Roadside device, communication system, mobile device, program, and communication method

Abstract

To provide a roadside device, a communication system, a mobile body device, a program and a communication method which make it easier for a person near a railroad crossing to notice an abnormality in the railroad crossing.SOLUTION: A roadside device of an embodiment comprises a reception unit and a transmission unit. The reception unit receives first information indicating that an obstacle has been detected by a sensor installed at a railroad crossing in which a railway path crosses with a road or that stop of a train has been requested. If the first information is received, the transmission unit transmits second information indicating that there is an abnormality in the railroad crossing to a mobile body device mounted on or carried by a first mobile body on the road.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a roadside device, a communication system, a mobile device, a program, and a communication method. [Background technology]

[0002] An abnormality may occur at a railroad crossing where a railroad and a road intersect. In such a case, people in the vicinity of the crossing, such as drivers of vehicles in the vicinity of the crossing, may not notice the abnormality at the crossing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-149205 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses transmitting traffic conditions on the exit side of a road that intersects with a railway line. However, Patent Document 1 does not notify vehicles and the like in the vicinity of an abnormality at a railroad crossing.

[0005] The problem that the embodiments of the present invention aim to solve is to provide a roadside device, a communication system, a mobile device, a program, and a communication method that make it easier for people in the vicinity of a railroad crossing to notice abnormalities at the crossing. [Means for solving the problem]

[0006] The roadside device of the embodiment includes a receiving unit and a transmitting unit. The receiving unit receives first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle or that a train has been requested to stop. When the transmitting unit receives the first information, the transmitting unit transmits second information indicating that an abnormality has occurred at the railroad crossing to a mobile device mounted or carried by a first mobile object on the road.

[0007] The first information may indicate that the train signal has entered a first state indicating that the sensor has detected an obstacle or that the train is requested to stop.

[0008] The obstacle may be a second moving object, and the second information may include information about the second moving object.

[0009] The information regarding the second moving object may include a speed of the second moving object.

[0010] The information relating to the second moving object may include location information of the second moving object.

[0011] The second information may include information obtained from the sensor.

[0012] The roadside device of the embodiment may further include a signal control unit, which controls a traffic light for regulating traffic on the road when the first information is received.

[0013] When the first information is received, the transmission unit may transmit first movement instruction information instructing to move the first moving object.

[0014] The first movement instruction information may be information instructing the first moving object to move by automatic driving.

[0015] The obstacle may be a second moving object. When the first information is received, the transmission unit may transmit second movement instruction information instructing to move the second moving object.

[0016] The second movement instruction information may be information instructing the second moving object to move by automatic driving.

[0017] The roadside device of the embodiment may further include a relay unit that transmits the second information to a first other roadside device.

[0018] The relay unit may receive the second information. A transmission unit may transmit the second information received by the relay unit to the mobile device.

[0019] The relay unit may receive the second information and transmit the second information to a second other roadside apparatus different from the roadside apparatus that is a source of the second information.

[0020] The communication system of the embodiment includes a safety device, a roadside device, and a mobile device. The safety device includes a safety transmission unit. The safety transmission unit transmits to the roadside device first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle or that a train has been requested to stop. The roadside device includes a receiving unit and a transmitting unit. The receiving unit receives the first information. When the transmitting unit receives the first information, it transmits second information indicating that an abnormality has occurred at the railroad crossing to a mobile device mounted or carried by a first mobile object on the road. The mobile device includes a mobile receiving unit and an alarm unit. The mobile receiving unit receives the second information. The alarm unit alarms that an abnormality has occurred at the railroad crossing.

[0021] The mobile body device of the embodiment constitutes a communication system together with a roadside device. The roadside device includes a receiving unit and a transmitting unit. The receiving unit receives first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle or that a train has been requested to stop. When the transmitting unit receives the first information, it transmits second information indicating that an abnormality has occurred at the railroad crossing to a mobile body device mounted or carried by a first mobile body on the road. The mobile body device of the embodiment includes a mobile body receiving unit and an alarm unit. The mobile body receiving unit receives the second information. The alarm unit alarms that an abnormality has occurred at the railroad crossing.

[0022] The transmitting unit may transmit movement information instructing the moving object to move. The moving object receiving unit may receive the movement information. The moving object device of the embodiment may further include a movement control unit. When the movement information is received, the movement control unit controls the moving object to move by automatic driving.

[0023] The program of the embodiment causes a processor included in a roadside device having a receiving device and a transmitting device to function as a receiving control unit and a transmitting control unit. The receiving control unit controls the receiving device to receive first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle or that a train has been requested to stop. The transmitting control unit controls the transmitting device to transmit, when the first information is received, second information indicating that an abnormality has occurred at the railroad crossing to a mobile device mounted or carried by a first mobile object on the road.

[0024] In one embodiment, the communication method receives first information indicating that a sensor installed at a crossing where a railroad track and a road intersect has detected an obstacle or that a train has been requested to stop. When the first information is received, the communication method transmits second information indicating that an abnormality has occurred at the crossing to a mobile device mounted or carried by a first mobile object on the road. Effect of the Invention

[0025] The present invention makes it easier for people in the vicinity of a railroad crossing to notice abnormalities at the crossing. [Brief description of the drawings]

[0026] [Figure 1] 1 is a diagram showing an overview of a communication system according to an embodiment. [Diagram 2] 2 is a block diagram showing an example of a main configuration of a roadside device and an in-vehicle device in FIG. 1. FIG. [Diagram 3] 2 is a block diagram showing an example of a configuration of a main part of the railroad crossing protection device in FIG. 1. [Figure 4]4 is a flowchart showing an example of processing by a processor of the railroad crossing protection device in FIG. 3. [Diagram 5] 3 is a flowchart showing an example of processing by a processor of the roadside device in FIG. 2. [Figure 6] 3 is a flowchart showing an example of processing performed by a processor of the in-vehicle device in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, a communication system according to an embodiment will be described with reference to the drawings. Note that the scale of each part in each drawing used in the following description of the embodiment may be changed as appropriate. Also, for the sake of explanation, each drawing used in the following description of the embodiment may be shown with the configuration omitted. Also, in each drawing and in this specification, the same reference numerals indicate similar elements.

[0028] The configuration of a communication system according to an embodiment will be described with reference to the drawings. FIG. 1 is a diagram showing an overview of a communication system 1 according to an embodiment. The communication system 1 includes, as an example, a roadside device 100, a train 200, an on-board device 310 of a vehicle 300, a crossing protection device 400, a special signal light emitting device 500, a sensor 600, a crossing device 700, and a traffic light 800. The communication system 1 is a system that detects an obstacle such as a vehicle 300 that has entered a crossing RC where a railroad track TR and a road RD intersect, and transmits information about the vehicle 300 to other vehicles 300 via the roadside device 100. The communication system 1 typically includes a plurality of the roadside device 100, a processing device (not shown) mounted on the train 200, the on-board device 310 of the vehicle 300, the crossing protection device 400, the special signal light emitting device 500, the sensor 600, the crossing device 700, and the traffic light 800. However, the communication system 1 may include only some of these components. For example, the communication system 1 includes a roadside device 100, an in-vehicle device 310, and a railroad crossing protection device 400. For example, the communication system 1 includes a roadside device 100 and an in-vehicle device 310. FIG. 1 shows two tracks TR, a track TR1 and a track TR2, as an example. FIG. 1 also shows one road RD and one railroad crossing RC, but there may be multiple roads RD. The road RD includes one or multiple lanes L. FIG. 1 also shows two lanes L, a lane L1 and a lane L2, as an example. FIG. 1 also shows one railroad crossing RC, but there may be multiple railroad crossings RC. However, the following description will be given taking one railroad crossing RC as an example.

[0029] FIG. 2 is a block diagram showing an example of the main configuration of the roadside device 100 and the in-vehicle device 310. The roadside device 100 is a device installed, for example, in a road RD or in the vicinity of the road RD. For example, a plurality of roadside devices 100 are installed at intervals along the road RD. The roadside devices 100 provide V2X (vehicle-to-everything) communication services to the in-vehicle device 310 of the vehicle 300. Note that FIG. 1 shows six roadside devices 100, namely, roadside device 100a to roadside device 100f. Among them, the roadside device 100b is the roadside device 100 installed at the position closest to the railroad crossing RC. The roadside device 100b is connected to a railroad crossing protection device 400 installed at the railroad crossing RC. The roadside device 100 includes, for example, a processor 101, a ROM (read-only memory) 102, a RAM (random-access memory) 103, an auxiliary storage device 104, a sensor 105, a roadside communication I / F (interface) 106, a signal I / F 107, a relay communication I / F 108, and a crossing communication I / F 109. A bus 110 and the like connect these components.

[0030] The processor 101 is a central part of a computer that performs processes such as calculations and control required for the operation of the roadside device 100, and performs various calculations and processes. The processor 101 is, for example, a central processing unit (CPU), a micro processing unit (MPU), a system on a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field-programmable gate array (FPGA). Alternatively, the processor 101 is a combination of a plurality of these. The processor 101 may also be a combination of these with a hardware accelerator or the like. The processor 101 controls each part to realize various functions of the roadside device 100 based on programs such as firmware, system software, and application software stored in the ROM 102 or the auxiliary storage device 104. The processor 101 also executes processes described later based on the programs. Note that a part or all of the programs may be incorporated in the circuit of the processor 101.

