JP5488174B2 - Radio, radio communication system, and communication control method - Google Patents

Description

  The present invention relates to a radio device, a radio communication system, and a communication control method suitable as components of an intelligent transport system (ITS), for example.

In recent years, for the purpose of promoting traffic safety and preventing traffic accidents, vehicle safety has been achieved by receiving information from infrastructure devices installed on roads or exchanging information between vehicles and utilizing these information. An intelligent road traffic system that improves the above has been studied (for example, see Patent Document 1).
Such an intelligent road traffic system is mainly composed of a plurality of roadside communication devices which are wireless communication devices on the infrastructure side and a plurality of in-vehicle communication devices which are wireless communication devices mounted on each vehicle.

  In this case, a combination of communication performed between communication subjects includes road-to-road communication between road-side communication devices, road-to-vehicle (or vehicle-road) communication between road-side communication devices and vehicle-mounted communication devices, and vehicle-mounted communication. Vehicle-to-vehicle communication performed between aircraft.

Japanese Patent No. 2806801

In the above-mentioned intelligent road traffic system, including communication between vehicles, road-to-vehicle communication, road-to-road communication, and road-to-step communication, in order to coexist these communications, what kind of communication is used by effectively utilizing the bandwidth. The issue is whether to perform control.
In view of this, it has been studied that multiple access is used to perform communication between roads, road vehicles, and vehicles within a limited frequency band.

As this multi-access method, there are frequency division multiplexing (FDMA) and code division multiple access (CDMA), but communication with only a small number of in-vehicle communication devices is assumed in mountainous areas. As an inter-vehicle communication multi-access method, it is preferable to adopt an autonomous random access method represented by CSMA (Carrier Sense Multiple Access), for example.
However, road-to-vehicle communication, road-to-road communication, and vehicle-to-vehicle communication coexist in an area where roadside communication devices exist.

In this case, since the priority of the information handled by the roadside communication device on the infrastructure side is generally high, a mechanism for performing road-to-vehicle communication and road-to-road communication preferentially over vehicle-to-vehicle communication is necessary. is there.
As described above, in order to preferentially transmit information of the roadside communication device, time division multiplexing (TDMA) in which a time for communication is divided and a time slot (transmission available time) dedicated to transmission of the roadside communication device is provided. Multiple access by Time Division Multiple Access is enabled.

  Therefore, for example, assuming a communication system composed of a plurality of roadside communication device groups installed at each intersection, a time slot dedicated to wireless transmission from the roadside that the roadside communication device wirelessly transmits is allocated by the TDMA method and remains. It is considered that it is a rational communication system to use time slots for inter-vehicle communication by the CSMA method.

Further, when one time slot is used by a plurality of roadside communication devices, one time slot is allocated to a plurality of roadside communication devices by time division.
In this case, in order to control the transmission timing from each roadside communication device, each roadside communication device needs to have a time synchronization function with other roadside communication devices.

In addition, in order to perform inter-vehicle communication only in a time slot other than a time slot dedicated for wireless transmission from the roadside, the in-vehicle communication device is also based on the time information transmitted by the roadside communication device. It is necessary to synchronize with.
If the in-vehicle communication device is not synchronized with the roadside communication device, the in-vehicle communication device will transmit at the time when it should not communicate (time in the time slot dedicated to wireless transmission from the roadside), and road-to-vehicle communication and radio waves Interference occurs.

However, even if the vehicle-mounted communication device is synchronized with the roadside communication device, if the time accuracy of the roadside communication device that is the synchronization source is low, the vehicle-mounted communication device still transmits at a time when it should not communicate, There is a risk of interference with other road-to-vehicle communications.
In addition, when the time accuracy of the roadside communication device is low, the roadside vehicle communication of the roadside communication device itself is performed at the time assigned to the roadside vehicle communication of another roadside communication device, which may cause radio wave interference.

  In view of such a problem, an object of the present invention is to make it possible to cope with a case where time accuracy of a radio device such as a roadside communication device is lowered.

(1) The present invention is a wireless device that performs transmission within a transmittable time during which wireless transmission can be performed, and includes a detection unit that detects a decrease in time accuracy of the wireless device, and the time accuracy by the detection unit. A transmission control unit that performs control so that transmission is performed in an abnormal-time transmission mode when a decrease is detected, and the transmission control unit has a predetermined transmission method to cope with a decrease in time accuracy. The wireless device is set as the abnormal-time transmission mode.

