On-board device, roadside device, and communication method

Abstract

To provide an on-vehicle device capable of receiving a distribution service of road video.SOLUTION: An on-vehicle device mounted in a vehicle comprises: a receiver circuit for receiving an advertisement message indicating that a distribution service is being provided, from a road-side device which provides the distribution service of road video; a control circuit which generates a message relating to transmission of the road video with respect to the road-side device on the basis of the reception of the advertisement message; and a transmitter circuit which transmits the message to the road-side device.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] An example of wireless communication used in an ITS (Intelligent Transport System) is Dedicated Short Range Communications (DSRC). In IEEE802.11p, a technology that inherits wireless LAN (Local Area Network) technology is being considered as a standard compatible with DSRC.

[0003] Patent Document 1 discloses a method of installing a roadside camera at an intersection and transmitting the image captured by the camera via a wireless signal to a vehicle turning right, thereby displaying an image of the blind spot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2007-086964 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in road-to-vehicle communications, there are no regulations regarding the specifications for providing a distribution service of road images from cameras installed at locations such as intersections.

[0006] Non-limiting embodiments of the present disclosure contribute to providing an in-vehicle device, a roadside device, and a communication method that can receive a road video distribution service. [Means for solving the problem]

[0007] An in-vehicle device according to one embodiment of the present disclosure includes a receiving circuit that receives an advertising message indicating that a road image distribution service is provided from a roadside device that provides the distribution service, a message generating circuit that generates a message regarding the transmission of the road image to the roadside device based on the reception of the advertising message, and a transmitting circuit that transmits the message to the roadside device.

[0008] A roadside device according to one embodiment of the present disclosure includes a transmitting circuit that transmits an advertising message indicating the provision of a road image distribution service, a receiving circuit that receives a message regarding the transmission of the road image from an in-vehicle device, and a message generating circuit that generates a video distribution message including identification information of a camera that captures the road image, an installation location, and a shooting direction based on the reception of the message, and transmits the message to the in-vehicle device.

[0009] A roadside device according to one embodiment of the present disclosure includes a transmitting circuit that transmits an advertising message indicating the provision of a road image distribution service and including identification information, installation locations, and imaging directions of multiple cameras that capture road images, and a receiving circuit that receives a message regarding the transmission of the road images from an in-vehicle device, and based on receiving the message, the transmitting circuit transmits video signals of road images from one or more of the multiple cameras to the in-vehicle device.

[0010] A communication method according to one embodiment of the present disclosure is a communication method for an in-vehicle device, which receives an advertising message indicating that a road image distribution service is provided from a roadside device providing the road image distribution service, generates a message regarding the transmission of the road image to the roadside device based on the reception of the advertising message, and transmits the message to the roadside device.

[0011] A communication method according to one embodiment of the present disclosure is a communication method for a roadside device, which transmits an advertising message indicating the provision of a road image distribution service, receives a message regarding the transmission of the road image from an in-vehicle device, and based on receiving the message, generates a video distribution message including identification information of a camera that captures the road image, an installation location, and a shooting direction, and transmits the video distribution message to the in-vehicle device.

[0012] A communication method according to one embodiment of the present disclosure is a communication method for a roadside device, which transmits an advertising message indicating the provision of a road image distribution service and including identification information, installation locations, and imaging directions of a plurality of cameras capturing images of the road, receives a message regarding the transmission of the road images from an in-vehicle device, and, based on receipt of the message, transmits video signals of road images from one or more of the plurality of cameras to the in-vehicle device.

[0013] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. Effect of the Invention

[0014] According to an embodiment of the present disclosure, an in-vehicle device can receive a road video distribution service.

[0015] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features. [Brief description of the drawings]

[0016] [Figure 1] A diagram showing an example of the configuration of a road-vehicle cooperative driving support system [Diagram 2]A sequence diagram showing an example of the general operation of the road-vehicle cooperative driving support system [Diagram 3] A diagram showing an example of the block configuration of roadside equipment. [Figure 4] FIG. 1 is a block diagram showing an example of the configuration of an in-vehicle device; [Diagram 5] Diagram showing the WSA format [Figure 6] A diagram illustrating an example of an element included in a video distribution message. [Figure 7A] Sequence diagram showing an example of the operation of the road-vehicle cooperative driving support system [Figure 7B] Sequence diagram showing an example of the operation of the road-vehicle cooperative driving support system [Figure 7C] Sequence diagram showing an example of the operation of the road-vehicle cooperative driving support system [Figure 7D] Sequence diagram showing an example of the operation of the road-vehicle cooperative driving support system [Figure 8] FIG. 1 shows modified examples of elements included in a video distribution message. [Figure 9] FIG. 13 is a diagram for explaining a modified example of the method for setting the camera shooting direction. [Figure 10A] A sequence diagram showing a modified example of the operation of the road-vehicle cooperative driving support system. [Figure 10B] A sequence diagram showing a modified example of the operation of the road-vehicle cooperative driving support system. [Figure 10C] A sequence diagram showing a modified example of the operation of the road-vehicle cooperative driving support system. [Figure 10D] A sequence diagram showing a modified example of the operation of the road-vehicle cooperative driving support system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

[0018] It should be noted that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0019] For example, in an intersection in the United States where traffic flows on the right side, it may be possible to turn right even when the light is red. Before turning right, the driver of a vehicle turning right must stop temporarily to check for the possibility of a collision with a vehicle entering the intersection from the left, but if there is a vehicle in the lane immediately to the left of the vehicle turning right, the view to the left may be blocked, making it difficult to see the vehicle entering the intersection from the left. Also, when turning left at an intersection, if a vehicle is waiting to turn left in the oncoming lane, it may be difficult to see the vehicle going straight in the oncoming lane entering the intersection.

[0020] Fig. 1 is a diagram showing an example of the configuration of a road-vehicle cooperative driving support system according to the present disclosure. An intersection 900 shown in Fig. 1 is made up of roads 910, 920, 930, 940, 950, 960, 970, and 980. In the example of Fig. 1, vehicles keep to the right.

[0021] At the intersection 900, a roadside device is installed that wirelessly communicates with an on-board device (not shown) of a vehicle entering the intersection 900. For example, at the intersection 900, a roadside device 100a is installed that wirelessly communicates with an on-board device of a vehicle (not shown) that travels on a road 950 and enters the intersection 900. At the intersection 900, a roadside device 100b is installed that wirelessly communicates with an on-board device of a vehicle (not shown) that travels on a road 970 and enters the intersection 900. At the intersection 900, a roadside device 100c is installed that wirelessly communicates with on-board devices of vehicles 300 and 500 that travel on a road 910 and enter the intersection 900. At the intersection 900, a roadside device 100d is installed that wirelessly communicates with an on-board device of a vehicle 400 that travels on a road 930 and enters the intersection 900.

