Information processing apparatus and information processing method

Abstract

An information processing device according to the present invention is provided with: a communication unit (100) which carries out data communication with other vehicles (B) present in the surroundings of a local vehicle (A); and a controller (110) which controls data communication carried out by the communication unit (100). The controller (110) extracts a target moving body, with which the communication unit (100) carries out data communication, from among the other vehicles (B) on the basis of the frequency transmission amount due to the Doppler shift corresponding to the relative speed of the other vehicles (B) with respect to the local vehicle (A). The controller (110) initiates data communication with the target moving body.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus and an information processing method.

Background Art

[0002] Patent Document 1 discloses a communication device including a communication unit that performs vehicle-to-vehicle communication with a plurality of other vehicles existing around a host vehicle. This communication device further includes an acquisition unit that acquires information about a plurality of other vehicles, and a control unit that controls at least one of the directivities of antenna units based on the information acquired by the acquisition unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The method disclosed in Patent Document 1 controls the directivity of the antenna unit with respect to other vehicles detected by the radar device. Therefore, in a scene where many other vehicles exist around the host vehicle, communication can be performed only with other vehicles existing in the vicinity of the host vehicle, and there is a possibility that communication cannot be performed with other vehicles that the host vehicle should pay attention to. As a result, there is a risk that necessary information cannot be received appropriately.

[0005] The present invention has been made in view of such problems, and an object thereof is to provide an information processing apparatus and an information processing apparatus that can appropriately receive necessary information.

Means for Solving the Problems

[0006] An information processing apparatus according to an aspect of the present invention includes a communication unit that performs data communication with a second moving body existing around a first moving body, and a controller that controls the data communication. The controller extracts a target moving body from among the second moving bodies based on the amount of frequency transition due to the Doppler shift according to the relative speed, and starts data communication with the target moving body.

Advantages of the Invention

[0007] According to the present invention, necessary information can be appropriately received.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same components are denoted by the same reference numerals and the description thereof will be omitted.

[0010] Referring to FIG. 1, the communication network according to this embodiment will be described. The communication network according to this embodiment includes vehicle A and vehicle B. Vehicle A and vehicle B are examples of moving bodies (a first moving body and a second moving body). Vehicle A is the host vehicle, and vehicle B is another vehicle existing around the host vehicle. In FIG. 1, only one vehicle B is depicted, but there may be a plurality of vehicle Bs.

[0011] Vehicle A and vehicle B may be vehicles having an automatic driving function, or may be vehicles without an automatic driving function. Further, vehicle A and vehicle B may be vehicles capable of switching between automatic driving and manual driving. In this embodiment, vehicle A and vehicle B will be described as vehicles having an automatic driving function.

[0012] The communication network further includes a roadside unit 300 and a base station 400.

[0013] Vehicle A includes a communication unit 100 having a data communication function. Vehicle B includes a communication unit 200 having a data communication function. Each communication unit 100, 200 is composed of, for example, one or more antennas, modems, application processors, memories, and the like.

[0014] The communication unit 100 and the communication unit 200 can directly communicate with each other. The direct communication performed by the communication unit 100 and the communication unit 200 is defined as direct communication hereinafter. The direct communication may be expressed as vehicle-to-vehicle communication. In this embodiment, vehicle A and vehicle B can share a plurality of data such as information of the vehicles (vehicle A and vehicle B) by direct communication.

[0015] The communication unit 100 and the communication unit 200 can also communicate with each other via the base station 400 and a network (such as a mobile phone network etc.) not shown in the figure. The base station 400 is a fixed communication device that does not move and is an access point that covers the network. The communication between the communication unit 100 and the communication unit 200 via the base station 400 and the network is defined as indirect communication in contrast to direct communication.

[0016] Since direct communication does not go through the base station 400 and the network, data can be transmitted to the other party with low latency and a simple configuration. Indirect communication is used when transmitting large-capacity data that cannot be sent by direct communication, or data that is repeatedly sent without changing information for a certain period of time. Also, indirect communication can be used when direct communication is not possible.

[0017] Each of the communication units 100 and 200 can communicate with the roadside unit 300. The roadside unit 300 is a fixed communication device deployed, for example, in road facilities on the road shoulder, and distributes distribution data containing predetermined information to vehicles on the road. The roadside unit 300 may also be referred to as an RSU (roadside unit) or an ITS (intelligent transport systems) spot.

