JP2018190221A - On-vehicle device, driving support device, and driving support network - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for performing situation-dependent proper processing irrespectively of whether a situation permits acquisition of caution information sent from a roadside device.SOLUTION: If a roadside device is determined to exist within a detection range, an on-vehicle device executes request communication in S210. If road-vehicle communication is found not to be established in response to the request communication in S220, the on-vehicle device selects control software in S260. The on-vehicle device acquires the speed of an own vehicle in S270. The on-vehicle device sets a determination range in S280. If the own vehicle is found to exist within the set determination range in S290, the on-vehicle device notifies a control execution unit of the fact in S300.SELECTED DRAWING: Figure 8

Description

  The present disclosure relates to a technique of an in-vehicle device provided in a vehicle.

  Acquire caution information, which is information indicating that there is something that poses a danger to the traveling of oncoming vehicles, etc. from roadside devices installed in infrastructure such as traffic lights and perform predetermined processing Techniques related to in-vehicle devices are known.

  For example, the roadside device described in Patent Document 1 is mounted on an infrastructure and detects an oncoming vehicle. The in-vehicle device acquires the caution information indicating that the vehicle has been detected from the roadside device, and before the vehicle equipped with the in-vehicle device turns right at the intersection where the infrastructure is installed, the content of the acquired caution information is obtained. Notify the driver of the vehicle.

JP 2005-11252 A

  However, when there is no notification to the driver of the vehicle, the situation is not necessarily a situation where notification is not necessary. For example, when the roadside device is not installed in the infrastructure or when the roadside device installed in the infrastructure is not operating normally, the vehicle driver is not notified.

  An object of the present disclosure is to provide a technique for performing an appropriate process according to a situation regardless of whether or not the situation is a situation where attention information from a roadside device can be acquired.

  One aspect of the present disclosure is an in-vehicle device (16) provided in a vehicle, which includes a communication unit (S210, S220), an infrastructure acquisition unit (S120), a vehicle acquisition unit (S110), and a range setting unit ( S280), an establishment determination unit (S220), a presence determination unit (S290), and a notification unit (S300). The communication units (S210, S220) exist within the communicable range of the communication module (13), and perform road-to-vehicle communication with the roadside device (20) mounted on the infrastructure installed on the road. The infrastructure acquisition unit (S120) acquires infrastructure location information indicating the location of the infrastructure. The vehicle acquisition unit (S110) acquires the position of the vehicle. The range setting unit (S280) sets a determination range that is a predetermined range including the infrastructure position represented by the infrastructure position information. The establishment determination unit (S220) determines whether or not a connection for road-to-vehicle communication has been established by the communication unit. The presence determination unit (S290) determines whether a vehicle exists in the determination range. The notification unit (S300) determines that there is a vehicle in the determination range by the presence determination unit, and determines that the road-vehicle communication connection with the roadside device is not established by the establishment determination unit. A communication failure notification, which is a predetermined notification indicating that communication connection cannot be performed, is performed.

  According to such a configuration, it is possible to perform appropriate processing according to the situation regardless of whether or not the attention information can be acquired from the roadside device.

It is a figure which shows the structure of a driving assistance network. It is a block diagram which shows the structure of a driving assistance device. It is a figure which shows communication range information. It is a figure which shows judgment range information. It is a block diagram which shows the structure of a roadside apparatus. It is a block diagram which shows the structure of a service base station. It is a flowchart which shows an apparatus recognition process. It is a flowchart which shows an establishment judgment process. It is a figure showing the state which a roadside apparatus and a vehicle-mounted communication module cannot communicate. It is a figure showing the judgment range set for every control execution part. It is a flowchart which shows a control software addition process.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[Embodiment]
[1. Constitution]
The driving support network 1 illustrated in FIG. 1 includes a driving support device 10, a roadside device 20, and a service base station 30.

  When the driving support device 10 obtains caution information, which is information indicating that there is something that causes danger in traveling, by performing road-to-vehicle communication with the roadside device 20, and when the caution information is obtained, Process to avoid danger. The process for avoiding danger here is a known process such as notification to the driver or automatic driving. On the other hand, when the communication with the roadside device 20 cannot be established, the driving support device 10 executes processing according to the situation where the communication cannot be established.