[0022] In the following, when the roadside devices 100a to 100d are not to be distinguished from one another, they may be referred to as the roadside device 100. In Fig. 1, in order to simplify the drawing, the roadside device 100 is shown on a road, but the roadside device 100 may be installed on a structure such as a traffic light or a utility pole. The roadside devices 100 may be connected to each other by a backhaul line such as a wired or wireless line.

[0023] At the intersection 900, a roadside camera is installed to capture images of vehicles entering the intersection 900. For example, at the intersection 900, a roadside camera 200a is installed to capture images of a road 950. At the intersection 900, a roadside camera 200b is installed to capture images of a road 970. At the intersection 900, a roadside camera 200c is installed to capture images of a road 910. At the intersection 900, a roadside camera 200d is installed to capture images of a road 930.

[0024] In the following description, the roadside cameras 200a to 200d may be referred to as roadside cameras 200 when no distinction is required.

[0025] Roadside cameras 200a to 200d are connected to each of the roadside devices 100. For example, as shown in Fig. 1, roadside cameras 200a to 200d are connected to the roadside device 100c. In Fig. 1, in order to simplify the drawing, the connection relationship between the roadside devices 100a, 100b, and 100d and the roadside camera 200 is not shown.

[0026] The roadside camera 200 may be connected to one nearby roadside device 100 and connected to other roadside devices 100 via a backhaul line connecting the roadside devices 100. For example, the roadside camera 200a may be connected to the nearby roadside device 100a and connected to other roadside devices 100b to 100d via the backhaul line of the roadside device 100.

[0027] The roadside device 100 wirelessly communicates with on-board devices mounted on vehicles using millimeter waves. For example, the directional beam 600 of millimeter waves of the roadside device 100c is directed toward a road 910. This allows the roadside device 100c to wirelessly communicate with on-board devices of vehicles 300 and 500 traveling on the road 910 and entering an intersection 900. Similarly, the roadside devices 100a, 100b, and 100d also wirelessly communicate with on-board devices of vehicles entering the intersection 900 using directional beams of millimeter waves. Note that the communication area of ​​the directional beam 600 of millimeter waves is inside the intersection 900 in FIG. 1, but may reach the roads 910 and 920.

[0028] As will be described later, the roadside device 100 may wirelessly communicate with the vehicle-mounted device using microwaves when transmitting a service advertisement message such as WSA (Wave Service Advertisement).

[0029] Furthermore, the roadside device 100 and an in-vehicle device mounted on a vehicle may communicate wirelessly according to a wireless system conforming to IEEE802.11p (also called Wireless Access in Vehicular Environments (WAVE)).

[0030] 1 turns right from road 910 onto road 980. A large vehicle 500 is stopped in the lane to the left of vehicle 300. This may reduce the visibility of road 930 to the left for the driver of vehicle 300. For example, vehicle 400 traveling straight on road 930 and entering intersection 900 may be difficult for the driver of vehicle 300 to see.

[0031] Therefore, the roadside device 100 uses a service advertisement message such as WSA to advertise (notify) to the vehicle-mounted device the provision of a video distribution service of road images by the roadside camera 200 installed at the intersection 900. This allows the vehicle-mounted device of the vehicle 300, for example, to recognize the existence of a video distribution service of road images at the intersection 900 and to receive the image of the road 930 from the roadside camera 200d. This improves the visibility of the driver of the vehicle 300 in the left direction.

[0032] 2 is a sequence diagram showing an example of a schematic operation of the road-vehicle cooperative driving support system, in which a vehicle 300 traveling on a road 910 enters an intersection 900.

[0033] The roadside camera 200 transmits captured image data to the roadside device 100c (S1).

[0034] The roadside device 100c transmits a service advertisement message indicating the provision of a video distribution service to advertise (notify) the vehicle 300 (the vehicle-mounted device mounted in the vehicle 300) that the roadside device 100c provides a video distribution service (S2).

[0035] The service advertisement message includes a service ID (identification) for identifying various services provided by the roadside device 100c. The vehicle 300 determines that the roadside device 100c provides a video distribution service of road images by reading the service ID indicating the video distribution service included in the received service advertisement message.

[0036] When the vehicle 300 reads the service ID indicating the video distribution service, the vehicle 300 checks the connection of the millimeter wave communication with the roadside device 100c (S3).

[0037] When the vehicle 300 confirms the connection of the millimeter wave communication, the vehicle 300 transmits a service application message including a service ID corresponding to the video distribution service to the roadside device 100c in order to apply for the video distribution service to the roadside device 100c (S4).

[0038] When the roadside device 100c receives the service application message, it transmits a video distribution message including the camera ID of the roadside camera 200 installed at the intersection 900, the installation position of the roadside camera 200, and the shooting direction of the roadside camera 200 (S5). In the example of Fig. 1, the roadside device 100c transmits a video distribution message including the camera ID, installation position, and shooting direction of four roadside cameras (roadside cameras 200a to 200d). The video distribution message will be described in detail in Fig. 6.

[0039] The vehicle 300 determines the camera ID of the roadside camera 200 capturing an image of a road where a blind spot may occur, based on the installation position and the image capturing direction of the roadside camera 200 included in the received video distribution message, the position information of the vehicle 300, and the direction in which the vehicle 300 intends to travel (S6). For example, when the vehicle 300 shown in FIG. 1 turns right from the road 910 to the road 980, it determines the camera ID of the roadside camera 200d capturing an image of the road 930 where a blind spot may occur. The vehicle 300 may obtain the position information of the vehicle 300 using a GPS (Global Positioning System). The vehicle 300 may obtain the direction in which the vehicle 300 intends to travel using a turn signal.

[0040] The vehicle 300 transmits a video delivery request message including the determined camera ID to the roadside device 100c to request delivery of a road video corresponding to the determined camera ID (S7).

[0041] The roadside device 100c transmits to the vehicle 300 a video signal including video data of the roadside camera 200 corresponding to the camera ID included in the received video distribution request message (S8). For example, the roadside device 100c transmits to the vehicle 300 a video signal including video data of the roadside camera 200d.

[0042] In order to cancel the video distribution service, the vehicle 300 transmits a service cancellation message including a service ID corresponding to the video distribution service to the roadside device 100c (S9). For example, when the vehicle 300 completes a right turn (for example, when a turn indicator indicating a right turn is turned off), the vehicle 300 may transmit the service cancellation message to the roadside device 100c.

[0043] As will be described in S20 of FIG. 7B, the vehicle 300 may omit the millimeter wave connection check in S3.

