Message control device and message control method

Abstract

To preferably suppress a tracking of a vehicle of a transmission source in a V2X communication.SOLUTION: A message control device according to an embodiment of a present disclosure, includes: a control part that generates a message containing sensor characteristic information on a plurality of sensors contained in a vehicle onto which the message control device is mounted; and a communication part that transmits the message generated by the control part. The control part executes a sensor information change control making the sensor characteristic information contained in the message to be difference between the messages to be sequentially transmitted.SELECTED DRAWING: Figure 5B

Description

[Technical Field]

[0001] The present disclosure relates to a message control device and a message control method in an Intelligent Transport Systems (ITS). [Background technology]

[0002] For the purposes of autonomous driving, safe driving assistance, etc., wireless sharing of information acquired by vehicles with other vehicles is being considered. For example, there is a technology called Collective Perception Service (CPS) that shares the detection status of targets and free space based on sensors (Non-Patent Document 1). In CPS, the direction of a sensor installed in a transmitting vehicle and the relative positional relationship between the transmitting vehicle and the target detected by the sensor are transmitted via communication, and the receiving vehicle can use the relative position of the target calculated from this information to avoid collisions. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] ETSI TR 103 562 V2.1.1 (2019-12) “Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Analysis of the Collective Perception Service (CPS); Release 2”, December 18, 2019 Summary of the Invention [Problem to be solved by the invention]

[0004] Vehicle-to-Everything (V2X) communications have raised privacy concerns because vehicle location information (e.g., latitude and longitude) is transmitted to the surrounding area, and various countermeasures are being considered. One such concern is tracking. For example, there is a risk that a third party could record the V2X messages transmitted by a single vehicle at multiple locations, allowing the movement of the vehicle to be tracked. If tracking is carried out near the vehicle owner's home or workplace, there is a risk that the vehicle owner's home or workplace could be identified.

[0005] The Collective Perception Message (CPM), which is the message used in the above-mentioned CPS, has not yet been studied in detail, and there has been insufficient consideration of privacy protection. For example, some of the sensor information contained in the CPM is expressed at a fairly fine resolution, so if a malicious third party receives multiple CPMs sent by a vehicle, the vehicle in question may be identified.

[0006] As can be seen from the above, there is a need for a method to make tracking of CPM more difficult, but this has not been sufficiently studied. Unless such a method is introduced, the use of CPM may not become widespread. Without CPM, the free space detection status will not be shared between vehicles, and driving safety may not be improved appropriately.

[0007] Therefore, one object of the present disclosure is to provide a message control device and a message control method that can suitably prevent a source vehicle from being tracked in V2X communication. [Means for solving the problem]

[0008] One aspect of the present disclosure is a message control device that includes a control unit that generates a message including sensor feature information for multiple sensors included in a vehicle in which the message control device is installed, and a communication unit that transmits the message generated by the control unit, and the control unit performs sensor information change control that makes the sensor feature information included in the message different between successively transmitted messages.

[0009] A message control method according to one aspect of the present disclosure includes: A message control method executed by a message control device mounted on a vehicle, comprising: This is a message control method including the steps of: generating a message containing sensor feature information for a plurality of sensors included in a vehicle, in which the sensor feature information contained in the message is varied among successively transmitted messages; and transmitting the generated message. [Effects of the Invention]

[0010] According to one aspect of the present disclosure, tracking of a transmission source vehicle in V2X communication can be suitably prevented. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing an example of a schematic configuration of an intelligent road transport system 1 according to an embodiment. [Figure 2] FIG. 2 is a diagram showing an example of the distance to the target. [Figure 3] FIG. 3 is a diagram illustrating an example of a sensor information container. [Figure 4] FIG. 4 is a diagram showing an example of the contents of each piece of information included in the vehicle sensor information. [Figure 5A] FIG. 5A shows an example of the sensor reference position and the sensor position indicated by the CPM when the distributed transmission and the variation of the sensor reference position of the present disclosure are not performed. [Figure 5B] FIG. 5B is a diagram showing an example of distributed transmission of sensor feature information based on an embodiment that combines embodiment 1.2 and embodiment 1.0. [Figure 6A]FIG. 6A is a diagram showing an example of a sensor position estimated by a receiver when the sensor reference position is not varied. [Figure 6B] FIG. 6B is a diagram showing an example of the sensor position estimated by the receiver when the sensor reference position is varied. [Figure 7A] FIG. 7A is a diagram showing an example of an actual detection area for the corrected detection area according to embodiment 1.4. [Figure 7B] FIG. 7B is a diagram showing an example of a correction detection area according to embodiment 1.4. [Figure 7C] FIG. 7C is a diagram showing an example of a correction detection area according to embodiment 1.4. [Figure 8] FIG. 8 is a diagram illustrating an example of a vehicle 10 according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, identical parts are designated by the same reference numerals. Since identical parts have the same names, functions, etc., detailed description thereof will not be repeated.

[0013] (Intelligent Transport Systems) Fig. 1 is a diagram illustrating an example of a schematic configuration of an intelligent transport system 1 according to an embodiment. The intelligent transport system (ITS) 1 illustrated in Fig. 1 may include a vehicle 10, a roadside unit 20, and an ITS server 30. The intelligent transport system 1 may be interchangeably referred to as an Intelligent Transport System (hereinafter, ITS), a road transport system, a transport system, etc. The roadside unit 20 may be referred to as a Roadside Unit (hereinafter, RSU) 20.

[0014] The ITS 1 may be called a system (so-called Cooperative ITS (CITS)) in which information (for example, traffic information, information for automated driving, etc.) is shared among a plurality of vehicles.

[0015] In the ITS 1, communication is performed using any one of or a combination of message control methods according to each embodiment of the present disclosure described below.

[0016] The vehicle 10 is a vehicle that travels on a roadway. The vehicle 10 may be a car or a vehicle that does not move autonomously (for example, a bicycle). The car may be a four-wheeled vehicle, a two-wheeled vehicle, or both.

[0017] The vehicle 10 has an on-board communication device and can communicate with other vehicles 10, the RSU 20, the ITS server 30, etc. via wireless communication. The wireless communication method is, for example, Long Term Evolution (LTE), 5th generation mobile communication system (5G), or Wi-Fi (registered trademark). The wireless communication method is not limited to LTE and 5G, and may be other technical specifications (e.g., 5G Advanced, 6G, etc.) defined by the Third Generation Partnership Project (3GPP (registered trademark)).

[0018] Direct communication between vehicles 10 may be referred to as vehicle-to-vehicle (V2V) communication. Communication between vehicles 10 and RSUs 20 may be referred to as vehicle-to-infrastructure (V2I) communication, etc. V2V communication and V2I communication may be referred to as vehicle-to-everything (V2X) communication.

[0019] The messages sent between the vehicles 10 may include, for example, at least one of the following: Cooperative Awareness Message (CAM) periodically transmits vehicle position, speed, etc. Decentralized Environmental Notification Message (DENM), which notifies when certain events occur; Collective Perception Message (CPM) for sharing the environment perceived (recognized) based on perceptual sensors.

[0020] CAM is a message sent in the Cooperative Awareness (CA) service proposed by ETSI (European Telecommunications Standards Institute). Cooperative awareness in road traffic means that road users and roadside infrastructure can know each other's location, movement, and attributes. Road users refer to all users on and around the road who are responsible for traffic safety and control, such as cars, trucks, motorcycles, bicycles, and pedestrians, while roadside infrastructure refers to facilities such as road signs, traffic lights, barriers, and entrances.

[0021] CPM is a message sent in the CP service proposed by ETSI, which notifies surrounding areas of the location, behavior, and attributes of surrounding road users and other targets detected by the vehicle sending the CPM.