[0031] The ROM 102 and the RAM 103 are main memory devices of the computer with the processor 101 at its core. The ROM 102 is a non-volatile memory used exclusively for reading data. The ROM 102 stores, for example, firmware among the above programs. The ROM 102 also stores data used by the processor 101 when performing various processes. The RAM 103 is a memory used for reading and writing data. The RAM 103 is used as a work area for storing data that is temporarily used when the processor 101 performs various processes. The RAM 103 is typically a volatile memory.

[0032] The auxiliary storage device 104 is an auxiliary storage device of a computer with the processor 101 at its core. The auxiliary storage device 104 is, for example, an EEPROM (electric erasable programmable read-only memory), a HDD (hard disk drive), or a flash memory. The auxiliary storage device 104 stores, for example, system software and application software among the above programs. The auxiliary storage device 104 also stores data used by the processor 101 in performing various processes, data generated by the processes in the processor 101, various setting values, and the like.

[0033] The sensor 105 is a variety of sensors.

[0034] The roadside communication I / F 106 is an interface for the roadside device 100 to communicate with the in-vehicle device 310. The roadside communication I / F 106 communicates with the in-vehicle device 310 by wireless communication such as V2X communication, for example. The roadside communication I / F 106 is an example of a transmitting device.

[0035] The signal I / F 107 is an interface for the roadside device 100 to communicate with the traffic light 800. The signal I / F 107 communicates with the traffic light 800, for example, by wire. Alternatively, the signal I / F 107 communicates with the traffic light 800 by wireless communication such as V2X communication.

[0036] The relay communication I / F 108 is an interface for the roadside unit 100 to communicate with other roadside units 100 via wireless communication or the like.

[0037] The railroad crossing communication I / F 109 is an interface for the roadside device 100 to communicate with the railroad crossing protection device 400. The railroad crossing communication I / F 109 may be for either wired or wireless communication. Note that the roadside device 100 other than the roadside device 100 installed at the railroad crossing RC, such as the roadside device 100b, may not be provided with the railroad crossing communication I / F 109. In addition, the railroad crossing communication I / F 109 is an example of a receiving device.

[0038] In addition, the roadside device 100 may be provided with an interface that combines the functions of two or more of the roadside communication I / F 106, the signal I / F 107, the relay communication I / F 108, and the railroad crossing communication I / F 109, instead of any two or more of these interfaces.

[0039] The communication standards used by the roadside communication I / F 106, the signal I / F 107, the relay communication I / F 108, and the railroad crossing communication I / F 109 may be different from one another, or any two or more of them may be the same.

[0040] The roadside communication I / F 106, the signal I / F 107, the relay communication I / F 108, and the railroad crossing communication I / F 109 may each use a different radio frequency channel to distinguish between their communications.

[0041] The bus 110 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged among the various parts of the roadside device 100 .

[0042] The train 200 is a train that runs on a track TR. The train 200 includes one railcar or two or more coupled railcars.

[0043] The vehicle 300 is an automobile, a motorcycle, a light vehicle, or the like. The vehicle 300 is equipped with an on-vehicle device 310. The vehicle 300 may be a manned or unmanned vehicle. The vehicle 300 may also be an autonomous vehicle. The vehicle 300 is an example of a moving body.

[0044] The in-vehicle device 310 is a device that transmits information about the vehicle 300 to the roadside device 100, etc. The in-vehicle device 310 includes, as an example, a processor 311, a ROM 312, a RAM 313, an auxiliary storage device 314, a communication I / F 315, a positioning unit 316, an output device 317, an input device 318, and an in-vehicle I / F 319. A bus 320 and the like connect these units. The in-vehicle device 310 is an example of a mobile device mounted on or carried by a mobile unit.

[0045] The processor 311 is a central part of a computer that performs processes such as calculations and control required for the operation of the in-vehicle device 310, and performs various calculations and processes. The processor 311 is, for example, a CPU, an MPU, an SoC, a DSP, a GPU, an ASIC, a PLD, or an FPGA. Alternatively, the processor 311 is a combination of a plurality of these. The processor 311 may also be a combination of these with a hardware accelerator. The processor 311 controls each part to realize various functions of the in-vehicle device 310 based on programs such as firmware, system software, and application software stored in the ROM 312 or the auxiliary storage device 314. The processor 311 also executes processes described below based on the programs. A part or all of the programs may be incorporated in the circuitry of the processor 311.

[0046] The ROM 312 and the RAM 313 are main memory devices of the computer with the processor 311 at its core. The ROM 312 is a non-volatile memory used exclusively for reading data. The ROM 312 stores, for example, firmware among the above programs. The ROM 312 also stores data used by the processor 311 when performing various processes. The RAM 313 is a memory used for reading and writing data. The RAM 313 is used as a work area for storing data that is temporarily used when the processor 311 performs various processes. The RAM 313 is typically a volatile memory.

[0047] The auxiliary storage device 314 is an auxiliary storage device of a computer with the processor 311 at its core. The auxiliary storage device 314 is, for example, an EEPROM, a HDD, or a flash memory. The auxiliary storage device 314 stores, for example, system software and application software among the above programs. The auxiliary storage device 314 also stores data used by the processor 311 in performing various processes, data generated by the processes in the processor 311, various setting values, and the like.

[0048] The auxiliary storage device 314 also stores information about the car 300, such as information indicating the model of the car 300.

[0049] The communication I / F 315 is an interface for the in-vehicle device 310 to communicate with the roadside device 100. The communication I / F 315 communicates with the roadside device 100 by wireless communication such as V2X communication, for example.

[0050] The positioning unit 316 is an IC chip, a module, a circuit, or the like that measures the position of the car 300 using a global navigation satellite system (GNSS) such as a global positioning system (GPS). The positioning unit 316 includes, for example, an antenna that receives a GNSS signal from a GNSS satellite. The positioning unit 316 also includes a calculation unit that performs calculations for positioning. The calculation unit includes an IC chip, a module, a circuit, or the like. The positioning unit 316 outputs a positioning result. The positioning result is position information of the car 300. In addition, the in-vehicle device 310 may be configured so that the processor 311 performs calculations for positioning. In this case, the positioning unit 316 does not need to include a calculation unit. Furthermore, the positioning unit 316 may determine the position of the vehicle 300 by using a method other than the GNSS. Furthermore, the positioning unit 316 may determine the position of the vehicle 300 by using the GNSS in combination with a method other than the GNSS.

[0051] The output device 317 displays a screen for notifying various pieces of information to the operator of the in-vehicle device 310. The output device 317 is, for example, a display such as a liquid crystal display or an organic EL display. The output device 317 may also include a speaker. The speaker outputs an input audio signal as a sound wave.

[0052] The input device 318 accepts operations by an operator of the in-vehicle device 310. The input device 318 is, for example, a keyboard, a keypad, a touchpad, or a controller. The input device 318 may also be a device for voice input. A touch panel may also be used as the output device 317 and the input device 318. In this case, a display panel included in the touch panel functions as the output device 317. And a pointing device included in the touch panel that is used for touch input functions as the input device 318.

[0053] The in-vehicle I / F 319 is an interface for the in-vehicle device 310 to communicate with the in-vehicle computer 330 .

[0054] The bus 320 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged among the various components of the in-vehicle device 310 .

[0055] The on-board computer 330 is, for example, an ECU (electronic control unit) etc. The on-board computer 330 is, for example, a computer that performs overall control of the vehicle 300. The on-board computer 330 may have a function of automatically driving the vehicle 300.

[0056] FIG. 3 is a block diagram showing an example of a main configuration of the crossing protection device 400. The crossing protection device 400 is installed, for example, in or around the crossing RC. However, a part of the crossing protection device 400 may be located away from the crossing RC. The crossing protection device 400 detects an abnormality of the crossing RC. When the crossing protection device 400 detects an abnormality of the crossing RC, the crossing protection device 400 causes the special signal light emitting device 500 to emit light. The crossing protection device 400 also outputs information indicating the state of the special signal light emitting device 500. The crossing protection device 400 includes, for example, a processor 401, a ROM 402, a RAM 403, an auxiliary storage device 404, a communication I / F 405, a special signal I / F 406, a sensor I / F 407, an emergency button 408, and a return button 409. A bus 410 and the like connect these parts. The crossing protection device 400 is an example of a protection device.

[0057] The processor 401 is a central part of a computer that performs processing such as calculations and control required for the operation of the crossing protection device 400, and performs various calculations and processing. The processor 401 is, for example, a CPU, an MPU, an SoC, a DSP, a GPU, an ASIC, a PLD, or an FPGA. Alternatively, the processor 401 is a combination of two or more of these. The processor 401 may also be a combination of these with a hardware accelerator or the like. The processor 401 controls each part to realize various functions of the crossing protection device 400 based on programs such as firmware, system software, and application software stored in the ROM 402 or the auxiliary storage device 404. The processor 401 also executes processing, which will be described later, based on the programs. Note that a part or all of the programs may be incorporated into the circuitry of the processor 401.

[0058] The ROM 402 and the RAM 403 are main memory devices of the computer with the processor 401 at its core. The ROM 402 is a non-volatile memory used exclusively for reading data. The ROM 402 stores, for example, firmware among the above programs. The ROM 402 also stores data used by the processor 401 when performing various processes. The RAM 403 is a memory used for reading and writing data. The RAM 403 is used as a work area for storing data that is temporarily used when the processor 401 performs various processes. The RAM 403 is typically a volatile memory.

