JP5338384B2 - Inter-vehicle communication device and inter-vehicle communication method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stabilize drive supporting operation which uses vehicle ID. <P>SOLUTION: A radio communication unit 100 for transmitting information, including identification information for specifying own vehicle to the other vehicle and receiving information which includes identification information sent from the other vehicle to specify the other vehicle, includes a control device 10, which executes a traveling state determination function for determining whether a traveling state of own vehicle, which is determined from the vehicle information of own vehicle, is an approach state having a possibility of approaching between own vehicle and the other object and an identification information updating function which, when the traveling state of the own vehicle is in the approach state in the updating of the identification information for specifying the own vehicle, inhibits updating of the identification information of own vehicle. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a vehicle-to-vehicle communication device and a vehicle-to-vehicle communication method for transferring information between vehicles.

  Regarding vehicle-to-vehicle communication devices, in order to prevent personal information from leaking when a vehicle ID that identifies an individual vehicle is acquired by another vehicle during communication between vehicles, A technique for setting an expiration date and updating the vehicle ID every time the expiration date expires is known (see Patent Document 1).

JP 2006-174179 A

  However, when the vehicle ID of the host vehicle is updated when another vehicle is providing driving support based on the transmitted vehicle ID of the host vehicle, the other vehicle cannot identify the host vehicle and uses the vehicle ID. There was a problem that the operation of driving support might become unstable.

In the inter-vehicle communication, the present invention prohibits the update of the vehicle ID (identification information) of the own vehicle when the traveling state of the own vehicle is an approaching state that may approach another object. To solve.

According to the present invention, the other vehicle can accurately identify the own vehicle in a scene where a driving support operation such as an approach situation in which the own vehicle may approach another object is executed. The operation of driving support using information) can be stabilized.

It is a block block diagram of the vehicle-mounted apparatus 1 containing the radio | wireless communication unit 100 of this embodiment. It is a functional block diagram of the radio | wireless communication unit 100 of this embodiment. It is a figure which shows an example of the data structure of the vehicle information of this embodiment. It is a figure for demonstrating the 1st control method of the update process of the identification information of the own vehicle. This first control method is a method of prohibiting updating of identification information within a predetermined intersection area including an intersection. It is a figure for demonstrating the 2nd control method of the update process of the identification information of the own vehicle. This second control method is a method for prohibiting the update of the identification information in a situation where the intersection turns right or left. It is a figure for demonstrating the 3rd control method of the update process of the identification information of the own vehicle. The third control method is a method for prohibiting the update of the identification information until the vehicle passes the center of the intersection in a situation where the vehicle travels straight through the intersection. It is a figure for demonstrating the 4th control method of the update process of the identification information of the own vehicle. The fourth control method is a method for prohibiting the update of the identification information according to the distance or time until the intersection is reached. In particular, it is a technique for controlling the update of the identification information of the own vehicle assuming a situation in which the vehicle approaches another vehicle at the time of encounter. It is a 2nd figure for demonstrating the 4th control method of the update process of the identification information of the own vehicle. In particular, this is a method for controlling the update of the identification information of the own vehicle, assuming a situation in which another vehicle approaches when making a right or left turn. It is a 3rd figure for demonstrating the 4th control method of the update process of the identification information of the own vehicle. In particular, this is a method for controlling the update of the identification information of the own vehicle, assuming a situation in which the own vehicle approaches when making a left turn (or a right turn in case of right-hand traffic). It is a figure for demonstrating the 5th control method of the update process of the identification information of the own vehicle. The fifth control method is a method for prohibiting the update of the identification information according to the time until the host vehicle and another vehicle approach less than a predetermined distance. In particular, this is a method for controlling the update of the identification information of the own vehicle assuming a situation in which another vehicle approaches from behind the own vehicle. It is a flowchart for demonstrating the 1st, 2nd control method of the update process of the identification information of the own vehicle. It is a flowchart for demonstrating the 3rd control method of the update process of the identification information of the own vehicle. It is a flowchart figure for demonstrating the 4th control method of the update process of the identification information of the own vehicle. It is a flowchart for demonstrating the 5th control method of the update process of the identification information of the own vehicle.

  Hereinafter, a wireless communication unit 100 mounted on a vehicle according to the present embodiment will be described based on the drawings. The wireless communication unit 100 according to the present embodiment performs inter-vehicle communication between the host vehicle and another vehicle, and controls updating of identification information that identifies the host vehicle used in the inter-vehicle communication. The vehicle information exchanged by this inter-vehicle communication is used for safe driving support of the host vehicle and other vehicles.

  FIG. 1 shows a block configuration diagram of an in-vehicle device 1 including a wireless communication unit 100 according to the present embodiment. The in-vehicle device 1 of the present embodiment includes a wireless communication unit 100, a vehicle controller 200, various in-vehicle sensors 300 (301 to 307), a driving support device 400, a navigation device 500, and an information presentation device 600. The wireless communication unit 100 and each of the devices (200 to 600) are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and exchange information with each other.

  The wireless communication unit 100 according to the present embodiment includes information detected by various in-vehicle sensors 300, information managed by the vehicle controller 200, information obtained by the navigation device 500, and other vehicle information (vehicle type information / position / Information on speed, traveling direction, blinker, brake, accelerator, shift position, etc.) can be acquired, and this vehicle information can be transmitted by inter-vehicle communication.

  As shown in FIG. 1, the wireless communication unit 100 controls the operation of the wireless communication device 20 that performs vehicle-to-vehicle communication between the host vehicle and another vehicle, and the operation of the wireless communication device 20, and is used in vehicle-to-vehicle communication. The control apparatus 10 which controls the update process of the identification information which specifies the own vehicle is provided.