  According to the present invention, if a transmission method for coping with time accuracy is determined in advance, when the time accuracy is lowered, the transmission method can be executed as an abnormal time transmission mode. It becomes possible.

(2) In the abnormal-time transmission mode, transmission is performed so as to avoid causing radio interference to other wireless devices due to a decrease in time accuracy, or the other wireless device grasps a decrease in time accuracy of the own device. It is preferable that the information is included in the transmission information for transmission. If transmission is performed so as to avoid radio wave interference to other wireless devices, the problem of radio wave interference does not occur even if the time accuracy is reduced. Moreover, if the other wireless device can grasp the time accuracy degradation of its own device, it can be expected that the other wireless device autonomously copes with the time accuracy.

(3) The transmission information includes relay information indicating the number of times the transmission information has been relayed by a wireless device, and the information for another wireless device to grasp a time accuracy degradation of the own device is the relay information However, it is preferable that the value is set larger than the actual number of relays. If the number of times of relay is set to a value larger than the actual value, it can be understood that the time accuracy is low in other wireless devices. In addition, in this case, it is not necessary to secure an information area indicating a time accuracy degradation, and an increase in communication data can be prevented.

(4) It is preferable that the mode in which transmission is performed so as to avoid causing radio wave interference to other radio devices due to a decrease in time accuracy is a mode in which the transmission timing of the own device is determined by carrier sense and transmission is performed. . In this case, since the transmission timing is determined by detecting the timing at which no other wireless device is transmitting by carrier sense, a decrease in time accuracy is not a problem.

(5) The detection unit may detect a decrease in time accuracy based on a difference between a time at which a signal is received from another wireless device and an original time at which the signal is to be received. In this case, it is possible to easily detect a decrease in time accuracy based on the difference from the original time at which the signal should be received.

(6) The wireless device is the roadside communication device in the wireless communication system in which the mobile communication device determines the transmission timing by carrier sense at a time other than the transmission available time during which the roadside communication device performs wireless transmission. , Including a first abnormal transmission mode and a second abnormal transmission mode, wherein the first abnormal transmission mode includes transmission information including information for another radio to grasp the time accuracy degradation of the own device. The second abnormal time transmission mode is a mode in which transmission is performed so as to avoid radio wave interference to other wireless devices due to a decrease in time accuracy, and the transmission control unit When the time accuracy deterioration is detected, transmission is performed in the first abnormal time transmission mode, and when it is detected that the time accuracy exceeds a predetermined threshold, it is performed in the second abnormal time mode. Good Arbitrariness. In this case, it is possible to take a step-by-step countermeasure according to the degree of time accuracy degradation.

(7) Another aspect of the present invention is a wireless system in which a mobile communication device is synchronized with a roadside communication device that performs transmission in a transmittable time during which wireless transmission can be performed. And a transmission control for controlling the transmission of the roadside communication device in an abnormal time transmission mode when the detection of the time accuracy deterioration of the roadside communication device is detected by the detection unit. A wireless communication system in which a predetermined transmission method is set as the abnormal-time transmission mode in the transmission control unit in order to cope with a decrease in time accuracy.

(8) The present invention viewed from still another viewpoint is a communication control method in a radio that performs transmission in a transmittable time during which radio transmission can be performed, and when a time accuracy decrease of the radio is detected. In the communication control method, the wireless device performs control so as to execute an abnormal time mode in which transmission is performed by a predetermined transmission method in order to cope with a decrease in time accuracy.

  ADVANTAGE OF THE INVENTION According to this invention, the countermeasure when the time precision of radio | wireless machines, such as a roadside communication apparatus falls, is attained.

It is a schematic perspective view which shows the whole structure of an intelligent road traffic system. It is a road top view which shows a part of jurisdiction area of an intelligent road traffic system. It is a block diagram which shows the internal structure of a roadside communication apparatus and a vehicle-mounted communication apparatus. It is a conceptual diagram which shows an example of a time slot. It is a figure which shows the example which a some roadside communication apparatus shares the same slot. (A) shows a transmission frame format, (b) shows data items included in an extended MAC header, and (c) shows an example of a time slot corresponding to (b). It is a figure which shows a mode that slot information is relayed. It is a flowchart which shows the procedure of communication control. It is a figure which shows the example of the detection method of the fall of a time precision. (A) shows the transmission method in the normal transmission mode and the first abnormal transmission mode, and (b) is a diagram showing the transmission method in the second abnormal transmission mode.