[0022] The RSU 20 collects information about the congestion status of surrounding roads and surrounding traffic lights. The traffic light information may include the color of the traffic light. The RSU 20 also has a function to communicate the collected information with the vehicle 10, other RSUs 20, the ITS server 30, etc. The traffic lights may be called traffic lights. The traffic light information may be called information indicating the traffic light status. The RSU 20 may be equipped with a sensor and collect information using the sensor. The sensor may include a camera. Examples of road conditions include the congestion status of the road, the presence or absence of fallen objects, and the condition of the road surface. The RSU 20 may relay communication between the vehicle 10 and the ITS server 30.

[0023] The RSU 20 may be communicatively connected to one or both of the traffic lights and the sensors via wire or wirelessly.

[0024] A mobile communication terminal may be used as the communication unit of the RSU 20. The mobile communication terminal may be, for example, a mobile phone, a smartphone, a tablet terminal, or other portable terminal. The communication terminal is equipped with one or more sensors, such as a camera, and is therefore expected to contribute to providing useful information.

[0025] The ITS server 30 may provide traffic information, driving assistance information, etc. to the vehicle 10, or control traffic light lights, based on information received from the vehicle 10, the RSU 20, etc. The ITS server 30 may be a cloud server or an on-premise server.

[0026] Entities that perform V2X communication, such as the vehicle 10 and the RSU 20, may be called ITS stations (ITS-S). An ITS-oriented architecture used by or operating in these entities may be called ITS-S architecture.

[0027] An example of the functional configuration and hardware configuration of each device such as the vehicle 10 will be described later.

[0028] Note that the system configuration of the ITS 1 shown in Fig. 1 is an example, and the configuration of the ITS system 1 is not limited to the configuration shown in Fig. 1. Naturally, the number of vehicles 10 is not limited to the number shown in Fig. 1. Furthermore, the numbers of RSUs 20 and ITS servers 30 are not limited to the numbers shown in Fig. 1.

[0029] In the following description of the present disclosure, reference numerals may be omitted. For example, the ITS 1 may be simply written as an ITS, and the vehicle 10 may be simply written as a vehicle. In the present disclosure, the terms vehicle, RSU, etc. may be interchangeably read as an ITS-S.

[0030] (Collective Perception Message (CPM)) The message used in the above-mentioned CPS is called a CPM. The CPM includes the sensor origin position, the x distance, the y distance from the sensor origin position to the target, etc. A receiving vehicle that receives the CPM can calculate the absolute position of the target from the sensor origin position and the x distance and the y distance from the sensor origin position to the target. Note that in the present disclosure, the target may be interchangeably read as a perceived object. The sensor mounting position may be the sensor origin position.

[0031] Here, the sensor origin position may be calculated from the absolute position of the vehicle, the mounting position of the sensor in the vehicle, the direction in which the vehicle is facing, etc. The absolute position of the vehicle may be, for example, latitude and longitude obtained by a positioning system (e.g., a satellite positioning system (Global Navigation Satellite System (GNSS), Global Positioning System (GPS), etc.)), and may be called a GPS positioning position, etc.

[0032] The sensor mounting position may be a position to which an offset (e.g., offset in the x-axis / y-axis direction) is added based on a reference point for the vehicle. The reference point for the vehicle may be a ground position at the center of the front side of a rectangle (bounding box) surrounding the vehicle, or may be a GPS positioning position within the vehicle (e.g., a position where a locator is located).

[0033] In the vehicle coordinate system, the x-axis is the axis that extends in the longitudinal direction of the vehicle, and the y-axis is the axis that extends left and right when viewed from the front of the vehicle. z The axis is perpendicular to the x-axis and y-axis.

[0034] The direction of the sensor axis may also be calculated from the direction in which the vehicle is facing. Alternatively, the start and end opening angles of the sensor detection range may be used instead of the direction of the sensor axis. Because the sensor is fixed to the vehicle, the direction of the sensor axis relative to the direction in which the vehicle is facing or the start and end opening angles of the sensor detection range are fixed values. Therefore, the direction of the sensor axis or the start and end opening angles of the sensor detection range can be calculated by adding or subtracting a fixed value to the direction in which the vehicle is facing. Note that the direction in which the vehicle is traveling is used as the direction in which the vehicle is facing.

[0035] 2 is a diagram showing an example of distances to targets. In this example, target A is located at a distance of 1 in the x direction and 1 in the y direction from the vehicle's sensor origin position, and target B is located at a distance of 2 in the x direction and 2 in the y direction from the vehicle's sensor origin position.

[0036] The target position may represent the position at the shortest distance from the sensor origin position, but is not limited to this. The distance to the target may be the distance from the sensor origin position to the target, or may be calculated from the detection result of the sensor.

[0037] The sensor origin position, sensor mounting position, sensor axis direction, etc. may differ for each sensor, and the CPM may include information regarding these for each of multiple sensors.

[0038] A vehicle that receives a CPM from another vehicle may determine the absolute position of the target based on at least one of its own absolute position, the position of the other vehicle (obtained via a CAM, etc.), the distance from the other vehicle to the target (obtained via a CPM), etc.

[0039] A CPM may contain at least one of the following containers: A management container indicating the source ITS-S station type, reference position, etc. A station data container showing detailed information about the source ITS-S, Sensor information container indicating the type of sensor possessed by the sender ITS-S, detection area, etc. A perceived object container that indicates the object detected by the sensor of the source ITS-S. A free space addendum container that provides additional information about the free space.

[0040] The CPM includes a management container as a required container. The management container may be called a CPM management container. The station data container, sensor information container, perceived target container, and free space adjunct container are optional containers that may be included in the CPM. The sensor information container, perceived target container, and free space adjunct container may be multiple containers. The upper limit of the number of sensor information containers, perceived target containers, and free space adjunct containers that can be included in one CPM message may be set jointly or individually. The upper limit of the number of containers may be 128, for example.

[0041] A container may correspond to a set of information that includes one or more parameters. A parameter may be called a data frame, a data element, or the like.

[0042] Figure 3 shows an example of a sensor information container. This example is written using Abstract Syntax Notation One (ASN.1) notation. Note that this is merely an example and is not necessarily a complete description. The same applies to subsequent similar drawings.

[0043] The sensor information container includes one or more pieces of sensor information (SensorInformation), and the sensor information includes, for example, sensor ID information (sensorID), detection area information (DetectionArea), etc. The detection area information may include vehicle sensor information (VehicleSensor) related to sensors mounted on the vehicle. The sensor information container is sometimes called a field-of-view information container (Field-of-View Container).

[0044] All of the information illustrated in FIG. 3 may be considered sensor feature information. Sensor feature information is information that represents the features of a sensor. Some or all of the information included in a sensor information container may be considered sensor feature information. Sensor feature information may include information for identifying a sensor, such as the sensor's ID. Sensor feature information may include information that indicates the sensor's detection characteristics. Sensor detection characteristics indicate the sensor's object detection characteristics, such as the sensor's detection range and detection accuracy. Note that sensor feature information does not include information that naturally changes depending on the position of the object being detected, etc. Therefore, sensor feature information does not include information that indicates the position of an object detected by the sensor. Note that sensor feature information may also be referred to as sensor information.

[0045] The vehicle sensor information may include an ID (refPointId) for identifying (specifying) the reference point of the sensor position, offset information (xSensorOffset / ySensorOffset / zSensorOffset) indicating the offset of the mounting position in the x / y / z axis directions from the reference point, and a list (VehicleSensorPropertyList) of information (vehicleSensorProperties) indicating the actual extent of the area covered by a particular sensor.

[0046] VehicleSensorProperties may include information (range) indicating the distance range detected by the sensor, and the opening angle start (horizontal(vertical)OpeningAngleStart) and opening angle end (horizontal(vertical)OpeningAngleEnd) for the horizontal and vertical directions. Note that range may refer to the distance range in the x-axis direction.

[0047] (Privacy protection for V2X communications) In V2X communication, vehicle location information (e.g., latitude and longitude) is transmitted to the surrounding area, which raises concerns about privacy protection, and various countermeasures are being considered. One such concern is the tracking mentioned above.