  First, the wireless communication device 20 will be described.

  FIG. 2 is a functional block diagram of the wireless communication device 20. As shown in FIG. 2, the wireless communication device 20 of the present embodiment includes a transmission function A that transmits information including identification information that identifies the host vehicle to another vehicle, and an identification that identifies the other vehicle that is transmitted by the other vehicle. A reception function B that receives information including information is provided. In addition, the wireless communication device 20 of the present embodiment includes a packet generation function C that generates a packet for transmitting vehicle information, and a header analysis function D for analyzing the header of the received vehicle information. Each of these functions is in common with a function in a generally known wireless communication device.

  FIG. 3 is a diagram illustrating an example of a data configuration of vehicle information according to the present embodiment. As shown in FIG. 3, vehicle information, identification information (hereinafter also referred to as “ID”) of the host vehicle, and header information are included.

  Next, the control device 10 that controls the wireless communication device 20 will be described. The control device 10 of the present embodiment functions as a wireless communication unit 100 by executing a ROM (Read Only Memory) 12 in which a program for executing vehicle-to-vehicle communication is stored and a program stored in the ROM 12. A CPU (Central Processing Unit) 11 as an operating circuit, and a RAM (Random Access Memory) 13 functioning as an accessible storage device. As an operation circuit, instead of or in addition to the CPU (Central Processing Unit) 11, an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array). Etc. can be used.

  The control device 10 has a traveling state determination function that determines whether or not the traveling state of the host vehicle is a predetermined approaching state, and an identification information update function that controls update processing of the identification information of the host vehicle. The control device 10 executes each function by cooperation of software for realizing each function and the hardware described above.

  Hereinafter, functions realized by the control device 10 of the wireless communication unit 100 described above will be described.

  The control device 10 determines whether or not the traveling state of the own vehicle determined from the vehicle information of the own vehicle is an “approaching state” that may cause the own vehicle and another object to approach (traveling). Situation judgment function).

  This “approach situation” is defined in advance assuming a situation in which the host vehicle and other objects may approach in actual traffic. For example, the situation where the vehicle is traveling in an area where there is a possibility of approaching another vehicle or a pedestrian, such as an area where the vehicle lanes merge, an area where roads intersect, an area where there is a pedestrian crossing, etc. This is a situation in which another vehicle traveling in the lane may approach the host vehicle by accelerating or decelerating.

  Although not particularly limited, in the present embodiment, “the situation where the host vehicle travels in a predetermined intersection area including an intersection” is defined as the first approach situation, and “the host vehicle passes the intersection rightward as the second approach situation. "Situation to turn left" is defined, "Situation until the vehicle passes through the center of the intersection when the vehicle goes straight through the intersection" is defined as the third approach situation, and "Self vehicle is at the intersection" Is defined as `` a situation in which the distance or time to reach the vehicle is less than a predetermined time '', and the fifth approach situation is that the time until the host vehicle and another vehicle approach less than the predetermined distance is less than the predetermined time The function of the control device 10 will be described by taking these approach situations as examples.

  The control device 10 transmits a direction indicator operation information from a direction indicator 301, a steering angle information from a steering angle sensor 302, a vehicle speed information from a vehicle speed sensor 303, and a throttle opening degree via a CAN (Controller Area Network) or other in-vehicle LAN. Acceleration information from the sensor 304, deceleration information from the brake ON / OFF sensor, current position information from the current position detection device 501 of the navigation device 500, a position on the map where the vehicle travels from the route search device 502, and a ranging function of the driving support device 400 The distance from the own vehicle to other vehicles (other objects) from 402 and other vehicle information are acquired.

  And the control apparatus 10 judges whether the driving | running | working condition of the own vehicle judged based on the acquired vehicle information is a predetermined | prescribed approach condition.

  Furthermore, the control device 10 updates the identification information that identifies the host vehicle at a predetermined timing (identification information update function). When updating the identification information for specifying the own vehicle, if it is determined that the traveling state of the own vehicle is a predetermined “approaching state”, updating of the identification information of the own vehicle is prohibited (identification information update). function). When it is determined that the traveling state of the host vehicle is not the predetermined “approaching state” after the traveling state of the own vehicle is determined to be the predetermined “approaching state”, the control device 10 The identification information is updated (identification information update function). That is, although the updating of the identification information is prohibited in the “approaching situation”, the updating of the identification information is executed immediately when the “approaching situation” is not reached.

  As described above, when the traveling state of the own vehicle is not the predetermined “approaching state”, the identification information of the own vehicle is updated, and when the traveling state of the own vehicle is the predetermined “approaching state”, the identification of the own vehicle is performed. By prohibiting the update of the information, since the vehicle ID does not change in a scene where the vehicle information associated with the vehicle ID is highly likely to be used for the driving support process, the operation of the driving support process can be stabilized. .

  The vehicle information associated with the identification information of the host vehicle is sent to the other vehicle and used for the driving support process of the driving support device of the other vehicle. Although not shown, the driving support apparatus for other vehicles includes an obstacle detection function 401, an alerting function 403, an obstacle notification function 404, and the like, similar to the driving support apparatus 400 for the host vehicle shown in FIG. The driving support device 400 of another vehicle recognizes the positional relationship with the own vehicle based on the identification information of the own vehicle and the vehicle information of the own vehicle, and supports driving of the other vehicle. In addition, other vehicles, like the host vehicle shown in FIG. 1, are equipped with an information presentation device 600 and present information related to driving support to the driver via the monitor 610 or the speaker 620.