[0059] The auxiliary storage device 404 is an auxiliary storage device of a computer with the processor 401 as its core. The auxiliary storage device 404 is, for example, an EEPROM, a HDD, or a flash memory. The auxiliary storage device 404 stores, for example, system software and application software among the above programs. The auxiliary storage device 404 also stores data used by the processor 401 in performing various processes, data generated by the processes in the processor 401, various setting values, and the like.

[0060] The communication I / F 405 is an interface for the railroad crossing protection device 400 to communicate with the roadside device 100 and the like. The communication I / F 405 may be for wired or wireless communication. The communication I / F 405 may also be for V2X communication.

[0061] The special signal I / F 406 is an interface through which the crossing protection device 400 communicates with the special signal transmitter 500. The crossing protection device 400 controls the special signal transmitter 500 via the special signal I / F 406. The special signal I / F 406 may communicate either wired or wirelessly.

[0062] The sensor I / F 407 is an interface for the railroad crossing protection device 400 to communicate with the sensor 600. The railroad crossing protection device 400 controls the sensor 600 via the sensor I / F 407. The sensor I / F 407 may be for communication by either wire or wireless means.

[0063] The emergency button 408 is a button that a person operates when an abnormality occurs at the crossing RC. The emergency button 408 is also a button that is operated when requesting a stop of the train 200 running on the track TR that passes through the crossing RC. The emergency button 408 is a push button as an example, but is not limited to this. One example of an abnormality is a state in which the crossing RC is in a no-entry state and a vehicle 300 or a pedestrian is present within the crossing RC. The no-entry state is, for example, a state in which entry into the crossing RC is restricted or prohibited. The crossing RC is in a no-entry state when the train 200 is approaching the crossing RC.

[0064] The recovery button 409 is a button to be operated by a railway company staff member or the like when safety within the railroad crossing RC is confirmed after the emergency button 408 has been operated.

[0065] The bus 410 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged between each part of the railroad crossing protection device 400.

[0066] The special signal emitting device 500 includes a light source such as an LED (light-emitting diode). The special signal emitting device 500 can be switched between two states: a state in which the light source is emitting light (hereinafter referred to as a "light-emitting state") and a state in which the light is not emitting light (hereinafter referred to as a "light-off state"). The special signal emitting device 500 in the light-emitting state displays a train stop signal to the train 200. That is, the special signal emitting device 500 in the light-emitting state is in a state in which it is displaying an instruction to the train 200 to stop. The special signal emitting device 500 is a device that is installed at a point (obstacle point) where caution is required for a railroad crossing or the like due to falling rocks, avalanches, strong winds, or the like. In this embodiment, the special signal emitting device 500 is mainly described as a device that displays a train stop signal when a railroad crossing obstacle detection device installed on both sides of the railroad crossing detects a car when a car or the like is stuck on the railroad crossing or when the emergency button 408 is operated, but is not limited to this description. The special signal light 500 is an example of a train signal. The light-emitting state is an example of a first state indicating that a device installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle including a moving object, or that a train is requested to stop.

[0067] The sensor 600 is a device such as a sensor that detects a pedestrian or a vehicle 300 present within the railroad crossing RC. The sensor 600 is, for example, the railroad crossing obstacle detection device described above. The sensor 600 is, for example, various sensors such as a camera, a radar, a LIDAR (light detection and ranging), an infrared sensor, an ultrasonic sensor, or a weight sensor. The communication system 1 may include a plurality of types of sensors 600. The sensor 600 may be built into the railroad crossing protection device 400 or may be externally attached. The objects detected by the sensor 600 are not limited to pedestrians and vehicles 300. The sensor 600 detects an object that must not enter the railroad crossing RC when the railroad crossing RC is in an entry-prohibited state (hereinafter referred to as a "prohibited object"). The prohibited object is, for example, an object other than the train 200. The prohibited object is an example of an obstacle.

[0068] The crossing device 700 is a device that prevents the vehicle 300, pedestrians, and other prohibited objects from entering the crossing RC when the crossing RC is in an entry-prohibited state. The crossing device 700 includes, for example, a barrier and an alarm. The barrier closes the road RD using a barrier pole or the like to prevent the prohibited objects from entering the crossing RC. The alarm includes, for example, a speaker and a display device such as an indicator light. The speaker emits a sound indicating that the crossing RC is in an entry-prohibited state to notify the driver of the vehicle 300, pedestrians, and the like that the crossing RC is in an entry-prohibited state, thereby preventing the prohibited objects from entering the crossing RC. The display device emits a light indicating that the crossing RC is in an entry-prohibited state to notify the driver of the vehicle 300, pedestrians, and the like that the crossing RC is in an entry-prohibited state, thereby preventing the prohibited objects from entering the crossing RC.

[0069] The traffic light 800 is a machine that displays signals using light sources such as LEDs. The traffic light 800 displays signals for pedestrians, bicycles, cars 300, trams, etc. traveling on the road RD. There are multiple types of signals displayed by the traffic light 800, such as stop signals and proceed signals. A stop signal is a red signal, etc. A stop signal is an instruction to a pedestrian, bicycle, car 300, tram, etc. to "not proceed" or to "stop". A proceed signal is a green signal, etc. A proceed signal is an instruction to a pedestrian, bicycle, car 300, tram, etc. to "you may proceed", "you may proceed", or to "proceed". 1 shows, as an example, two types of traffic lights 800, a traffic light 800a and a traffic light 800b. The traffic light 800a wirelessly communicates with the roadside unit 100. The traffic light 800b is connected to the roadside unit 100 by wire and communicates with the roadside unit 100 by wire.

[0070] The operation of the communication system 1 according to the embodiment will be described below with reference to Figs. 4 to 6. Note that the contents of the process in the following operation description are merely examples, and various processes capable of obtaining similar results can be appropriately used. Fig. 4 is a flowchart showing an example of the process by the processor 401 of the railroad crossing protection device 400. The processor 401 executes the process of Fig. 4 based on a program stored in, for example, the ROM 402 or the auxiliary storage device 404. Fig. 5 is a flowchart showing an example of the process by the processor 101 of the roadside device 100. The processor 101 executes the process of Fig. 5 based on a program stored in, for example, the ROM 102 or the auxiliary storage device 104. Fig. 6 is a flowchart showing an example of the process by the processor 311 of the in-vehicle device 310. The processor 311 executes the process of Fig. 6 based on a program stored in, for example, the ROM 312 or the auxiliary storage device 314.

[0071] In step ST1 of FIG. 4, the processor 401 of the crossing protection device 400 judges whether or not an abnormality has occurred at the crossing RC. When the sensor 600 detects a prohibited object in the crossing RC that is in an entry-prohibited state, the processor 401 judges that an abnormality has occurred at the crossing RC. In addition, when the emergency button 408 is operated, the processor 401 judges that an abnormality has occurred at the crossing RC. If the processor 401 does not judge that an abnormality has occurred at the crossing RC, it judges No in step ST1 and repeats the processing of step ST1. On the other hand, if the processor 401 judges that an abnormality has occurred at the crossing RC, it judges Yes in step ST1 and proceeds to step ST2. Note that an object prohibited from entering in the crossing RC that is in an entry-prohibited state is hereinafter referred to as an "entering object". In addition, if the entering object is a car 300, the entering object is hereinafter referred to as an "entering vehicle". The entering vehicle is an example of a second moving body.

[0072] In step ST2, the processor 401 controls the special signal light emitter 500 to emit light. For example, the processor 401 inputs a light emission signal to the special signal light emitter 500 via the special signal I / F 406 to instruct the special signal light emitter 500 to emit light. In response to this input, the special signal light emitter 500 enters an emitting state.

[0073] In step ST3, the processor 401 instructs the communication I / F 405 to transmit an abnormality notification to the roadside device 100b. The abnormality notification is information notifying that an abnormality has occurred at the crossing RC and that the special signal light emitting device 500 has entered an illuminating state. The abnormality notification includes, for example, information identifying the crossing RC (hereinafter referred to as "crossing identification information") and the signal ID of the special signal light emitting device 500. The information identifying the crossing RC is, for example, information indicating the position of the crossing RC. Alternatively, the crossing identification information is, for example, a crossing ID. The crossing ID is identification information unique to each crossing RC. The signal ID is identification information unique to each special signal light emitting device 500. Note that the light emission signal and the abnormality notification may be the same. Upon receiving this transmission instruction, the communication I / F 405 transmits the abnormality notification to the roadside device 100b. The transmitted abnormality notification is received by the crossing communication I / F 109 of the roadside device 100 connected to the crossing protection device 400. The abnormality notification is an example of first information indicating that a sensor 600 installed at a crossing RC where a railroad track (railroad track TR) and a road RD intersect has detected an obstacle, or that a request has been made to stop the train 200. The abnormality notification is also an example of first information indicating that a train signal (special signal light emitting device 500) has entered a first state (light emitting state) indicating that a device installed at a crossing where a railroad track and a road intersect has detected an obstacle, or that a request has been made to stop the train. As described above, the processor 401 works in cooperation with the communication I / F 405 to send an abnormality notification, and thereby functions as an example of a safety transmission unit that transmits to the roadside device first information (abnormality information) indicating that a sensor 600 installed at a railroad crossing where the railroad tracks and the road intersect has detected an obstacle or that a request has been made to stop the train.