[0048] Existing standards, such as the Basic System Profile (BSP) of the CAR 2 CAR Communication Consortium (C2CCC), CAM, and DENM, provide the following three measures to prevent tracking: Server-side mechanisms that make it difficult to link certificates to individual vehicles. · Change the certificates you use frequently based on rules. When a certificate is changed, information relating messages before and after the certificate change is reset, set to 0, or randomly regenerated. For example, the address included in the message, the identifier (Identifer (ID)) included in the message, the message count (sequence number), etc. are randomly regenerated. The address included in the message is, for example, the source Internet Protocol (IP) address or source Medium Access Control (MAC) address. The message count may be set to 0. In addition, information indicating the driving trajectory (for example, CAM path history, DENM traces, etc.), event information (for example, DENM EventHistory), etc. are reset. Resetting may mean emptying or erasing.

[0049] In the present disclosure, the certificate may be a security certificate (for example, an Authorization (Authentication) Ticket (AT)) included in envelope information (security envelope) of a message (payload).

[0050] Regarding the above certificate changes, for example, in BSP, the AT is changed after a certain period (e.g., a few seconds) has passed since the engine control was activated, and then the AT is changed according to the passage of a certain distance or a certain period of time, thereby preventing the vehicle from being identified, especially around the starting point.

[0051] Incidentally, among the information contained in messages transmitted via V2X communication, information such as location and speed constantly changes, and therefore is not thought to be used to directly identify individual vehicles. On the other hand, information on vehicle shape (for example, vehicle width, length, height, etc.) can be used at a coarse resolution of 10 centimeters or more, because if it is too detailed it could lead to the identification of a vehicle. This is because with this level of resolution, there are many vehicles sending the same information, making it difficult to identify individual vehicles.

[0052] CPM has not yet been studied in detail, and compared to existing messages such as CAM, there has been insufficient consideration given to privacy protection.

[0053] Fig. 4 is a diagram showing an example of the contents of each piece of information included in the vehicle sensor information, including offset information (xSensorOffset / ySensorOffset / zSensorOffset), information indicating the distance range detected by the sensor (range), and opening angle start (horizontal(vertical)OpeningAngleStart) / opening angle end (horizontal(vertical)OpeningAngleEnd) in the horizontal / vertical directions, etc.

[0054] The distance range detected by the sensor is in units of 10 centimeters, while the offset information is in units of 1 centimeter, and the opening angle indicating the angle of the sensor's detection area is in units of 0.1 degrees.

[0055] As such, offset information, opening angle information, and other information are expressed with a fairly fine resolution. Furthermore, sensor feature information such as offset information and opening angle information often differs depending on the vehicle model, year, grade, and so on. Therefore, a vehicle receiving multiple CPMs may be able to infer whether the multiple received CPMs were transmitted from the same vehicle based on the sensor feature information, such as offset information and opening angle, contained in each CPM. If it is possible to infer that multiple CPMs were transmitted from the same vehicle, there is a risk that the vehicle may be tracked.

[0056] As can be seen from the above, there is a need for methods to make tracking more difficult for CPM advertisers, but these methods have not been sufficiently explored. Unless methods to make tracking more difficult are introduced, the use of CPM may not become widespread.

[0057] Therefore, the inventor came up with the idea of ​​a method to make it difficult to guess vehicle information such as the vehicle model, year, and grade from the CPM by limiting or modifying the sensor information included in the CPM. Furthermore, the inventor came to the conclusion that this idea can be applied to messages other than CPM.

[0058] In the following description of the embodiments, a CPM is used as an example of a message transmitted by a vehicle. However, the CPM in this disclosure may be replaced with any message including sensor feature information. The message may be a message specified in a standard such as CPM, CAM, DENM, Society of Automotive Engineers (SAE), Basic Safety Message (BSM), C2CCC BSP, or other standards.

[0059] (Message control method) Message control methods according to an embodiment of the present disclosure are described below. Each message control method may be applied to the ITS described above.

[0060] First Embodiment The first embodiment relates to a method for suppressing association of multiple CPMs.

[0061] The first embodiment is roughly divided into embodiments 1.0 to 1.5, each of which will be described below.

[0062] [Embodiment 1.0] In embodiment 1.0, the vehicle may transmit sensor information that should be transmitted in one CPM by dividing it into multiple CPMs. The sensor information that should be transmitted in one CPM may be information about all sensors used to detect information about targets to be included in the CPM. The sensor information may be each piece of information included in a sensor information container. When transmitting sensor information that should be transmitted in one CPM by dividing it into multiple CPMs, the vehicle will vary the sensor information included in the CPMs in successively transmitted CPMs. The control of varying the sensor information included in the CPMs in successively transmitted CPMs is called sensor information change control. The sensor information change control is executed by the control unit 11, which will be described later.

[0063] One of such separated pieces of sensor information will be referred to as distributed sensor information below. Also, a set of distributed sensor information transmitted using multiple CPMs will be referred to as a sensor information set below. Multiple pieces of distributed sensor information included in a sensor information set may be used to configure sensor information to be transmitted in the above-mentioned single CPM. The sensor information to be transmitted in the above-mentioned single CPM is the above-mentioned sensor information set, and will also be referred to as all sensor information.

[0064] In the sensor information change control, multiple pieces of sensor information, in which at least some of the sensors that are the targets of the sensor information (i.e., sensor feature information) that are characteristic of different sensors, may be distributed and included in multiple CPMs. For example, in one CPM, the sensor that is the target of the sensor information that is characteristic may be a millimeter-wave radar, and in the next CPM to be transmitted, the sensor that is the target of the sensor information that is characteristic may be a LiDAR.

[0065] Next, we will explain the transmission timing of CPM containing sensor information in sensor information change control. The European Telecommunications Standards Institute (ETSI) standard assumes that sensor information containers are transmitted at intervals of 1 second or longer. On the other hand, the above standard assumes that information about targets is transmitted at intervals of 0.1 seconds, or at intervals of 0.1 seconds or longer but shorter than 1 second.

[0066] In embodiment 1.0, the vehicle does not transmit all sensor information at once at a period of 1 second or longer, but transmits at least some of the sensor information at a different timing from the other sensor information. For example, the distributed sensor information may be transmitted at different timings, such as transmitting sensor 1 information 100 ms after transmitting a CPM including target information, and transmitting sensor 2 information another 100 ms after transmitting the other sensor information. In other words, the distributed sensor information may be transmitted in this manner, such as transmitting sensor 1 information 100 ms after transmitting a CPM without sensor information, transmitting sensor 2 information 200 ms after transmitting a CPM without sensor information, and so on. Of course, it is also possible to transmit a CPM including sensor 1 information and target information without generating a CPM without sensor information, and then transmitting a CPM including sensor 2 information 100 ms after transmitting the CPM.

[0067] In the above example, the transmission period of the first distributed sensor information included in the sensor information set is one second or more. On the other hand, the transmission timing of the i-th (i is a natural number) distributed sensor information may be the timing when the i-th time offset has elapsed from the transmission timing of the first distributed sensor information or the transmission timing of the immediately previous distributed sensor information.

[0068] Information about the i-th time offset may be stored in advance in a memory provided in the vehicle transmitting the CPM. Alternatively, the information may be notified (set) to the vehicle transmitting the CPM by another vehicle, an RSU, or an ITS server. The vehicle may determine the i-th time offset based on the information.

[0069] Furthermore, the transmission cycle of a CPM including a target does not have to be fixed at a cycle of 100 ms or the like. The next CPM may be set to be transmitted when 100 ms or more has elapsed since the previous CPM was transmitted. In this case, for example, a CPM including sensor information from sensor 1 and target information may be transmitted, and at the transmission timing of the next CPM, a CPM including sensor information from sensor 2 and target information may be transmitted. Of course, the CPM transmitting the sensor information from sensor 2 may be the CPM two CPMs after the transmission of the sensor information from sensor 1.