[0018] The roadside unit 300 shown in this embodiment corresponds to a transmitting station, and the communication units 100 and 200 correspond to receiving stations. The roadside unit 300 and the communication units 100 and 200 perform downlink communication from the roadside unit 300 to the communication units 100 and 200. However, the roadside unit 300 and the communication units 100 and 200 can also perform uplink communication in the reverse direction. In this case, the communication units 100 and 200 correspond to the transmitting station, and the roadside unit 300 corresponds to the receiving station. The communication between the communication units 100 and 200 and the roadside unit 300 is also referred to as vehicle-to-roadside communication.

[0019] The distribution data transmitted from the roadside unit 300 includes roadside unit data indicating information of the roadside unit 300 and traffic data indicating information of vehicles existing around the roadside unit 300. The information of the roadside unit 300 includes the position information of the roadside unit 300 and the like. The information of the vehicle includes the position information of the vehicle, speed information, traveling direction information, and the like.

[0020] Next, the configuration of vehicle A will be described.

[0021] Vehicle A includes the communication unit 100, GPS receiver 101, map information acquisition unit 102, and controller 110 described above. The communication unit 100, GPS receiver 101, map information acquisition unit 102, and controller 110 constitute an information processing device that realizes vehicle-to-vehicle communication shown in this embodiment.

[0022] The GPS receiver 101 detects the position information of vehicle A on the ground by receiving radio waves from artificial satellites. The position information of vehicle A detected by the GPS receiver 101 includes latitude information, longitude information, and time information. The GPS receiver 101 outputs the detected position information of vehicle A to the controller 110. Note that the method for detecting the position information of vehicle A is not limited to the GPS receiver 101. For example, a method called odometry may be used to estimate the position. Odometry is a method of estimating the position of vehicle A by obtaining the movement amount and movement direction of vehicle A according to the rotation angle and rotational angular velocity of vehicle A. Note that GPS (Global Positioning System) is a part of GNSS (Global Navigation Satellite System).

[0023] The map information acquisition unit 102 acquires map information indicating the structure of the road on which vehicle A travels. The map information acquisition unit 102 may own a map database storing map information, or may acquire map information from an external map data server by cloud computing. Further, the map information acquisition unit 102 may acquire map information using vehicle-to-vehicle communication and road-to-vehicle communication.

[0024] The map information includes node information such as the type of nodes indicating intersections and branch points, and the positions of the nodes, and link information such as the type of links which are road sections connecting between nodes, link length, number of lanes, curvature, gradient, etc. Further, the link information includes information on road structures such as the absolute positions of the lanes and the connection relationships of the lanes. Furthermore, the map information includes information such as traffic rules and road signs.

[0025] The controller 110 is constituted by, for example, a microcomputer. The controller 110 has, for example, a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus.

[0026] A computer program for functioning as an information processing device is installed in the microcomputer. By executing the computer program, the microcomputer functions as a plurality of information processing circuits provided in the information processing device. The controller 110 includes a communication control unit 111 as an example of the plurality of information processing circuits.

[0027] The communication control unit 111 controls the wireless communication (data communication) performed by the communication unit 100.

[0028] The communication control unit 111 performs operations such as switching the operation mode of the communication unit 100 and controlling the beam formed by the communication unit 100. The communication unit 100 has a normal mode and a directional mode as switchable operation modes. Referring to FIGS. 2A and 2B, the operation modes of the communication unit 100 will be described.

[0029] Referring to FIG. 2A, the normal mode will be described. The normal mode is a mode in which wireless communication is performed for a preset range (area) without controlling the directivity related to the wireless communication of the communication unit 100. When operating in the normal mode, the communication unit 100, specifically the antenna of the communication unit 100, forms a normal beam Bn for a predetermined range (area). The normal beam Bn is, for example, a beam formed evenly for all directions and has no directivity for a specific direction. The normal beam Bn is formed in a circular range centered on the communication unit 100 with a predetermined distance as the radius. Thus, the predetermined range formed by the normal beam Bn may be a circular range with a predetermined distance as the radius, or as another example, the predetermined range may be a predetermined range with directivity in a predetermined direction such as the vehicle traveling direction. Thus, in the normal mode, the antenna of the communication unit 100 forms the normal beam Bn for a preset predetermined range.

[0030] Vehicle A can communicate with vehicle B existing within the area where the normal beam Bn is formed. The area where communication can be performed with the communication unit 100 operating in the normal mode is called the normal communication area. The normal communication area basically corresponds to the area where the normal beam Bn is formed. However, due to the influence of communication environments such as the attenuation of radio waves and the presence of shielding objects, even in the area where the normal beam Bn is formed, it may not be possible to communicate with vehicle B with a communication quality above a certain level. That is, the normal communication area refers to an area where communication can be performed with vehicle B with a communication quality above a certain level, and does not necessarily coincide with the area (predetermined range) where the normal beam Bn is formed.