[0074] 5, the processor 101 of the roadside device 100 determines whether or not an abnormality notification has been received by the roadside communication I / F 106. If an abnormality notification has not been received, the processor 101 determines No in step ST11 and proceeds to step ST12. As described above, the processor 101 cooperates with the crossing communication I / F 109 to receive a light emission notification, thereby functioning as an example of a receiving unit that receives first information (abnormality notification) indicating that a sensor 600 installed at the crossing RC where the road RD intersects has detected an obstacle or that a stop of the train 200 has been requested. The processor 101 also functions as an example of a receiving control unit that controls the receiving device (crossing communication I / F 109) by controlling the crossing communication I / F 109 to receive the abnormality notification.

[0075] In step ST12, the processor 101 determines whether or not a normalization notification has been received by the roadside communication I / F 106. If a normalization notification has not been received, the processor 101 determines No in step ST12 and proceeds to step ST13. The normalization notification will be described later.

[0076] In step ST13, processor 101 determines whether or not abnormality information or normalization information has been received by roadside communication I / F 106. If abnormality information or normalization information has not been received, processor 101 determines No in step ST13 and returns to step ST11. Thus, processor 101 enters a standby state in which steps ST11 to ST13 are repeated until an abnormality notification, normalization notification, abnormality information, or normalization information is received. Note that abnormality information and normalization information will be described later.

[0077] If processor 101 receives an abnormality notification during the standby state of steps ST11 to ST13, processor 101 determines that the result is Yes in step ST11 and proceeds to step ST14.

[0078] In step ST14, the processor 101 acquires vehicle information from the on-board device 310 of the entering vehicle. However, if there is no on-board device 310 within the railroad crossing RC, the processor 101 does not acquire the vehicle information and skips the processing of step ST14. For example, the in-vehicle device 310 periodically transmits the vehicle information to the roadside device 100. Alternatively, the vehicle information is transmitted to the roadside device 100 in response to a request from the roadside device 100. The roadside device 100 to which the in-vehicle device 310 transmits the vehicle information is, for example, the nearest roadside device 100 or the roadside device 100 with the best communication condition. Therefore, the destination of the vehicle information transmitted by the in-vehicle device 310 in the railroad crossing RC is the roadside device 100b. The in-vehicle device 310 may transmit the vehicle information by broadcast or unicast.

[0079] The vehicle information is information related to the vehicle 300. The vehicle information includes, for example, the position information, speed, acceleration, accelerator opening, brake opening, engine RPM, information indicating whether the engine is running or stopped, information indicating whether the vehicle 300 is stopped, remaining amount information, hazard status, vehicle type, vehicle ID, vehicle interior information, driver information, and sensor information. The remaining amount information is the remaining amount of the power source of the vehicle 300, such as the remaining battery amount, the remaining hydrogen amount, or the remaining gasoline amount. The vehicle ID is unique identification information for each vehicle 300 or the vehicle-mounted device 310, such as the vehicle registration number, the vehicle number, the WCN (wireless call number), the vehicle-mounted device management number, or the ETC card number. The vehicle interior information is information indicating the status inside the vehicle 300. The vehicle interior information includes, for example, information indicating how many people are inside the vehicle. The driver information is information indicating the status of the driver of the vehicle 300. The driver information includes, for example, information indicating whether the driver is conscious or not, and whether the driver's consciousness is abnormal or not. The sensor information is information obtained by various sensors mounted on the vehicle 300. The sensors are, for example, various sensors such as a camera, a radar, a LIDAR, an infrared sensor, an ultrasonic sensor, etc. The sensor information may include images of the interior and exterior of the vehicle 300.

[0080] In step ST15, the processor 101 identifies which lane L in the crossing RC the intruding object such as the car 300 is in, or whether it is in a location that is not in any lane L in the crossing RC. The processor 101 identifies which lane L the car 300 is in, or whether it is in a location that is not in any lane L, for example, by using the position information of the car 300 and lane position information indicating the position of each lane L. Note that the processor 101 determines that the car 300 is in the lane L, for example, if the position of the car 300 is within a predetermined distance D1 from the center of the lane L. The predetermined distance D1 is typically greater than half the width of the track. This is because the width of a railcar is greater than the width of the track. The predetermined distance D1 is, for example, a distance that is half the width of the vehicle clearance plus a predetermined margin. For example, if the processor 101 determines that the car 300 is not in any lane L, the processor 101 determines that the car 300 is in a location that is not in any lane L. Alternatively, the processor 101 may use information obtained from the sensor 600 to determine whether an intruder, such as the vehicle 300, is in any lane L or is not in any lane L. As an example, the vehicle 300 shown in FIG. 1 is in lane L1. The processor 101 acquires the lane position information, for example, from the auxiliary storage device 104. The auxiliary storage device 104 stores the lane position information. The processor 101 may also acquire the lane position information from another device such as a server.

[0081] In step ST16, the processor 101 acquires vehicle information from the on-board device 310 of the vehicle 300 around the railroad crossing RC. The vehicle 300 around the railroad crossing RC is, for example, the on-board device 310 that is within a predetermined distance D2 from the railroad crossing RC. Alternatively, the vehicle 300 around the railroad crossing RC is the on-board device 310 within the communication range of the roadside device 100 that is within a predetermined distance D3 from the railroad crossing RC. The distance from the railroad crossing RC is, for example, the Euclidean distance or the Manhattan distance. The distance from the railroad crossing RC may be the distance (path) along the road from the railroad crossing RC to the on-board device 310 or the roadside device 100. Alternatively, the vehicle 300 around the railroad crossing RC may be the on-board device 310 within the communication range of the roadside device 100b that includes the processor 101 that is executing the process of step ST16. Alternatively, the vehicle 300 around the railroad crossing RC may be the on-board device 310 within the communication range of a plurality of roadside devices 100 that are predetermined. The communication range here is, for example, a range in which the roadside unit 100 can receive information transmitted by the vehicle-mounted unit 310.

[0082] In step ST17, if the entering object is an entering vehicle, the processor 101 searches for a method of moving the entering vehicle to a safe place such as outside the crossing RC. For example, the processor 101 searches for a direction in which the entering vehicle should be moved, or a route by which the entering vehicle should be moved to a safe place. In addition, in a case where the entering vehicle cannot be moved out of the crossing RC because of vehicles 300 around the crossing RC being in the way, the processor 101 searches for a direction in which each vehicle 300 around the crossing RC should be moved, or a route and a distance by which the vehicles 300 should be moved so that the vehicles 300 in the way can be removed. Then, the processor 101 determines a method of moving the entering vehicle and each vehicle 300 around the crossing RC through such a search.

[0083] For example, the processor 101 determines to move the entering vehicle so that the entering vehicle exits the crossing RC from an exit in a direction close to the direction in which the entering vehicle is facing. Alternatively, the processor 101 determines to move the entering vehicle so that the entering vehicle exits the crossing RC from an exit that is closest to the entering vehicle. Note that the exit is an exit from inside the crossing RC to outside the crossing RC, for example, a location where a crossing gate on the road RD is located.

[0084] For example, when there is an obstructive vehicle 300, the processor 101 determines to move the vehicle 300 around the crossing RC away from the crossing RC. For example, the processor 101 determines to move the vehicle 300 away from the crossing RC by moving the vehicle 300 so as to reduce the distance between the vehicles 300. The number of vehicles 300 to be moved may be one or more. For example, it is assumed that the distance between the vehicle 300 closest to the crossing RC among the multiple vehicles 300 in a line and the crossing RC is not enough for an approaching vehicle to exit the crossing RC. In this case, by moving the multiple vehicles 300 in a line so as to reduce the distance between each of the vehicles, a space is created between the vehicle 300 closest to the crossing RC among the multiple vehicles 300 that have been moved and the crossing RC, allowing the approaching vehicle to enter. The vehicles 300 to be moved may be only those that are in the same lane L as the entering vehicle or in the lane L in which the entering vehicle is heading. Also, the vehicles 300 to be moved may be only those that are in the road RD on the exit side where the entering vehicle is scheduled to exit the railroad crossing RC. Furthermore, the vehicles 300 to be moved are not limited to obstructing vehicles 300. The processor 101 may determine to move all vehicles 300 at the exits of the crossing RC away from the crossing RC.

[0085] In step ST18, the processor 101 starts controlling the traffic light 800. For example, the processor 101 controls the traffic light 800 that regulates traffic on the lane L moving in a direction away from the railroad crossing RC to display a proceed signal. This allows the communication system 1 to cause the car 300 around the railroad crossing RC to move away from the railroad crossing RC. Also, the processor 101 controls the traffic light 800 that regulates traffic on the lane L moving in a direction approaching the railroad crossing RC to display a stop signal. This allows the communication system 1 to prevent the car 300 from approaching the railroad crossing RC. Also, the processor 101 may cause the traffic light 800 to display another signal. The traffic light 800 to be controlled includes, for example, the traffic light 800 that regulates traffic on the road RD that passes through the railroad crossing RC. Also, the traffic light to be controlled may include the traffic light 800 that regulates traffic on a road connected to the road RD that passes through the railroad crossing RC.

[0086] When a traffic light 800 within the communication range of the roadside device 100 in which the processor 101 is included or a traffic light 800 connected to the roadside device 100 by wire is the traffic light 800 to be controlled, the processor 101 controls the traffic light 800 via the signal I / F 107. When another traffic light 800 is the traffic light 800 to be controlled, the processor 101 instructs the other roadside device 100 to control the traffic light 800. For example, the processor 101 transmits control information addressed to a roadside device 100 that can communicate with the traffic light 800 to be controlled, to the other roadside device 100. The control information is relayed by one or more roadside devices 100 to reach the destination roadside device 100. Alternatively, when the destination roadside device 100 can directly communicate with the roadside device 100 that is the source of the control information, the control information reaches the destination roadside device 100 without relaying. The control information indicates the control content of the traffic light 800 and instructs the traffic light 800 to be controlled. Upon receiving the control information, the destination roadside device 100 controls the traffic light 800 to be controlled based on the control content indicated by the control information.