  The roadside device 20 is mounted on an infrastructure installed on a road, detects a target existing on the road, and transmits a detection result as caution information to the driving support device 10 through road-to-vehicle communication with the driving support device 10. This is a well-known device. In addition, infrastructure here refers to traffic infrastructure such as traffic lights, equipment installed at junctions, equipment installed on pedestrian crossings, and the like. The detection result here is information indicating that a vehicle has entered the intersection or that another vehicle has joined.

The service base station 30 is a base station that communicates with the driving support device 10 and transmits and receives predetermined information to the driving support device 10.
<Drive assist device>
As shown in FIG. 2, the driving support device 10 includes a GNSS receiver 11, a sensor group 12, a first communication module 14, a second communication module 15, a map memory 13, an in-vehicle device 16, and a control execution unit 17. With. GNSS is an abbreviation for Global Navigation Satellite System. The vehicle on which the driving support device 10 is mounted is hereinafter referred to as a host vehicle.

The GNSS receiver 11 is a device that receives a transmission radio wave from a GNSS artificial satellite and detects its own vehicle position.
The sensor group 12 includes known sensors such as a speed sensor and an acceleration sensor that measure movement information representing the state of the vehicle such as the vehicle speed and acceleration of the vehicle.

  The map memory 13 stores road map data. The map data includes infrastructure identification information that identifies the infrastructure. The infrastructure identification information includes infrastructure position information and infrastructure type information. The infrastructure position information is information indicating the position on the map where the infrastructure exists, and the infrastructure type information is information indicating the type of infrastructure. The type of infrastructure here refers to a type classified according to the use of the device, such as a traffic light, a device installed at a junction, and a device installed at a crosswalk. That is, each infrastructure is specified by infrastructure identification information including infrastructure location information and infrastructure type information. The infrastructure identification information is not limited to the information identified by the infrastructure position information and the infrastructure type information, and may be identified by a number such as an ID, for example.

  The first communication module 14 is a communication module that transmits and receives data for performing road-to-vehicle communication with the roadside device 20. The first communication module 14 issues an establishment request to the roadside device 20 in order to establish a connection. Further, each first communication module 14 has a type. As shown in FIG. 3, the communicable range represented by the communication range information differs depending on the combination of the type of the first communication module 14 and each of the roadside devices 20. Here, the communicable range refers to a range in which the first communication module 14 is the center and the distance in which the first communication module 14 and the roadside device 20 can normally communicate is a radius. Here, information representing the communicable range is defined as communication range information.

  The second communication module 15 is a communication module that transmits and receives data to and from the service base station 30. The second communication module 15 acquires the communication range information of the first communication module 14 from the service base station 30. The communication range information is acquired from the service base station 30 each time the ignition of the host vehicle is turned on.

  In addition, the second communication module 15 uses the communication range information stored in the control memory 162 when the communication connection between the roadside device 20 and the in-vehicle device 16 is determined by the establishment determination process to be described later. Transmit to station 30.

  The in-vehicle device 16 notifies the control execution unit 17 that communication is not possible in accordance with information input from a device connected to the in-vehicle device 16. The communication impossibility notification here is a notification indicating that the in-vehicle device 16 cannot establish a connection with the roadside device 20 under a predetermined condition.

  The in-vehicle device 16 includes a connector for connecting various devices such as the GNSS receiver 11, the sensor group 12, the first communication module 14, the second communication module 15, the map memory 13, and the control execution unit 17, and an interface such as wireless communication. .

  The in-vehicle device 16 is mainly configured by a known microcomputer having a CPU 161 and a semiconductor memory (hereinafter referred to as a control memory 162) such as a RAM, a ROM, and a flash memory. Various functions of the in-vehicle device 16 are realized by the CPU 161 executing a program stored in a non-transitional physical recording medium. In this example, the control memory 162 corresponds to a non-transitional tangible recording medium that stores a program. Also, by executing this program, a method corresponding to the program is executed. Note that the number of microcomputers constituting the in-vehicle device 16 may be one or plural.