In this way, the other vehicle side accurately grasps the identification information and vehicle information of the own vehicle, so that the driving support processing of the other vehicle can be stabilized, and the other vehicle is prevented from being too close to the own vehicle. Can do.

  Hereinafter, based on FIGS. 4 to 10, identification information (ID) of the own vehicle, which is executed according to the determination result of whether or not the traveling situation of the own vehicle is the first to fifth predetermined approach situations described above. Each update processing control method will be described.

  Normally, the control device 10 updates the identification information of the host vehicle at a predetermined timing.

<First control method>
The first control method will be described based on FIG. In the first control method, the control device 10 controls the update process of the host vehicle ID based on the positional relationship between the current position of the host vehicle and the intersection area including the intersection.

  In this process, the control device 10 acquires vehicle information including position information on a map where the host vehicle is currently traveling from the host vehicle side. This position information is acquired by the navigation device 500 mounted on the host vehicle. The navigation apparatus 500 includes a current position detection apparatus 501 having a GPS (Global Positioning System), a map database 503 including position information on a map of nodes, links, POI (Point Of Interest) and other points, and a route search apparatus. 502, and based on the current position detected by the current position detection device 501 and the traveling direction thereof, the map database 503 is referred to and position information on the map on which the host vehicle travels is acquired. The position information on the map on which the host vehicle currently travels includes the position where the host vehicle travels, the link to which the point belongs, the intersection existing in the direction in which the host vehicle travels, and other POIs (Point Of Interest).

  The control device 10 determines whether the current position of the host vehicle is traveling in an intersection area including an intersection or passing through an intersection area including an intersection (a situation where the current position of the host vehicle is outside the intersection area). To do.

  When the control device 10 determines that the traveling state of the vehicle is a state in which the host vehicle travels in an intersection area including an intersection (runs within the broken line), the traveling state of the host vehicle is a predetermined state. It is determined that the vehicle is approaching, and updating of the identification information is prohibited during traveling in the intersection area.

  On the other hand, when the control device 10 determines that the traveling state of the vehicle is a state in which the own vehicle has passed through the intersection area including the intersection (moved from the broken line indicating the intersection area to the outside of the broken line), the own vehicle After determining that the traveling state is an approaching state, it is determined that the traveling state is not an approaching state, and the identification information is updated in this intersection area.

  When the vehicle travels within an intersection area indicated by a broken line like the host vehicle A shown in FIG. 4, it is determined that there is a high possibility of an approach situation with another vehicle, and updating of the identification information of the host vehicle is prohibited. Further, when the vehicle passes through the intersection area indicated by the broken line (when moving from inside the broken line indicating the intersection area to the outside of the broken line) as in the case of the own vehicle B in the figure, it is unlikely that an approach situation with another vehicle occurs. And the identification information of the host vehicle is updated.

  Note that the location information or boundary information of the intersection area may be stored in advance in the map database 503 of the navigation device 500, or may be obtained by the control device 10 based on the location information of the intersection center.

<Second control method>
Based on FIG. 5, the second control method will be described. In the second control method, the control device 10 controls the update process of the host vehicle ID based on the timing at which the host vehicle turns right or left.

In this process, the control device 10 acquires vehicle information including information related to the traveling direction of the host vehicle from both sides of the company. Information relating to the traveling direction is acquired by the navigation device 500 or the vehicle controller 200 mounted on the host vehicle. The navigation device 500 acquires the traveling direction of the host vehicle based on the change in the current position of the host vehicle. Further, the vehicle controller 200 acquires the traveling direction of the host vehicle based on turning on / off of the direction indicator 301 or a change in the steering angle detected by the steering angle sensor 303.

  Based on information related to the traveling direction of the host vehicle (on / off of the direction indicator 301 or change in the steering angle detected by the steering angle sensor 303), the control device 10 makes a situation where the traveling state of the host vehicle makes a right or left turn ( It is determined whether the vehicle is turning at the intersection) or the vehicle is in a situation where the vehicle has completed a right or left turn (a situation where the vehicle has completely turned the intersection).

  The method for determining whether or not the vehicle makes a right or left turn, that is, a situation in which the traveling direction is changed is not particularly limited, and a general method can be used. In the present embodiment, the control device 10 determines that the right / left turn operation is started from the timing when the direction indicator 301 is turned on, and the right / left turn operation is finished at the timing when the direction indicator 301 is turned off. Judge. Further, the control device 10 determines that the left / right turn operation has been started at a timing when the steering angle detected by the steering angle sensor 303 is equal to or greater than a predetermined value (predefined threshold value), and the steering angle sensor 303 detects the steering angle sensor 303. It is determined that the left / right turn operation is completed at a timing when the steering angle becomes less than a predetermined value (a predefined threshold).

  When the control device 10 determines that the traveling state of the vehicle is a state in which the own vehicle makes a right or left turn (a state in which the vehicle is turning at an intersection), the traveling state of the own vehicle is a predetermined approaching state. The update of the identification information is prohibited in this intersection area.

  On the other hand, when the control device 10 determines that the traveling state of the vehicle is a state in which the traveling state of the host vehicle has completed a right or left turn (a state in which the vehicle has completely turned an intersection), the traveling state of the host vehicle is a predetermined approaching state. The identification information is updated in this intersection area.

  When turning right and left at the intersection (during turning) as in the own vehicle A shown in FIG. 5, it is determined that there is a high possibility that an approach situation with another vehicle will occur, and updating of the identification information of the own vehicle is prohibited. . In addition, as in the case of the own vehicle B in the figure, when the left or right turn at the intersection is completed (when the vehicle turns straight from the turning state), it is determined that there is a low possibility that an approach situation with another vehicle will occur. Update the vehicle identification information.

