22 sets "no" to continue transmission and notifies the vehicle 6 to stop transmitting VRU information (S165).

[0254] Returning to step S162, if the determination unit 21 determines that the vehicle number is not included in the VRU attribute data (NO in S162), it decides to continue the VRU information notification process to the vehicle 6 (S166).

[0255] Then, the transmitting / receiving device 1 completes the process shown in Figure 26.

[0256] Furthermore, referring to Figure 27, we will explain the case in which a non-moving vehicle 10 equipped with a transmitting / receiving device 1 becomes a moving vehicle when it starts moving.

[0257] Figure 27 is a flowchart showing another example of operation when the non-moving vehicle 10 starts moving.

[0258] Figure 27 assumes that the VRU attribute data does not include a digital key.

[0259] Even in this case, when the non-moving vehicle 10 starts moving, the moving vehicle that was previously the non-moving vehicle 10 must stop receiving VRU signals and transmitting VRU information. On the other hand, the moving vehicle 6 that was receiving VRU information from the non-moving vehicle 10 must also perform VRU detection itself.

[0260] First, the VRU attribute data extraction unit 12 of the transmitting / receiving device 1 extracts the VRU attribute data of traffic participants from the VRU signal received by the radio 17 (S171).

[0261] Next, the determination unit 21 of the transmitting / receiving device 1 determines whether or not the ignition switch has been turned ON based on the ignition switch ON information (S172).

[0262] Next, if the determination unit 21 of the transmitting / receiving device 1 determines that the ignition switch has been turned ON (YES in S172), it determines whether or not this is the first transmission to the vehicle 6 with vehicle number (S173).

[0263] If the determination unit 21 determines that this is the first transmission to the vehicle No. 6 (YES in S173), it terminates the VRU information notification process to the vehicle No. 6 (S174).

[0264] Then, the transmitting / receiving device 1 completes the process shown in Figure 27.

[0265] On the other hand, if the determination unit 21 determines that this is not the first transmission to the vehicle No. 6 (NO in S173), the setting unit 22 sets "no" to continue transmission and notifies the vehicle 6 to stop transmitting VRU information (S175).

[0266] Returning to step S172, if the determination unit 21 determines that the ignition switch is not turned ON (NO in S172), it decides to continue the VRU information notification process to the vehicle 6 (S176).

[0267] Then, the transmitting / receiving device 1 completes the process shown in Figure 27.

[0268] <Effects and Effects> Next, the effects of the transmitting / receiving device 1, the transmitting / receiving method, and the program in this embodiment will be described.

[0269] As described above, the transceiver device 1 according to Technique 1 of the present embodiment is a transceiver device 1 mounted on a traffic participant moving in a traffic area, a traveling body 6, and an object arranged on the communication path from the traffic participant to the traveling body 6 in a non-traveling state in the traffic area, the transceiver device 1 comprising: a radio device 17 having a reception mode and a transmission mode; a setting unit 22 configured to set the radio device 17 to the reception mode or the transmission mode; and an acquisition unit configured to acquire position information indicating the position of the object and map information related to the position information, wherein the setting unit 22 sets the radio device 17 to the reception mode or the transmission mode at least based on the position information and the map information, and when the radio device 17 is set to the reception mode, the radio device 17 receives a VRU signal from a terminal device carried by the traffic participant, and transmits VRU information based on the VRU signal to the traveling body 6 that is a transmission target.

[0270] According to this, even in an environment where the traffic participant and the traveling body 6 cannot directly recognize each other due to problems with the wireless network or the communication environment, the object can relay the communication path from the traffic participant to the traveling body 6 so as to connect the path.

[0271] Therefore, according to this transceiver device 1, the presence of the traffic participant can be notified to the surroundings even in areas where the wireless network environment is not established and areas with poor communication environments.

[0272] As a result, even in such an environment, the traffic participant and the traveling body 6 can recognize each other's presence, so safety can be improved.

[0273] Further, in the transceiver device 1 according to Technique 2 of the present embodiment, the object includes a non-traveling vehicle 10 that is in a non-traveling state due to parking, and the transceiver device 1 further comprises a determination unit 21 configured to determine the traffic area type indicated by the position where the non-traveling vehicle 10 is present based on the position information and the map information, and the setting unit 22 sets the radio device 17 to the reception mode or the transmission mode based on the result of the traffic area type.