[0044] 3 is a diagram showing an example of a block configuration of the roadside device 100. The roadside device 100 includes a local server 101, a message generating unit 102, a wireless unit 103, an antenna 104, and a control unit 105. The roadside device 100 is connected to one or more roadside cameras 200.

[0045] The local server 101 receives video data transmitted from the roadside camera 200. The local server 101 stores information about the roadside camera 200, such as the camera ID, the camera installation position, and the shooting direction, and links the received video data with information about the roadside camera 200 that transmitted the video data. The local server 101 transmits a video signal including the video data to the in-vehicle device via the wireless unit 103.

[0046] The message generating unit 102 generates a service advertisement message and a video distribution message. The service advertisement message includes a service ID corresponding to the video distribution service. The video distribution message includes information related to the roadside camera 200, such as the camera ID, the camera installation position, and the camera shooting direction. The message generating unit 102 transmits the generated service advertisement message and video distribution message to the in-vehicle device via the wireless unit 103.

[0047] The wireless unit 103 performs wireless communication using millimeter waves via the antenna 104. The wireless unit 103 may use microwaves when transmitting the service advertisement message.

[0048] The control unit 105 controls the entire roadside device 100. The control unit 105 may be configured with a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor).

[0049] The control unit 105 may realize a predetermined function, for example, according to a program stored in a storage device. For example, the control unit 105 assigns a camera ID to the roadside camera 200. The control unit 105 stores the camera ID and information on the installation position and shooting direction of the roadside camera 200 with that camera ID in the local server 101. The control unit 105 links the video data transmitted from the local server 101 to the information on the roadside camera 200 (camera ID, installation position, and shooting direction). The control unit 105 instructs the message generation unit 102 to generate a service advertisement message and a video distribution message. The control unit 105 executes a video distribution start process and a video distribution end process.

[0050] 4 is a diagram showing an example of a block configuration of the in-vehicle device 700. The in-vehicle device 700 has an antenna 701, a wireless unit 702, a control unit 703, a message generation unit 704, a GPS unit 705, a map data storage unit 706, a direction indicator 707, and a display unit 708.

[0051] The wireless unit 702 performs wireless communication using millimeter waves via the antenna 701. The wireless unit 702 may use microwaves to receive the service advertisement message.

[0052] The control unit 703 controls the entire in-vehicle device 700. The control unit 703 may be configured with a processor such as a CPU or a DSP.

[0053] The control unit 703 may realize a predetermined function according to a program stored in a storage device, for example. For example, the control unit 703 determines the camera ID of the roadside camera 200 capturing an image of a road where a blind spot may occur, based on the camera installation position and camera shooting direction included in the received video distribution message, the vehicle position information acquired by the GPS unit 705, the map data stored in the map data storage unit 706, and the state of the turn indicator 707. The control unit 703 instructs the message generation unit 704 to generate a service application message, a video distribution request message, and a service cancellation message.

[0054] The message generating unit 704 generates a service application message and a video distribution request message. The service application message includes a service ID corresponding to the video distribution service. The video distribution request message includes a camera ID of the roadside camera 200 requesting video distribution. The message generating unit 704 transmits the generated service application message and video distribution request message to the roadside device 100.

[0055] The GPS unit 705 receives GPS signals transmitted from GPS satellites and acquires the current position of the vehicle 300 .

[0056] The map data storage unit 706 stores map data such as topographical information, road centerline information, and road edge information.

[0057] Turn indicator 707 indicates whether vehicle 300 is in a right or left turn condition.

[0058] The display unit 708 displays the video data received from the roadside unit 100 via the wireless unit 702 .

[0059] Fig. 5 is a diagram showing the WSA format. For example, the WSA format shown in Fig. 5 may be used for the service advertisement message transmitted from the roadside device 100 to the vehicle-mounted device 700. As shown in Fig. 5, the WSA has fields of a WSA header 1001, a service information segment 1002, a channel information segment 1003, and a WAVE routing advertisement 1004.

[0060] The service information segment 1002 has the following fields: service information count 1005 , PSID (Provider Service Identifier) ​​1006 , channel index 1007 , spare 1008 , service information option indicator 1009 , and WAVE information element extension 1010 .

[0061] PSID1006 is a service ID expressed as an integer between 0 and 270549119 according to the service. PSID1006 is assigned to organizations that have the authority to use PSID. Therefore, the PSID for the road video distribution service is assigned a value that has not yet been associated with any service and has not been assigned to any organization.

[0062] 6 is a diagram illustrating an example of elements included in a video delivery message. As shown in FIG. 6, the video delivery message transmitted from the roadside device 100 to the vehicle-mounted device 700 includes elements of a camera ID, a camera installation position, and a camera shooting direction.

[0063] The camera ID is a unique ID for identifying the roadside camera 200 .

[0064] The camera installation position indicates the installation position of the roadside camera 200. The camera installation position may be indicated by, for example, latitude and longitude.

[0065] The camera shooting direction indicates the shooting direction of the roadside camera 200. The camera shooting direction may be indicated, for example, by an absolute azimuth angle with due north being 0 degrees or 360 degrees, due east being 90 degrees, due south being 180 degrees, and due west being 270 degrees, based on the roadside camera 200.

[0066] The video distribution message that the roadside device 100 transmits to the vehicle-mounted device 700 includes elements equal to the number of roadside cameras 200 that capture road images to be distributed by the roadside device 100. For example, in the example of Fig. 1, the video distribution message that the roadside device 100 transmits to the vehicle-mounted device 700 includes an element for the roadside camera 200a, an element for the roadside camera 200b, an element for the roadside camera 200c, and an element for the roadside camera 200d.

[0067] Figures 7A to 7D are sequence diagrams showing an example of the operation of the road-vehicle cooperative driving support system. Circled points A, B, and C shown in Figure 7A are connected to circled points A, B, and C shown in Figure 7B. Circled point D shown in Figure 7B is connected to circled point D shown in Figure 7C. Circled points E and F shown in Figure 7C are connected to circled points E and F shown in Figure 7D.

[0068] The roadside camera 200 transmits captured video data to the local server 101 (S11). The local server 101 receives the video data transmitted from the roadside camera 200.

[0069] The control unit 105 sets a different camera ID for each roadside camera 200, associates the installation position and shooting direction of the roadside camera 200 with the video data received by the local server 101, and stores them in the local server 101 (S12 to S14).

[0070] The control unit 105 outputs a service advertisement instruction to the message generating unit 102 in order to advertise to the vehicle 300 that the video distribution service is being provided (S15).

[0071] Control unit 105 outputs a service ID (PSID) corresponding to the video distribution service to message generating unit 102 (S16).