[0087] As described above, by performing the process of step ST18, processor 101 functions as an example of a signal control unit that controls traffic light 800 that regulates traffic on a road when the first information is received.

[0088] In step ST19, the processor 101 generates abnormality information. The abnormality information includes an abnormality ID, a signal ID, crossing identification information, intrusion information, and movement information. The abnormality information is information indicating that an abnormality has occurred at the crossing RC identified by the crossing identification information, and that the special signal light emitting device 500 identified by the signal ID has entered an illumination state.

[0089] The abnormality ID is identification information that is unique to each piece of generated abnormality information. The processor 101 stores the abnormality ID of the generated abnormality information in the RAM 103 or the like. The signal ID in the abnormality information is the signal ID in the abnormality notification received in step ST11. The crossing identification information in the abnormality information is the crossing identification information in the abnormality notification received in step ST11.

[0090] The intrusion information is information about an intruding object in the crossing RC. The intrusion information includes, for example, the vehicle information, lane identification information, crossing sensor information, route information, and topographical information acquired in step ST14. However, if the processing of step ST14 is skipped, the intrusion information does not need to include the vehicle information. The lane identification information is information indicating the processing result of step ST15, and is information indicating which lane L the intruding vehicle is in, or whether it is in a location that is not in any lane L. The crossing sensor information is information obtained by the sensor 600. The crossing sensor information may include an image showing the intruding vehicle. The processor 101 acquires the crossing sensor information from the sensor 600, for example, via the crossing protection device 400. The route information in the intrusion information is information specifying which route passes through the location where the roadside device 100 is installed. Note that, if multiple routes pass through the location where the roadside device 100 is installed, the route information indicates the multiple routes. The topographical information is information indicating the location where the intruding vehicle is present and the topography around it. Here, the surroundings are, for example, a range within a predetermined distance D4 from the position where the entering vehicle is present along the road RD and roads connected to the road RD, and a range within a predetermined distance D5 in a straight line from the entering vehicle. The topographical information includes, for example, the shape of the road RD, the position of cliffs, and the position of bridges. The shape of the road RD includes, for example, the straight lines of the road RD, the positions of curves and slopes, the length of straight lines, the radius and length of curves, and the gradient and name of slopes. The processor 101 acquires information indicating the position where the entering vehicle is present and the surrounding topography from, for example, the auxiliary storage device 104. The auxiliary storage device 104 stores the information. The processor 101 may also acquire the information from another device such as a server. The vehicle information in the entry information is an example of information relating to the second moving object.

[0091] The movement information is information indicating the movement method of each vehicle 300 determined in step ST17. The movement information includes, for example, information indicating instructions on the movement method for each vehicle 300 and a vehicle ID. In the movement information, for example, the vehicle ID of the vehicle to which the instruction is given is associated with each piece of instruction information indicating an instruction to each vehicle 300 so that it is possible to know which vehicle 300 the instruction is directed to.

[0092] After generating the abnormality information, the processor 101 instructs the roadside communication I / F 106 to transmit the abnormality information to the in-vehicle device 310 within the communication range. Upon receiving this transmission instruction, the roadside communication I / F 106 transmits the abnormality information to the in-vehicle device 310 within the communication range. The transmitted abnormality information is received by the communication I / F 315 of the in-vehicle device 310. Note that the in-vehicle device 310 that receives the abnormality information may also include an in-vehicle device 310 mounted on the entering vehicle.

[0093] The roadside communication I / F 106 transmits the abnormality information to the vehicle-mounted device 310 by broadcasting, for example. If there is an in-vehicle device 310 within the communication range of the roadside device 100 transmitting the abnormality information, the in-vehicle device 310 receives the abnormality information. If there is no in-vehicle device 310 within the communication range, none of the in-vehicle devices 310 receives the abnormality information. Note that the communication range here indicates, for example, a range in which information transmitted by the roadside communication I / F 106 can be received. Alternatively, the roadside communication I / F 106 may transmit the abnormality information to the vehicle-mounted devices 310 within the communication range by unicast or multicast.

[0094] The abnormality information is an example of second information indicating that an abnormality has occurred at the railroad crossing RC. Moreover, the car 300 existing outside the railroad crossing RC is an example of a first moving object. As described above, the processor 101 cooperates with the roadside communication I / F 106 to perform the process of step ST19, thereby functioning as an example of a transmission unit that transmits, when the first information (abnormality notification) is received, second information (abnormality information) indicating that an abnormality has occurred at the railroad crossing RC to a mobile body device (on-board device 310) mounted on or carried by a first mobile body (car 300) on the road. Also, the processor 101 functions as an example of a transmission control unit that controls the transmission device (roadside communication I / F 106) by performing the process of step ST19.

[0095] Moreover, the instruction information in which the vehicle 300 to be instructed is not an entering vehicle is an example of first movement instruction information instructing to move a first moving body. Moreover, the instruction information in which the vehicle 300 to be instructed is an entering vehicle is an example of second movement instruction information instructing to move a second moving body. Moreover, the instruction information is an example of information instructing to move by automatic driving.

[0096] In step ST20, the processor 101 instructs the relay communication I / F 108 to transmit the anomaly information generated in step ST19 to the other roadside apparatus 100. The other roadside apparatus 100 is, for example, the first roadside apparatus 100 in each direction along the road that is located ahead of the road from the roadside apparatus 100 that generated the anomaly information. If there is no branching of the road, the two roadside apparatuses 100 located ahead in two directions, one on one side of the road and the other in the opposite direction, are the other roadside apparatus 100. For example, in FIG. 1, if the roadside apparatus 100 that generated the anomaly information is the roadside apparatus 100b, the other roadside apparatus 100 is the roadside apparatus 100a and the roadside apparatus 100c. In response to this transmission instruction, the relay communication I / F 108 transmits the anomaly information to the other roadside apparatus 100. The transmitted anomaly information is received by the relay communication I / F 108 of the other roadside apparatus 100. Alternatively, the relay communication I / F 108 may broadcast the anomaly information to other roadside devices 100. In this case, the roadside devices 100 within the communication range receive the anomaly information. After the process of step ST20, the processor 101 returns to step ST11. As described above, the processor 101 cooperates with the relay communication I / F 108 to perform the process of step ST20, thereby functioning as an example of a relay unit that transmits the second information (anomaly information) to the first other roadside device.

[0097] 6, the processor 311 of the in-vehicle device 310 determines whether or not abnormality information has been received by the communication I / F 315. If abnormality information has not been received, the processor 311 determines No in step ST31 and proceeds to step ST32. As described above, the processor 311 cooperates with the communication I / F 315 to receive the anomaly information, and thereby functions as an example of a mobile body receiving unit that receives second information (anomaly information).

[0098] In step ST32, the processor 311 determines whether or not the normalization information has been received by the communication I / F 315. If the normalization information has not been received, the processor 311 determines No in step ST32 and returns to step ST31. Thus, the processor 311 enters a standby state in which steps ST31 and ST32 are repeated until the abnormality information or the normalization information is received.

[0099] If the processor 311 receives abnormality information while in the standby state of steps ST31 and ST32, the processor 311 determines Yes in step ST31 and proceeds to step ST33. However, if the processor 311 receives the same abnormality information multiple times from one or multiple roadside devices 100, the processor 311 may discard the abnormality information other than the first one received. For example, if the processor 311 receives multiple pieces of abnormality information with the same abnormality ID, the processor 311 discards the second or subsequent pieces of abnormality information with the same abnormality ID that are received.

[0100] In step ST33, the processor 311 judges whether the in-vehicle device 310 performs some processing in relation to the occurrence of an abnormality at the railway crossing RC. Here, the some processing is, for example, processing of steps ST34 to ST36 described later. The processor 311 judges to perform processing, for example, when the distance from the in-vehicle device 310 or the car 300 in which the processor 311 is mounted to the railway crossing RC identified by the railway crossing identification information in the abnormality information is within a predetermined distance D4. The distance from the in-vehicle device 310 or the car 300 to the railway crossing RC is, for example, a Euclidean distance or a Manhattan distance. In addition, the distance from the in-vehicle device 310 or the car 300 to the railway crossing RC may be a distance (path) along a road from the in-vehicle device 310 or the car 300 to the railway crossing RC. Alternatively, the processor 311 judges to perform processing, when the vehicle is traveling on a road that passes through the railway crossing RC and the distance to the railway crossing RC is within a predetermined distance D4. Alternatively, the processor 311 determines to process when the traveling direction of the on-board device 310 or the car 300 is a direction approaching the railroad crossing RC and the distance to the railroad crossing RC is within a predetermined distance D4a. The processor 311 determines to process when the traveling direction of the on-board device 310 or the car 300 is a direction away from the railroad crossing RC and the distance to the railroad crossing RC is within a predetermined distance D4b. However, the magnitude relationship between the distance D6a and the distance D6b is D4a>D4b. If the processor 311 does not determine that the on-board device 310 will perform any processing regarding the occurrence of an abnormality at the railroad crossing RC, the processor 311 determines No in step ST33 and returns to step ST31. On the other hand, if the processor 311 determines that the on-board device 310 will perform any processing regarding the occurrence of an abnormality at the railroad crossing RC, the processor 311 determines Yes in step ST33 and proceeds to step ST34.