[0070] The examples up to this point have been examples in which distributed sensor information contained in one sensor information set is distributed to a CPM that includes a sensor information container and a subsequent CPM that is not supposed to include a sensor information container in the above standard. This allows all sensor information to be distributed and transmitted, while also enabling all sensor information to be transmitted in a short amount of time.

[0071] However, in the above standards, distributed sensor information included in one sensor information set may be distributed only to CPMs that include a sensor information container. For example, the CPM for transmitting sensor information from sensor 2 may be the CPM that is one second or more after the CPM for transmitting sensor information from sensor 1, which is the timing for transmitting sensor information again in the above standards. This increases the time it takes to complete transmission of all sensor information, thereby providing a high tracking suppression effect.

[0072] If the distributed sensor information is simply information obtained by dividing all the sensor information, when all the multiple pieces of distributed sensor information included in the sensor information set are received and combined, all the sensor information can be restored. For this reason, it is preferable to configure distributed sensor information that can suppress restoration. For example, the following embodiments 1.1 to 1.3 are suitable for suppressing restoration. Note that these embodiments may be used even when the distributed sensor information is not used.

[0073] [Embodiment 1.1] In embodiment 1.1, when a vehicle sequentially transmits CPMs processed by IDs, it assigns IDs to one or more of the multiple CPMs that are different from the IDs of the other CPMs. Different IDs make it difficult for a third party to link multiple CPMs. For example, a vehicle may process CPMs containing distributed sensor information using different IDs for each CPM. The different IDs may be generated randomly or according to a predetermined rule.

[0074] Processing a CPM with an ID may mean including the ID in the CPM, or may mean using the ID for at least one of the processes from generating the CPM to transmitting it, such as encryption.

[0075] The ID may be a temporary ID, an ID for V2X communication, a vehicle ID, or an ID for a sensor. It may also be multiple IDs among these IDs. The temporary ID may be called a temporary ID (tempID). The ID may be interpreted as at least one of an ITS-S ID, a station ID, a vehicle ID, a sensor ID, a target ID, a network ID, an address (e.g., an IP address or a MAC address), a certificate ID, a certificate, an ID related to an AT, etc. The sensor ID is the ID (sensorID) of a sensor having the characteristics of each sensor information (SensorInformation) notified using a sensor information container. The target ID is the ID (objectID) of each perceived object information (PerceivedObject) notified using a perceived object container. These IDs may be temporary IDs. The temporary ID may be an ID that changes from time to time.

[0076] According to embodiment 1.1, for one or more sensors, the sensor ID for the same sensor can be made different among multiple CPMs transmitted from the same vehicle. Therefore, not only IDs that are naturally unique to a vehicle, such as an ITS-S ID, but also sensor IDs that are often identical for the same vehicle type, can be made different among multiple CPMs transmitted from the same vehicle. This prevents the receiving side from assuming that multiple CPMs transmitted from the same vehicle are CPMs transmitted from the same vehicle based on the IDs included in those multiple CPMs. Therefore, tracking of a vehicle that transmits CPMs sequentially can be effectively prevented.

[0077] [Embodiment 1.2] In embodiment 1.2, the vehicle makes the sensor reference position included in one or more of the multiple CPMs that are transmitted sequentially different from the sensor reference position included in other CPMs. The sensor reference position is a position referenced when determining the sensor's position. The sensor's position is specified in the vehicle coordinate system. The sensor's position may be determined by the sensor reference position and an offset. The sensor reference position may be, for example, a reference position (ReferencePosition) included in a management container. The sensor reference position may also be a reference point (ReferencePoint) included in a sensor information container. Note that the reference position and the reference point may be the same position.

[0078] The reference position may represent the geographical location of the vehicle using latitude and longitude, or latitude, longitude, and altitude. However, in this embodiment, the reference position is a position referenced when determining the position of the sensor, and is not information for notifying the surrounding area of ​​the vehicle's location. Other messages, such as CAM, are used as messages for notifying the surrounding area of ​​the vehicle's location.

[0079] Since the reference position is not information for notifying the surroundings of the vehicle's position, changing the reference position is unlikely to cause any inconvenience to the receiving side that receives the CPM. The reference position may be a specific position inside or outside the vehicle, and may correspond to a position that moves along with the vehicle.

[0080] When the reference position is used as the sensor reference position, an offset for determining the relative position of the sensor with respect to the reference position is set for each different reference position. This offset may be an offset to the reference point with respect to the reference position. In this case, the offset also changes according to changes in the reference position. However, this has the advantage that there is no need to change the xSensorOffset, ySensoroffset, and zSensorOffset, which are the offsets from the reference point to the sensor position. Alternatively, the offset may be an offset from the reference position to the sensor position. In this case, the reference point is equal to the reference position, and xSensorOffset, ySensoroffset, and zSensorOffset change according to changes in the reference position.

[0081] The vehicle may determine different sensor reference positions for multiple sensors by randomly varying them based on a reference position. The reference position may be, for example, the center of the vehicle, the GNSS antenna position, or the center of the front end of the vehicle in the vehicle width direction. Alternatively, the sensor reference positions may be varied each time based on specific rules.

[0082] As described above, embodiment 1.2 can be combined with embodiment 1.0. That is, the sensor reference position included in one CPM may be different from the sensor reference position included in another CPM, and the sensor feature information set may be distributed and transmitted as distributed sensor feature information. Figure 5B is a diagram showing an example of distributed transmission of sensor feature information based on an embodiment that combines embodiment 1.2 and embodiment 1.0.

[0083] On the other hand, FIG. 5A shows an example of the sensor reference position and sensor position indicated by the CPM when the distributed transmission and sensor reference position variation of the present disclosure are not performed. Note that in FIGS. 5 and 6, the sensor reference position is referred to as the reference position. In the example of FIG. 5A, a vehicle transmits sensor information from all sensors mounted on the vehicle using one CPM. Specifically, the sensor information is four pieces of sensor information, each containing detection area information corresponding to areas A and B, which are detection areas in which the sensors detect targets. The sensor information also includes an offset indicating the position of each sensor from the sensor reference position. The information indicating the sensor reference position may be included in a sensor information container or a management container. In FIG. 5, the sensor positions are indicated by hatched circles. Note that in this example, the sensor positions of the sensors in area A and area B overlap. The sensor reference position is common to each piece of sensor information.

[0084] Figure 5B shows an example of information indicated by each CPM when performing distributed transmission and varying the sensor reference position according to the present disclosure. The vehicle in Figure 5B is the same vehicle as in Figure 5A. The vehicle separates the sensor information in Figure 5A into four pieces of distributed sensor information for four sensors, each with areas A to D as its detection area. Each piece of distributed sensor information is then transmitted using a different CPM. As shown in Figure 5B, the sensor reference positions identified by each piece of distributed sensor information are different from one another.

[0085] Fig. 6A is a diagram showing an example of a sensor position estimated by a receiver when the sensor reference position is not varied, and Fig. 6B is a diagram showing an example of a sensor position estimated by a receiver when the sensor reference position is varied.

[0086] Even if the sensor information is transmitted in a distributed manner, if the sensor reference position included in each piece of sensor information is the same as in Figure 6A, the relative positions of Area A and Area B can be correctly estimated by determining the positions of Area A and Area B based on the sensor reference position. The next time the sensor information set is transmitted as distributed sensor information, the receiver of the distributed sensor information can similarly estimate the relative positions of Area A and Area B to be the same as last time. And because the relative positions of Area A and Area B are the same, it may be possible to estimate that the vehicle that estimated Areas A and B last time and the vehicle that estimated Areas A and B this time are the same vehicle.