[0072] The message generating unit 102 generates a service advertisement message including the service ID output in S16, and transmits the message to the in-vehicle device 700 via the wireless unit 103 and the antenna 104 (S17).

[0073] When the vehicle 300 enters the communication area of ​​the roadside device 100, the control unit 703 of the in-vehicle device 700 shown in Fig. 7B receives a service advertisement message via the antenna 701 and the wireless unit 702 (S18). The received service advertisement message includes a service ID indicating that a video distribution service is being provided.

[0074] The control unit 703 reads the service ID included in the service advertisement message (S19). By reading the service ID of the video distribution service included in the service advertisement message, the control unit 703 recognizes that a video distribution service of a road video is being provided at the intersection 900.

[0075] When the control unit 703 receives the service advertisement message of S18 by microwave, it checks the connection of millimeter wave communication with the roadside device 100 (S20). For example, the control unit 703 checks whether the roadside device 100 that is the source of the service advertisement message received by using microwaves matches the roadside device 100 connected by using millimeter waves. The match check can be realized, for example, by including information for identifying the roadside device 100 in a packet including the service advertisement message and a packet used for the millimeter wave connection, and by the control unit 703 comparing them.

[0076] When the control unit 703 receives the service advertisement message using millimeter waves, the control unit 703 may omit the process of S20.

[0077] The control unit 703 outputs a service application instruction and the service ID read in S19 to the message generating unit 704 in order to apply for the video distribution service to the roadside device 100 (S21, S22).

[0078] The message generating unit 704 generates a service application message including the service ID output in S22, and transmits the message to the roadside device 100 via the wireless unit 702 and the antenna 701 (S23). When the wireless unit 702 receives the service advertisement message using microwaves, the wireless unit 702 may transmit the service application message using microwaves.

[0079] As shown in FIG. 7A, the control unit 105 of the roadside device 100 receives a service application message for video distribution via the antenna 104 and the wireless unit 103 (S24).

[0080] The control unit 105 reads the service ID included in the service application message (S25). By reading the service ID of the video distribution service included in the service application message, the control unit 703 recognizes that the video distribution service of the road video at the intersection 900 has been applied for from the in-vehicle device 700.

[0081] When the control unit 105 recognizes that the video distribution service has been applied for, it acquires from the local server 101 the camera ID, the camera installation position, and the camera shooting direction stored in the local server 101, and outputs them to the message generating unit 102 (S26, S27, S28). For example, the control unit 105 acquires from the local server 101 the camera ID, the camera installation position, and the camera shooting direction of each of the roadside cameras 200a to 200d installed at the intersection 900, and outputs them to the message generating unit 102.

[0082] The control unit 105 outputs a video distribution instruction to the message generation unit 102 to provide the contents of the video distribution service (the camera ID of the roadside camera 200 installed at the intersection 900, the camera installation position, and the camera shooting direction) to the vehicle 300 (S29).

[0083] In response to the video distribution instruction of S29, the message generation unit 102 generates a video distribution message including the camera ID, camera installation position, and camera shooting direction output in S26, S27, and S28, and transmits it to the in-vehicle device 700 via the wireless unit 103 and the antenna 104 (S30).

[0084] The control unit 703 of the in-vehicle device 700 shown in FIG. 7B receives a video distribution message via the antenna 701 and the wireless unit 702 (S31).

[0085] The control unit 703 receives a direction indication signal from the direction indicator 707 (S32). For example, when the vehicle 300 shown in FIG. 1 turns right from the road 910 to the road 980, the control unit 703 receives from the direction indicator 707 a direction indication signal indicating a right turn.

[0086] The control unit 703 receives the map data from the map data storage unit 706 (S33).

[0087] The control unit 703 receives the current position information of the vehicle from the GPS unit 705 (S34).

[0088] The control unit 703 determines (S35) the camera ID corresponding to the roadside camera 200 capturing images of a road where blind spots may occur, based on the installation location of the roadside camera 200, the camera shooting direction, the direction indicated by the directional signal received in S32 (the direction the vehicle is traveling) received in S32, the map data received in S33, and the current position information of the vehicle received in S34, which are included in the video distribution message received in S31.

[0089] 1, the control unit 703 determines whether the vehicle 300 enters the intersection 900 based on the current position information of the vehicle 300 acquired by the GPS unit 705 and the map data. The control unit 703 also determines, based on the direction indication signal output from the direction indicator 707, that the vehicle 300 is about to turn right onto the road 980.

[0090] Based on the installation position and shooting direction of the roadside camera 200 included in the video distribution message received in S31, the control unit 703 determines the roadside camera 200d that captures the road 930 on the opposite side to the road 980 where the vehicle 300 will turn right, and determines the camera ID of the determined roadside camera 200d. In this way, the control unit 703 determines the camera ID of the roadside camera 200d that captures the road 930 where there is a possibility of a blind spot for the vehicle 300 turning right.

[0091] When there are multiple roads on which blind spots may occur, the control unit 703 may determine multiple camera IDs.

[0092] 1 turns left onto road 940, the road on which a blind spot may occur is road 950, which is the oncoming lane ahead of vehicle 500. Therefore, in-vehicle device 700 mounted on vehicle 500 may determine the camera IDs of roadside cameras 200a and 200b as the camera IDs of roadside cameras 200 capturing images of roads 950 and 970 on which a blind spot may occur when vehicle 500 turns left.

[0093] The control unit 703 outputs a video distribution request instruction and the determined camera ID to the message generating unit 704 in order to request distribution of the video corresponding to the determined camera ID (S36, S37).

[0094] In response to the video distribution request instruction in S36, the message generation unit 704 generates a video distribution request message including the camera ID output in S35, and transmits the message to the roadside device 100 via the wireless unit 702 and the antenna 701 (S38). Note that when the wireless unit 702 receives the service advertisement message using microwaves, it may transmit the video distribution request message using microwaves.

[0095] As shown in FIG. 7C, the control unit 105 of the roadside device 100 receives the video distribution request message via the antenna 104 and the wireless unit 103 (S39).

[0096] The control unit 105 reads the camera ID included in the video distribution request message received in S39 (S40).

[0097] The control unit 105 outputs a video distribution start instruction and the camera ID read in S40 to the local server 101 (S41, S42).

[0098] The local server 101 transmits a video signal including the video data corresponding to the camera ID output in S42 to the in-vehicle device 700 via the wireless unit 103 and the antenna 104 (S43). The wireless unit 103 transmits the video signal using millimeter waves. The video distribution may be transmitted according to a protocol such as RTSP (Real Time Streaming Protocol) or RTP (Real-time Transport Protocol).

[0099] 7D, the display unit 708 of the in-vehicle device 700 receives the video signal via the antenna 701, the wireless unit 702, and the control unit 703, and displays the road video (S44). For example, the display unit 708 displays the road video captured by the roadside camera 200d.