[0274] According to this, it is possible to accurately grasp the traffic area type (such as roads and parking lots) of the traffic area where the non-traveling vehicle 10 is located. In addition, since the radio 17 can be set to either the reception mode or the transmission mode according to the traffic area type, the non-traveling vehicle 10 can more easily receive the VRU signal from the participant terminal device 2, and the traveling object 6 can more easily receive the VRU information based on the VRU signal.

[0275] Further, in the transmitting and receiving apparatus 1 according to Technique 3 of the present embodiment, when the position where the non-traveling vehicle 10 is located indicates a traveling road as a result of the traffic area type, the determination unit 21 determines the traveling road type, and the setting unit 22 sets the radio 17 to either the reception mode or the transmission mode based on the result of the traveling road type.

[0276] According to this, it is possible to accurately grasp the traveling road type of the traffic area where the non-traveling vehicle 10 is located (such as one-way roads and roads other than one-way roads). In addition, since the radio 17 can be set to either the reception mode or the transmission mode according to the result of the traveling road type, the non-traveling vehicle 10 can more easily receive the VRU signal from the participant terminal device 2, and the traveling object 6 can more easily receive the VRU information based on the VRU signal.

[0277] Further, in the transmitting and receiving apparatus 1 according to Technique 4 of the present embodiment, when the position where the non-traveling vehicle 10 is located indicates a traveling road as a result of the traffic area type, the determination unit 21 determines the position on the traveling road where the non-traveling vehicle 10 is located, and the setting unit 22 sets the radio 17 to either the reception mode or the transmission mode based on the position on the traveling road.

[0278] According to this, it is possible to accurately grasp the position on the traveling road in the traffic area where the non-traveling vehicle 10 is located. In addition, since the radio 17 can be set to either the reception mode or the transmission mode according to the position (the right side or the left side on the traveling road) on the traveling road where the non-traveling vehicle 10 is located, the non-traveling vehicle 10 can more easily receive the VRU signal from the participant terminal device 2, and the traveling object 6 can more easily receive the VRU information based on the VRU signal.

[0279] Furthermore, in the transmitting / receiving device 1 of Technology 5 according to this embodiment, the determination unit 21 determines the steering wheel position of the non-moving vehicle 10 based on the unique data of the non-moving vehicle 10, and the setting unit 22 sets the radio 17 to either receiving mode or transmitting mode based on the steering wheel position.

[0280] According to this, the radio 17 can be set to receive mode or transmit mode depending on the steering wheel position, making it easier for the non-moving vehicle 10 to receive VRU signals from the participant terminal device 2, and also making it easier for the moving vehicle 6 to receive VRU information based on the VRU signals.

[0281] Furthermore, in the transmitting / receiving device 1 of technology 6 according to this embodiment, if the location where the non-moving vehicle 10 is located is a parking lot as a result of the traffic area type, the determination unit 21 determines the position of the shift lever of the non-moving vehicle 10, and the setting unit 22 sets the radio 17 to either receiving mode or transmitting mode based on the position of the shift lever.

[0282] According to this, the radio 17 can be set to receive mode or transmit mode depending on the position of the shift lever of the non-moving vehicle 10, making it easier for the non-moving vehicle 10 to receive VRU signals from the participant terminal device 2, and also making it easier for the moving vehicle 6 to receive VRU information based on the VRU signals.

[0283] Furthermore, in the transmitting / receiving device 1 of technology 7 according to this embodiment, if there is one or more traffic participants and each of the one or more traffic participants is carrying a terminal device, the determination unit 21 determines the number of traffic participants and the position of each traffic participant relative to the non-moving vehicle 10 based on their respective VRU signals, and the setting unit 22 sets the radio 17 to receive mode or transmit mode based on the number of traffic participants and the position of each traffic participant relative to the non-moving vehicle 10.

[0284] According to this, the radio 17 can be set to receive mode or transmit mode depending on the number of traffic participants and the position of each traffic participant relative to the non-moving vehicle 10. As a result, the non-moving vehicle 10 can more easily receive VRU signals from the participant terminal device 2, and the moving vehicle 6 can more easily receive VRU information based on the VRU signals.

[0285] Furthermore, in the transmitting / receiving device 1 of Technology 8 according to this embodiment, if the target object is located on a time-specified route, the setting unit 22 sets the radio 17 to either receiving mode or transmitting mode based on information indicating the time period of the time-specified route.