[0087] In contrast, when sensor information is transmitted in a distributed manner and the sensor reference position is varied as shown in Figure 6B, if the person receiving the sensor information determines the relative position of Area A and Area B by assuming that the sensor reference position is the same, the relative positions of Area A and Area B will not be correct, as shown in the rightmost diagram in Figure 6B. If the sensor information set is then transmitted as distributed sensor information, the sensor reference position included in the distributed sensor information will be a different position from the previous transmission. Therefore, it is not possible to track the vehicle even if the relative positions of Areas A and B are used as a clue.

[0088] [Embodiment 1.3] In embodiment 1.3, the vehicle uses a different ID for CPM from the ID used for other messages (e.g., CAM, DENM, BSM, etc.). The other messages may be called other types of messages, messages defined by other standards, etc. The ID used for CPM may be an ID included in the CPM. The ID is, for example, a Station ID. In the CPM, the Station ID is included in the header. The Station ID is an ID that identifies an ITS station, such as a vehicle, i.e., the sender. The ID used for other messages may be an ID included in the other messages. The ID included in the other messages may be an ID that identifies the sender of the other messages.

[0089] To differentiate the ID used for the CPM from the ID used for other messages, the ID used for the CPM may be changed. The ID used for other messages may also be changed. To differentiate the ID used for the CPM from the ID used for other messages, for example, a vehicle may use different IDs for the CPM and other messages that are transmitted simultaneously or close to each other. Whether the messages are transmitted close to each other may be determined, for example, by whether the difference in their transmission times is equal to or less than a threshold. The threshold may be one or several transmission periods of the CPM and other messages. Information about the threshold may be notified to the vehicle from another vehicle, an RSU, or an ITS server.

[0090] The more messages sent from the same vehicle are combined, the more likely the combination will have characteristics that can be distinguished from combinations of messages sent from other vehicles. Therefore, when a CPM is combined with other messages, it becomes easier to identify the vehicle that sent the message.

[0091] However, according to embodiment 1.3, the ID used for the CPM is made different from the ID used for other messages. This prevents a third party who receives the CPM and other messages from linking the CPM to the other messages based on the ID. This prevents a third party from sequentially identifying and tracking the vehicles that send messages.

[0092] [Embodiment 1.4] In embodiment 1.4, the vehicle corrects the detection area information (DetectionArea) corresponding to the same sensor. Correction can also be called adjustment.

[0093] A vehicle may not include detection area information indicating the range of the actual detection area directly in a CPM, but may include detection area information obtained by correcting the range of the actual detection area in the CPM and transmit the corrected detection area. The corrected detection area may be called a corrected detection area. A vehicle may change the detection area information for a certain sensor each time it transmits a CPM, either once or multiple times.

[0094] The vehicle may generate detection area information for the modified detection area by varying one or more parameters for indicating the range of the actual detection area within a certain range. The vehicle may generate the varied parameters based on a predetermined calculation formula. Alternatively, the vehicle may randomly generate the varied parameters. The detection area information for the modified detection area may be generated by multiplying one or more parameters of the detection area information for the actual detection area by a coefficient. The coefficient is, for example, a value near 1. The range that the coefficient can take can be determined in advance. For example, the range that the coefficient can take may be 0.8 to 1.2. The coefficient may be a value near 1 that is equal to or less than 1. For example, the range that the coefficient can take may be 0.8 to 1.

[0095] The multiple values ​​that the coefficient can take or the range that the coefficient can take may be predetermined in a standard, or information about the multiple values ​​that the coefficient can take or the range that the coefficient can take may be notified to the vehicle from another vehicle, an RSU, or an ITS server. The value of the coefficient may be different for each sensor.

[0096] The vehicle may regenerate the coefficients each time a CPM is transmitted, or may regenerate the coefficients when one or both of the certificate and the ID are changed.

[0097] In Non-Patent Document 1, only vehicle sensor information (VehicleSensor) is permitted as detection area information for sensors mounted on vehicles. This information expresses the sensor detection area by the distance range from the sensor (range) and the opening angle of the sensor detection area, which is the range that the sensor can detect. The coefficient may be a coefficient multiplied by the range.

[0098] However, the detection area information of the CPM transmitted by the vehicle may be notified of a detection area of ​​any shape (such as an n-gon (n is an integer equal to or greater than 3), a circle, or an ellipse). The detection area information included in the sensor information may be represented by at least one of AreaRadial, AreaPolygon, AreaCircular, AreaEllipse, AreaRectangle, etc. shown in FIG. 3. Furthermore, VehicleSensorProperties may include at least one of AreaRadial, AreaPolygon, AreaCircular, AreaEllipse, AreaRectangle, etc., which indicate the detection area, together with or instead of range, etc.

[0099] 7A-7C are diagrams illustrating a modified detection area according to embodiment 1.4. Fig. 7A shows an example of an actual detection area. Figs. 7B and 7C show an example of a modified detection area corresponding to Fig. 7A.

[0100] The modified detection areas shown in Figures 7B and 7C are, for example, areas obtained by randomly varying the shape of the actual detection area. More specifically, they are areas obtained by randomly narrowing the shape of the actual detection area. The modified detection area shown in Figure 7B and the detection area shown in Figure 7C have mutually different shapes. Therefore, it is possible to prevent a third party from recognizing that a CPM including detection area information for the modified detection area in Figure 7B and a CPM including detection area information for the modified detection area in Figure 7C are messages transmitted from the same vehicle. As a result, it is possible to prevent tracking based on the fact that the detection area information is identical.

[0101] [Embodiment 1.5] In embodiment 1.5, the vehicle sequentially changes the resolution of one or more parameters included in the sensor information. That is, the resolution of one or more parameters included in the sensor information is made coarse or fine. Resolution can also be called granularity.

[0102] For example, the vehicle may change the resolution of the offset information included in the sensor information from 1 centimeter to 10 centimeters. Conversely, the vehicle may change the resolution of the offset information included in the sensor information from 10 centimeters to 1 centimeter. The vehicle may also change the resolution of the opening angle information included in the sensor information from 0.1 degrees to 1 degree. Conversely, the vehicle may change the resolution of the opening angle information included in the sensor information from 1 degree to 0.1 degrees.

[0103] The resolution of the parameter included in the first sensor information may be different from the resolution of the parameter included in the second sensor information, in other words, the resolution of the parameter may be different for each sensor.

[0104] According to the first embodiment described above, even when a third party receives multiple CPMs, it is possible to suitably prevent the third party from identifying the multiple CPMs as including information corresponding to the same vehicle.

[0105] <Second embodiment> The second embodiment relates to the timing of changing and transmitting sensor information. Note that the sensor information here may correspond to the distributed sensor information of the first embodiment.

[0106] In the second embodiment, the vehicle may perform sensor information change control when a sensor information change condition is met. The sensor information change control is control for sequentially changing the sensor information to be included in the CPM transmitted from the vehicle. The sensor information change control may be at least one of the following:

[0107] (A) The sensor information change control may be a control that sequentially switches between including sensor information in the CPM that is sequentially generated and not including sensor information. As described above, the sensor information may correspond to the distributed sensor information of the first embodiment. (B) The sensor information change control may be a control not to transmit a CPM. Since a CPM is not transmitted, the sensor information that is normally transmitted is changed to a state in which it is not transmitted. (C) The sensor information change control may be a control that applies at least one of the controls in the first embodiment.

[0108] When the sensor information change condition is met, the sensor information transmitted from the vehicle is restricted compared to when the CPM is transmitted without restriction and the CPM always includes unrestricted sensor information. Therefore, the opportunities for third parties to receive the sensor information can be reduced. The sensor information change condition may also be called a sensor information restriction condition. By reducing the opportunities to receive sensor information, it becomes more difficult for third parties to infer that successively received CPMs were transmitted from the same vehicle based on the sensor information. Therefore, tracking can be suppressed.