[0031] Referring to FIG. 2B, the directivity mode will be described. The directivity mode is a mode capable of controlling the directivity regarding the wireless communication of the communication unit 100. In this specification, hereinafter, the directivity regarding wireless communication will be simply referred to as "directivity". When operating in the directivity mode, the antenna of the communication unit 100 forms a directivity beam Bd. The directivity beam Bd is a beam formed toward a specific azimuth and has directivity with respect to a specific azimuth. The azimuth corresponds to the horizontal component of the direction. The directivity beam Bd is formed as a beam having a predetermined beam width Bd2 centered on a beam axis Bd1 having a predetermined azimuth angle. The azimuth angle of the beam axis Bd1 and the beam width Bd2 can be adjusted respectively, whereby the directivity of the communication unit 100 can be adjusted. Thus, the directivity mode corresponds to an operation mode in which the antenna of the communication unit 100 has directivity.

[0032] The vehicle A can communicate with the vehicle B existing in the area where the directivity beam Bd is formed. The directivity beam Bd is formed long in the direction along the beam axis Bd1, and its distance (axial distance) is usually longer than the radius distance of the normal beam Bn. Also, assuming that the vehicle B exists at the same position, the reception intensity in the communication using the directivity beam Bd is relatively higher than the reception intensity in the communication using the normal beam Bn. Therefore, by using the directivity beam Bd, it is possible to communicate with the vehicle B outside the normal communication area. The directivity beam Bd is a beam capable of performing data communication with the vehicle B existing at a position where data communication cannot be performed with the normal beam Bn. That is, the directivity mode is a mode capable of performing data communication with the vehicle B existing at a position where data communication cannot be performed in the normal mode by controlling the directivity compared with the normal mode.

[0033] When the communication unit 100 operates in the directional mode, the communication control unit 111 controls the directional beam Bd. The control of the directional beam Bd includes beamforming for adjusting the azimuth angle of the beam axis Bd1 and the beam width Bd2. The communication control unit 111 controls the directivity of the communication unit 100, that is, the directivity of the beam formed by the antenna of the communication unit 100, by beamforming.

[0034] The communication unit 100 broadcasts and transmits vehicle A position data including the current position information of vehicle A, driving plan information, etc. around vehicle A. A direct communication method is used for the broadcast transmission. The direct communication method is, for example, a DSRC method (frequency: 5.9 GHz band) compliant with IEEE 802.11p, or a cellular V2X method compliant with the specifications after 3GPP Release 14.

[0035] The current position information is data associating the latitude and longitude indicating the current position of vehicle A with the time when the position was acquired.

[0036] The driving plan information is driving plan data including vehicle speed plan data in which the vehicle speed is associated with the future position where vehicle A will drive in the future, and future driving route data. The future driving route data (future route data) includes information on the route that vehicle A will drive in the future. The future driving route data may be route information of the driving road to drive to a preset destination, or may be data in which the future position (latitude, longitude) and the scheduled passing time are associated based on the vehicle speed plan data. For example, the driving plan information is data obtained by adding vehicle speed plan data to data compliant with the message of SAE2735 (Dedicated Short Range Communications (DSRC) Message Set Dictionary). Note that "future" refers to a certain point in time that arrives after a predetermined time from the present.

[0037] An example of the vehicle A position data broadcast and transmitted is shown in Table 1. The vehicle A position data is package data including a header and content data.

Table 1

[0038] As shown in Table 1, in the header of the vehicle A position data, the identification number of the vehicle A as the transmission source and the identification information indicating the type of content included in the content data (for example, the identification ID indicating the current position information, the travel plan information, etc.) are stored. In the content data, the current position information, which is data associating the latitude, longitude and the time when these position information are acquired, and the travel plan information are stored.

[0039] In addition to the function of controlling the wireless communication performed by the communication unit 100, the communication control unit 111 undertakes a data processing function for performing various processes necessary for the execution of the wireless communication. The vehicle A position data, which is package data including the header and the content data, is generated by the communication control unit 111 based on the data acquired from the GPS receiver 101 etc. and the data pre-recorded in the memory provided in the controller 110. The vehicle A position data is transmitted from the communication unit 100 and received by the communication unit 200 of the vehicle B.

[0040] The communication unit 100 receives the vehicle B position data transmitted from the communication unit 200 of the vehicle B, and outputs the received vehicle B position data to the communication control unit 111. The communication control unit 111 acquires the vehicle B position data from the communication unit 100. That the communication unit 100 has received the vehicle B position data means that direct communication has been established between the vehicle A and the vehicle B.