[0100] The direction indicator 707 outputs a direction indication signal to the control unit 703 (S45). For example, when the vehicle 300 shown in FIG. 1 has completed a right turn onto the road 980, the direction indicator 707 outputs an off-state direction indication signal to the control unit 703.

[0101] When the control unit 703 receives an off-state direction indication signal from the direction indicator 707, it outputs a service cancellation instruction and the service ID of the video distribution service to be cancelled to the message generation unit 704 in order to cancel the video distribution service (S46, S47).

[0102] In response to the service cancellation instruction in S46, the message generating unit 704 generates a service cancellation message including the service ID output in S47, and transmits the message to the roadside device 100 via the wireless unit 702 and the antenna 701 (S48). Note that, when the wireless unit 702 receives the service advertisement message using microwaves, it may transmit the service cancellation message using microwaves.

[0103] As shown in FIG. 7C, the control unit 105 of the roadside device 100 receives the service cancellation message via the antenna 104 and the wireless unit 103 (S49).

[0104] When the control unit 105 receives the service cancellation message in S49, it outputs an instruction to end video distribution to the local server 101 (S50). In response to the instruction to end video distribution in S50, the local server 101 ends the transmission of the video signal.

[0105] As described above, the roadside device 100 transmits a service advertising message indicating the provision of a road image distribution service, and has a wireless unit 103 that receives a service application message indicating a request to transmit road images from the in-vehicle device 700, and a message generation unit 102 that generates a video distribution message including the camera ID, installation position, and shooting direction of the roadside camera 200 that captures the road images based on the reception of the service application message, and transmits the message to the in-vehicle device 700 via the wireless unit 103.

[0106] The in-vehicle device 700 also has a wireless unit 702 that receives a service advertisement message indicating that a road image distribution service is being provided from the roadside device 100 that provides the road image distribution service, a message generation unit 704 that generates a service application message indicating a request for the roadside device 100 to transmit road images based on the received service advertisement message, and the wireless unit 702 that transmits the service application message to the roadside device 100.

[0107] As a result, by receiving a service advertisement message transmitted by the roadside device 100 indicating the provision of a road image distribution service, the in-vehicle device 700 can recognize that the roadside device 100 is providing a road image distribution service, and can receive the road image distribution service.

[0108] Furthermore, the roadside device 100 uses millimeter wave communication to transmit a video signal to the vehicle-mounted device 700. This enables the vehicle-mounted device 700 to receive a high-quality video signal, for example, with a resolution of 1920×1080 pixels, a frame rate of 30 fps, and a color space of RGB24.

[0109] Furthermore, the in-vehicle device 700 determines the camera ID of the roadside camera 200 capturing an image of a road in a blind spot of the vehicle based on the vehicle's position, the direction in which the vehicle is traveling, the map data, the installation position, and the image capturing direction. This allows the in-vehicle device 700 to receive road images of the roadside camera 200 capturing an image of a road in a blind spot from the roadside device 100 communicating with the millimeter wave, even if the roadside device 100 with which the in-vehicle device 700 communicates wirelessly is limited due to the directivity of the millimeter wave communication.

[0110] Furthermore, the roadside device 100 may transmit the service advertisement message using microwave communication, which can widen the communication area compared to the case where the service advertisement message is transmitted using millimeter wave communication.

[0111] (Variation 1) Fig. 8 is a diagram showing a modified example of elements included in a video distribution message. In addition to the elements shown in Fig. 6, the video distribution message may further include an intersection ID, a lane ID, and a URL (Uniform Resource Locator).

[0112] The intersection ID is a unique ID for identifying the intersection 900 at which the roadside device 100 and the roadside camera 200 are installed. The intersection ID is also included in the map data stored in the map data storage unit 706 of the in-vehicle device 700. For example, the intersection 900 on the map data is associated with the intersection ID assigned to the intersection 900.

[0113] By having the roadside device 100 include an intersection ID in the video distribution message, the vehicle-mounted device 700 can reduce erroneous selection of the camera ID of the roadside camera 200. For example, when the vehicle 300 shown in FIG. 1 enters the intersection 900, the vehicle-mounted device 700 compares the intersection ID included in the received video distribution message with the intersection ID corresponding to the intersection 900 included in the map data. If the intersection IDs do not match, the vehicle-mounted device 700 discards the received video distribution message and does not determine a camera ID. This allows the vehicle-mounted device 700 to reduce erroneous selection of a camera ID.

[0114] The lane ID is a unique ID for identifying the lane photographed by the roadside camera 200. The lane ID is also included in the map data stored in the map data storage unit 706 of the in-vehicle device 700. For example, the lane ID assigned to the road 910 is associated with the road 910 on the map data.

[0115] By the roadside device 100 including the lane ID in the video distribution message, the vehicle-mounted device 700 can reduce erroneous selection of the camera ID of the roadside camera 200. For example, the vehicle-mounted device 700 acquires the lane ID of a road where a blind spot may occur, and determines the camera ID of the roadside camera 200 that captures the acquired lane ID. This allows the vehicle-mounted device 700 to reduce erroneous selection of the camera ID.

[0116] The URL indicates the access destination of the video data in the local server 101. The vehicle-mounted device 700 transmits an HTTP request to the URL included in the video distribution message, and the roadside device 100 returns the video of the specified URL as an HTTP response. This enables the vehicle-mounted device 700 to display the road video on the Web browser.

[0117] When receiving video data using a URL, the vehicle-mounted device 700 does not need to transmit the video distribution request message in S38 of Fig. 7B to the roadside device 100. In other words, the vehicle-mounted device 700 may transmit a URL corresponding to the determined camera ID to the roadside device 100 instead of the video distribution request message in S38.

[0118] In addition, the roadside unit 100 may omit transmitting the camera installation position, the camera direction, the intersection ID, and the URL. For example, the roadside unit 100 may transmit to the vehicle-mounted unit 700 a video distribution message including the camera ID and the lane ID.

[0119] (Variation 2) Fig. 9 is a diagram for explaining a modification of the method for setting the camera shooting direction explained in Fig. 5 and Fig. 8. In Fig. 9, the same components as those in Fig. 1 are given the same reference numerals.

[0120] The roadside device 100 assigns numbers to the roads that make up the intersection 900 according to a predetermined rule, based on the installation position of the roadside device 100. For example, the roadside device 100c shown in Fig. 9 assigns the number 0 based on the road on which the roadside device 100c is installed, and assigns the numbers 1, 2, and 3 clockwise to the roads that make up the intersection 900. The roadside device 100d assigns the number 0 (shown in parentheses in Fig. 9) based on the road on which the roadside device 100d is installed, and assigns the numbers 1, 2, and 3 (shown in parentheses in Fig. 9) clockwise to the roads that make up the intersection 900.