The control memory 162 includes a communication information area in addition to the program area which is an area for storing the above-described program.
Communication range information and determination range information are stored in the communication information area of the control memory 162. The control memory 162 stores communication range information acquired by the second communication module 15, and the communication range information stored in the control memory 162 is updated by an establishment determination process described later. The update of the communicable range represented by the communication range information may be obtained by weighted averaging the received communicable range. Specifically, it may be obtained by the equation (1).

In equation (1), n represents the number of times the communicable range stored in the control memory 162 is averaged, and R _i-1 represents the radius of the past communicable range stored in the control memory 162. Also, r _i-1 represents the radius represented by the communicable range represented by the newly acquired communication range information, and R _i represents the radius of the new communicable range derived by the weighted average.

  The determination range information is information indicating the determination range. The determination range is represented by a distance starting from the infrastructure on which the roadside device 20 is mounted. The determination range is derived by a determination constant set by a combination of control software type and infrastructure identification information, which is software stored in the control execution unit 17 described later, as shown in FIG. 4, and a function f (v). It is represented by the value. Here, the type of control software is classified according to the distance between the infrastructure assumed to be notified to the control software and the vehicle. The value derived from the function f (v) depends on the vehicle speed acquired by the sensor group 12. Note that the value derived from the function f (v) increases as the speed of the host vehicle increases, for example. Further, the distance that can be stopped safely according to the speed of the host vehicle may be set as a value derived from the function f (v).

  The in-vehicle device 16 realizes device recognition processing to be described later when the CPU 161 executes a program. The method for realizing various functions of the in-vehicle device 16 is not limited to software, and some or all of the elements may be realized using one or a plurality of hardware. For example, when the above function is realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit including a large number of logic circuits, an analog circuit, or a combination thereof.

The control execution unit 17 has a configuration capable of adding and deleting control software. When the road-to-vehicle communication between the roadside device 20 and the driving support device 10 can be performed, the control execution unit 17 acquires the caution information acquired through the road-to-vehicle communication from the in-vehicle device 16. And control according to attention information is performed. In addition, since the control according to the caution information when road-to-vehicle communication can be performed is well known, it is omitted. The control execution unit 17 receives a communication failure notification from the in-vehicle device 16 that the road-to-vehicle communication between the in-vehicle device 16 and the roadside device 20 cannot be performed, and executes the control software stored in the control execution unit 17. The control software performs, for example, driving control of the own vehicle or notification to the driver of the own vehicle in response to the communication failure notification from the in-vehicle device 16.
<Roadside device>
The configuration of the roadside device 20 is shown in FIG. The roadside device 20 includes a device storage unit 21, a device detection unit 22, and a device communication unit 23.

The device storage unit 21 stores infrastructure identification information of the infrastructure on which the roadside device 20 is mounted.
The device detection unit 22 detects a target determined in advance according to the type of infrastructure represented by the infrastructure type information on which the roadside device 20 is mounted. For example, when the type of infrastructure on which the roadside device 20 is mounted is a traffic light installed at an intersection, it is configured to detect a vehicle or a pedestrian that has entered the intersection as a predetermined target. For example, when the type of infrastructure on which the roadside device 20 is mounted is a device installed at a merge point, the vehicle that merges is detected as a predetermined target.

The device communication unit 23 establishes a connection by establishing a connection by responding to an establishment request from the first communication module 14 in order to establish a connection for road-to-vehicle communication with the driving support device 10. And the apparatus communication part 23 performs the road-vehicle communication with the driving assistance apparatus 10 in the state by which the connection was established, and transmits the detection result detected by the apparatus detection part 22. FIG. The communication performed by the roadside device 20 is well known.
<Service base station>
As illustrated in FIG. 6, the service base station 30 includes an information storage unit 32, an information reception unit 31, an information update unit 33, and an information transmission unit 34.