[0041] In relation to the present embodiment, the communication control unit 111 extracts the target vehicle with which the communication unit 100 performs data communication from among a plurality of vehicles B based on the amount of frequency transition due to the Doppler shift according to the relative speed of the vehicle B with respect to the vehicle A. Then, the communication control unit 111 starts data communication with the target vehicle.

[0042] Next, the configuration of the vehicle B will be described.

[0043] As shown in FIG. 1, the vehicle B includes the communication unit 200, the GPS receiver 201, the map information acquisition unit 202, and the controller 210 described above. The communication unit 200, the GPS receiver 201, the map information acquisition unit 202, and the controller 210 constitute an information processing device that realizes vehicle-to-vehicle communication shown in the present embodiment.

[0044] The functions of the GPS receiver 201 and the map information acquisition unit 202 are the same as those of the GPS receiver 101 and the map information acquisition unit 102. Similar to the controller 110, the controller 210 is composed of a microcomputer including a hardware processor, a memory, and various interfaces. The controller 210 includes a communication control unit 211 as an example of a plurality of information processing circuits. The function of the communication control unit 211 is the same as that of the communication control unit 111, and it has a function of controlling the wireless communication performed by the communication unit 100 and a data processing function of performing various processes necessary for the execution of wireless communication such as the generation of vehicle B position data.

[0045] Referring to FIGS. 3 to 7, the processing flow of vehicle-to-vehicle communication in the communication network will be described. The processing shown in the flowchart of FIG. 3 is executed by the controller 110 of the host vehicle A (corresponding to the vehicle A in FIG. 1). The operation mode of the communication unit 100 is initially set to the normal mode. In the following description, a scene of traveling through an intersection as shown in FIG. 4 is assumed. The host vehicle A is traveling on the first road passing through the intersection. The current position of the host vehicle A is the position immediately before entering the intersection. Assume that the route that the host vehicle A will travel in the future is a route that turns right at the intersection and proceeds to the second road that intersects the first road at the intersection. In the first road, traffic jams have occurred in the lane in which the host vehicle A is traveling and the lane adjacent to it, and there are a plurality of other vehicles Bm (each corresponding to the other vehicle B in FIG. 1) in a stopped state or a low-speed state on the first road.

[0046] On one side, in the oncoming lane of the first road, three other vehicles B1, B2, and B3 (each corresponding to the other vehicle B in FIG. 1) are traveling. There is no traffic jam in the oncoming lane, and the other vehicles B1, B2, and B3 can travel in accordance with traffic rules. The current positions of the other vehicles B1, B2, and B3 are positions a predetermined distance in front of the intersection. It is assumed that the routes that the respective other vehicles B1, B2, and B3 will travel in the future are routes that go straight through the intersection along the first road.

[0047] First, the controller 110 identifies the future driving route that the host vehicle A will travel in the future (S10). The controller 110 acquires, for example, the future driving route data included in the host vehicle A position data, and identifies the future driving route from this future driving route data.

[0048] The controller 110 estimates the possibility of collision between the host vehicle A and other vehicles (S12). When the host vehicle A makes a right turn at the intersection, the host vehicle A may collide with the other vehicles B1, B2, and B3 traveling in the oncoming lane. The controller 110 determines whether the host vehicle A makes a right turn at the intersection based on the map information acquired by the map information acquisition unit 102 and the future driving route. When the controller 110 determines that the host vehicle A makes a right turn at the intersection, it determines that there is a possibility of collision. If there is a possibility of collision, the controller 110 performs the following processing.

[0049] First, the controller 110 determines the relative speed (the target relative speed) of other vehicles to be noted (S14). The other vehicles to be noted refer to other vehicles with a high priority for vehicle-to-vehicle communication among the other vehicles existing around the host vehicle A. When the host vehicle A makes a right turn at an intersection, the other vehicles to be noted are other vehicles with a possibility of intersection, that is, other vehicles B1, B2, and B3 traveling in the oncoming lane. Therefore, the controller 110 refers to, for example, map information, specifies the speed limit of the oncoming lane on the first road, and determines a reference speed α as a reference based on the speed limit. For example, the controller 110 determines, as the reference speed α, a speed obtained by subtracting a certain speed from the speed limit. The controller 110 assumes that the other vehicles B1, B2, and B3 traveling in the oncoming lane are traveling at a speed equal to or higher than the reference speed α, and determines a relative speed of -α or less as the target relative speed.

[0050] The controller 110 extracts, from among the plurality of other vehicles with which the communication unit 100 has communicated, other vehicles with the target relative speed (S16). The frequency of the radio wave received by the communication unit 100 from the communication unit 200 of the traveling other vehicle transitions from the frequency of the radio wave transmitted by the communication unit 200 due to the Doppler shift. This amount of frequency transition corresponds to the relative speed of the other vehicle with respect to the host vehicle A. For example, when the relative speed of the other vehicle is -α or less, the amount of frequency transition is, as shown, -β2 or less (see FIG. 7).