[0286] According to this, the radio 17 can be set to receive mode or transmit mode depending on the time of day of the designated route, making it easier for non-moving vehicles 10 to receive VRU signals from participant terminal devices 2, and making it easier for the moving vehicle 6 to receive VRU information based on VRU signals.

[0287] Furthermore, in the transmitting / receiving device 1 of technology 9 according to this embodiment, the target objects include a non-moving vehicle 10 and an installation 5 installed in a traffic area. Based on a notification signal from the installation 5, the non-moving vehicle 10 determines its position on the road, and the setting unit 22 sets the radio 17 to either receiving mode or transmitting mode based on its position on the road.

[0288] According to this, the radio 17 can be set to receive mode or transmit mode depending on the location of the non-moving vehicle 10 on the road, making it easier for the non-moving vehicle 10 to receive VRU signals from the participant terminal device 2, and also making it easier for the moving vehicle 6 to receive VRU information based on the VRU signals.

[0289] Furthermore, in the transmitting and receiving device 1 of the technology 10 according to this embodiment, the object includes a non-moving vehicle 10 and a transmitter 50 installed in a parking lot that transmits a beacon signal. If, as a result of the traffic area type, the location where the non-moving vehicle 10 is located indicates a parking lot, the determination unit 21 determines the orientation of the non-moving vehicle 10 in the parking space of the parking lot based on the magnitude of the radio wave intensity of the radio device 17 that has received the beacon signal, and the setting unit 22 sets the radio device 17 to receive mode or transmit mode based on the orientation of the non-moving vehicle 10.

[0290] According to this, the radio 17 can be set to receive mode or transmit mode depending on the orientation of the non-moving vehicle 10, making it easier for the non-moving vehicle 10 to receive VRU signals from the participant terminal device 2, and also making it easier for the moving vehicle 6 to receive VRU information based on the VRU signals.

[0291] Furthermore, in the transmitting / receiving device 1 of the technology 11 according to this embodiment, a non-moving vehicle 10 is equipped with multiple radios 17, and the determination unit 21 determines one or more of the multiple radios 17 that are positioned facing the roadway in the parking lot based on the magnitude of the radio wave intensity, and the setting unit 22 sets one or more radios 17 to transmit mode and sets the other radios 17 to receive mode.

[0292] According to this, one or more radios 17 positioned facing the road can be set to transmit mode, and the other radios 17 can be set to receive mode, making it easier for non-moving vehicles 10 to receive VRU signals from participant terminal devices 2, and also making it easier for the moving vehicle 6 to receive VRU information based on VRU signals.

[0293] Further, in the transceiver device 1 according to Technique 12 of the present embodiment, the objects include a non-traveling vehicle 10 and a transmitter 50 installed in a parking lot for transmitting beacon signals. When the result of the traffic area type indicates that the position where the non-traveling vehicle 10 is present is a parking lot, the determination unit 21 determines the orientation of the non-traveling vehicle 10 in the parking space based on the parking lot attribute data including the travel paths and parking spaces of the parking lot and the position information of the non-traveling vehicle 10, and the setting unit 22 sets the radio 17 to either the reception mode or the transmission mode based on the parking lot attribute data and the orientation of the non-traveling vehicle 10.

[0294] According to this, since the radio 17 can be set to the reception mode or the transmission mode in accordance with the parking lot attribute data and the orientation of the non-traveling vehicle 10, the non-traveling vehicle 10 can more easily receive VRU signals from the participant terminal device 2, and the traveling object 6 can more easily receive VRU information based on the VRU signals.

[0295] Further, in the transceiver device 1 according to Technique 13 of the present embodiment, a plurality of radios 17 are mounted on the non-traveling vehicle 10, the determination unit 21 determines one or more radios 17 arranged facing the travel path among the plurality of radios 17 based on the parking lot attribute data and the orientation of the non-traveling vehicle 10, and the setting unit 22 sets the one or more radios 17 to the transmission mode, and sets the other radios 17 to the reception mode.

[0296] According to this, since the one or more radios 17 arranged facing the travel path can be set to the transmission mode and the other radios 17 can be set to the reception mode, the non-traveling vehicle 10 can more easily receive VRU signals from the participant terminal device 2, and the traveling object 6 can more easily receive VRU information based on the VRU signals.