<Third control method>
Based on FIG. 6, the third control method will be described. In the third control method, the control device 10 controls the update process of the host vehicle ID based on the timing at which the host vehicle traveling straight through the intersection passes the intersection.

In this process, the control device 10 acquires vehicle information including position information on a map where the host vehicle is currently traveling from the host vehicle side. This position information is acquired by the navigation device 500 mounted on the host vehicle, as in the first control method.

The control device 10 determines whether the current position of the host vehicle passes through the center of the intersection area including the intersection or the situation where the vehicle travels within the intersection area including the intersection.

  Then, when the control device 10 determines that the traveling state of the vehicle is a state in which the own vehicle has passed communication in the intersection area including the intersection, the traveling state of the own vehicle is determined not to be the predetermined approaching state. In this intersection area, the identification information is updated.

  On the other hand, when the control device 10 determines that the traveling state of the vehicle is a state in which the host vehicle travels in an intersection area including an intersection (see FIG. 4), the traveling state of the host vehicle is a predetermined approaching state. The update of the identification information is prohibited in this intersection area.

  When the vehicle passes through the center of the intersection as in the own vehicle B shown in FIG. 6, it is determined that there is a low possibility of an approach situation with another vehicle, and the identification information of the own vehicle is updated.

Note that the position information of the center of the intersection is stored in advance in the map database 503 of the navigation device 500.

<Fourth control method>
A fourth control method will be described based on FIGS. In the fourth control method, the control device 10 controls the update of the identification information according to the distance or time until the intersection is reached.

In this process, the control device 10 acquires vehicle information including position information on a map where the host vehicle is currently traveling from the host vehicle side. This position information is acquired by the navigation device 500 mounted on the host vehicle, as in the first control method.

In this process, the control device 10 acquires vehicle information including the vehicle speed of the host vehicle from the host vehicle side. This vehicle speed is detected by the vehicle speed sensor 304 and acquired via the vehicle controller 200.

The control device 10 calculates a distance or time until the host vehicle reaches the intersection based on the current position on the map of the host vehicle and the vehicle speed. Then, the control device 10 determines whether or not the distance or time until the host vehicle reaches the intersection is less than a predetermined value.

This predetermined value can be arbitrarily set, and a time based on “human reaction time + system processing time” or a distance corresponding to this time can be defined in advance. This predetermined value may be a time with a margin of about 1 to 2 seconds or more or a distance corresponding to this time in order to increase the stability of the operation of the entire system.

Then, when the control device 10 determines that the distance or time until the host vehicle reaches the intersection is greater than or equal to a predetermined value, the control device 10 does not have the predetermined approach state. In this intersection area, the identification information is updated at a predetermined timing as usual.

  On the other hand, when the control device 10 determines that the traveling state of the vehicle is less than a predetermined value for the distance or time until the host vehicle reaches the intersection, the traveling state of the host vehicle is a predetermined approaching state. It is determined that there is, and updating of the identification information is prohibited in this intersection area.

FIG. 7 is a diagram for explaining a scene in which the update of the identification information of the own vehicle is controlled assuming a situation in which the vehicle approaches and approaches another vehicle. When it is determined that the distance or time until the host vehicle reaches the intersection as in the host vehicle A shown in FIG. 7, it is determined that there is a high possibility that an approach situation with another vehicle will occur. And prohibiting the updating of the identification information of the host vehicle. Moreover, when it is judged that the distance or time until the own vehicle reaches the intersection as in the case of the own vehicle B in the figure, the possibility of an approach situation with another vehicle is low. Judgment is performed, and the identification information of the host vehicle is updated at a predetermined timing as usual.

FIG. 8 is a diagram for explaining a scene in which updating of the identification information of the own vehicle is controlled assuming a situation in which another vehicle approaches when making a right or left turn. As in the case of the own vehicle A shown in FIG. 8, when it is determined that the distance or time until the own vehicle reaches the intersection is less than a predetermined value, it is determined that there is a high possibility that an approach situation with another vehicle will occur. And prohibiting the updating of the identification information of the host vehicle. Moreover, when it is judged that the distance or time until the own vehicle reaches the intersection as in the case of the own vehicle B in the figure, the possibility of an approach situation with another vehicle is low. Judgment is performed, and the identification information of the host vehicle is updated at a predetermined timing as usual.

FIG. 9 is a diagram for explaining a scene in which updating of the identification information of the own vehicle is controlled on the assumption that the own vehicle approaches when making a left turn (or a right turn in the case of right-hand traffic). When it is determined that the distance or time until the host vehicle reaches the intersection as in the host vehicle A shown in FIG. 9, it is determined that there is a high possibility that an approach situation with another vehicle will occur. And prohibiting the updating of the identification information of the host vehicle.

Note that the “predetermined value” that is a threshold value of the distance or time until the host vehicle reaches the intersection can be arbitrarily set. In the present embodiment, the calculation is performed based on the time obtained by adding the reaction time of the person during driving and the processing time by the processing of the vehicle system or the distance corresponding to this time. The control device 10 calculates the distance or time to reach the intersection based on the distance or time from the host vehicle to the intersection and the vehicle speed at that time, and compares this arrival distance or arrival time with a threshold value. .

<Fifth control method>
Based on FIG. 10, the fifth control method will be described. In the fifth control method, the control device 10 controls the update of the identification information according to the time until the host vehicle and the other vehicle approach less than a predetermined distance.

In this process, the control device 10 acquires the distance from the own vehicle to the other vehicle from the own vehicle side. The distance to the other vehicle is acquired by the obstacle detection function 401 and / or the distance measurement function 402. As a method of detecting another vehicle and measuring the distance from the own vehicle to the other vehicle, a normal method used at the time of filing can be used.