[0051] The controller 110 holds a correspondence relationship associating the amount of frequency transition with the relative speed of the other vehicle, and extracts other vehicles with the target relative speed based on the amount of frequency transition. For example, the controller 110 extracts other vehicles whose amount of frequency transition is -β2 or less. As a result, among the other vehicles existing around the host vehicle A, the other vehicles B1, B2, and B3 traveling in the oncoming lane can be extracted. In addition, since the target relative speed is determined based on the speed limit of the oncoming lane, among the other vehicles B1, B2, and B3 traveling in the oncoming lane, other vehicles B1, B2, and B3 having a speed value that has a great influence on the host vehicle A can be extracted.

[0052] Next, the controller 110 identifies a vehicle B with a high priority among the extracted other vehicles B1, B2, and B3 as the target vehicle (S18). Specifically, when communicating with the other vehicles B1, B2, and B3, the controller 110 can receive the current position information of the other vehicle B. Further, the controller 110 identifies the current speed of the other vehicles B1, B2, and B3 from the communication results with the other vehicles B1, B2, and B3, or from the past and current position information of the other vehicles B1, B2, and B3.

[0053] Based on the current position and speed of the host vehicle and the current position and speed of the other vehicles B1, B2, and B3, the controller 110 determines whether the host vehicle A and the other vehicles B1, B2, and B3 will intersect in the future. In FIG. 4, when the speeds of the other vehicles B1, B2, and B3 are substantially the same, the time when each of the other vehicles B1, B2, and B3 passes through the intersection is such that the other vehicle B1 closest to the intersection is the earliest, and the other vehicles B2 and B3 are later. Therefore, the controller 110 determines that there is a high possibility that the other vehicle B1 that passes through the intersection earliest will intersect with the host vehicle A. The controller 110 determines that the other vehicle B1 has the highest priority and determines the other vehicle B1 as the target vehicle.

[0054] Note that the controller 110 can receive driving plan data by communicating with the other vehicles B1, B2, and B3. Therefore, the controller 110 may identify the future positions of the other vehicles B1, B2, and B3 from the vehicle speed plan data. Alternatively, the controller 110 may acquire the other vehicle B position data and identify the future driving routes of the other vehicles B1, B2, and B3. The controller 110 may determine the intersection situation from the future positions or future driving routes of the other vehicles B1, B2, and B3, and thereby identify the other vehicle with a high priority.

[0055] The controller 110 may comprehensively determine future intersections by using these methods alone or in combination. Thereby, the controller 110 can identify the other vehicle B1 with the highest priority among the other vehicles B1, B2, and B3 traveling in the oncoming lane as the target vehicle.

[0056] When the target vehicle is specified, the controller 110 switches the operation mode of the communication unit 100 from the normal mode to the directional mode. At the same time, the controller 110 starts the angle control of the directional beam Bd (S20). As shown in FIG. 5, the controller 110 controls the directional beam Bd so that the directional beam Bd faces another vehicle B1 which is the target vehicle. That is, the controller 110 adjusts the beam axis Bd1 of the directional beam Bd to a predetermined azimuth angle. The azimuth angle to which the beam axis Bd1 should be directed is the azimuth angle when observing the other vehicle B1 from the host vehicle A, and can be calculated based on the current position of the host vehicle A and the current position of the other vehicle B1. By controlling the azimuth angle of the beam axis Bd1, the directional beam Bd is adjusted to face the current position of the other vehicle B1.

[0057] When the directional beam Bd is directed at the other vehicle B1, thereafter, the controller 110 controls the directional beam Bd to follow the moving other vehicle B1. As a method of following the other vehicle B1, there is a method of continuously specifying the current position of the other vehicle B1 using data communication with the other vehicle B1 and controlling the azimuth angle of the directional beam Bd based on the latest current position. Further, the controller 110 may perform feedback control on the azimuth angle of the directional beam Bd so as to search for a point where the reception intensity is maximum.

[0058] The controller 110 starts data communication with the other vehicle B1 (S22). Thereby, necessary information can be received from the other vehicle B1.

[0059] The controller 110 monitors the other vehicle B1 (S24). Monitoring of the other vehicle B1 includes monitoring of the reception intensity and monitoring of the current position of the other vehicle B1.