[Overall system configuration]
FIG. 1 is a schematic perspective view showing an overall configuration of an intelligent road traffic system (ITS) according to an embodiment of the present invention. In this embodiment, as an example of the road structure, a grid structure in which a plurality of roads in the north-south direction and the east-west direction intersect with each other is assumed.
As shown in FIG. 1, the intelligent transportation system of this embodiment includes a traffic signal 1, a roadside communication device 2, an in-vehicle communication device 3 (see FIGS. 2 and 3) as a mobile communication device, a central device 4, and in-vehicle communication. A vehicle 5 on which the machine 3 is mounted, and a roadside sensor 6 including a vehicle detector, a monitoring camera, and the like are included.

The traffic signal 1 and the roadside communication device 2 are installed at each of a plurality of intersections Ji (i = 1 to 12 in the example), and are connected to the router 8 via a communication line 7 such as a telephone line. . This router 8 is connected to the central device 4 in the traffic control center.
The central device 4 constitutes a local area network (LAN) with the traffic signal device 1 and the roadside communication device 2 at each intersection Ji included in the area under its control. Therefore, the central device 4 can perform bidirectional communication with each traffic signal 1 and each roadside communication device 2. The central device 4 may be installed on the road instead of the traffic control center.

The roadside sensor 6 is installed in various places on the road in the jurisdiction area for the purpose of counting the number of vehicles flowing into each intersection Ji. The roadside sensor 6 includes a vehicle sensor that ultrasonically senses the vehicle 5 that passes underneath, or a monitoring camera that shoots traffic conditions on the road in time series. The sensing information S4 and the image data S5 are transmitted via the communication line 7. Is transmitted to the central device 4 via
In FIG. 1 and FIG. 2, only one signal lamp is depicted at each intersection Ji for the sake of simplicity of illustration, but each actual intersection Ji is used for ascending and descending roads that intersect each other. At least four signal lamps are installed.

[Central equipment]
The central device 4 has a control unit composed of a workstation (WS), a personal computer (PC), etc., and this control unit collects and processes various traffic information from the roadside communication device 2 and the roadside sensor 6. (Calculation)-Performs recording, signal control and information provision in an integrated manner.
Specifically, the control unit of the central device 4 performs system control for adjusting the traffic signal group 1 on the same road for the traffic signal 1 at the intersection Ji belonging to its own network, and this system control is applied to the road network. Extended wide area control (surface control) can be performed.

In addition, the central device 4 has a communication unit that is a communication interface connected to the LAN side via the communication line 7, and this communication unit includes a signal control command S1 relating to the lamp color switching timing of the signal lamp, Traffic information S2 including traffic jam information and the like is transmitted to the traffic signal device 1 and the roadside communication device 2 every predetermined time (see FIG. 1).
The signal control command S1 is transmitted every calculation period (for example, 1.0 to 2.5 minutes) of the signal control parameter when performing the system control and the wide area control, and the traffic information S2 is transmitted every 5 minutes, for example. Is done.

  Further, the communication unit of the central device 4 is generated when the vehicle passes through the vehicle information S3 including the current position of the vehicle 5 received by the communication device 2 from the in-vehicle communication device 3 from the roadside communication device 2 corresponding to each intersection Ji. Sensing information S4 of a vehicle sensor (not shown) consisting of a pulse signal and image data S5 consisting of digital information of a road photographed by a surveillance camera are received, and the control unit of the central device 4 Based on various information, the system control and the wide area control are executed.

[Wireless communication systems, etc.]
FIG. 2 is a road plan view showing a part of the jurisdiction area of the above intelligent road traffic system.
In FIG. 2, each of two roads intersecting each other is illustrated as one lane on one side in the up and down directions, but the road structure is not limited to this.
As shown also in FIG. 2, the intelligent transportation system of this embodiment includes a plurality of roadside communication devices 2 capable of wireless communication with the in-vehicle communication device 3, and other communication devices 2 and 3 using a carrier sense method. It also functions as a wireless communication system provided with the in-vehicle communication device 3 that is a kind of mobile wireless transceiver that performs wireless communication.

In the example of FIG. 1 and FIG. 2, the plurality of roadside communication devices 2 are installed at each roadside intersection Ji, and are attached to the pillars of the traffic signal device 1. On the other hand, the in-vehicle communication device 3 is mounted on a part or all of the vehicle 5 traveling on the road.
Each in-vehicle communication device 3 mounted on the vehicle 5 can receive the downlink signal in the downlink area A that is the reach range of the downlink signal from the roadside communication device 2.