The information receiving unit 31 acquires the communication range information stored in the control memory 162 of each vehicle from the driving support device 10 of each vehicle.
The information storage unit 32 stores a communicable range received by the information receiving unit 31 in the past. Here, as shown in FIG. 3, the information of the communicable range stored in the information receiving unit 31 is, for example, for each combination of the type of the first communication module 14 and the infrastructure identification information of the infrastructure on which the roadside device 20 is mounted. Remembered.

The information update unit 33 includes a communicable range stored in the information storage unit 32 based on a past communicable range stored in the information storage unit 32 and a communicable range newly received by the information receiving unit 31. Update. Here, the update of the communicable range may be obtained in the same manner as the update of the control memory 162. Here, in the above-described equation (1), n is the number of times the communicable range stored in the information storage unit 32 is averaged, and R _i-1 is stored in the information storage unit 32. The radius of the range, r _i-1 represents the radius represented by the communicable range represented by the communication range information newly received by the information receiving unit 31, and R _i represents the radius of the new communicable range derived by weighted averaging. Represent.

In response to a request from the driving support device 10, the information transmission unit 34 transmits the roadside device information stored in the information storage unit 32 to the requested driving support device 10.
[2. processing]
<Device recognition processing>
Next, device recognition processing executed by the in-vehicle device 16 will be described with reference to the flowchart of FIG. The device recognition process is started when the ignition of the own vehicle is turned on. The device recognition process is repeated at a predetermined cycle. The predetermined cycle in which the device recognition process is performed refers to a cycle in which infrastructure existing in the communicable range can be detected even when the vehicle moves at the maximum speed, for example.

First, in S <b> 110, the in-vehicle device 16 acquires the vehicle position detected by the GNSS receiver 11.
Subsequently, in S120, the in-vehicle device 16 determines whether or not the infrastructure exists within a detection range that is a predetermined range around the host vehicle. Here, for example, the detection range may be set based on the communicable range received in S120. Specifically, the longest range may be set as the detection range among the communicable ranges set according to the combination of the vehicle and the infrastructure identification information.

If the in-vehicle device 16 determines that there is no infrastructure within the detection range, the in-vehicle device 16 returns to the processing of S110.
If the in-vehicle device 16 determines that the infrastructure exists within the detection range, the in-vehicle device 16 proceeds to S130.

  In S130, the in-vehicle device 16 performs establishment determination processing on the roadside device 20 mounted on the infrastructure determined to be present in the detection range in S120, and ends the processing. Details of the establishment determination process will be described later.

Here, S110 corresponds to processing as a vehicle acquisition unit, and S120 corresponds to processing as an infrastructure acquisition unit.
<Establishment judgment process>
Here, details of the establishment determination process executed by the in-vehicle device 16 in the previous S130 will be described with reference to the flowchart shown in FIG.

  In S <b> 210, the in-vehicle device 16 issues an establishment request to the roadside device 20. The establishment request referred to here is communication requesting that the in-vehicle device 16 establish connection with the roadside device 20.

  In S220, the in-vehicle device 16 determines whether or not the roadside device 20 has established a connection in response to the establishment request made in S210, and the communication connection between the in-vehicle device 16 and the roadside device 20 has been established.

If it is determined in S220 that a communication connection has been established, the process proceeds to S230.
In S230, the in-vehicle device 16 acquires the established position, which is the position of the own vehicle at the time of establishment, and the device position information of the roadside device 20, and derives the difference between the established position and the position represented by the device position information as an established distance. To do.

  In S240, the in-vehicle device 16 updates the communicable range stored in the control memory 162 with the established distance derived in S230. Here, a new communicable range by updating the communicable range may be obtained by a weighted average as shown in Expression (1), similarly to the determination range. Further, the latest established distance may be updated as a new communicable range. That is, the boundary of the original communicable range stored in the control memory 162 is updated so as to approach the established position.

In S250, the in-vehicle device 16 transmits the type of the first communication module 14 and the infrastructure identification information to the service base station 30, and ends the establishment determination process.
On the other hand, if the in-vehicle device 16 determines that communication has not been established in S220, the in-vehicle device 16 proceeds to S260.