[0101] In step ST34, processor 311 starts processing for notifying a person in vehicle 300, such as the driver of vehicle 300, that an abnormality has occurred at railroad crossing RC. For example, processor 311 generates an image corresponding to an abnormality notification screen. Then, processor 311 instructs output device 317 to display the generated image. In response to the display instruction, output device 317 displays the abnormality notification screen. After processing step ST34, processor 311 returns to step ST31.

[0102] The abnormality notification screen is a screen for notifying a person in the vehicle 300 that an abnormality has occurred at the railroad crossing RC. The abnormality notification screen includes, for example, an image indicating that an abnormality has occurred at the railroad crossing RC, and various information included in the abnormality information received in step ST31.

[0103] Furthermore, if the vehicle 300 that has received the abnormality information is the vehicle 300 that is the target of instructions in the movement information, the abnormality notification screen includes an image showing the contents of the instructions for the movement method. The contents of the instructions are based on the instruction information associated with the vehicle ID of the vehicle 300 in the movement information. Furthermore, the image is, for example, an image instructing the vehicle 300 to close the distance between the vehicles, an image instructing the vehicle 300 to move to a specific location, or an image instructing the vehicle 300 to move forward.

[0104] The driver of the car 300 moves the car 300 according to the instructions. However, if the vehicle 300 to be instructed has an automatic driving function, it will move by automatic driving according to the contents of the instruction, as described later. In this case, the driver does not need to drive. In addition, in this case, the abnormality notification screen may include an image indicating that the vehicle will move by automatic driving and how the vehicle will move.

[0105] The output device 317 may notify the person in the vehicle 300 of the same content as the abnormality notification screen by a method other than displaying a screen. For example, the output device 317 notifies the person in the vehicle 300 of the same content as the abnormality notification screen by voice.

[0106] As described above, the processor 311 cooperates with the output device 317 to perform the processing of step ST34, thereby functioning as an example of a notification unit that notifies that an abnormality has occurred at the railroad crossing RC.

[0107] In step ST35, the processor 311 determines whether or not to move the car 300 by automatic driving. For example, when the car 300 (hereinafter referred to as the "own vehicle") equipped with the in-vehicle device 310 that the processor 311 includes has an automatic driving function and is the car 300 that is the target of instructions in the movement information, the processor 311 determines that the car 300 is to be moved by automatic driving. Note that the processor 311 determines that the own vehicle is the target of instructions when the vehicle ID of the own vehicle matches any of the vehicle IDs included in the movement information. If the processor 311 does not determine that the car 300 is to be moved by automatic driving, the processor 311 determines No in step ST35 and returns to step ST31. On the other hand, if the processor 311 determines that the car 300 is to be moved by automatic driving, the processor 311 determines Yes in step ST35 and proceeds to step ST36.

[0108] In step ST36, the processor 311 moves the vehicle by automatic driving so as to move the vehicle as instructed by the instruction information associated with the same vehicle ID as the vehicle ID of the vehicle in the movement information. The processor 311 communicates with the in-vehicle computer 330 via the in-vehicle I / F 319, and instructs the in-vehicle computer 330 to move the vehicle by automatic driving so as to move the vehicle as instructed by the instruction information. Based on this instruction, the in-vehicle computer 330 automatically drives the vehicle and moves the vehicle as instructed by the instruction information. However, in cases such as when there is a risk of collision, the vehicle does not have to move as instructed. After processing step ST36, the processor 311 returns to step ST31.

[0109] As described above, the processor 311 functions as an example of a movement control unit that controls the moving body (the vehicle 300) to move by automatic driving by performing the process of step ST36. Alternatively, the processor 311 functions as an example of a movement control unit by performing the process of step ST36 in cooperation with the in-vehicle I / F 319.

[0110] On the other hand, in step ST4 of Fig. 4, the processor 401 of the crossing protection device 400 determines whether the abnormality of the crossing RC has been resolved (the crossing RC has returned to normal). For example, when the sensor 600 detects that an object entering the crossing RC has left the crossing RC, the processor 401 determines that the crossing RC has returned to normal. In addition, when the return button 409 is operated, the processor 401 determines that the crossing RC has returned to normal. If the processor 401 does not determine that the crossing RC has returned to normal, it determines No in step ST4 and repeats the processing of step ST4. On the other hand, if the processor 401 determines that the crossing RC has returned to normal, it determines Yes in step ST4 and proceeds to step ST5.

[0111] In step ST5, the processor 401 controls the special signal emitting device 500 to turn it off. For example, the processor 401 inputs a stop instruction signal to the special signal emitting device 500 via the special signal I / F 406 to instruct it to turn off. In response to this input, the special signal emitting device 500 turns off.

[0112] In step ST6, the processor 401 instructs the communication I / F 405 to send a normalization notification to the roadside device 100b. The normalization notification is information notifying that the railroad crossing RC has been normalized and that the special signal light 500 has been turned off. The normalization notification includes, for example, the railroad crossing specific information of the railroad crossing RC and the signal ID of the special signal light 500. Note that the stop instruction signal and the normalization notification may be the same. Upon receiving this transmission instruction, the communication I / F 405 transmits the normalization notification to the roadside device 100. The transmitted normalization notification is received by the roadside communication I / F 106 of the roadside device 100. After processing step ST6, the processor 401 returns to step ST1.

[0113] On the other hand, if the processor 101 of the roadside device 100 receives a normalization notification during the standby state of steps ST11 to ST13, the processor 101 determines Yes in step ST12 and proceeds to step ST21.

[0114] In step ST21, processor 101 ends the control of the traffic light that was started in step ST18. When a traffic light 800 within the communication range of the roadside device 100 in which the processor 101 is included or a traffic light 800 connected to the roadside device 100 by wire is the traffic light 800 to be terminated, the processor 101 terminates the control via the signal I / F 107. When a traffic light 800 other than the traffic light 800 is the traffic light 800 to be terminated, the processor 101 instructs the other roadside device 100 to terminate the control. For example, the processor 101 transmits control end information to the other roadside device 100, the control end information being addressed to the roadside device 100 that can communicate with the traffic light 800 to be terminated. The control end information is relayed by one or more roadside devices 100 to reach the destination roadside device 100. Alternatively, when the destination roadside device 100 can directly communicate with the roadside device 100 that is the source of the control end information, the control end information reaches the destination roadside device 100 without relaying. The control end information is information instructing the control of the traffic light 800 to be terminated. When the destination roadside device 100 receives the control end information, it ends the control of the traffic light 800. As a result, the traffic light 800 returns to normal operation in which the control shown in step ST20 by the roadside device 100 is not being performed.

[0115] In step ST22, the processor 101 generates normalization information. The normalization information includes, for example, a normalization ID, an abnormality ID, crossing identification information, and a signal ID. The normalization ID is identification information unique to each normalization information generated. The processor 101 stores the normalization ID of the generated normalization information in the RAM 103 or the like. The abnormality ID is the abnormality ID of the abnormality information generated in step ST1. The normalization information is information indicating that the abnormality of the crossing RC indicated by the abnormality information specified by the abnormality ID has been normalized and that the emission of the special signal light emitter 500 indicated by the abnormality information has stopped. After generating the normalization information, the processor 101 instructs the roadside communication I / F 106 to transmit the normalization information to the vehicle-mounted device 310. In response to this transmission instruction, the roadside communication I / F 106 transmits the normalization information to the vehicle-mounted device 310. The transmitted normalization information is received by the communication I / F 315 of the vehicle-mounted device 310.

[0116] The roadside communication I / F 106 transmits the normalization information to the vehicle-mounted device 310 by broadcasting, for example. If there is an vehicle-mounted device 310 within the communication range of the roadside device 100 transmitting the normalization information, the vehicle-mounted device 310 receives the normalization information. If there is no vehicle-mounted device 310 within the communication range, none of the vehicle-mounted devices 310 receives the normalization information. Note that the communication range here indicates, for example, the range in which information transmitted by the roadside communication I / F 106 can be received. Alternatively, the roadside communication I / F 106 may transmit the normalization information to the vehicle-mounted devices 310 within the communication range by unicast or multicast.

[0117] In step ST23, the processor 101 instructs the relay communication I / F 108 to transmit the normalization information generated in step ST22 to the other roadside apparatus 100. The other roadside apparatus 100 is, for example, the first roadside apparatus 100 in each direction along the road that is located ahead of the road from the roadside apparatus 100 that generated the normalization information. If there is no branching of the road, the two roadside apparatuses 100 located ahead in two directions, one on one side of the road and the other in the opposite direction, are the other roadside apparatus 100. For example, in FIG. 1, if the roadside apparatus 100 that generated the normalization information is the roadside apparatus 100b, the other roadside apparatus 100 is the roadside apparatus 100a and the roadside apparatus 100c. In response to this transmission instruction, the relay communication I / F 108 transmits the normalization information to the other roadside apparatus 100. The transmitted normalization information is received by the relay communication I / F 108 of the other roadside apparatus 100. Alternatively, the relay communication I / F 108 may broadcast the normalization information to other roadside devices 100. In this case, the roadside devices 100 within the communication range receive the normalization information. After the process of step ST23, the processor 101 returns to step ST11.