In the present embodiment, it is assumed that the reach of the transmission signal of the in-vehicle communication device 3 is equal to or less than the reach of the downlink signal of the roadside communication device 2. Accordingly, each roadside communication device 2 can perform wireless communication with the in-vehicle communication device 3 that travels within the range of the downlink area A of the own device.
Thus, in the present embodiment ITS, communication between the vehicle-mounted communication devices 3 (vehicle-to-vehicle communication) and between the roadside communication device 2 and the vehicle-mounted communication device 3 (road-to-vehicle communication from “road” to “car”) (Including both inter-vehicle communication from “car” to “road”), wireless communication is used.

Further, when the installation positions of the adjacent roadside communication devices 2 are relatively close to each other and the downlink areas A overlap (may be partially overlapped or all overlapped), the wireless communication between the roadside communication devices 2 is performed. Communication (inter-road communication) is possible.
As described above, the central device 4 provided in the traffic control center is capable of two-way communication with each roadside communication device 2 by wire, but wireless communication may be performed between these devices.

The roadside communication device 2 allocates a dedicated time slot (first slot T1 in FIG. 4) for wireless transmission by the TDMA system, and a time zone other than this time slot (second slot T2 in FIG. 4). In principle, wireless transmission is not performed.
That is, the time zone T2 other than the time slot T1 for the roadside communication device 2 is opened as a transmission time for the in-vehicle communication device 3 by the CSMA method.

The roadside communication device 2 has a time synchronization function with other roadside communication devices 2 in order to control its own transmission timing.
The time synchronization of the roadside communication device 2 is performed by, for example, GPS synchronization that adjusts its own clock to the time acquired from the GPS satellite, air synchronization that adjusts its own clock to a transmission signal from the other roadside communication device 2, and the like. Can do.

[Roadside communication device]
FIG. 3 is a block diagram showing the internal configuration of the roadside communication device 2 and the in-vehicle communication device 3.
The roadside communication device 2 includes a wireless communication unit (transmission / reception unit) 21 to which an antenna 20 for wireless communication is connected, a wired communication unit 22 that performs bidirectional communication with the central device 4, and a processor (CPU) that performs communication control thereof. A central processing unit) and a storage unit 24 connected to the control unit 23, such as a ROM or a RAM.

  The roadside communication device 2 is further connected to a GPS receiver 25. The GPS receiver 25 can receive GPS signals including time information from a plurality of GPS satellites (not shown). Further, the GPS signal includes a PPS (Pulse Per Second) signal that is a pulse signal per second. Based on the PPS signal, the time of the own device 2 is corrected and the synchronization accuracy is measured. You can.

The storage unit 24 of the roadside communication device 2 stores a computer program for communication control executed by the control unit 23, communication device IDs of the communication devices 2 and 3, and the like.
The control unit 23 of the roadside communication device 2 includes a transmission control unit 23A that controls the transmission timing of the wireless communication unit 21 and received data of each of the communication units 21 and 22 as functional units that are achieved by executing the computer program. The data relay unit 23B that performs the relay processing of the device, the time correction unit 23C that corrects the time of itself (hereinafter also referred to as “own device”) 2 for synchronization between the roadside communication devices, and the time accuracy of the own device 2 It has detection part 23D which detects.

The data relay unit 23B of the roadside communication device 2 temporarily stores the traffic information S2 and the like from the central device 4 received by the wired communication unit 22 in the storage unit 24 and causes the wireless communication unit 21 to perform broadcast transmission.
In addition, the data relay unit 23B temporarily stores the vehicle information S3 received by the wireless communication unit 21 in the storage unit 24 and transfers the vehicle information S3 to the central device 4 via the wired communication unit 22.

  The transmission control unit 23A of the roadside communication device 2 synchronizes the time with another roadside communication device (hereinafter also referred to as “another device”) to align the transmission timing, and the predetermined control assigned to the own device 2 Wireless transmission is performed for a predetermined transmission time within the time slot T1 of the slot number i (see FIG. 4; hereinafter, also referred to as “slot i”).

The storage unit 24 of the roadside communication device 2 stores a transmission time corresponding to the amount of information (transmission data amount) to be downlink transmitted from the own device 2 and the transmission start time. The transmission start time and transmission time are individually set for each roadside communication device 2 so as to be within the time slot T1 assigned to the own device 2.
The transmission control unit 23A generates a downlink signal having the set transmission time length, and causes the radio communication unit 21 to transmit the downlink signal at the set transmission start time.