In this process, the control device 10 acquires vehicle information including the vehicle speed of the host vehicle. This vehicle speed is detected by the vehicle speed sensor 304 and acquired via the vehicle controller 200.

Furthermore, in this process, the control device 10 acquires vehicle information including the vehicle speed of the other vehicle. The vehicle speed of the other vehicle is detected by a vehicle speed sensor of the other vehicle, and is acquired via the vehicle controller of the other vehicle, the wireless communication device of the other vehicle, and the wireless communication device 110 of the own vehicle. Further, the vehicle speed of the other vehicle may be obtained from the measurement data of the obstacle detection function 401 and the distance measuring device 402 mounted on the host vehicle.

Based on the acquired distance from the host vehicle to the other vehicle, the vehicle information including the vehicle speed of the host vehicle, and the vehicle information including the vehicle speed of the other vehicle, the control device 10 determines whether the host vehicle and the other vehicle are at a predetermined distance. Calculate the time to approach less than. And the control apparatus 10 judges whether the time until the own vehicle and another vehicle approach less than a predetermined distance is less than a predetermined value.

This predetermined value can be arbitrarily set, and a time based on “human reaction time + system processing time” or a distance corresponding to this time can be defined in advance. This predetermined value may be a time with a margin of about 1 to 2 seconds or more or a distance corresponding to this time in order to increase the stability of the operation of the entire system.

When the control device 10 determines that the time required for the vehicle and the other vehicle to approach less than a predetermined distance is greater than or equal to a predetermined value, the control device 10 determines that the vehicle travel status is a predetermined value. It is determined that the situation is not approaching, and the identification information is updated at a predetermined timing as usual.

  On the other hand, when the control device 10 determines that the traveling state of the vehicle is less than a predetermined value until the host vehicle and another vehicle approach less than a predetermined distance, the traveling state of the host vehicle is predetermined. And the update of the identification information is prohibited in this intersection area.

FIG. 10 is a diagram for explaining a scene in which updating of identification information of the own vehicle is controlled assuming a situation in which another vehicle approaches from behind the own vehicle. As in the case of the own vehicle A shown in FIG. 10, when it is determined that the time until the own vehicle and the other vehicle approach less than the predetermined distance is less than the predetermined value, an approach situation with the other vehicle may occur. It is judged that the vehicle is high and updating of the identification information of the own vehicle is prohibited. Further, when it is determined that the time until the host vehicle and the other vehicle approach less than a predetermined distance is the predetermined value or more like the host vehicle B in the figure, an approach situation with the other vehicle may occur. The identification information of the own vehicle is updated at a predetermined timing as usual.

It should be noted that the “predetermined value” that is a threshold value for the time until the host vehicle and the other vehicle approach less than the predetermined distance can be arbitrarily set. In the present embodiment, the calculation is based on the time obtained by adding the reaction time of the person during driving and the processing time of the processing of the vehicle system. Based on the distance from the host vehicle to the other vehicle and the relative vehicle speed at that time, the control device 10 calculates the time until the other vehicle catches up to the host vehicle (the distance is less than a predetermined distance), Compare with the threshold time.

As shown in FIG. 10, when the relative distance becomes large, such as when the following vehicle is faster than the preceding own vehicle or when the preceding own vehicle reaches the end of the traffic jam, It is determined that there is a high possibility that an approaching situation will occur, and updating of the identification information of the own vehicle is prohibited.

  Then, the control procedure is demonstrated for every control method of the radio | wireless communication unit 100 of this embodiment, respectively.

  First, the first and second control methods will be described. FIG. 11 is a flowchart for explaining the first and second control methods of the updating process of the identification information of the own vehicle.

  First, in step S101, the control device 10 acquires position information on a map on which the host vehicle is currently traveling from the in-vehicle navigation device 500.

  Subsequently, in step S102, the control device 10 determines whether or not the traveling state of the host vehicle is a state in which the host vehicle is traveling in an intersection area including the intersection, that is, whether or not the vehicle is entering the intersection. . In this process, the possibility of an approach situation with another object is determined based on the positional relationship between the current position of the host vehicle and the intersection.

In this step, when the host vehicle travels in an intersection area including an intersection, it is determined that there is a high possibility that an approach situation with another object will occur, and the process proceeds to step S104. Otherwise, the process proceeds to step S103.

  In step S104, the control device 10 determines that the traveling state of the host vehicle is a predetermined approaching state, and prohibits updating of the identification information in the intersection area. On the other hand, if the control apparatus 10 cannot determine that the host vehicle travels within the intersection area including the intersection, the control apparatus 10 proceeds to step S103.

  In subsequent step S103, the control device 10 determines whether it is time to turn the host vehicle left or right. Specifically, it is determined whether or not the direction indicator 301 of the host vehicle is on. If the direction indicator 301 of the host vehicle is on, it is determined that the host vehicle is turning right and left, and the process proceeds to step S106. On the other hand, if the vehicle direction indicator 301 is turned off, it is determined that the host vehicle is traveling straight, and the process proceeds to step S105. This process will be described later.

  In subsequent step S <b> 106, the control device 10 determines whether or not the host vehicle has completed the operation of turning right and left. Specifically, the change of the steering angle detected by the steering angle sensor 303 of the host vehicle and the on / off of the direction indicator 301 are observed. When the steering angle of the host vehicle becomes zero and the lighting of the direction indicator 301 is turned off, it is determined that the right / left turn operation has been completed, and the process proceeds to step S107. Otherwise, the process proceeds to step S108.