[0297] Furthermore, in the transmitting / receiving device 1 of the technology 14 according to this embodiment, when the setting unit 22 sets the radio 17 to transmission mode, it is further equipped with an estimation unit that estimates the location of the traffic participant, the speed of the traffic participant, and the arrival time of the traffic participant based on the VRU signal, and the radio 17 transmits the VRU information, which includes the location of the traffic participant, the speed of the traffic participant, and the arrival time of the traffic participant estimated by the estimation unit, to the vehicle 6.

[0298] According to this, the vehicle 6 will be able to acquire VRU information including the location of traffic participants, their speed, and their arrival time, thus enabling it to grasp detailed information about traffic participants hidden in blind spots. This will improve the safety of both the vehicle 6 and the traffic participants.

[0299] Furthermore, in the transmitting and receiving device 1 of the technology 15 according to this embodiment, the determination unit 21 determines that at least one of the traffic participant's position, the traffic participant's speed, and the traffic participant's arrival time has been changed based on the VRU signal, and the radio 17 transmits the changed VRU information to the vehicle 6.

[0300] According to this, the vehicle 6 will be able to determine if at least one of the following has changed: the location of a traffic participant, the speed of a traffic participant, or the time of arrival of a traffic participant. Since the vehicle 6 will be able to obtain the latest information on traffic participants, the safety of the vehicle 6 and the traffic participants can be improved.

[0301] Furthermore, in the transmitting / receiving device 1 of the technology 16 according to this embodiment, the object includes the installed warning light 7, and the warning light 7 provides a warning when there are traffic participants in the vicinity.

[0302] According to this, the vehicle 6 will be able to recognize the presence of traffic participants hidden in blind spots. As a result, the safety of both the vehicle 6 and traffic participants can be improved.

[0303] Furthermore, in the transmitting / receiving device 1 of technology 17 according to this embodiment, the target object is a non-moving vehicle 10 that has become non-moving due to parking. When the non-moving vehicle 10 becomes a moving vehicle by starting to move, the moving vehicle notifies the moving body 6 that it will stop transmitting VRU information, and stops transmitting VRU information to the moving body 6.

[0304] According to this, if the non-moving vehicle 10 changes into a moving vehicle, the transmission of VRU information can be stopped. Therefore, it is possible to prevent the moving vehicle from transmitting misleading VRU information to the moving body 6.

[0305] Furthermore, in the transmitting and receiving device 1 of the technology 18 according to this embodiment, the object is a vehicle equipped with multiple radios 17, and the multiple radios 17 are installed in at least the front part of the vehicle and the rear part of the vehicle.

[0306] According to this, it becomes easier to receive VRU signals from participant terminal devices 2 located around the non-moving vehicle 10, and it also becomes easier for the moving body 6 located around the non-moving vehicle 10 to receive VRU information based on the VRU signals.

[0307] Furthermore, in the transmission and reception method of technology 19 according to this embodiment, the transmission and reception method is installed on an object that is located on the communication path from the traffic participant to the vehicle 6 while not moving in the traffic area, and includes setting a wireless device 17 which has a receiving mode and a transmitting mode to receive mode or transmit mode by a setting unit 22, and acquiring location information indicating the location of the object and map information related to the location information by an acquisition unit, wherein the setting unit 22 sets the wireless device 17 to receive mode or transmit mode based on at least the location information and the map information, and when the wireless device 17 is set to receive mode, it receives a VRU signal from a terminal device held by the traffic participant and transmits VRU information based on the VRU signal to the vehicle 6 which is the transmission target.

[0308] This transmission and reception method can also produce the same effects as described above.

[0309] Furthermore, the program of technology 20 according to this embodiment is a program for a computer to implement a transmission and reception method.

[0310] This program also produces the same effects as described above.

[0311] (Other variations) The transmitting and receiving devices, etc., related to this disclosure have been described above based on the embodiments described above, but this disclosure is not limited to these embodiments. Various modifications to the embodiments that a person skilled in the art can conceive of may also be included within the scope of this disclosure, as long as they do not deviate from the spirit of this disclosure.

[0312] For example, the components of the transmitting / receiving device and the like according to the above embodiment are typically implemented as LSIs, which are integrated circuits. These may be individually integrated into a single chip, or some or all of them may be integrated into a single chip.

[0313] Furthermore, integrated circuit implementation is not limited to LSIs; it may also be achieved using dedicated circuits or general-purpose processors. Field-Programmable Gate Arrays (FPGAs), which can be programmed after LSI manufacturing, or reconfigurable processors, which allow for the reconfiguration of the connections and settings of circuit cells within the LSI, may also be used.