[0109] The sensor information change conditions may be exemplified as follows: (1) A certain period of time has not passed since the vehicle power was turned on. (2) The vehicle has not moved a certain distance since the vehicle was turned on. (3) A certain period of time has not passed since the certificate included in the CPM was changed. (4) The certificate included in the CPM has not been moved a certain distance since the change. (5) The period from a certain period before the certificate included in the CPM is changed until the certificate is changed. (6) The vehicle is located a certain distance before the point where the certificate included in the CPM is changed and until the certificate is changed. (7) A certain period of time has not passed since you changed the ID used for CPM. (8) You have not moved a certain distance since changing the ID used for CPM. (9) This is the period from a certain period before the ID used for CPM is changed until the ID is changed. (10) The vehicle is present at a position a certain distance before the point where the ID used for CPM is changed and up to the point where the ID is changed.

[0110] The vehicle power source may be interpreted as an ignition switch. Turning on the vehicle power source may be determined by the start of engine control. Turning on the vehicle power source may be interpreted as the vehicle starting. The certain period may be, for example, 5-6 minutes or several minutes. The certain distance may be, for example, several hundred meters, or about 1 km.

[0111] Since the vehicle power is turned on at the departure point, the above (1) or (2) is satisfied from the time the vehicle departs until a certain period of time has passed or until the vehicle has traveled a certain distance. At this time, the sensor information change control suppresses the transmission of sensor information. Therefore, it is possible to prevent the vehicle from being tracked based on the CPM containing the sensor information, using the fact that the sensor information is the same as a clue, and to prevent the vehicle's departure point from being estimated.

[0112] According to the above (3), (4), (5), and (6), even if the certificate included in the CPM has been changed, it is possible to prevent the CPM before and after the certificate change from being assumed to have been sent from the same vehicle, based on the fact that the sensor information included in the CPM is the same. Therefore, it is possible to prevent the tracking of vehicles before and after the certificate included in the CPM has been changed.

[0113] According to the above (7), (8), (9), and (10), even if the ID used for the CPM is changed, it is possible to prevent the CPM before and after the ID change from being assumed to be CPMs sent from the same vehicle, based on the fact that the sensor information included in the CPM is the same. Therefore, it is possible to prevent the tracking of vehicles before and after the ID used for the CPM is changed.

[0114] The sensor information change conditions are not limited to the above (1) to (10). For example, the sensor information change condition may be a condition that the vehicle is not located near an intersection. The sensor information change condition may also be a condition that the vehicle's speed is not low. As long as it is possible to reduce the chances of a third party receiving sensor information, the distance range from an intersection that is considered to be near the intersection can be set appropriately. The threshold for determining that the vehicle's speed is low can also be set appropriately.

[0115] <Supplementary information> In the above-described embodiments, the transmission control of information included in a CPM sensor information container has been described, but the present invention is not limited to this. Each of the above-described embodiments may be applied to the transmission control of information included in any CPM container.

[0116] For example, instead of the above-described embodiments, the above-described embodiments may be applied to transmission control of information included in a CPM free space supplemental container. In this case, the sensor information in the above-described embodiments may be read as free space additional information (FreeSpaceAddendum). Furthermore, the detection area information may be read as at least one of free space confidence information (FreeSpaceConfidence) and free space area information (FreeSpaceArea). Furthermore, in addition to the above-described embodiments, the above-described embodiments may be applied to transmission control of information included in a CPM free space supplemental container.

[0117] (Addendum) The following is noted regarding one embodiment of the present disclosure. [Appendix 1] A message control device, a control unit that generates a message including sensor feature information for a plurality of sensors included in a vehicle on which the message control device is installed; a communication unit that transmits the message generated by the control unit, The control unit is a message control device that executes sensor information change control to make the sensor feature information included in the message different between successively transmitted messages. [Appendix 2] 2. The message control device according to claim 1, wherein the sensor information change control includes control of distributing and including a plurality of pieces of sensor feature information, at least some of which are different from each other for the sensors to be targeted, in a plurality of messages. [Appendix 3] The sensor characteristic information includes an identifier of the sensor; 3. The message control device according to claim 1, wherein the sensor information change control includes control of changing identifiers of one or more sensors included in each of a plurality of messages to different values ​​for the same sensor. [Appendix 4] The sensor characteristic information includes a sensor reference position that is referenced when determining the position of the sensor; A message control device described in any one of Appendix 1 to Appendix 3, wherein the sensor information change control includes control of making the sensor reference position included in one or more of the multiple messages transmitted sequentially different from the sensor reference position included in other messages. [Appendix 5] The sensor feature information includes detection area information indicating an area in which the sensor detects an object; 5. The message control device according to claim 1, wherein the sensor information change control includes control of changing detection area information corresponding to a certain sensor among a plurality of messages. [Appendix 6] The sensor characteristic information includes the resolution of the sensor parameters; 6. The message control device according to claim 1, wherein the sensor information change control includes control of varying the resolution of the sensor parameters among a plurality of messages. [Appendix 7] 7. A message control device according to any one of claims 1 to 6, wherein the control unit performs the sensor information change control when a certain period of time has not elapsed since the vehicle power supply of the vehicle was turned on or the vehicle has not moved a certain distance. [Appendix 8] 8. A message control device according to any one of appendices 1 to 7, wherein the control unit performs the sensor information change control if a certain period of time has not elapsed since the certificate included in the message or the identifier identifying the sender of the message was changed, or if the vehicle has not moved a certain distance. [Appendix 9] 9. A message control device according to any one of Supplementary Note 1 to Supplementary Note 8, wherein the control unit performs sensor information change control when the vehicle is located from a certain period before the certificate to be included in the message or the identifier identifying the sender of the message is changed until the certificate to be included in the message or the identifier identifying the sender of the message is changed, or when the vehicle is located from a certain distance before the point where the certificate to be included in the message or the identifier identifying the sender of the message is changed to the point where the certificate to be included in the message or the identifier identifying the sender of the message is changed. [Appendix 10] 10. A message control device according to any one of appendices 1 to 9, wherein the control unit differentiates an identifier for identifying a sender included in one type of message from an identifier for identifying a sender included in a different type of message. [Appendix 11] a step of generating messages including sensor feature information for a plurality of sensors included in the vehicle, wherein the sensor feature information to be included in the messages is made different between successively transmitted messages; and transmitting the generated message.

[0118] (Hardware configuration)

[0119] FIG. 8 is a diagram showing an example of a vehicle 10 according to an embodiment. The vehicle 10 includes a control unit 11, a sensor 12, a locator 13, an input / output unit 14, and a communication unit 15. The block diagram shown in this example shows functional blocks. Each of these functional blocks (components) is realized by any combination of at least one of hardware and software. Note that the "vehicle" described in the above embodiment may be read interchangeably as any one or more functional blocks (e.g., the control unit 11, the communication unit 15) in the vehicle 10.

[0120] 8 shows only the parts necessary for explaining the present disclosure. The vehicle 10 includes parts necessary for driving, such as a drive unit and an operating unit. The drive unit is, for example, one or both of an engine and a motor. The operating unit is, for example, a steering wheel.

[0121] The control unit 11 is composed of a microprocessor (hereinafter simply referred to as the processor) 111, a memory 112, and a communication interface 113. The communication interface 113 is, for example, an input / output (IO) port. The control unit 11 may be called an electronic control unit (ECU), or may be composed of a central processing unit (CPU) including interfaces with peripheral devices, a control unit, an arithmetic unit, registers, etc.

[0122] The control unit 11 may be configured to include hardware such as a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA), and the processing of the processor 111 may be realized using the hardware. For example, the processor 111 may be implemented using at least one of these pieces of hardware.

[0123] Each function in vehicle 10, etc. (e.g., message generation, processing based on information from sensor 12) may be realized, for example, by loading specified software (programs) onto hardware such as processor 111 and memory 112, causing processor 111 to perform calculations, control communication via communication unit 15, and control at least one of reading and writing data in memory 112.