  In step S107, when the steering angle of the host vehicle becomes zero and the lighting of the direction indicator 301 is turned off, the control device 10 determines that the left / right turn operation of the host vehicle is completed, and updates the identification information. Execute.

  On the other hand, in step S108, the control device 10 prohibits updating of the identification information until the steering angle is zero and the direction indicator 301 is turned off after the direction indicator 301 is lit.

  Next, the process of step S105 of FIG. 11, that is, the third control method will be described with reference to FIG. FIG. 12 is a flowchart for explaining a third control method for updating the identification information of the host vehicle.

  In step S1051, since it is determined in step S103 in FIG. 11 that the direction indicator is not lit, it can be determined that the host vehicle is traveling straight.

  In step S <b> 1051, the control device 10 acquires position information on a map where the host vehicle is currently traveling from the in-vehicle navigation device 500.

  In step S1052, the control device 10 determines whether or not the vehicle traveling straight passes through the center of the intersection area including the intersection. If it is determined that the vehicle has passed the intersection center, the process proceeds to step S1054. On the other hand, if the vehicle has not passed the intersection center, the process proceeds to step S1053.

In step S <b> 1054, when the own vehicle traveling straight passes through the center of the intersection, the control device 10 determines that the traveling state of the own vehicle is not a predetermined approaching state, and updates the identification information of the own vehicle.

  On the other hand, in step S1053, when the own vehicle traveling straight does not pass through the intersection center, the control device 10 determines that the traveling state of the own vehicle is a predetermined approach situation, and the own vehicle passes through the intersection center. Until it is done, update of the identification information of the own vehicle is prohibited.

Next, the fourth control method will be described. FIG. 13 is a flowchart for explaining a fourth control method of the updating process of the identification information of the own vehicle.

In step S <b> 201, the control device 10 acquires position information on a map on which the host vehicle is currently traveling from the in-vehicle navigation device 500, and acquires the vehicle speed detected by the vehicle speed sensor 304 via the in-vehicle vehicle controller 200. To do.

In subsequent step S202, the control device 10 determines whether or not the time or distance until the traveling vehicle reaches the intersection is less than a predetermined value. Specifically, in this process, the control device 10 determines that the reach distance to the center of the intersection where the host vehicle reaches most recently is the reaction time in which a person can perform an appropriate operation on the information and the in-vehicle device 1. It is determined whether or not the distance is less than a predetermined threshold considering a distance corresponding to a time obtained by adding the processing time of the driving support device 400 operating in cooperation. If the reach distance is greater than or equal to the predetermined value, the process proceeds to step S203. If the reach distance is less than the predetermined value, the process proceeds to step S204.

In step S203, when the reach distance to the intersection is a predetermined value or more, the control device 10 determines that the traveling state of the own vehicle is not a predetermined approaching state, and updates the identification information of the own vehicle. .

  On the other hand, in step S204, when the reach distance to the intersection is less than a predetermined value, the control device 10 determines that the traveling state of the own vehicle is a predetermined approaching state, and updates the identification information of the own vehicle. Ban.

Finally, the fifth control method will be described. FIG. 14 is a flowchart for explaining a fifth control method for updating the identification information of the host vehicle.

In step S <b> 301, the control device 10 acquires the position information on the map where the host vehicle is currently traveling from the in-vehicle navigation device 500, and acquires the vehicle speed detected by the vehicle speed sensor 304 via the in-vehicle vehicle controller 200. To do. In addition, the control device 10 detects the travel position and vehicle speed of another vehicle from the obstacle detection function 401 and the distance measurement function 402 of the driving support device 400 mounted on the host vehicle. The vehicle speed of the other vehicle may be acquired from the other vehicle side via the wireless communication device 110 by being included in the vehicle information of the other vehicle.

In subsequent step S302, the control device 10 determines whether or not the time until the traveling own vehicle and another vehicle approach less than a predetermined distance is less than a predetermined value. Specifically, in this process, the control device 10 indicates that the time required for the host vehicle and the other vehicle to approach less than a predetermined distance (considering the relative speed between the host vehicle and the other vehicle) On the other hand, it is determined whether or not the time is less than a predetermined threshold considering a time obtained by adding a reaction time in which an appropriate operation can be performed and a processing time of the driving support device 400 operated by cooperation of each device of the in-vehicle device 1. . If the arrival time is greater than or equal to the predetermined value, the process proceeds to step S303, and if the arrival distance is less than the predetermined value, the process proceeds to step S304.

In step S303, when the time until the host vehicle and another vehicle approach less than a predetermined distance is equal to or greater than a predetermined value, the control device 10 determines that the traveling state of the host vehicle is not a predetermined approaching state. Then, the identification information of the own vehicle is updated.

  On the other hand, in step S304, when the reach distance to the intersection is less than the predetermined value, the control device 10 determines that the traveling state of the own vehicle is a predetermined approaching state, and updates the identification information of the own vehicle. Ban.

  Since the wireless communication unit 100 of the present embodiment is configured and functions as described above, the following effects can be obtained.

According to the present invention, in vehicle-to-vehicle communication, when the host vehicle is in an approach situation in which there is a possibility of approaching another object, the update of the identification information of the host vehicle is prohibited, so that the control is executed in such a scene. Thus, it is possible to stabilize the driving support operation using the vehicle identification information.

In other words, the identification number is not updated in a scene where the own vehicle and the other vehicle approach each other and there is a high probability that the driving support operation will be executed, so that the other vehicle can accurately identify the own vehicle and use the vehicle identification information. The vehicle identification information can be updated while ensuring that the driving support operation is stabilized and the driving support process for safe driving is operated normally.

Further, when the host vehicle is not in an approach situation in which there is a possibility of approaching another object, the identification information of the host vehicle is updated, so that the same effect can be obtained.