[0121] The roadside device 100 indicates the shooting direction of the roadside camera 200 with a number assigned to the road on which the roadside device 100 is installed as a reference. For example, as shown in FIG. Since the roadside apparatus 100c assigns the number 0 without parentheses to the road on which the roadside apparatus 100c is installed, the roadside apparatus 100c indicates the shooting direction of the roadside camera 200d with the number "3" without parentheses. The roadside apparatus 100c also indicates the shooting direction of the roadside camera 200a with the number "0" without parentheses. The roadside apparatus 100c also indicates the shooting direction of the roadside camera 200b with the number "1" without parentheses. The roadside apparatus 100c also indicates the shooting direction of the roadside camera 200c with the number "2" without parentheses. The roadside apparatus 100c transmits a video distribution message including the camera ID of the roadside camera 200 and the shooting direction of the roadside camera 200 corresponding to the camera ID (the number assigned to the road).

[0122] Similarly, for example, as shown in FIG. 9, the roadside apparatus 100d assigns the number 0 in parentheses to the road on which the roadside apparatus 100d is installed, and therefore the roadside apparatus 100d indicates the shooting direction of the roadside camera 200a with the number "3" in parentheses. The roadside apparatus 100d also indicates the shooting direction of the roadside camera 200b with the number "0" in parentheses. The roadside apparatus 100d also indicates the shooting direction of the roadside camera 200c with the number "1" in parentheses. The roadside apparatus 100d also indicates the shooting direction of the roadside camera 200d with the number "2" in parentheses. The roadside apparatus 100d transmits a video distribution message including the camera ID of the roadside camera 200 and the shooting direction of the roadside camera 200 corresponding to the camera ID (the number assigned to the road).

[0123] The vehicle-mounted device 700 recognizes in advance the rules for the shooting direction of the roadside camera 200. Therefore, for example, when the vehicle turns right at the crossroads intersection 900 shown in Fig. 9, the vehicle-mounted device 700 may determine the camera ID for shooting the road numbered 3 as the roadside camera for shooting the road where a blind spot may occur. Also, for example, when the vehicle turns left at the crossroads intersection 900 shown in Fig. 9, the vehicle-mounted device 700 may determine the camera ID for shooting the road numbered 0 as the roadside camera for shooting the road where a blind spot may occur.

[0124] As described above, the shooting direction of the roadside camera 200 may be indicated by a number assigned to the road according to a predetermined rule based on the installation position of the roadside device 100. This reduces the amount of calculation required for the vehicle-mounted device 700 to determine the camera ID, and enables the vehicle-mounted device 700 to determine the camera ID quickly.

[0125] (Variation 3) The roadside device 100 may transmit the service advertisement message and the video distribution message together by inserting each element of the video distribution message shown in Fig. 6 or 8 into the field of the WAVE information element extension 1010 of the WSA format shown in Fig. 5. In this case, the vehicle-mounted device 700 may transmit the service application message and the video distribution request message together, or may transmit the service application message and the video distribution request message separately.

[0126] 10A to 10D are sequence diagrams showing an example of an operation example of the road-vehicle cooperative driving support system in Modification 3. In Figs. 7A to 7D, the roadside device 100 transmits the service advertisement message and the video distribution message separately, but in Figs. 10A to 10D, the roadside device 100 transmits the service advertisement message and the video distribution message together.

[0127] The circled A in Fig. 10A is connected to the circled A in Fig. 10B. The circled B in Fig. 10B is connected to the circled B in Fig. 10C. The circled E and F in Fig. 10C are connected to the circled E and F in Fig. 10D. Note that descriptions of parts that overlap with Figs. 7A to 7D will be omitted.

[0128] 10A, after S14, the control unit 105 in the roadside device 100 acquires from the local server 101 the camera ID, the camera installation position, and the camera shooting direction stored in the local server 101, and outputs them to the message generating unit 102 (S49, 50, S51). For example, the control unit 105 acquires from the local server 101 the camera ID, the camera installation position, and the camera shooting direction of each of the roadside cameras 200a to 200d installed at the intersection 900, and outputs them to the message generating unit 102.

[0129] The control unit 105 outputs a service advertising instruction to the message generation unit 102 (S52) to advertise to the vehicle 300 the contents of the video distribution service (the camera ID of the roadside camera 200 installed at the intersection 900, the camera installation position, and the camera shooting direction) and the fact that a video distribution service is being provided.

[0130] The message generation unit 102 generates a service advertising message including the camera ID, camera installation position, and camera shooting direction output in S49, S50, and S51, and the service ID output in S16, and transmits it to the in-vehicle device 700 via the wireless unit 103 and the antenna 104 (S53).

[0131] 10B, when the vehicle 300 enters the communication area of ​​the roadside device 100, the control unit 703 in the in-vehicle device 700 receives a service advertisement message via the antenna 701 and the wireless unit 702 (S54). The received service advertisement message includes a service ID indicating that a video distribution service is being provided and the contents of the video service (the camera ID of the roadside camera 200 installed at the intersection 900, the camera installation position, and the camera shooting direction).

[0132] When the control unit 703 receives the service advertisement message of S54 by microwave, it checks the connection of millimeter wave communication with the roadside device 100 (S20).

[0133] The control unit 703 determines (S55) the camera ID corresponding to the roadside camera 200 capturing images of a road where blind spots may occur, based on the installation location of the roadside camera 200, the camera shooting direction, the direction indicated by the directional signal received in S32 (the direction the vehicle is traveling) received in S32, the map data received in S33, and the current position information of the vehicle received in S34, which are included in the service advertisement message received in S54.

[0134] The control unit 703 outputs a service application instruction, the service ID read in S19, and the camera ID determined in S55 to the message generating unit 704 in order to apply for the video distribution service to the roadside device 100 (S21, S22, S56).

[0135] The message generating unit 704 generates a service application message including the service ID output in S22 and the camera ID output in S56, and transmits the message to the roadside device 100 via the wireless unit 702 and the antenna 701 (S57). When the wireless unit 702 receives the service advertisement message using microwaves, the wireless unit 702 may transmit the service application message using microwaves.

[0136] The control unit 105 in the roadside device 100 shown in FIG. 10C receives the service application message for video distribution via the antenna 104 and the wireless unit 103 (S58).

[0137] The control unit 105 reads the service ID and the camera ID included in the service application message (S25, S59). The control unit 703 recognizes that the video distribution service of the road video at the intersection 900 has been applied for by the in-vehicle device 700, by reading the service ID of the video distribution service included in the service application message.