The transmission time of the roadside communication device 2 may be set to the maximum of the duration (slot length) of the time slot T1 allocated to the own device 2, but the synchronization deviation or reception with other communication devices 2 and 3 may be set. In consideration of the information processing time on the side, it is preferable that the slot length is set slightly shorter than the slot length with a predetermined margin (for example, a guard time of the order of 10 μs).
Further, the transmission time of the roadside communication device 2 can be set to an arbitrary time length within the range of the slot length assigned to the own device, and is significantly shorter than the slot length (for example, 1/3 or 1/2) can also be set.

Of the transmission start time and the transmission time of the downlink signal, the transmission start time is based on the start time of slot i included in the slot information S6 of own device 2, and the transmission control unit 23A of each roadside communication device 2 May be generated autonomously.
The transmission control unit 23A of the roadside communication device 2 causes the wireless communication unit 21 to broadcast-transmit a downlink signal including the slot information S6.

  When the in-vehicle communication device 3 receives the downlink signal including the slot information S6, the in-vehicle communication device 3 grasps a time zone (second slot T2 in FIG. 4) other than the first slot T1 based on the slot information 6, and the time zone. Wireless transmission is performed by CSMA at T2.

[Contents of time slot]
FIG. 4 is a conceptual diagram illustrating an example of a time slot for road-to-vehicle communication.
As shown in FIG. 4, the time slot of road-to-vehicle communication includes a first slot T1 and a second slot T2, and the total period of these is repeated at a constant slot period Cs. The first slot T1 of each slot cycle Cs is a time slot for the roadside communication device 2, and wireless transmission by the roadside communication device 2 is permitted in this time zone.

A slot number i is assigned to the first slot T1, and the slot number i is periodically incremented (may be decremented).
In addition, the second slot T2 is a time slot for the in-vehicle communication device 3, and this time zone is opened for wireless transmission by the in-vehicle communication device 3, so that the transmission control unit 23A of the roadside communication device 2 in principle, Radio transmission is not performed in the second slot T2.

When the slot number i reaches a predetermined number n, it returns to the initial number (i = 1 in the figure). Therefore, if the slot period Cs for n times is the main period Cm, the first slot T1 of each slot number i to n is generated once for each main period Cm.
The system operator can appropriately set the time length of each cycle Cs, Cm and the total number n of slot cycles Cs. In this embodiment, as an example, Cs = 10 ms, Cm = 100 ms, and n = 10 is assumed.

In FIG. 4, the dot ● written in the first slot T1 of slot number i = 1 to 3 indicates the roadside communication device 2 wirelessly transmitting to the first slot T1 of the slot number i, and slot 1 having a plurality of dots ●. , 2 indicates that a plurality of roadside communication devices 2 are shared.
That is, in the example of FIG. 4, the slot 1 is shared by the two roadside communication devices 2 installed at the intersection J1 and the intersection J11, and the slot 2 is installed at the intersection J2, the intersection J9, and the intersection J10. Two roadside communication devices 2 are shared.

  The reason is that, for example, as shown in the intersection J1 and the intersection J11 in FIG. 1, the roadside communication devices 2 that are separated from each other do not overlap the downlink area A, and one in-vehicle communication device 3 includes a plurality of roadside communication devices. Since direct interference (see FIG. 6 (a)) receiving downlink signals simultaneously from 2 does not occur or the possibility thereof is extremely low, the same slot i is set in these and the transmission time of each roadside communication device 2 is set. This is because the in-vehicle communication device 3 can appropriately receive the downlink signal from each roadside communication device 2 even if the two are overlapped.

On the other hand, in the case of roadside communication devices 2 having a relatively close positional relationship in which the above-described direct interference can occur with respect to one in-vehicle communication device 3, it is not possible to set the same slot number i and overlap the transmission time .
Of course, even the roadside communication devices 2 in which direct interference can occur can share the same slot number i if the transmission time is scheduled in a time division manner in the first slot T1, as shown in FIG.
That is, in the example of FIG. 5, the slot 1 is shared by the two roadside communication devices 2 installed at the intersections J1 and J2 by time division, and the slot 2 is installed at the intersections J4 and J5. Two roadside communication devices 2 are shared by time division, slot 3 is shared by two roadside communication devices 2 installed at intersection J7 and intersection J8, and slot 4 is intersected by intersection J3. Two roadside communication devices 2 installed in J6 are shared by time division.