By the way, it is necessary to update the identification information of the own vehicle. However, if this identification information is updated at an arbitrary timing, there are the following problems. That is, when the other vehicle starts the safe driving support application while tracking the own vehicle based on the identification information of the own vehicle, if the identification information of the own vehicle is updated during the tracking, Tracking may become difficult, and the operation of the safe driving support application for other vehicles may become unstable. And if the driving support of the other vehicle becomes unstable, the other vehicle is too close to the own vehicle, which affects the safety of the own vehicle.

In addition, when the identification information of the own vehicle is updated at an arbitrary timing, the other vehicles acquire different identification information for the same own vehicle, and the held identification information and the updated identification information are confused. The driving assistance information obtained before the identification information is updated and the driving assistance information obtained after the identification information is updated may conflict with each other, and the accuracy of the provided driving assistance information may be impaired. Users' trust in information is also lost.

The wireless communication unit 100 according to the present embodiment extracts a timing that affects the result of obstacle determination and proximity determination performed at the time of driving support, and prohibits updating the identification information of the own vehicle before and after that timing. It is possible to prevent driving assistance.

That is, the wireless communication unit 100 according to the present embodiment updates the identification information between the own vehicle and the other vehicle so that the update timing of the identification information does not overlap with the determination timing of the degree of attention to obstacles such as other vehicles and pedestrians. The update of the identification information is prohibited in an approach situation in which there is a possibility of approaching an object. In this way, updating of identification information is prohibited in situations where driving assistance for safe driving is executed, and only one piece of identification information is sent to other vehicles, so that stable driving assistance is executed. Can do.

In addition, after it is determined that the traveling state of the host vehicle is an approaching state, if it is determined that the traveling state is not an approaching state, the identification information is updated as soon as possible by updating the identification information of the own vehicle. Can be made. That is, instead of waiting for a predetermined timing to arrive, the identification information can be immediately updated when the vehicle leaves the approaching state.

In addition, when the wireless communication unit 100 of this embodiment determines that the traveling state of the host vehicle is a state in which the host vehicle travels in an intersection area including an intersection, the traveling state of the host vehicle is an approaching state. Since the update of the identification information is prohibited, it is possible to achieve the same effect as described above. In particular, in situations where the host vehicle is traveling in a place where there is a high possibility of approaching other vehicles or pedestrians such as an intersection, updating the identification information is prohibited, so that the judgment in the driving support process performed at the intersection is stabilized. Can do.

In addition, when the wireless communication unit 100 of the present embodiment determines that the traveling state of the host vehicle is a state in which the host vehicle has passed through an intersection area including an intersection, the traveling state of the host vehicle is not an approaching state. Since the determination and the update of the identification information are executed, the update timing of the identification information can be ensured without affecting the driving support process.

  In addition, the wireless communication unit 100 according to the present embodiment determines that the traveling state of the host vehicle is a state in which the host vehicle travels straight and passes through the center of the intersection area including the intersection. Since it is determined that the situation is not an approach situation and the identification information is updated, the same effect as described above can be obtained.

  Furthermore, when the wireless communication unit 100 of the present embodiment determines that the traveling state of the host vehicle is a state where the host vehicle makes a right or left turn, the wireless communication unit 100 determines that the traveling state of the host vehicle is an approaching state, Since updating of the identification information is prohibited, the same effect as described above can be obtained. In particular, when the vehicle is traveling in a place where there is a high possibility of approaching other vehicles or pedestrians, such as when the vehicle turns right or left at an intersection, it is prohibited to update the identification information. This makes it possible to stabilize the judgment in the driving support process.

  In addition, when the wireless communication unit 100 according to the present embodiment determines that the traveling state of the host vehicle is a state in which the host vehicle has completed a right or left turn, the wireless communication unit 100 determines that the traveling state of the host vehicle is not an approaching state. Since the identification information is updated, the timing for updating the identification information can be ensured without affecting the driving support process.

  Furthermore, the wireless communication unit 100 according to the present embodiment determines that the traveling state of the host vehicle is the traveling state of the host vehicle when determining that the distance or time until the host vehicle reaches the intersection is less than a predetermined value. Is determined to be an approaching state and the updating of the identification information is prohibited, so that the same effect as described above can be obtained. In particular, in situations where the vehicle is required to call attention to other vehicles or pedestrians, such as when the vehicle is approaching an intersection, it is prohibited to update the identification information. It is possible to stabilize the determination in the travel support process that is performed. This makes it possible to update the vehicle identification information while normally operating the driving support operations such as the “encounter collision prevention system”, “right turn collision prevention system”, and “left turn collision prevention system” at the intersection.

  In addition, the wireless communication unit 100 according to this embodiment determines that the traveling state of the host vehicle is less than a predetermined value when the time until the host vehicle and another vehicle approach less than a predetermined distance is less than a predetermined value. Since the traveling state of the vehicle is determined to be the approaching state and the update of the identification information is prohibited, the same effect as described above can be obtained. Calling attention to changes in the relative positional relationship between the vehicle and other vehicles, such as when the following vehicle tries to overtake the vehicle or when the vehicle reaches the end of the traffic and slows down Since the update of the identification information is prohibited in a situation where the vehicle is required, it is possible to stabilize the determination in the driving support process performed when the host vehicle and another vehicle approach each other. As a result, the vehicle identification information can be updated while the driving support operation such as the “rear collision prevention system” is normally operated.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, the wireless communication unit 100 will be described as an example of one aspect of the vehicle-to-vehicle communication device according to the present invention, but the present invention is not limited to this.