In S <b> 260, the in-vehicle device 16 selects control software for which the notification determination process has not been executed among the control software included in the control execution unit 17 connected to the in-vehicle device 16.
In S <b> 270, the in-vehicle device 16 acquires the speed of the own vehicle from the vehicle speed sensors included in the sensor group 12.

In S280, the in-vehicle device 16 calculates the value represented by the determination range of the control software selected in S260 based on the speed of the own vehicle acquired in S270 and the determination range represented by the determination range information.
In S290, the in-vehicle device 16 determines whether or not the own vehicle exists within the determination range represented by the value calculated in S280.

If it is determined that the in-vehicle device 16 is not included in the determination range in S290, the in-vehicle device 16 ends the communication determination process.
On the other hand, if the in-vehicle device 16 determines in S290 that it is included in the determination range, the process proceeds to S300.

In S300, the in-vehicle device 16 notifies the control execution unit 17 that communication is not possible. The control execution unit 17 executes the control software selected in S260.
In S310, it is determined whether there is control software for which notification determination processing is not selected.

When it is determined that there is control software for which the notification determination process has not been executed, the process returns to S260 and the subsequent processes are performed.
If it is determined that there is no control software for which the notification determination process has not been executed, the process ends.

Here, S210 corresponds to processing as a communication unit, S220 corresponds to processing as an establishment determination unit, S230 corresponds to processing as an established position acquisition unit, and S240 corresponds to processing as a range update unit. . Further, S270 corresponds to the process as the movement acquisition unit, S280 corresponds to the process as the range setting unit and the range adjustment unit, S290 corresponds to the process as the presence determination unit, and S300 as the processing as the notification unit. Equivalent to.
<Control software addition processing>
Here, control software addition processing executed by the in-vehicle device 16 will be described with reference to FIG. The control software addition process starts when control software is added to the control execution unit 17. Hereinafter, the added control software is referred to as additional software.

  In S410, the in-vehicle device 16 determines the type of additional software. Here, the type of control software is classified according to the execution timing, which is the timing at which it is necessary to execute additional software when road-to-vehicle communication between the in-vehicle device 16 and the roadside device 20 cannot be performed, for example. . That is, for example, as shown in FIG. That is, the additional software may be executed immediately before reaching the roadside device 20 is classified as type 1, and those that require a margin before reaching the roadside device 20 are classified as type 3. . Moreover, the structure which acquires the kind of additional software, and a type is newly added according to the kind may be sufficient.

  In S420, the in-vehicle device 16 applies the determination range to the additional software from the type of the additional software determined in S410. That is, the additional software applies the determination range represented by the type of the corresponding control software in the determination range information shown in FIG. 4 to the additional software. Alternatively, for example, a new determination range may be set to a predetermined value according to the type of additional software.

In S430, the in-vehicle device 16 determines whether or not the determination range applied in S420 is within the communicable range stored in the control memory 162.
If it is determined that the determination range applied in S420 is within the communicable range stored in the control memory 162, the in-vehicle device 16 ends the control software addition process.

If the in-vehicle device 16 determines that the determination range applied in S420 is not within the communicable range stored in the control memory 162, the in-vehicle device 16 proceeds to S440.
In S440, the in-vehicle device 16 executes the non-executable process and ends the control software addition process.

  Here, the non-executable process is a process performed when the additional software cannot operate properly, for example, a process of notifying the driver of an unexecutable notification that is a notification that the additional software cannot be executed, For example, processing to stop adding additional software.

Note that S440 corresponds to processing as an additional processing unit.
<Operation example>
As shown in FIG. 9, when the roadside device 20 is installed in a traffic light installed at an intersection, the vehicle-mounted device 16 and the roadside device 20 are in a state where the position of the own vehicle is included in the determination range of the control software. When the communication connection is not established, a communication impermissibility notification is sent to the control execution unit 17. The control execution unit 17 executes control software.

  Also, as shown in FIG. 10, when a plurality of control software A, B, and C exist in the control execution unit 17, a determination range is set for each control software. For example, in the positional relationship as shown in FIG. 10, since the vehicle has entered the judgment range of the control software C, if communication with the roadside device 20 is not possible, the vehicle-mounted device 16 communicates with the control software C. An impossibility notification is made, and the control software C performs a preset process.