  Based on the assigned time slot T1, the control unit 23 includes not only its own slot information related to the transmission timing of the own device but also other slot information related to the transmission timing of the other device. Information) Generated in S6.

  FIG. 6 (a) shows a frame format including the above-mentioned general slot information S6 as transmission information, and FIG. 6 (b) and FIG. 6 (b) are tables showing examples of data contents of the above-mentioned general slot information S6. FIG. 6C is a time chart corresponding to the data contents.

  As shown in FIG. 6A, the frame of the downlink signal transmitted from the wireless communication unit 21 includes a MAC header (802.11 standard MAC header) F1, an extended MAC header F1, and a payload (data body portion). F3. In FIG. 6A, the preamble and CRC are omitted.

The general slot information S6 is stored in the extended MAC header. The traffic information S2 is stored in the payload F3.
As shown in FIG. 6B, the general slot information S6 includes, for example, the following contents.
1) Length of one main period Cm (for example, 100 milliseconds)
2) Current time shared between road vehicles (for example, 30 milliseconds)
3) Start time (ti) of time slot T1 of slot number i
4) Slot length (Li) of time slot T1 with slot number i
5) Number of times slot information is relayed

  The current time (time information) of 2) and the start time of 3) are both expressed as relative times within the cycle Cm. As described above, if the length of one cycle Cm is included in the slot information S6, for example, the number of bits of the slot information S6 is reduced as compared with the case where the current time and the start time of each slot are expressed in absolute time. can do.

Here, for example, the ID number of the roadside communication device 2 is j, the slot number used by the roadside communication device 2 with the ID number = j is i (i = 1 to 8 in the example of FIG. 6), and the ID Let Lij be the slot length assigned to the roadside communication device 2 of number = j. Also, the slot number i used by the own device 2 is assumed to be “1”, and the ID number j of the own device 2 is assumed to be “1”.
In this case, the start time t1 of the time slot T1 of the slot number 1 and the slot length L11 assigned to the own device 2 are “own slot information” regarding the transmission timing of the own device.

The start time ti (i = 1 to 8) of the time slot SL1 of the slot number i used by the other device 2 and the slot length Lij (j ≠ 1) assigned to the other device 2 are transmitted by the other device. This is “other slot information” regarding timing.
For example, the control unit 23 assigns the transmission times of the plurality of roadside communication devices 2 redundantly (without time division) to the time slot T1 of slot number 3 (assuming i = 3). Then, the maximum value among the plurality of types of slot lengths used by the plurality of roadside communication devices 2 is selected, and this maximum slot length is selected as the time slot T1 of slot number 3 in the data item 4) of the general slot information S6. Slot length L3.

Therefore, for example, there are a total of three roadside communication devices 2 assigned to the time slot SL1 of slot number 3 in total, and the values of the slot lengths are L31 = 2 milliseconds, L32 = 3 milliseconds, and L33 = 4 milliseconds, respectively. In the case of seconds, the maximum value of 4 milliseconds is set as the slot length L3 of the time slot T1 with slot number 3.
Note that the control unit 23 can also generate comprehensive slot information only from its own slot information. In this case, the start time t1 of its own time slot T1 (slot number 1) and its own slot length L11. The slot length L1 set at the same time is described in the data items 3) and 4).

  The data item 5) indicates the number of times the slot information S6 has been relayed. When the slot information S6 is first transmitted from the roadside communication device 2, the relay device = 0 is set. As shown in FIG. 7, the slot information S6 received by the in-vehicle communication device 3 is transferred to another in-vehicle communication device 3 that cannot directly receive a signal from the roadside communication device 2 as inter-vehicle communication as the in-vehicle communication device 3. Sent from When the slot information S6 received by the in-vehicle communication device 3 is transferred, the number of relays of the data item 5) is incremented (+1).

[In-vehicle communication device]
Returning to FIG. 3, the in-vehicle communication device 3 includes a communication unit (transmission / reception unit) 31 connected to the antenna 30 for wireless communication, a control unit 32 including a processor that performs communication control on the communication unit 31, and the like. And a storage unit 33 including a storage device such as a ROM or a RAM connected to the control unit 32.
The storage unit 33 stores a computer program for communication control executed by the control unit 32, communication device IDs of the communication devices 2 and 3, and the like.