[0060] The controller 110 determines whether the conditions are met for communicating with the other vehicle B1 even with the normal beam Bn. Specifically, when the reception intensity rises to a certain level, or when the current position of the other vehicle B1 is within the area of the normal beam Bn, the controller 110 determines that the above conditions are met (Yes in S26), and switches the operation mode of the communication unit 100 to the normal mode (S28). On the other hand, when the controller 110 determines that the conditions are not met, it continues to monitor the other vehicle B1 (S24).

[0061] Thus, according to this embodiment, even in an environment where a large number of other vehicles exist around the host vehicle, the target vehicle for data communication can be appropriately extracted. Generally, as a method for extracting the target vehicle for data communication, a method of comparing the reception sensitivity with a threshold value is known. According to this method, other vehicles whose reception sensitivity is equal to or higher than the threshold value are extracted as the target vehicles. However, other vehicles traveling in the oncoming lane approach the host vehicle from a distance. As shown in FIG. 6, when an other vehicle traveling in the oncoming lane is at a position far from the host vehicle, the reception sensitivity becomes lower than the threshold value, so the other vehicle traveling in the oncoming lane cannot be extracted. Naturally, it is also conceivable to lower the threshold value. However, in an environment where a large number of other vehicles exist around the host vehicle, such as in a traffic jam, the number of target vehicles to be extracted becomes extremely large. Therefore, the filtering effect is weak. Also, even for other vehicles traveling in the oncoming lane, if they approach the host vehicle, they can be separated by the reception sensitivity. However, the other vehicle traveling in the oncoming lane needs to be sufficiently close to the host vehicle, and the presence of the other vehicle traveling in the oncoming lane cannot be recognized early enough.

[0062] Therefore, in this embodiment, the controller 110 of the information processing apparatus extracts a target vehicle for performing data communication from among other vehicles based on the amount of frequency transition due to the Doppler shift. The amount of frequency transition due to the Doppler shift depends on the relative speed of the other vehicle with respect to the host vehicle. For example, as shown in FIG. 4, when traffic jams occur in the lane in which the host vehicle A is traveling and the lane adjacent thereto, the relative speed of the other vehicles during the traffic jam is zero or a value close to zero. As shown in FIG. 7, the amount of frequency transition of these other vehicles is in the range of ±β1. On the other hand, the other vehicles traveling in the oncoming lane have a relative speed of -α or less. Therefore, the amount of frequency transition is -β2 or less. Therefore, by paying attention to the amount of frequency transition due to the Doppler shift, filtering can be performed based on the relative speed. Thereby, even when the other vehicle traveling in the oncoming lane is traveling at a position far from the host vehicle, the other vehicle traveling in the oncoming lane can be extracted early. Thereby, since necessary information can be received appropriately, the presence of the other vehicle traveling in the oncoming lane can be recognized early. In addition, in vehicle-to-vehicle communication, when performing necessary processing such as authentication processing, the number of other vehicles with which communication can be performed may be restricted to be equal to or less than the upper limit value. Even in such a case, by performing filtering based on the relative speed, the target vehicle for performing data communication can be restricted. Thereby, the restrictions necessary for communication can be achieved.

[0063] In this embodiment, the controller 110 of the information processing apparatus controls the directivity of the communication unit 100 toward the target vehicle. Thereby, since communication can be performed by limiting the area, data communication can be surely performed with the target vehicle. As a result, necessary information can be received appropriately.

[0064] In this embodiment, other vehicles having a route of traveling on a road connected to an intersection of the road on which the host vehicle is traveling, specifically, other vehicles traveling in the oncoming lane are exemplified as target vehicles. The relative speed of the other vehicles in the oncoming lane is a large negative speed (≦-α). Therefore, by using the relative speed, the other vehicles in the oncoming lane can be separated from the other vehicles other than them.

[0065] In this embodiment, the controller 110 of the information processing apparatus can identify a target vehicle based on the priority by using the relative speed. Among the other vehicles existing around the host vehicle, the other vehicles traveling in the oncoming lane have the highest priority. Also, in this embodiment, among the other vehicles traveling in the oncoming lane, the priority of the other vehicles that may intersect with the host vehicle is higher. As a result, the host vehicle can preferentially identify the other vehicles to be noted as the target vehicle. As a result, necessary information can be appropriately received.

[0066] The relative speed of the other vehicles traveling in the oncoming lane at a certain speed or higher becomes a negative value, and the absolute value thereof becomes large. Therefore, by using a predetermined determination value (-α) that is a negative value, it is possible to distinguish between the other vehicles traveling in the oncoming lane at a certain speed or higher and the other vehicles other than them. As a result, it is possible to extract the other vehicles traveling in the oncoming lane at a certain speed or higher, so that data communication can be appropriately performed with the necessary counterpart.