[0124] The processor 111 may, for example, run an operating system to control the entire in-vehicle computer. The processor 111 may also load programs, software modules, data, etc. into the memory 112 and execute various processes in accordance with these. The programs may be programs that cause the computer to execute at least some of the operations described in the above-described embodiments. The term "program" may also be read as "program code."

[0125] The memory 112 is a computer-readable recording medium and may be configured by at least one of, for example, a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically EPROM, a random access memory (RAM), or other suitable storage medium. The memory 112 may also be referred to as a register, a cache, a main memory, or the like. The memory 112 may store executable programs, software modules, and the like for implementing a method according to an embodiment of the present disclosure.

[0126] The control unit 11 may include a storage (auxiliary storage device) that is a computer-readable recording medium with a larger capacity than the memory 112. The control unit 11 may read and write data to and from the storage. The storage is not limited to being provided in the control unit 11, and may be independent of the control unit 11 and connected to the control unit 11 via a communication line.

[0127] The communication interface 113 may be called an input / output port and may be used to exchange information between the control unit 11 and other blocks. The other blocks are, for example, blocks for operation. For example, the control unit 11 may acquire a signal from the sensor 12 via the communication interface 113.

[0128] The control unit 11 may provide a driving assistance function, an automatic driving function, and the like based on an inertial navigation system, an artificial intelligence (AI) chip, an AI processor, an AI function, and the like.

[0129] The sensors 12 may include, for example, a current sensor, a wheel rotation speed sensor, a tire pressure sensor, a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, an object detection sensor, etc. Each sensor may provide a signal (such as an on / off signal, an analog signal, or a digital signal) obtained by measurement to the control unit 11 via the communication interface 113. For example, the object detection sensor may generate a detection signal when it detects a target such as an obstacle, a vehicle, or a pedestrian.

[0130] The sensor 12 may include a device capable of providing information on the surrounding environment of the vehicle 10, such as a millimeter-wave radar, a Light Detection and Ranging (LiDAR), a camera, a gyro system (e.g., an Inertial Measurement Unit (IMU)), etc. A plurality of sensors 12 may be mounted on the vehicle 10, and a plurality of sensors 12 of the same type may be mounted on the vehicle. For example, cameras serving as the sensor 12 may be mounted on the front, rear, and both sides of the vehicle 10.

[0131] Locator 13 acquires location information of vehicle 10. In the present disclosure, location information may include, for example, latitude, longitude, etc. Locator 13 may acquire the location information based on a positioning system (e.g., a satellite positioning system (e.g., a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), etc.)), map information (e.g., a High Definition (HD) map, an Autonomous Vehicle (AV) map, etc.), speed, acceleration, angular velocity, etc. obtained from the above-mentioned sensor 12.

[0132] The input / output unit 14 includes an input device that receives input from the outside and an output device that outputs to the outside. The input device is, for example, a keyboard, a mouse, a microphone, a switch, a button, or a sensor. The output device is, for example, a display, a speaker, or a light emitting diode (LED) lamp. The input device and the output device may be integrated into one device (for example, a touch panel).

[0133] The input / output unit 14 may be configured with various devices, such as a car navigation system, an audio system, a television, a radio, etc., for providing various information such as driving information, and one or more ECUs for controlling these devices. The input / output unit 14 may provide various information / services to the occupants of the vehicle 10 using information acquired from an external device (e.g., an ITS server 30) via the communication unit 15.

[0134] The input / output unit 14 may receive input through a user operation, or may receive data input by being connected to a predetermined device, storage medium, etc. The input / output unit 14 may output the input result to the control unit 11, for example.

[0135] The input / output unit 14 may output data, content, etc. in a form that is perceptible to a user.

[0136] The communication unit 15 is hardware for wirelessly communicating with external devices (e.g., other vehicles 10, ITS server 30, etc.), and is also referred to as, for example, a transceiver device, a network device, a network controller, a network card, or a communication module. The communication unit 15 may be configured to include a high-frequency switch, a duplexer, a filter, an amplifier, a frequency synthesizer, an antenna, etc. The communication unit 15 may be configured by a transmitter / receiver, a transceiver circuit, or a transceiver device described based on common understanding in the technical field to which the present disclosure relates.

[0137] The communication unit 15 is, for example, Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 6th generation mobile communication system (6G), xth generation mobile communication system (xG (x is, for example, an integer or a decimal)), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE Communication may be performed using 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), or other wireless communication methods, or wireless communication methods that are expanded, modified, created, or defined based on these.

[0138] The communication unit 15 may be controllable by the processor 111 of the control unit 11, and the communication unit 15 may be included in the control unit 11.

[0139] The communication unit 15 may transmit at least one of the signal from the sensor 12, information obtained based on the signal, information based on the input from the input / output unit 14, and the like to an external device via wireless communication.

[0140] The communication unit 15 may receive various information (traffic information, traffic signal information, vehicle distance information, etc.) from external devices and provide it to the control unit 11. This information may be output via the input / output unit 14. The control unit 11 may perform control based on this information.

[0141] The method for realizing each functional block is not particularly limited. That is, each functional block may be realized using one device that is physically or logically coupled, or may be realized using two or more devices that are physically or logically separated and connected directly or indirectly (for example, by wire, wirelessly, etc.). The functional block may also be realized by combining software with the one device or the multiple devices.

[0142] For example, although only one processor 111 is shown, there may be multiple processors. Furthermore, processing may be performed by one processor, or processing may be performed by two or more processors simultaneously, serially, or in other ways. Furthermore, processor 111 may be implemented by one or more chips.

[0143] The hardware of each functional block may be connected by a bus for communicating information. The bus may be configured using a single bus or may be configured using different buses for each device. The bus may be realized by wire or wireless.

[0144] The RSU 20, the ITS server 30, and the like may also have the same configuration as the vehicle 10. Those skilled in the art will be able to understand the descriptions related to the vehicle 10 by appropriately replacing them.

[0145] In addition, in the vehicle 10, a configuration including the control unit 11 or a configuration including the control unit 11 and the communication unit 15 may be called a message control device.

[0146] The control unit 11 generates a message including information about all or a plurality of sensors 12 included in the vehicle 10 on which the message control device is installed. The control unit 11 executes sensor information change control to vary the sensor information included in the generated message between successively transmitted messages. The sensor information may include each piece of sensor information included in a sensor information container.

[0147] The sensor information change control may include control to distribute and include multiple pieces of sensor feature information in multiple messages. The communication unit 15 may transmit multiple messages.

[0148] The sensor information change control may include control to set different values ​​for the identifiers (IDs) of one or more sensors included in each of the multiple messages for the same sensor.

[0149] The sensor information change control may include control of making the sensor reference position included in one or more of the plurality of messages to be transmitted sequentially different from the sensor reference position included in the other messages.

[0150] The control unit 11 may make the identifier for identifying a sender included in one type of message different from the identifier for identifying a sender included in another type of message.

[0151] The sensor information change control may be a control that causes detection area information corresponding to a certain sensor to differ among a plurality of messages that include sensor feature information related to the certain sensor.

[0152] The sensor information change control may be a control for changing the resolution of a specific parameter included in the sensor information relating to the same sensor included in a plurality of messages.

[0153] The control unit 11 may perform the sensor information change control when a certain period of time has not elapsed since the vehicle power supply of the vehicle was turned on, or when the vehicle has not moved a certain distance.

[0154] The control unit 11 may perform the sensor information change control if a certain period of time has not passed since the certificate included in the message or the identifier identifying the sender of the message was changed, or if the vehicle has not moved a certain distance.

[0155] The control unit 11 may perform sensor information change control when the vehicle is located from a certain period before the certificate to be included in the message or the identifier identifying the sender of the message is changed until the certificate to be included in the message or the identifier identifying the sender of the message is changed, or when the vehicle is located at a certain distance before the point where the certificate to be included in the message or the identifier identifying the sender of the message is changed until the certificate to be included in the message or the identifier identifying the sender of the message is changed.