The control unit 32 of the in-vehicle communication device 3 causes the communication unit 31 to perform wireless communication by the carrier sense method (CSMA method) for inter-vehicle communication, and transmission within the time slot T1 is prohibited. Does not have a communication control function in the time division multiplexing system like the roadside communication device 2.
Accordingly, the communication unit 31 of the in-vehicle communication device 3 always senses the reception level of a predetermined carrier frequency, and when the value is equal to or greater than a certain threshold, wireless transmission is not performed, and when the value is less than the threshold Only intended to perform wireless transmission.

The control unit 32 of the in-vehicle communication device 3 includes a transmission control unit 32A that controls the wireless transmission timing of the communication unit 31 and a relay process of received data of the communication unit 31 as functional units achieved by executing the computer program. The data relay unit 32B that performs the above and the time correction unit 32C that corrects the time of itself 3 in order to synchronize with the roadside communication device.
The transmission control unit 32A of the in-vehicle communication device 3 sets a wireless transmission time zone permitted by itself according to the slot information S6 acquired from the roadside communication device 2, and wirelessly transmits to the communication unit 31 by the CSMA method only during this time zone. To do.

  The data relay unit 32B of the in-vehicle communication device 3 can perform a relay process of extracting predetermined data from the reception frame received by the communication unit 31, and including the extracted data in the transmission frame and transmitting the data to the communication unit 31. .

For example, the data relay unit 32B extracts the traffic information S3 and the vehicle information (payload F3) S3 of the other vehicle 5 from the downlink signal of the roadside communication device 2, and generates a transmission frame including the extracted data in the payload F3. To the communication unit 31.
In addition, when the slot information S6 (extended MAC frame F1) is included in the downlink signal of the roadside communication device 2 or the received frame received from another vehicle 5, the data relay unit 32B uses the slot information S6. The information is extracted and temporarily stored in the storage unit 33, and the slot information S6 is set as an extended MAC frame of the transmission frame and transmitted to the communication unit 31. In relaying, as described above, the number of relays of slot information S6 (data item 5 in FIG. 6B) is incremented.
When the in-vehicle communication device 3 receives a plurality of slot information S6 transmitted from the plurality of roadside communication devices 2, the in-vehicle communication device 3 determines that the slot information S6 arrived with the smallest number of relays has the highest time accuracy. The slot information S6 is selected.

In the present embodiment, the control unit 32 of the in-vehicle communication device 3 includes the vehicle information S3 received directly from the other vehicle 5 (in-vehicle communication device 3) and the vehicle information S3 of the other vehicle 5 received from the roadside communication device 2. Based on this, it is possible to perform safe driving support control that avoids a right-handed collision or a head-on collision.

[Synchronization method between roadside communication device and in-vehicle communication device]
In the wireless communication system of the present embodiment, the roadside communication device 2 transmits to the in-vehicle communication device 3 slot information S6 including the current time (data item 2 in FIG. 6) based on the clock unit (not shown) of the own device 2. Then, the in-vehicle communication device 3 that has received it calculates the difference between the current time of the roadside communication device 2 and the current time of itself 3 as the correction value Ta. The time correction unit 32 </ b> C of the in-vehicle communication device 3 corrects its own clock unit (not shown) by the correction value Ta, and synchronizes with the roadside communication device 2 by synchronizing the time. By synchronizing between the roadside communication device 2 and the in-vehicle communication device 3, the in-vehicle communication device 3 can perform communication only in the time zone of wireless transmission permitted by itself.

  In other words, the time of the clock unit of the in-vehicle communication device 3 itself must be the same as that of the roadside communication device 2 even if communication is performed only in the wireless transmission time zone permitted by the in-vehicle communication device 3 itself. For example, the vehicle-mounted communication device 3 may perform communication in a time zone that is not actually allowed.

  On the other hand, in the present embodiment, even when the synchronization accuracy of the roadside communication device is impaired, it is possible to appropriately perform communication.

[Synchronization method between roadside communication devices]
In the wireless communication system according to the present embodiment, the downlink signal (slot information S6) transmitted from the roadside communication device 2 to the in-vehicle communication device 3 is broadcast, so that other roadside communication devices 2 other than the in-vehicle communication device 3 are transmitted. Can also be received.
The other roadside communication device 2 that has received the slot information S6 including the current time (data item 2 in FIG. 6) from the roadside communication device 2 determines the difference between the current time of the transmission-side roadside communication device 2 and the current time of itself 2. As the correction value Ta, and the correction value Ta corrects the clock part (not shown) of the self 2 to synchronize with the time. When one time slot T1 is shared by a plurality of roadside communication devices 2 in a time-sharing manner by synchronizing the roadside communication devices 2, the plurality of roadside communication devices 2 perform transmission in overlapping time zones. Can be prevented.