[0314] In each of the above embodiments, each component may be implemented by dedicated hardware or by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0315] Furthermore, all figures used above are illustrative to illustrate the present disclosure, and the embodiments of this disclosure are not limited to the figures exemplified.

[0316] Furthermore, the division of functional blocks in the block diagram is just one example; multiple functional blocks can be implemented as a single functional block, a single functional block can be divided into multiple parts, or some functions can be moved to other functional blocks. In addition, the functions of multiple functional blocks with similar functions can be processed in parallel or time-sharing by a single piece of hardware or software.

[0317] Furthermore, the order in which each step in the flowchart is performed is illustrative for the purpose of specifically illustrating this disclosure, and may be in a different order. Also, some of the above steps may be performed simultaneously (in parallel) with other steps.

[0318] Furthermore, this disclosure also includes forms obtained by applying various modifications to the embodiments that a person skilled in the art could conceive, and forms realized by arbitrarily combining the components and functions of the embodiments without departing from the spirit of this disclosure. [Industrial applicability]

[0319] This disclosure is applicable to vehicles such as motorcycles, electric motorcycles, and automobiles, as well as personal mobile devices. [Explanation of symbols]

[0320] 1. Transmitter / Receiver 2. Participant terminal device (terminal device) 5. Installed objects (objects) 6. Running body 7. Warning lights (target object) 10 Non-moving vehicles (objects) 11 Processing Unit (Acquisition Unit) 13 VRU position speed estimation section (estimation section) 14. VRU Arrival Time Estimation Unit (Estimation Unit) 17 Radio equipment 21 Judgment section 22 Setting section

Claims

1. A traffic participant and a vehicle moving within a traffic area, and a transmitting / receiving device mounted on an object located on a communication path from the traffic participant to the vehicle while not moving within the traffic area, A radio having a receiving mode and a transmitting mode, A setting unit for setting the wireless device to either the receiving mode or the transmitting mode, The system includes an acquisition unit that acquires location information indicating the position of the object and map information related to the location information, The setting unit sets the radio to either the receiving mode or the transmitting mode based at least on the location information and the map information. When the radio is set to the receiving mode, it receives a VRU signal from a terminal device held by the traffic participant and transmits VRU information based on the VRU signal to the vehicle that is the target of transmission. Transmitter / receiver device.

2. The aforementioned object includes a non-moving vehicle that has become non-moving due to parking, Furthermore, the system includes a determination unit that determines the type of traffic area indicated by the location of the non-moving vehicle based on the location information and the map information. The setting unit sets the radio to either the receiving mode or the transmitting mode based on the traffic area type result. The transmitting and receiving device according to claim 1.

3. If, as a result of the traffic area type, the location where the non-moving vehicle is located indicates a road, the determination unit determines the road type. The setting unit sets the radio to either the receiving mode or the transmitting mode based on the result of the road type. The transmitting and receiving device according to claim 2.

4. If, as a result of the traffic area type, the location where the non-moving vehicle is located indicates a road, the determination unit determines the location on the road where the non-moving vehicle is located. The setting unit sets the radio to either the receiving mode or the transmitting mode based on its position on the road. The transmitting and receiving device according to claim 2.

5. The determination unit determines the steering wheel position of the non-moving vehicle based on the unique data of the non-moving vehicle. The setting unit sets the radio to either the receiving mode or the transmitting mode based on the handle position. The transmitting and receiving device according to claim 4.

6. If, as a result of the traffic area type, the location where the non-moving vehicle is located indicates a parking lot, the determination unit determines the position of the shift lever of the non-moving vehicle. The setting unit sets the radio to either the receiving mode or the transmitting mode based on the position of the shift lever. The transmitting and receiving device according to claim 2.

7. If there is one or more of the aforementioned traffic participants, and each of the one or more of the aforementioned traffic participants possesses the aforementioned terminal device, The determination unit determines the number of traffic participants and the position of each traffic participant relative to the non-moving vehicle based on each of the VRU signals. The setting unit sets the radio to either the receiving mode or the transmitting mode based on the number of traffic participants and the position of each traffic participant relative to the non-moving vehicles. The transmitting and receiving device according to claim 2.