[3. effect]
According to the embodiment described in detail above, the following effects can be obtained.
(1) When the in-vehicle device 16 notifies the control software included in the control execution unit 17 that communication is impossible, the vehicle can recognize the presence of the infrastructure even when the attention information cannot be acquired from the infrastructure as shown in FIG. . As a result, when the control software included in the control execution unit 17 receives a communication impossible notification, the control software does not have the roadside device 20 installed in the infrastructure, or the installed roadside device 20 operates normally. Because the driver can drive based on the information when the process of notifying the driver of the communication failure notification indicating that the vehicle does not have a function of performing road-to-vehicle communication due to reasons such as not being performed. , Safe operation control can be performed. In addition, when the predetermined process set in the control software is a process for performing the operation control, the control software receives a notification that communication is not possible and can avoid the danger by performing the operation control.

  (2) In the above embodiment, the in-vehicle device 16 sets the determination range using the speed of the own vehicle. The determination range becomes wider as the speed of the vehicle increases. As a result, when the connection between the roadside device 20 and the in-vehicle device 16 cannot be established, the time until the vehicle reaches the infrastructure on which the roadside device 20 is mounted is secured, thus improving safety. Can be made.

  (3) In the above embodiment, the communication range information is transmitted from the in-vehicle device 16 to the service base station 30 and acquired by the service base station 30. The service base station 30 can derive a more accurate communicable range by calculating the communicable range based on information acquired from the in-vehicle devices 16 provided in a plurality of vehicles. Thereby, more accurate communication range information can be provided to the vehicle.

  (4) In the above embodiment, the determination range is set for each control software included in the control execution unit 17. As a result, as shown in FIG. 10, even when the process performed for each control software is a notification to the driver or when it is an automatic operation, a determination range corresponding to the timing at which each process should be performed can be set. it can.

[4. Other Embodiments]
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can carry out various modifications.

  (1) In the above embodiment, the control memory 162 stores communication range information representing the communicable range for each combination of the type of the first communication module 14 and the infrastructure identification information. However, the communication range information stored in the control memory 162 is not limited to this. That is, as the communication range information stored in the control memory 162, only the communicable range set by the combination of the first communication module 14 provided in the host vehicle and the infrastructure identification information may be stored. In this case, the in-vehicle device 16 may acquire only the communicable range corresponding to the type of the first communication module 14 of the own vehicle from the service base station 30.

  According to such a configuration, the amount of data in the communicable range to be acquired can be suppressed. For this reason, for example, the communication load between the first communication module 14 and the service base station 30 is reduced. In addition, the capacity required for storing the communication range information can be reduced.

  (2) In the above embodiment, the communication range information is set for each combination of the infrastructure identification information and the first communication module 14. However, the method of setting the communication range information is not limited to this. For example, the communicable range may be set by a combination of the infrastructure type represented by the infrastructure type information and the type of the first communication module 14.

  According to such communication range information, the number of combinations can be reduced as compared with the case where the combination is set by the combination of the infrastructure identification information and the type of the first communication module 14. For this reason, for example, the communication load between the first communication module 14 and the service base station 30 is reduced. In addition, the capacity required for storing the communication range information can be reduced.

  (3) In the above embodiment, the establishment determination process is performed on the roadside apparatus 20 mounted on the infrastructure determined to be within the detection range. Here, the roadside apparatus 20 that performs the establishment determination process is one. It is not limited. That is, the establishment determination process may be performed on a plurality of roadside devices 20. In this case, a plurality of roadside devices 20 may be identified using infrastructure identification information on which the roadside devices 20 are mounted. Moreover, you may provide the identification information which identifies each in the roadside apparatus 20 itself. In this case, each may be identified by identification information provided in the roadside device 20 itself.

  (4) In the above embodiment, the driving support device 10 has two communication modules, the first communication module 14 and the second communication module 15, but the configuration of the communication module is not limited to this. For example, the configuration may be such that one communication module can communicate with the roadside device 20 and the service base station 30.