  Further, in this specification, as an example of the inter-vehicle communication device according to the present invention, the wireless communication unit 100 including the control device 10 including the CPU 11, the ROM 12, and the RAM 13 will be described as an example, but the present invention is not limited thereto. is not.

Further, in this specification, a transmission function A and a reception function B are provided as an aspect of the inter-vehicle communication device having the transmission means, the reception means, the traveling state determination means, and the identification information update means according to the present invention. The wireless communication unit 100 including the wireless communication device 20 and the control device 10 that realizes the traveling state determination function and the identification information update function will be described as an example, but the present invention is not limited to this.

Further, in this specification, the wireless communication unit 100 that acquires vehicle information from the vehicle controller 200, various in-vehicle devices 300, the driving support device 400, and the navigation device 500 that can exchange information via the in-vehicle communication network is taken as an example. Although described, the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... In-vehicle apparatus 100 ... Wireless communication unit 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Wireless communication device 200 ... Vehicle controller 300 ... Various vehicle-mounted sensors 301 ... Direction indicator 302 ... Steering angle sensor 303 ... Vehicle speed sensor 304 ... Throttle opening sensor 305 ... Brake ON / OFF sensor 306 ... Shift position sensor 400 ... Driving assistance Device 401 ... Obstacle detection function 402 ... Ranging function 403 ... Attention function 404 ... Obstacle information notification function 500 ... Navigation device 501 ... Current position detection device 502 ... Route search device 530 ... Map database 600 ... Information presentation device 610 ... Display 620 ... Speaker

Claims (10)

Transmitting means for transmitting information including identification information for identifying the host vehicle to another vehicle;
In a vehicle-to-vehicle communication device comprising: receiving means for receiving information including identification information for identifying other vehicles sent by other vehicles;
The situation in which the host vehicle and other objects may approach each other is defined in advance as an approach situation, and the host vehicle traveling status determined from the vehicle information of the host vehicle is determined as the host vehicle and other objects. there a travel situation determining means for determining whether said proximity situations that may approach,
When the identification information specifying the host vehicle is updated at a predetermined timing, and when the identification information is updated, when the traveling state determination unit determines that the traveling state of the host vehicle is the approaching state And an inter-vehicle communication device comprising: an identification information updating unit that prohibits updating of the identification information of the host vehicle. The inter-vehicle communication device according to claim 1,
The identification information updating means updates the identification information of the own vehicle when it is determined that the traveling situation of the host vehicle is not the approaching situation after the running situation of the own vehicle is determined to be the approaching situation. Vehicle-to-vehicle communication device that performs In the inter-vehicle communication apparatus according to claim 1 or 2,
The vehicle information of the host vehicle includes position information on a map on which the host vehicle is currently traveling,
The traveling state determination means determines that the traveling state of the host vehicle is the approaching state when the traveling state of the host vehicle determines that the traveling state of the host vehicle is traveling in an intersection area including an intersection. Vehicle-to-vehicle communication device. The inter-vehicle communication device according to claim 3,
When the traveling state determination unit determines that the traveling state of the host vehicle is a state in which the host vehicle has passed through an intersection area including an intersection, the traveling state of the host vehicle is determined not to be the approaching state. Vehicle-to-vehicle communication device. The inter-vehicle communication device according to claim 3,
When the traveling state determination unit determines that the traveling state of the host vehicle is a state in which the host vehicle travels straight and passes through the center of an intersection area including an intersection, the traveling state of the host vehicle is A vehicle-to-vehicle communication device that determines that the vehicle is not approaching. In the inter-vehicle communication apparatus according to claim 1 or 2,
The vehicle information of the host vehicle includes information related to the traveling direction of the host vehicle,
When the traveling state determination unit determines that the traveling state of the host vehicle is a state in which the host vehicle makes a right or left turn, the vehicle-to-vehicle communication determines that the traveling state of the host vehicle is the approaching state. apparatus. The inter-vehicle communication device according to claim 6 ,
When the traveling state determination means determines that the traveling state of the host vehicle is a state in which the host vehicle has completed a right or left turn, the traveling state of the host vehicle determines that the traveling state of the host vehicle is not the approaching state. Communication device. In the inter-vehicle communication device according to any one of claims 1 to 7,
The vehicle information of the host vehicle includes position information on a map where the host vehicle is currently traveling, and vehicle speed,
When the traveling state determination means determines that the traveling state of the host vehicle is less than a predetermined value for the distance or time until the host vehicle reaches the intersection, the traveling state of the host vehicle is the approaching state. Vehicle-to-vehicle communication device that determines that In the inter-vehicle communication device according to any one of claims 1 to 8,
Further comprising distance acquisition means for acquiring a distance from the host vehicle to the other vehicle;
The traveling state determination means is based on the acquired distance from the own vehicle to another vehicle, vehicle information including the vehicle speed of the own vehicle, and vehicle information including the vehicle speed of the other vehicle. When it is determined that the time until the host vehicle and the other vehicle approach less than a predetermined distance is less than a predetermined value, the vehicle determines that the host vehicle is in the approach state Inter-vehicle communication device. In vehicle-to-vehicle communication for transmitting information including identification information for identifying the host vehicle to other vehicles and receiving information including identification information for identifying other vehicles sent by other vehicles,
When updating the identification information identifying the host vehicle,
A situation in which the host vehicle and other objects may approach each other is defined in advance as an approach situation, and the running status of the host vehicle determined based on the vehicle information of the host vehicle indicates that the host vehicle and the other object. preparative it is determined whether or not the approaching situation that may approach,
A vehicle-to-vehicle communication method that prohibits updating of the identification information of the host vehicle when the traveling state of the host vehicle is the approaching state.

Images