[0118] On the other hand, if the processor 311 of the in-vehicle device 310 receives normalization information while in the standby state of steps ST31 and ST32, it determines Yes in step ST32 and proceeds to step ST35. However, if the processor 311 receives the same normalization information multiple times from one or multiple roadside devices 100, it may discard normalization information other than the first normalization information received. For example, if the processor 311 receives multiple normalization information with the same normalization ID, it discards the normalization information with the same normalization ID that is received second or later.

[0119] In step ST35, processor 311 determines whether to end the notification that an abnormality has occurred at the crossing RC. For example, when processor 311 is reporting that an abnormality has occurred at the crossing RC and the abnormality ID included in the abnormality information used to make the report matches the abnormality ID included in the normalization information received in step ST32, processor 311 determines to end the notification that an abnormality has occurred at the crossing RC. If processor 311 does not determine to end the notification that an abnormality has occurred at the crossing RC, processor 311 determines No in step ST35 and returns to step ST31. On the other hand, if processor 311 determines to end the notification that an abnormality has occurred at the crossing RC, processor 311 determines Yes in step ST35 and proceeds to step ST36.

[0120] In step ST36, the processor 311 ends the notification started in step ST34. However, the abnormality ID included in the abnormality information used to make the notification is the same as the abnormality ID included in the normalization information received in step ST32. Furthermore, if the automatic driving of step ST36 is being performed, the processor 311 ends the automatic driving. The processor 311 also generates an image corresponding to the normalized screen. The processor 311 then instructs the output device 317 to display the generated image. In response to the display instruction, the output device 317 displays the normalized screen. After the process of step ST36, the processor 311 returns to step ST31.

[0121] The normalization screen is a screen for notifying a person in the vehicle 300 that the railway crossing RC has been normalized. The normalization screen includes, for example, an image indicating that the railway crossing RC has been normalized.

[0122] The output device 317 may notify the person in the vehicle 300 that the railroad crossing RC has returned to normal using a method other than displaying a screen.

[0123] On the other hand, if the processor 101 of the roadside device 100 receives abnormality information or normalization information while in the standby state of steps ST11 to ST13, the processor 101 judges Yes in step ST13 and proceeds to step ST24. However, if the processor 101 receives the same abnormality information multiple times from one or more roadside devices 100, the processor 101 discards the abnormality information other than the first one received. For example, if the processor 101 receives multiple abnormality information with the same abnormality ID, the processor 101 discards the abnormality information with the same abnormality ID that is received second or later. Also, if the processor 101 receives the same normalization information multiple times from one or more roadside devices 100, the processor 101 discards the normalization information other than the first one received. For example, if the processor 101 receives multiple normalization information with the same normalization ID, the processor 101 discards the normalization information with the same normalization ID that is received second or later. Also, if the processor 101 receives the same abnormality information as the generated abnormality information, the processor 101 discards the received abnormality information. The processor 101 discards the received abnormality information, for example, when the abnormality ID of the generated abnormality information is the same as the abnormality ID of the received abnormality information. The processor 101 also discards the received normalization information when it receives normalization information that is the same as the generated normalization information. The processor 101 stores the abnormality ID or normalization ID in the RAM 103 or the like to confirm that the abnormality ID or normalization ID is the same. The processor 101 discards the received normalization information, for example, when the normalization ID of the generated normalization information is the same as the normalization ID of the received normalization information. Even if the processor 101 receives abnormality information or normalization information, if the processor 101 discards the abnormality information or normalization information, it does not determine Yes in step ST13, for example, by considering that the abnormality information or normalization information has not been received. As described above, the processor 101 cooperates with the relay communication I / F 108 to receive the abnormality information, and thereby functions as an example of a relay unit that receives second information.

[0124] In step ST24, the processor 101 instructs the roadside communication I / F 106 to transmit the abnormality information or normalization information received in step ST12 to the in-vehicle device 310. In response to this transmission instruction, the roadside communication I / F 106 transmits the abnormality information or normalization information to the in-vehicle device 310. The transmitted abnormality information or normalization information is received by the communication I / F 315 of the in-vehicle device 310. The roadside communication I / F 106 transmits the abnormality information or normalization information to the vehicle-mounted device 310 by broadcasting, for example. If there is an in-vehicle device 310 within the communication range of the roadside device 100 transmitting the abnormality information or normalization information, the in-vehicle device 310 receives the abnormality information or normalization information. If there is no in-vehicle device 310 within the communication range, none of the in-vehicle devices 310 receives the abnormality information or normalization information. Alternatively, the roadside communication I / F 106 may transmit the abnormality information or normalization information to the vehicle-mounted devices 310 within the communication range by unicast or multicast. As described above, the processor 101 works in cooperation with the roadside communication I / F 106 to perform the processing of step ST24, thereby functioning as an example of a transmitting unit that transmits the second information received by the relay unit to the mobile object device.

[0125] In step ST25, the processor 101 determines whether to relay the abnormality information or normalization information received in step ST12. For example, the processor 101 determines to relay the abnormality information or normalization information when the distance from the installation position of the roadside device 100 including the processor 101 to the railroad crossing RC is less than a predetermined distance D7. The distance is the Euclidean distance or the Manhattan distance, etc. The distance to the railroad crossing RC may be the distance (path) along the road from the installation position of the roadside device 100 to the railroad crossing RC. If the processor 101 does not relay the abnormality information or normalization information, the processor 101 determines No in step ST25 and returns to step ST11. On the other hand, if the processor 101 relays the abnormality information or normalization information, the processor 101 determines Yes in step ST25 and proceeds to step ST26.

[0126] In step ST26, the processor 101 instructs the roadside communication I / F 106 to transmit the abnormality information or normalization information received in step ST12 to another roadside apparatus 100 to relay the abnormality information or normalization information. The other roadside apparatus 100 is, for example, a roadside apparatus 100 located at a location along the railroad tracks in a direction opposite to the direction of the roadside apparatus 100 that generated the abnormality information or normalization information, from the roadside apparatus 100 that relays the abnormality information or normalization information. For example, in FIG. 1, if the roadside apparatus 100 that generated the abnormality information or normalization information is the roadside apparatus 100b and the roadside apparatus 100 that relays the abnormality information or normalization information is the roadside apparatus 100c, the other roadside apparatuses 100 are the roadside apparatus 100d and the roadside apparatus 100e. Upon receiving the instruction to transmit, the roadside communication I / F 106 transmits the abnormality information or normalization information to the other roadside apparatus 100. The transmitted abnormality information or normalization information is received by the roadside communication I / F 106 of the other roadside device 100. Alternatively, the relay communication I / F 108 may relay the abnormality information or normalization information by broadcast transmission. In this case, the roadside device 100 within the communication range receives the abnormality information or normalization information. After processing step ST26, the processor 101 returns to step ST11.

[0127] As described above, by processing step ST26, processor 101 functions as an example of a relay unit that receives second information (anomaly information) and transmits it to a second other roadside device different from the roadside device that sent the second information.

[0128] The abnormality information and normalization information are relayed by one or more roadside devices 100 within a range not exceeding a predetermined distance D7 from the vehicle 300, and thus reach the vehicle-mounted device 310 located farther away.

[0129] According to the communication system 1 of the embodiment, the roadside device 100 receives an abnormality notification indicating that an obstacle has been detected in the railway crossing RC and that the emergency button 408 has been pressed. The roadside device 100 that has received the abnormality notification transmits abnormality information indicating that an abnormality has occurred at the railway crossing RC to the in-vehicle device 310 that is mounted on or carried by a moving body such as a car 300. This enables the in-vehicle device 310 to notify that an abnormality has occurred at the railway crossing RC. In addition, this notification makes it easier for a person in the car 300 equipped with the in-vehicle device 310 and a pedestrian carrying the in-vehicle device 310 to notice that an abnormality has occurred at the railway crossing RC. In addition, the communication system 1 of the embodiment makes it easier to notice an abnormality at the railway crossing RC, thereby preventing an accident from occurring at the railway crossing RC.

[0130] According to the communication system 1 of the embodiment, the abnormality notification indicates that the special signal emitting device 500 has emitted light. This allows the roadside device 100 of the embodiment to know that the railroad crossing RC is in a state where the train 200 will stop.

[0131] Furthermore, according to the communication system 1 of the embodiment, the abnormality information includes vehicle information of the entering vehicle, which makes it easier for people in the vehicle 300 to know the status of the entering vehicle.

[0132] Furthermore, according to the communication system 1 of the embodiment, the anomaly information includes the speed of the entering vehicle, which makes it easier for people in the car 300 to know the status of the entering vehicle.

[0133] Furthermore, according to the communication system 1 of the embodiment, the anomaly information includes the position information of the entering vehicle, which makes it easier for people in the car 300 to know the situation of the entering vehicle.

[0134] Furthermore, according to the communication system 1 of the embodiment, the abnormality information includes railroad crossing sensor information, which makes it easier for people in the car 300 to know the status of the approaching vehicle.

[0135] Furthermore, according to the communication system 1 of the embodiment, the roadside device 100 instructs vehicles around the railroad crossing RC to move, thereby making it easier for the approaching vehicle to exit the railroad crossing RC.

[0136] Moreover, according to the communication system 1 of the embodiment, vehicles around the railroad crossing RC are moved by automatic driving. In this way, the roadside device 100 of the embodiment makes it easier for an approaching vehicle to move out of the railroad crossing RC.

[0137] Moreover, according to the communication system 1 of the embodiment, an instruction is given to the entering vehicle to move, so that the roadside device 100 of the embodiment can move the entering vehicle out of the railroad crossing RC.