  (5) In the above embodiment, the determination range includes the function f (v) that varies depending on the speed of the vehicle detected by the sensor group. However, the function included in the determination range is limited to such a function. It is not something. That is, it may be a function that varies depending on movement information such as the acceleration of the vehicle.

  (6) In the above embodiment, the detection range is set based on the communicable range, but the detection range setting method is not limited to this. For example, a range having a predetermined fixed distance as a radius may be set as the detection range.

  (7) In the above embodiment, the roadside device 20 includes the device communication unit 23 that communicates with the driving support device 10, but the partner with which the roadside device 20 communicates is not limited thereto. For example, the structure which communicates with the service base station 30 may be sufficient. In this case, it is good also as a structure which transmits the information for every roadside apparatus 20 to the service base station 30. FIG.

  (8) In the above embodiment, the driving support device 10 communicates with the roadside device 20 and the service base station 30, but the partner with which the driving support device 10 communicates is not limited to this. For example, it is good also as a structure which performs the vehicle-vehicle communication with the driving assistance apparatus 10 mounted in another vehicle.

In such a configuration, communication range information and communication determination information included in other vehicles may be acquired as appropriate.
(9) In the above embodiment, the in-vehicle device 16 transmits an establishment request to the road-side device 20 in order to establish communication between the in-vehicle device 16 and the road-side device 20, but a method for establishing communication is described here. It is not limited. For example, it is good also as a structure which transmits an establishment request | requirement from the roadside apparatus 20. FIG.

  (10) In the above-described embodiment, the in-vehicle device 16 executes the control software addition process, but what executes the control software addition process is not limited to this. For example, the control execution unit 17 may execute the process. In this case, the control execution unit 17 may acquire information on a communicable range from the in-vehicle device 16.

  (11) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

  (12) In addition to the above-described driving support device, a system including the driving support device as a constituent element, a program for causing a computer to function as the driving support device, and a non-transitional actual record such as a semiconductor memory storing the program The present disclosure can also be realized in various forms such as a medium and a driving support method.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance network, 10 ... Driving assistance apparatus, 11 ... GNSS receiver, 12 ... Sensor group, 13 ... 1st communication module, 14 ... 2nd communication module, 15 ... Map memory, 16 ... In-vehicle apparatus, 17 ... Control Execution unit, 20 ... roadside device, 21 ... device storage unit, 22 ... device detection unit, 23 ... device communication unit, 30 ... service base station, 31 ... information reception unit, 32 ... information storage unit, 33 ... information update unit, 34 ... Information transmission unit, 161 ... CPU, 162 ... Control memory.

Claims (14)