8. If the aforementioned object is located on a route with a time limit, The setting unit sets the radio to either the receiving mode or the transmitting mode based on information indicating the time period of the specified route. A transmitting and receiving device according to any one of claims 1 to 7.

9. The aforementioned object includes the non-moving vehicle and the installation installed in the traffic area, Based on the notification signal from the installed object, the non-moving vehicle determines its position on the road where it is located. The setting unit sets the radio to either the receiving mode or the transmitting mode based on its position on the road. The transmitting and receiving device according to claim 2.

10. The object includes the non-moving vehicle and a transmitter installed in a parking lot that transmits a beacon signal. If, as a result of the traffic area type, the location where the non-moving vehicle is located indicates the parking lot, the determination unit determines the orientation of the non-moving vehicle in the parking space of the parking lot based on the magnitude of the radio wave intensity of the radio device that received the beacon signal. The setting unit sets the radio to either the receiving mode or the transmitting mode based on the orientation of the non-moving vehicle. The transmitting and receiving device according to claim 2.

11. The non-running vehicle is equipped with multiple radios. The determination unit determines, based on the magnitude of the radio wave intensity, one or more of the plurality of radios that are positioned facing the roadway of the parking lot, The setting unit sets one or more of the radios to the transmission mode and sets the other radios to the reception mode. The transmitting and receiving device according to claim 10.

12. The object includes the non-moving vehicle and a transmitter installed in a parking lot that transmits a beacon signal. If, as a result of the traffic area type, the location where the non-moving vehicle is located indicates the parking lot, the determination unit determines the orientation of the non-moving vehicle in the parking space based on the parking lot attribute data including the roads and parking spaces of the parking lot and the location information of the non-moving vehicle. The setting unit sets the wireless device to either the receiving mode or the transmitting mode based on the parking attribute data and the orientation of the non-moving vehicle. The transmitting and receiving device according to claim 2.

13. The non-running vehicle is equipped with multiple radios. The determination unit determines, based on the parking lot attribute data and the orientation of the non-moving vehicle, one or more of the plurality of wireless devices that are positioned facing the road, The setting unit sets one or more of the radios to the transmission mode and sets the other radios to the reception mode. The transmitting and receiving device according to claim 12.

14. Furthermore, when the setting unit sets the radio to the transmission mode, it includes an estimation unit that estimates the position of the traffic participant, the speed of the traffic participant, and the arrival time of the traffic participant based on the VRU signal. The radio transmits the VRU information, which includes the location of the traffic participant, the speed of the traffic participant, and the time of arrival of the traffic participant, as estimated by the estimation unit, to the vehicle. The transmitting and receiving device according to any one of claims 2 to 7.

15. The determination unit determines, based on the VRU signal, that at least one of the following has changed: the position of the traffic participant, the speed of the traffic participant, and the arrival time of the traffic participant. The radio transmits the modified VRU information to the vehicle. The transmitting and receiving device according to claim 14.

16. The aforementioned object includes the installed warning light, The aforementioned warning light will signal a warning if the aforementioned traffic participants are present in the vicinity. The transmitting and receiving device according to claim 1.

17. The aforementioned object is a non-moving vehicle that has become inactive due to being parked. When the aforementioned non-moving vehicle becomes a moving vehicle by starting to move, the aforementioned moving vehicle is: The vehicle is notified to stop transmitting the VRU information, Stop transmitting the VRU information to the aforementioned vehicle. The transmitting and receiving device according to any one of claims 1, 5, or 6.

18. The object in question is a vehicle equipped with multiple radio transceivers. The plurality of radios are installed in at least the front part of the vehicle and the rear part of the vehicle. A transmitting and receiving device according to any one of claims 1 to 7.

19. A transmission and reception method installed on an object located on a communication path from the traffic participant to the vehicle while the vehicle is not moving within the traffic area, for traffic participants and vehicles moving within the traffic area, A wireless device having a receiving mode and a transmitting mode is set by a setting unit to either the receiving mode or the transmitting mode. The acquisition unit acquires location information indicating the position of the object and map information related to the location information, The setting unit sets the radio to either the receiving mode or the transmitting mode based at least on the location information and the map information. When the radio is set to the receiving mode, it receives a VRU signal from a terminal device held by the traffic participant and transmits VRU information based on the VRU signal to the vehicle that is the target of transmission. Receiving and transmitting method.

20. A computer that can implement the transmission and reception method described in claim 19 program.

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