[0138] Moreover, according to the communication system 1 of the embodiment, the approaching vehicle is moved by automatic driving, whereby the roadside device 100 of the embodiment can move the approaching vehicle out of the railroad crossing RC.

[0139] Furthermore, according to the communication system 1 of the embodiment, the roadside device 100 transmits anomaly information to another roadside device 100. This allows the communication system 1 of the embodiment to transmit the anomaly information over a wider range.

[0140] Moreover, according to the communication system 1 of the embodiment, the roadside device 100 transmits the anomaly information received from another roadside device 100 to the vehicle 300. This allows the communication system 1 of the embodiment to transmit the anomaly information over a wider range.

[0141] Moreover, according to the communication system 1 of the embodiment, the roadside device 100 transmits the anomaly information received from another roadside device 100 to another roadside device 100. This allows the communication system 1 of the embodiment to transmit the anomaly information to a wider range.

[0142] According to the communication system 1 of the embodiment, the in-vehicle device 310 moves the car 300 by automatic driving. As a result, the in-vehicle device 310 of the embodiment makes it easier for the approaching vehicle to exit the railroad crossing RC, or can move the approaching vehicle out of the railroad crossing RC.

[0143] The above embodiment can be modified as follows. In the above embodiment, the sensor 600 detects that the vehicle 300 is within the railway crossing RC. However, the communication system 1 may determine that the vehicle 300 is within the railway crossing RC using position information of the vehicle 300. In this case, the communication system 1 determines that the vehicle 300 is within the railway crossing RC when the position of the vehicle 300 is within the railway crossing RC. This determination is made, for example, by the processor 101 of the roadside device 100, the processor 311 of the in-vehicle device 310, or the processor 401 of the railway crossing protection device 400.

[0144] In the above embodiment, the communication system 1 acquires vehicle information from the in-vehicle device 310 of the vehicle 300 present within the railroad crossing RC. However, the communication system 1 may acquire vehicle information from the in-vehicle device 310 carried by a moving body other than the vehicle 300. In this case, the vehicle information is information about the moving body. In addition, the position information output by the positioning unit 316 in this case is the position information of the moving body. The moving body other than the vehicle 300 is, for example, a person such as a pedestrian. In addition, the in-vehicle device 310 may be a smartphone carried by a person. The moving object outside the railroad crossing RC is an example of a first moving object. When the moving object is an intruding object, the moving object is an example of a second moving object.

[0145] In the above embodiment, a part of the processing performed by the in-vehicle device 310 and the railroad crossing protection device 400 may be performed by the roadside device 100. In the above embodiment, a part of the processing performed by the roadside device 100 and the railroad crossing protection device 400 may be performed by the in-vehicle device 310. In the above embodiment, a part of the processing performed by the roadside device 100 and the in-vehicle device 310 may be performed by the railroad crossing protection device 400.

[0146] The track TR in the above embodiment may be replaced with a track other than a rail track. The track other than a rail track may be, for example, a guide rail for a guide rail railway, a single rail for a monorail, or a track for a magnetic levitation railway.

[0147] Roadside devices 100 other than the roadside device 100 that communicates with the railroad crossing protection device 400, i.e., roadside device 100a and roadside device 100c to roadside device 100f, etc., do not need to perform the processes of steps ST11, ST12, and steps ST14 to ST23 in Fig. 5. In this case, the processor 101 of the roadside device 100, for example, proceeds to step ST13 once it starts the process shown in Fig. 5. Also, the processor 101 returns to step ST13 instead of returning to step ST11.

[0148] Each device in the communication system 1 may transmit each piece of information shown in the above embodiment separately. For example, in the above embodiment, the abnormality information includes the movement information. However, the roadside device 100 may transmit two pieces of information, the abnormality information not including the movement information, and the movement information.

[0149] The processor 101, the processor 311, and the processor 401 may implement part or all of the processes implemented by the programs in the above embodiments by a hardware configuration of the circuits.

[0150] The program for implementing the process of the embodiment is transferred, for example, in a state stored in the device. However, the device may be transferred without the program stored therein. The program may then be transferred separately and written to the device. The program may be transferred, for example, by recording it on a removable storage medium or by downloading it via a network such as the Internet or a LAN (local area network).

[0151] Although the embodiment of the present invention has been described above, it is merely an example and does not limit the scope of the present invention. The embodiment of the present invention can be implemented in various forms without departing from the gist of the present invention. [Explanation of symbols]

[0152] 1. Communication Systems 100 Roadside equipment 101,311,401 processors 102,312,402 ROM 103,313,403 RAM 104,314,404 Auxiliary storage device 105,600 sensors 106 Roadside communication I / F 107 Signal I / F 108 Relay communication I / F 109 Railroad crossing communication I / F 110,320,410 Bus 200 Trains 300 cars 310 On-vehicle equipment 315,405 Communication I / F 316 Positioning Unit 317 Output Devices 318 Input Devices 319 In-vehicle I / F 330 On-board computer 400 Railroad crossing safety device 406 Special signal I / F 407 Sensor I / F 408 Emergency Button 409 Return button 500 Special Signal Light 700 Railroad crossing device 800 Traffic Lights

Claims

1. a receiving unit that receives first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle or that a train has been requested to stop; a transmitter that, when the first information is received, transmits second information indicating that an abnormality has occurred at the railroad crossing to a mobile body device mounted or carried by a first mobile body on the road; the obstacle is a second moving object, the second information includes information regarding the second moving object; The information regarding the second moving object includes location information of the second moving object, The transmission unit has a function corresponding to V2X and is a roadside device that communicates with the mobile body device that outputs at least the position information of a mobile body at a predetermined timing.

2. 2. The roadside device according to claim 1, wherein the first information indicates that a train signal has entered a first state indicating that the sensor has detected an obstacle or that a train stop has been requested.

3. The roadside device according to claim 1 , wherein the information about the second moving object includes a speed of the second moving object.

4. The roadside device according to claim 1 , wherein the second information includes information acquired from the sensor.

5. The roadside device according to claim 1 , further comprising a signal control unit that controls a traffic light for regulating traffic on the road when the first information is received.

6. 6. The roadside device according to claim 1, wherein the transmission unit transmits first movement instruction information instructing the first moving object to move when the first information is received.

7. The roadside device according to claim 6 , wherein the first movement instruction information is information instructing the first moving object to move by automatic driving.

8. the obstacle is a second moving object, 8. The roadside device according to claim 1, wherein the transmission unit transmits second movement instruction information instructing the second moving object to move when the first information is received.

9. The roadside device according to claim 8 , wherein the second movement instruction information is information instructing the second moving object to move by automatic driving.

10. The roadside device according to claim 1 , further comprising a relay unit that transmits the second information to a first other roadside device.

11. The relay unit receives the second information, The roadside device according to claim 10 , wherein the transmitting unit transmits the second information received by the relay unit to the mobile device.

12. The roadside device according to claim 10 or 11, wherein the relay unit receives the second information and transmits the second information to a second other roadside device different from the roadside device that is a source of the second information.

13. Includes safety devices, roadside devices and mobile devices, The safety device includes a safety transmission unit that transmits first information to the roadside device, the first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected a second moving object that is an obstacle, or that a train stop has been requested. The roadside device includes: A receiving unit that receives the first information; a transmitter that has a function corresponding to V2X, communicates with a mobile object device that outputs at least position information of the mobile object at a predetermined timing, and when the first information is received, transmits second information indicating that an abnormality has occurred at the railroad crossing, the second information including information about the second mobile object including the position information of the second mobile object, to the mobile object device mounted or carried by a first mobile object on the road; The mobile device includes: A mobile receiver for receiving the second information; A communication system comprising: an alarm unit that notifies that an abnormality has occurred at the railroad crossing.

14. a roadside device including a receiver that receives first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected a second moving object that is an obstacle, or that a train has been requested to stop, and a transmitter that has a function corresponding to V2X, communicates with a moving object device that outputs at least the position information of the moving object at a predetermined timing, and when the first information is received, transmits second information indicating that an abnormality has occurred at the railroad crossing, including information about the second moving object including the position information of the second moving object, to the moving object device mounted or carried by the first moving object on the road, forming a communication system; A mobile receiver for receiving the second information; The device for a moving object is equipped with an alarm unit that notifies that an abnormality has occurred at the railroad crossing.

15. The transmission unit transmits movement information instructing a moving object to move, The mobile receiving unit receives the movement information, The device for a moving body according to claim 14 , further comprising a movement control unit that controls the moving body to move by automatic driving when the movement information is received.

16. A processor provided in a roadside device having a receiving device and a transmitting device, a reception control unit that controls the receiving device to receive first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle that is a second moving object, or that a train stop has been requested; A program that functions as a transmission control unit that controls the transmitting device to transmit, when the first information is received, second information indicating that an abnormality has occurred at the railroad crossing, which includes information about the second moving body including the position information of the second moving body, to the mobile body device mounted or carried by a first moving body on the road, the second information having a function corresponding to V2X and communicating with a mobile body device that outputs at least the position information of the moving body at a predetermined timing.

17. By using a function corresponding to V2X, communication is performed with a mobile device that outputs at least the position information of the mobile device at a predetermined timing, receiving first information indicating that a sensor installed at a railroad crossing where a railroad track and a road intersect has detected an obstacle that is a second moving object or that a train has been requested to stop; when the first information is received, second information indicating that an abnormality has occurred at the railroad crossing, the second information including information about the second moving body including position information of the second moving body, is transmitted to the moving body device mounted or carried by the first moving body on the road; Communication methods.

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