[0067] In this embodiment, the communication unit 100 can adjust the directivity of the communication unit 100 by forming a beam having directivity. As a result, the directivity of the communication unit 100 can be appropriately controlled.

[0068] In this embodiment, after extracting the target vehicle, the controller 110 of the information processing apparatus switches the communication unit 100 from the normal mode to the directivity mode and then starts data communication with the target object.

[0069] By switching the operation mode of the communication unit 100 to the directivity mode, the directivity of the communication unit 100 can be controlled. By performing communication with directivity, even in a situation where a large number of other vehicles exist around the host vehicle, it is possible to select the communication partner.

[0070] In this embodiment, the controller 110 communicates with other vehicles while operating the communication unit 100 in the normal mode, and extracts the target vehicle based on the communication result. However, the controller 110 may also extract the target vehicle by switching the communication unit 100 to the directional mode and scanning the necessary range with the directional beam Bd.

[0071] Further, in this embodiment, when the target vehicle is identified, the controller 110 controls the directional beam Bd so that the directional beam Bd faces the target vehicle. However, the purpose of the host vehicle communicating with the target vehicle is to obtain information on the target vehicle that intersects with the host vehicle. Also, even when the directional beam Bd is formed, there may be cases where vehicle-to-vehicle communication cannot be performed with the target vehicle depending on the communication environment, such as when there is an obstacle between the host vehicle and the target vehicle.

[0072] As shown in FIG. 8, there may be a roadside unit 300 that distributes vehicle information on the road on which the host vehicle travels. Therefore, when there is a roadside unit 300 that transmits distribution data including information on the target vehicle, the controller 110 may control the directional beam Bd toward the roadside unit 300. For example, when the controller 110 can communicate with the roadside unit 300 when extracting the target vehicle, it analyzes the distribution data. The controller 110 can determine whether it is the roadside unit 300 that transmits the distribution data including the information on the target vehicle. Also, from the distribution data, the position information of the roadside unit 300 toward which the directional beam Bd should be directed can be obtained.

[0073] In this way, the controller 110 may control the directivity of the communication unit 100 toward the roadside unit 300 that transmits the distribution data including the information on the target vehicle. Thereby, data communication can be surely performed with the roadside unit 300, so that the information on the target vehicle can be appropriately received. That is, the controller 110 may treat the roadside unit 300 that transmits the distribution data including the information on the target vehicle as the target vehicle instead of the target vehicle itself.

[0074] Also, according to the information processing method disclosed in the present embodiment, similar to the information processing apparatus, by focusing on the amount of frequency transition due to the Doppler shift, filtering based on the relative speed can be performed. As a result, even when another vehicle traveling in the oncoming lane is traveling at a position far from the host vehicle, the other vehicle traveling in the oncoming lane can be extracted early, so that necessary information can be received appropriately. As a result, the presence of another vehicle traveling in the oncoming lane can be recognized early.

[0075] In the above-described embodiment, as a situation where there is a possibility of intersection, a scene in which the host vehicle travels through an intersection is exemplified. In this case, in addition to another vehicle traveling in the oncoming lane, another vehicle having a route traveling on a road connected to the intersection (for example, an intersecting road) may be extracted as the target vehicle.

[0076] Also, the situation that should be noted may be any scene in which there is another vehicle that affects the future travel of the host vehicle, such as a scene in which the host vehicle and another vehicle intersect, other than the scene in which the host vehicle travels through an intersection. For example, as shown in FIG. 9, a scene may be a scene in which the host vehicle A traveling in the traveling lane La changes lanes to the overtaking lane Lb to overtake. Another vehicle B traveling in the overtaking lane Lb and approaching rapidly from behind the host vehicle A may intersect with the host vehicle A, so there is a high possibility of affecting future travel. Therefore, even in a lane change scene, by using filtering based on the relative speed, another vehicle B having a route traveling in the overtaking lane Lb can be specified as the target vehicle. As a result, information on another vehicle B that affects the future travel of the host vehicle A can be appropriately grasped.

[0077] In addition, in a scene where overtaking is performed, when the controller 110 determines that the host vehicle is performing overtaking, it is preferable to perform a process of specifying the target vehicle. For example, when the controller 110 detects an operation signal permitting overtaking by the occupant, it determines that the host vehicle is performing overtaking. Alternatively, the controller 110 may autonomously determine that the host vehicle is performing overtaking on the condition that there is an obstacle in front of the host vehicle in the traveling lane or that there is a preceding vehicle traveling at a speed slower than the host vehicle. In this way, by determining the overtaking of the host vehicle and performing the process of specifying the target vehicle, the target vehicle can be specified at an appropriate timing.