[0138] The control unit 105 outputs a video distribution start instruction and the camera ID read in S59 to the local server 101 (S41, S42).

[0139] The processing from S44 onward in FIG. 10D is the same as that in FIG. 7D, so a description thereof will be omitted.

[0140] As described above, the roadside unit 100 may transmit the service advertisement message and the video distribution message together, and the vehicle-mounted unit 700 may transmit the service application message and the video distribution request message together.

[0141] This reduces the number of signal exchanges between the vehicle-mounted device 700 and the roadside device 100 during the period from when the vehicle-mounted device 700 receives the service advertisement message until when the vehicle-mounted device 700 receives the video signal, making it possible to receive the video signal more quickly.

[0142] In the above-described embodiments, the notation "... part" used for each component may be replaced with other notations such as "... circuit", "... assembly", "... device", "... unit", or "... module".

[0143] Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or altered examples within the scope of the claims. It is understood that such modified or altered examples also belong to the technical scope of the present disclosure. In addition, the components in the embodiments may be arbitrarily combined within the scope of the present disclosure.

[0144] The present disclosure can be realized by software, hardware, or software in cooperation with hardware. Each functional block used in the description of the above embodiment may be realized partially or entirely as an LSI, which is an integrated circuit, and each process described in the above embodiment may be controlled partially or entirely by one LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of one chip so as to include some or all of the functional blocks. The LSI may have input and output of data. Depending on the degree of integration, the LSI may be called an IC, a system LSI, a super LSI, or an ultra LSI.

[0145] The method of integration is not limited to LSI, and may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. Also, after LSI manufacturing, a programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI may be used. The present disclosure may be realized as digital processing or analog processing.

[0146] Furthermore, if a new integrated circuit technology that can replace LSI appears due to the progress of semiconductor technology or a derivative technology, it is possible to integrate the functional blocks using that technology. The application of biotechnology is also a possibility.

[0147] The present disclosure may be implemented in any type of apparatus, device, or system having a communication function (collectively referred to as a communication apparatus). The communication apparatus may include a radio transceiver and processing / control circuitry. The radio transceiver may include a receiver and a transmitter, or both as functions. The radio transceiver (transmitter and receiver) may include a radio frequency (RF) module and one or more antennas. The RF module may include an amplifier, an RF modulator / demodulator, or the like. Non-limiting examples of communication devices include telephones (e.g., cell phones, smartphones, etc.), tablets, personal computers (PCs) (e.g., laptops, desktops, notebooks, etc.), cameras (e.g., digital still / video cameras), digital players (e.g., digital audio / video players), wearable devices (e.g., wearable cameras, smart watches, tracking devices, etc.), game consoles, digital book readers, telehealth and telemedicine devices, communication-enabled vehicles or mobile conveyances (e.g., cars, airplanes, boats, etc.), and combinations of the above devices.

[0148] Communications Equipment includes, but is not limited to portable or mobile equipment, non-portable or fixed equipment, devices and systems of any kind, such as smart home devices (appliances, lighting equipment, smart meters or metering devices, control panels, etc.), vending machines and any other "Things" that may exist on an Internet of Things (IoT) network.

[0149] Communications include data communications via cellular systems, wireless LAN systems, communications satellite systems, etc., as well as data communications via combinations of these.

[0150] A communications apparatus also includes devices, such as controllers and sensors, connected or coupled to a communications device that performs the communications functions described in this disclosure, such as controllers and sensors that generate control and data signals used by the communications device to perform the communications functions of the communications apparatus.

[0151] The communication apparatus also includes infrastructure facilities, such as base stations, access points, and any other apparatus, device, or system that communicates with or controls the various apparatuses listed above, but are not limited to these.

[0152] Summary of the Disclosure The vehicle-mounted device of the present disclosure has a receiving circuit that receives an advertising message indicating that a road image distribution service is provided from a roadside device that provides the distribution service, a message generating circuit that generates a message regarding the transmission of the road image to the roadside device based on the reception of the advertising message, and a transmitting circuit that transmits the message to the roadside device.

[0153] In the in-vehicle device according to the present disclosure, the advertisement message uses the WSA (WAVE Service Advertisement) format.

[0154] In the in-vehicle device according to the present disclosure, when the transmission circuit transmits the message, the reception circuit receives, from the roadside device, identification information, installation positions, and image capturing directions of a plurality of cameras capturing images of a road.

[0155] The vehicle-mounted device of the present disclosure further includes a control circuit that determines one or more pieces of identification information of a camera that photographs the road based on the position of the vehicle in which the vehicle-mounted device is mounted, the direction in which the vehicle is intended to travel, map data, the installation position, and the photographing direction.

[0156] In the in-vehicle device of the present disclosure, the transmitting circuit transmits the one or more identification information to the roadside device, and the receiving circuit receives from the roadside device video signals of road images from one or more cameras corresponding to the one or more identification information.

[0157] In the in-vehicle device of the present disclosure, the road includes a plurality of lanes, and the receiving circuit further receives intersection identification information of an intersection at which the plurality of cameras are installed and lane identification information of one or more of the plurality of lanes captured by the plurality of cameras, and the control circuit further determines identification information of the camera capturing the road based on the intersection identification information and the lane identification information.

[0158] In the in-vehicle device according to the present disclosure, the advertising message includes the identification information, the installation positions, and the image capturing directions of the multiple cameras capturing images of the road.

[0159] In the in-vehicle device of the present disclosure, the message generation circuit generates a second application message including the one or more determined identification information as the message, and the receiving circuit receives from the roadside device a video signal of road video from one or more cameras corresponding to the one or more determined identification information.

[0160] In the in-vehicle device of the present disclosure, the road includes a plurality of lanes, and the advertising message further includes intersection identification information of an intersection at which the plurality of cameras are installed and lane identification information of one or more of the plurality of lanes photographed by the plurality of cameras, and the control circuit further determines one or more identification information of cameras photographing the road based on the intersection identification information and the lane identification information.

[0161] In the in-vehicle device according to the present disclosure, the shooting direction is indicated by an absolute azimuth angle based on a camera that captures the road image.

[0162] In the vehicle-mounted device according to the present disclosure, the shooting direction is indicated by a number assigned to a road according to a predetermined rule, with the installation position of the roadside device as a reference.

[0163] The roadside device according to the present disclosure has a transmitting circuit that transmits an advertising message indicating the provision of a road image distribution service, a receiving circuit that receives a message regarding the transmission of the road image from an in-vehicle device, and a message generating circuit that generates a video distribution message including identification information of the camera that captures the road image, the installation location, and the shooting direction based on the reception of the message, and transmits the message to the in-vehicle device.