[0156] (Variation) In addition, terms explained in this disclosure and terms necessary for understanding this disclosure may be replaced with terms having the same or similar meanings.

[0157] In the present disclosure, the terms apparatus, circuit, device, section, unit, etc. may be read interchangeably.

[0158] The term "vehicle" in the present disclosure may be interpreted as any moving object, including, but not limited to, vehicles, transport vehicles, automobiles, motorcycles, bicycles, connected cars, excavators, bulldozers, wheel loaders, dump trucks, forklifts, trains, buses, handcars, rickshaws, ships and other watercraft, airplanes, rockets, satellites, drones, multicopters, quadcopters, balloons, and objects carried by these vehicles.

[0159] The mobile body may be a mobile body that moves autonomously based on an operation command. The mobile body may be a mobile body that moves with a person on board, in other words, a vehicle (e.g., a car, an airplane, etc.), or may be an unmanned mobile body (e.g., a drone, an autonomous vehicle, etc.). The mobile body may be a robot. The robot may be manned or unmanned.

[0160] The information, parameters, etc. described in the present disclosure may be expressed using absolute values, relative values ​​from a predetermined value, or other corresponding information. For example, a radio resource may be indicated by a predetermined index.

[0161] The names used for parameters and the like in this disclosure are not limiting in any way, and furthermore, the mathematical formulas and the like using these parameters may differ from those explicitly disclosed in this disclosure.

[0162] The information, signals, etc. described in this disclosure may be represented using any of a variety of different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof.

[0163] Input and output information, signals, etc. may be stored in a specific location (for example, memory) or may be managed using a management table. Input and output information, signals, etc. may be overwritten, updated, or added. Output information, signals, etc. may be deleted. Input information, signals, etc. may be transmitted to another device.

[0164] Notification of information is not limited to the aspects / embodiments described in the present disclosure and may be performed using other methods. Furthermore, notification of predetermined information (e.g., notification that "X is true") is not limited to explicit notification, but may be performed implicitly (e.g., by not notifying the predetermined information or by notifying other information).

[0165] Software shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, threads of execution, procedures, functions, etc., whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.

[0166] Software, instructions, information, etc. may also be transmitted or received over a transmission medium. For example, if software is transmitted from a website, server, or other remote source using wired technologies (such as coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL)), and / or wireless technologies (such as infrared, microwave), then these wired and / or wireless technologies are included within the definition of transmission media.

[0167] Each aspect / embodiment described in this disclosure may be used alone, in combination, or switched depending on the implementation. Furthermore, the order of the processing procedures, sequences, flowcharts, etc. of each aspect / embodiment described in this disclosure may be changed unless inconsistent. For example, the methods described in this disclosure present elements of various steps using an example order, and are not limited to the specific order presented.

[0168] As used in this disclosure, the phrase "based on" does not mean "based only on," unless expressly stated otherwise. In other words, the phrase "based on" means both "based only on" and "based at least on."

[0169] As used in this disclosure, any reference to an element using a designation such as "first," "second," etc. does not generally limit the quantity or order of those elements. These designations may be used in this disclosure as a convenient method of distinguishing between two or more elements. Thus, a reference to a first and a second element does not imply that only two elements may be employed or that the first element must in some way precede the second element.

[0170] In the present disclosure, "A / B" and "at least one of A and B" may be interpreted interchangeably. Also, in the present disclosure, "A / B / C" may mean "at least one of A, B, and C."

[0171] In the present disclosure, the term "A and B are different" may mean "A and B are different from each other." The term may also mean "A and B are each different from C." Terms such as "separate" and "coupled" may also be interpreted in the same way as "different."

[0172] When used in this disclosure, the terms "include," "including," and variations thereof are intended to be inclusive, similar to the term "comprising." Furthermore, when used in this disclosure, the term "or" is not intended to be an exclusive or.

[0173] In this disclosure, where articles are added by translation, such as a, an, and the in English, the disclosure may include that the nouns following these articles are in the plural form.

[0174] In the present disclosure, terms such as "less than or equal to," "less than," "greater than," "more than," "equal to," etc. may be interchangeable. Furthermore, in the present disclosure, terms meaning "good," "bad," "big," "small," "high," "low," "fast," "slow," "wide," "narrow," etc. may be interchangeable, not limited to the positive, comparative, and superlative. Furthermore, in the present disclosure, terms meaning "good," "bad," "big," "small," "high," "low," "fast," "slow," "wide," "narrow," etc. may be interchangeable, not limited to the positive, comparative, and superlative, as expressions with the prefix "i-th" (i is any integer) (for example, "highest" may be interchangeable as "i-th highest").

[0175] In this disclosure, the terms "of," "for," "regarding," "related to," "associated with," etc. may be read interchangeably.

[0176] Although the present disclosure has been described in detail above, those skilled in the art can make modifications and changes to the embodiments without departing from the spirit and scope of the present disclosure. [Explanation of symbols]

[0177] 1...ITS, 10...vehicle, 11...control unit, 12...sensor, 13...locator, 14...input / output unit, 15...communication unit, 20...roadside unit, 30...ITS server, 111...microprocessor, 112...memory, 113...communication interface

Claims

1. A message control device, a control unit that generates a message including sensor feature information for a plurality of sensors included in a vehicle on which the message control device is installed; a communication unit that transmits a message generated by the control unit, The control unit executes sensor information change control to change the sensor feature information included in the message between successively transmitted messages.

2. The message control device according to claim 1 , wherein the sensor information change control includes control of distributing and including a plurality of pieces of the sensor characteristic information, each of which is different from the other in at least some of the sensors, in a plurality of the messages.

3. the sensor characteristic information includes an identifier of the sensor; The message control device according to claim 1 , wherein the sensor information change control includes control for changing identifiers of one or more of the sensors included in each of the plurality of messages to different values ​​for the same sensor.

4. the sensor characteristic information includes a sensor reference position that is referenced when determining the position of the sensor; The message control device according to claim 1 , wherein the sensor information change control includes control for making the sensor reference position included in one or more of the plurality of messages transmitted sequentially different from the sensor reference position included in other messages.

5. the sensor feature information includes detection area information indicating an area in which the sensor detects an object; The message control device according to claim 1 , wherein the sensor information change control includes control for changing the detection area information corresponding to a certain sensor among a plurality of the messages.

6. the sensor characteristic information includes a parameter resolution of the sensor; The message control device according to claim 1 , wherein the sensor information change control includes control for varying resolution of the sensor parameters among the plurality of messages.

7. 7. A message control device according to claim 1, wherein the control unit performs the sensor information change control when a certain period of time has not elapsed since the vehicle power supply of the vehicle was turned on or when the vehicle has not moved a certain distance.

8. A message control device as described in any one of claims 1 to 6, wherein the control unit performs the sensor information change control when a certain period of time has not elapsed since the certificate included in the message or the identifier identifying the sender of the message was changed, or when the vehicle has not moved a certain distance.

9. 7. The message control device according to claim 1, wherein the control unit performs the sensor information change control when the vehicle is located from a certain period before the certificate to be included in the message or the identifier identifying the sender of the message is changed until the certificate to be included in the message or the identifier identifying the sender of the message is changed, or when the vehicle is located at a position from a certain distance before the point at which the certificate to be included in the message or the identifier identifying the sender of the message is changed to the point at which the certificate to be included in the message or the identifier identifying the sender of the message is changed.

10. 7. The message control device according to claim 1, wherein the control unit differentiates an identifier for identifying a sender included in one type of message from an identifier for identifying a sender included in a message of a type other than the message.

11. A message control method executed by a message control device mounted on a vehicle, comprising: a step of generating messages including sensor feature information for a plurality of sensors included in the vehicle, wherein the sensor feature information to be included in the messages is varied among the messages to be sequentially transmitted; and transmitting the generated message.

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