[0078] Note that the overtaking scene may be a situation where overtaking is performed using an oncoming lane in addition to overtaking using an overtaking lane. In this case, speed filtering based on the relative speed may be performed so that other vehicles having a route of traveling in the oncoming lane are extracted as the target vehicle.

[0079] In addition, the method of this embodiment may be applied to a scene where the host vehicle follows other vehicles traveling in front in the same lane. In this case, speed filtering may be performed so as to exclude other vehicles traveling in the oncoming lane from the target vehicle.

[0080] In this embodiment, an example in which a plurality of information processing circuits included in the controllers 110 and 210 are realized by software has been shown. Of course, it is also possible to prepare dedicated hardware for executing each information process and configure the information processing circuit. Further, the plurality of information processing circuits may be configured by individual hardware.

[0081] As described above, the embodiments of the present invention have been described, but it should not be understood that the discussions and drawings forming a part of this disclosure limit this invention. Various alternative embodiments, examples, and operation techniques will become apparent to those skilled in the art from this disclosure.

Explanation of Reference Numerals

[0082] A vehicle, a bicycle (the first moving body, an information processing device) 100 Communication unit 101 GPS receiver 102 Map information acquisition unit 110 Controller 111 Communication control unit B vehicle, another vehicle (the second moving body, an information processing device) 200 Communication unit 201 GPS receiver 202 Map information acquisition unit 210 Controller 211 Communication control unit 300 Roadside unit 400 Base station

Claims

1. A communication unit mounted on the first moving body and performing data communication with a second moving body existing around the first moving body; A controller that controls the data communication performed by the communication unit, and comprising: The communication unit is configured to: As a switchable operation mode, it has a directivity mode capable of controlling the directivity related to wireless communication, and a normal mode of performing wireless communication with a preset area without controlling the directivity related to wireless communication; The controller is configured to: In a state where the communication unit is operating in the normal mode, based on the amount of frequency transition due to Doppler shift according to the relative speed of the second moving body with respect to the first moving body, extract a target moving body with which the communication unit performs data communication from among the second moving bodies; After switching the communication unit from the normal mode to the directivity mode, start data communication with the target moving body; When the relative speed of the second moving body extracted as the target moving body is -α or less, and when the amount of frequency transition at this time is -β2 or less, The controller extracts the second moving body with the amount of frequency transition of -β2 or less as the target moving body. An information processing apparatus.

2. The controller is configured to: Control the directivity related to the wireless communication of the communication unit toward the target moving body. The information processing apparatus according to claim 1.

3. The target moving body is: The second moving body having a route traveling in the oncoming lane of the road on which the first moving body travels; The second moving body having a route traveling in the overtaking lane of the road on which the first moving body travels, or The second moving body having a route traveling on a road connecting to an intersection included in a route that the first moving body will travel in the future. The information processing apparatus according to claim 1 or 2.

4. The controller is configured to: Based on the current position information and speed information of the second moving body and the current position information and speed information of the first moving body, determine a priority for the second moving body, and extract the target moving body based on the priority. The information processing apparatus according to any one of claims 1 to 3.

5. The controller is configured to: Extract, as the target moving body, the second moving body whose relative speed with respect to the first moving body is less than a predetermined determination value that is a negative value. The information processing apparatus according to any one of claims 1 to 4.

6. The controller is configured to: Determine whether the first moving body performs an overtaking operation. When it is determined that the first moving body performs an overtaking, perform a process of extracting the target moving body. The information processing apparatus according to any one of claims 1 to 5.

7. The communication unit By forming a beam having directivity, the directivity related to the wireless communication of the communication unit can be adjusted. The controller Controls the directivity of the beam formed by the communication unit. The information processing apparatus according to claim 2.

8. A communication unit mounted on a first moving body and performing data communication with a second moving body existing around the first moving body, In an information processing method of an information processing apparatus including a controller that controls data communication performed by the communication unit, In a state where the communication unit is operated in a normal mode in which wireless communication is performed for a preset area without controlling the directivity related to wireless communication, based on the amount of frequency transition due to the Doppler shift according to the relative speed of the second moving body with respect to the first moving body, extract a target moving body with which the communication unit performs data communication from among the second moving bodies, Including switching the communication unit from the normal mode to a directivity mode in which the directivity related to wireless communication can be controlled, and then starting data communication with the target moving body. When the relative speed of the second moving body extracted as the target moving body is -α or less, and when the amount of frequency transition at this time when the relative speed is -α or less is -β2 or less, Extract the second moving body whose frequency transition amount is -β2 or less as the target moving body. Information processing method.

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