An in-vehicle device (16) provided in a vehicle,
Communication units (S210, S220) that are within the communicable range of the communication module (13) and configured to perform road-to-vehicle communication with the roadside device (20) mounted on the infrastructure installed on the road When,
An infrastructure acquisition unit (S120) configured to acquire infrastructure location information representing the location of the infrastructure;
A vehicle acquisition unit (S110) configured to acquire the position of the vehicle;
A range setting unit (S280) configured to set a determination range that is a predetermined range including the location of the infrastructure represented by the infrastructure location information;
An establishment determination unit (S220) configured to determine whether the road-to-vehicle communication connection has been established by the communication unit;
A presence determination unit (S290) configured to determine whether or not the vehicle exists in the determination range;
When the presence determination unit determines that the vehicle is present in the determination range, and the establishment determination unit determines that the connection between the road-vehicle communication is not established, the road-vehicle distance to the roadside device A notification unit (S300) configured to perform a communication failure notification that is a predetermined notification that communication connection cannot be performed;
A vehicle-mounted device. The in-vehicle device according to claim 1,
The in-vehicle device further comprising a range adjustment unit (S280) configured to adjust the determination range set by the range setting unit. The in-vehicle device according to claim 2,
A movement acquisition unit (S270) for acquiring movement information representing at least one of the speed and acceleration of the vehicle;
The range adjustment unit is an in-vehicle device configured to adjust the determination range to be larger as the movement information acquired by the movement acquisition unit is larger. The in-vehicle device according to any one of claims 1 to 3,
An established position acquisition unit (S230) configured to acquire an established position that is the position of the vehicle at the time when communication between the communication unit and the roadside device is established;
The in-vehicle device further comprising a range update unit (S240) configured to update the communicable range so that a boundary of the communicable range approaches the established position acquired by the established position acquisition unit. The vehicle-mounted device according to any one of claims 1 to 4,
The at least one control execution unit (17) that receives the communication disabled notification is configured to store and execute at least one control software that performs a predetermined process according to the communication disabled notification. apparatus. The in-vehicle device according to claim 5,
The range setting unit is configured to set the determination range for each control software,
The vehicle presence device configured to determine whether the vehicle exists in each of the determination ranges. The in-vehicle device according to claim 6,
The range setting unit is configured to set the determination range to a predetermined size in the additional software that is the added control software when the control software is newly added to the control execution unit. And
The in-vehicle device is configured to perform a predetermined process when the determination range for performing the communication disabled notification to the additional software set by the range setting unit is larger than the communication possible range. The in-vehicle device further provided with a processing unit (S440). The in-vehicle device according to claim 7,
The in-vehicle device, wherein the additional processing unit is configured to perform a non-executable notification that is a notification that the additional software cannot be executed as a predetermined process. The in-vehicle device according to claim 7,
The additional processing unit is an in-vehicle device configured to stop adding the additional software as a predetermined process. The in-vehicle device according to claim 7,
The control execution unit is configured to add the additional software,
The in-vehicle device configured to request the control execution unit to stop adding the additional software to the control execution unit as a predetermined process. The vehicle-mounted device according to any one of claims 1 to 4,
An in-vehicle device further comprising a control execution unit configured to store and execute control software that is at least one software that performs a predetermined process in response to the communication failure notification. The in-vehicle device according to claim 11,
The at least one said control software is a vehicle-mounted apparatus which alert | reports that the said communication disabled notification was given to the driver of the said vehicle as said control according to the said communication disabled notification by the said vehicle-mounted apparatus. The in-vehicle device according to claim 11,
The at least one said control software is a vehicle-mounted apparatus which performs driving control of the said vehicle as said control according to the said communication impossible notification by the said vehicle-mounted apparatus. A driving support network (1) for supporting driving of a vehicle,
An in-vehicle device (16);
A roadside device (20) for detecting a target installed on the road and existing on the road;
At least one serving base station (30);
With
The in-vehicle device is
Communication units (S210, S220) that are within the communicable range of the communication module (13) and configured to perform road-to-vehicle communication with the roadside device (20) mounted on the infrastructure installed on the road When,
An infrastructure acquisition unit (S120) configured to acquire infrastructure location information representing the location of the infrastructure;
A vehicle acquisition unit (S110) configured to acquire the position of the vehicle;
A range setting unit (S280) configured to set a determination range that is a predetermined range including the location of the infrastructure represented by the infrastructure location information;
An establishment determination unit (S220) configured to determine whether or not the road-to-vehicle communication has been established by the communication unit;
A presence determination unit (S290) configured to determine whether or not the vehicle exists in the determination range;
When the presence determination unit determines that the vehicle is present in the determination range, and the establishment determination unit determines that the road-vehicle communication is not established, the road-vehicle communication with the roadside device is performed. A notification unit (S300) configured to perform a communication failure notification, which is a predetermined notification that it cannot be performed;
An established position acquisition unit (S230) configured to acquire an established position that is the position of the vehicle at the time when communication between the communication unit and the roadside device is established;
With
The serving base station is
An information storage unit (32) configured to store the communicable range for each infrastructure;
An information receiving unit (31) configured to receive the established position acquired by the established position acquiring unit of the in-vehicle device;
An information updating unit (33) configured to update the communicable range stored in the information storage unit using the established position received by the information receiving unit;
An information transmission unit (34) configured to transmit the communicable range updated by the information update unit to the in-vehicle device;
A driving support network.

Images