[0164] The roadside device of the present disclosure includes a transmitting circuit that transmits an advertising message indicating the provision of a road image distribution service and including identification information, installation locations, and imaging directions of multiple cameras that capture road images, and a receiving circuit that receives a message regarding the transmission of the road images from an in-vehicle device, and based on receiving the message, the transmitting circuit transmits video signals of road images from one or more of the multiple cameras to the in-vehicle device.

[0165] The communication method of the present disclosure is a communication method for an in-vehicle device, which receives an advertising message from a roadside device providing a road image distribution service, indicating that the distribution service is provided, and based on the reception of the advertising message, generates a message regarding the transmission of the road image to the roadside device, and transmits the message to the roadside device.

[0166] The communication method of the present disclosure is a communication method of a roadside device, which transmits an advertising message indicating the provision of a road image distribution service, receives a message regarding the transmission of the road image from an in-vehicle device, and based on receiving the message, generates a video distribution message including identification information of a camera that captures the road image, an installation location, and a shooting direction, and transmits the video distribution message to the in-vehicle device.

[0167] The communication method of the present disclosure is a communication method of a roadside device, which transmits an advertising message indicating the provision of a road image distribution service and including identification information, installation locations, and imaging directions of multiple cameras that capture road images, receives a message regarding the transmission of the road images from an in-vehicle device, and, based on receiving the message, transmits video signals of road images from one or more of the multiple cameras to the in-vehicle device. [Industrial Applicability]

[0168] The present disclosure is suitable for wireless communication between a roadside device and an in-vehicle device, for example. [Explanation of symbols]

[0169] 100,100a,100b,100c,100d Roadside equipment 200, 200a, 200b, 200c, 200d Roadside camera 300,400,500 vehicles 600 directional beam 900 Intersection 910,920,930,940,950,960,970,980 Road 1001 WSA Header 1002 Service Information Segment 1003 Channel information segment 1004 WAVE Routing Advertisement 1005 Service Information Count 1006 PSID 1007 Channel Index 1008 Reserve 1009 Service Information Option Indicator 1010 WAVE Information Element Extension

Claims

1. a receiving circuit for receiving an advertisement message indicating that a roadside device providing a road image distribution service provides said road image distribution service; a message generating circuit for generating a message regarding transmission of the road image to the roadside device based on reception of the advertisement message; a transmission circuit for transmitting the message to the roadside device; An in-vehicle device having the above configuration.

2. The advertisement message uses the WSA (WAVE Service Advertisement) format. The in-vehicle device according to claim 1 .

3. a control circuit for determining one or more pieces of identification information of a camera that photographs the road based on the position of a vehicle equipped with the on-board device, the direction in which the vehicle is intended to travel, map data, and the identification information, installation positions, and photographing directions of a plurality of cameras that photograph the road; The in-vehicle device according to claim 1 or 2.

4. when the transmission circuit transmits a first application message indicating an application for a distribution service as the message, the reception circuit receives a distribution message from the roadside device, the distribution message including identification information, installation positions, and image capturing directions of a plurality of cameras that capture images of the road; The vehicle-mounted device according to claim 3.

5. The transmission circuit transmits a distribution request message including the one or more determined identification information to the roadside device; the receiving circuit receives from the roadside device a video signal of a road image captured by one or more cameras corresponding to the one or more determined identification information; The vehicle-mounted device according to claim 3 or 4.

6. the road includes a plurality of lanes; The receiving circuit further receives intersection identification information of an intersection where the plurality of cameras are installed and lane identification information of one or more lanes among the plurality of lanes photographed by the plurality of cameras, The control circuit further determines identification information of a camera that photographs the road based on the intersection identification information and the lane identification information.

6. The vehicle-mounted device according to claim 3.

7. The advertising message includes the identification information, the installation positions, and the shooting directions of the plurality of cameras that photograph the road. The vehicle-mounted device according to claim 3.

8. the message generation circuit generates a second offer message including the one or more determined identification information in the message; the receiving circuit receives from the roadside device a video signal of a road image captured by one or more cameras corresponding to the one or more determined identification information; The in-vehicle device according to claim 3 or 7.

9. the road includes a plurality of lanes; The advertising message further includes intersection identification information of an intersection where the plurality of cameras are installed and lane identification information of one or more lanes among the plurality of lanes photographed by the plurality of cameras, The control circuit further determines one or more pieces of identification information of a camera that photographs the road based on the intersection identification information and the lane identification information.

9. The vehicle-mounted device according to claim 3, 7 or 8.

10. The shooting direction is indicated by an absolute azimuth angle based on a camera that captures the road image. The in-vehicle device according to any one of claims 3 to 9.

11. The photographing direction is indicated by a number assigned to a road according to a predetermined rule based on the installation position of the roadside device. The in-vehicle device according to any one of claims 3 to 9.

12. a transmission circuit for transmitting an advertising message indicating the provision of a road image distribution service; a receiving circuit for receiving a message related to the transmission of the road image from the vehicle-mounted device according to any one of claims 1 to 6, 10 and 11; a message generating circuit for generating a video distribution message including identification information of a camera capturing the road image, an installation position, and a capturing direction of the camera based on reception of the message, and transmitting the generated video distribution message to the vehicle-mounted device; A roadside device having the above configuration.

13. a transmission circuit for transmitting an advertising message indicating the provision of a road image distribution service and including identification information, installation positions, and image capturing directions of a plurality of cameras capturing road images; a receiving circuit for receiving a message related to the transmission of the road image from the vehicle-mounted device according to any one of claims 1 to 3 and 7 to 11; the transmission circuit transmits, based on reception of the message, a video signal of a road image captured by one or more cameras among the plurality of cameras to the in-vehicle device; Roadside equipment.

14. A communication method for an in-vehicle device, comprising: receiving an advertisement message indicating that a roadside device that provides a road image distribution service provides the road image distribution service; generating a message regarding transmission of the road image to the roadside device based on reception of the advertisement message; transmitting the message to the roadside device; Communication methods.

15. A communication method for a roadside device, comprising: Transmitting an advertising message indicating the provision of a road image distribution service; receiving a message regarding the transmission of the road image from an in-vehicle device using the communication method of claim 14; generating a video distribution message including identification information of a camera that captures the road video, an installation position, and a shooting direction based on the reception of the message; transmitting the video distribution message to the in-vehicle device; Communication methods.

16. A communication method for a roadside device, comprising: Transmitting an advertising message indicating the provision of a road image distribution service and including identification information, installation positions, and image capturing directions of a plurality of cameras capturing road images; receiving a message regarding the transmission of the road image from an in-vehicle device using the communication method of claim 14; Upon receipt of the message, transmitting a video signal of a road image captured by one or more of the plurality of cameras to the in-vehicle device; Communication methods.

Images