Further, the synchronization between the roadside communication devices 2 may be GPS synchronization performed based on the GPS signal received by the GPS receiver 25 in addition to the above method (air synchronization by roadside communication).
In the air synchronization by the above-mentioned road-to-road communication, for example, one roadside communication device 2 performs GPS synchronization, but is particularly effective when the other roadside communication device 2 is not equipped with a GPS.

[Time accuracy detection and response]
FIG. 8 shows a procedure of communication control performed by the transmission control unit 23A of the roadside communication device 2 in association with detection of time accuracy.

  The transmission control unit 23A controls to perform transmission in the normal transmission mode (step S2) when the time accuracy is good as a result of determination by measuring the time accuracy of the own device 2 (step S1). . When the time accuracy of the roadside communication device 2 is lowered for some reason, the transmission control unit 23A performs mode switching control so that transmission is performed in the abnormal-time transmission mode (steps S3 and S4).

The measurement of time accuracy can be performed based on a received signal from another roadside communication device 2 or based on a PPS signal from a GPS satellite.
For example, the start time of each time slot grasped by the own device 2 is t ₁ = 0 ms, t ₂ = 10 ms, t ₃ = 20 ms, t ₄ = 40 ms, etc. The start time of a signal received from another roadside communication device 2 may deviate from the original start time described above. In FIG. 9A, the actual start time is shifted by the time slot of i = 4, but there is no shift between the actual start time and the original start time for the other time slots. In this case, it can be determined that the time accuracy of the roadside communication device 2 to which the time slot of i = 4 is assigned is lowered.

  The roadside communication device 2 that has detected a decrease in the time accuracy of the other roadside communication device 2 to which the time slot of i = 4 is assigned is notified that the time accuracy of the other roadside communication device 2 has decreased. And if necessary, the deviation amount (error) t1 is notified. The other roadside communication device 2 that has received this notification determines (detects) that the time accuracy has deteriorated based on the notification (step S1).

In addition, the start time of each time slot grasped by own device 2 is t ₁ = 0 ms, t ₂ = 10 ms, t ₃ = 20 ms, t ₄ = 40 ms, etc. If the start time of the signal received from the other roadside communication device 2 is uniformly shifted for all slots as shown in FIG. It is determined (detected) that there is (step S1).

  When measuring the time accuracy based on the PPS signal, as shown in FIG. 9C, the PPS signal that should arrive at intervals of 1 second is 1 second when the time by the clock unit of the own device 2 is used as a reference. If the time does not arrive at an interval, it can be determined (detected) that the time accuracy of the own device 2 is lowered (step S1).

  In the normal communication mode, which is the transmission mode when the time accuracy is good (when the time error t1 detected in step S1 is less than the first threshold value), transmission as described above is performed for transmission by the roadside communication device 2. Is called. That is, the roadside communication device 2 transmits transmission information including slot information as shown in FIG. 6B in the time slot T1 assigned to the own device 2. As described above, the slot information includes the current time (time information) and the number of relays (relay information). When the roadside communication device 2 transmits, the number of relays is set to “0” to indicate that the number of relays by the in-vehicle communication device 3 is zero.

  When transmitted from the roadside communication device 2 in the normal transmission mode, the in-vehicle communication device 3 performs a synchronization process so as to match the time of the roadside communication device 2 based on the current time (time information) included in the transmission information. . That is, synchronization between the roadside communication device 2 and the in-vehicle communication device 3 is established.

As the abnormal-time transmission mode, which is a transmission mode when the time accuracy is poor (when the time error t1 detected in step S1 is greater than or equal to the first threshold), the first abnormal-time transmission mode (step S3), Two types of 2 abnormal transmission mode (step S4) are set in the transmission control unit 23A.
These abnormal-time transmission modes are determined in advance as a transmission method different from the normal transmission mode for use when the time accuracy decreases, and the transmission control unit 23A changes from the normal transmission mode to the abnormal time when the time accuracy decreases. The mode is switched to the transmission mode. In other words, this mode switching function provides a framework for dealing with time accuracy degradation.

  The first abnormal time transmission mode is a mode (transmission method) in which information (time accuracy degradation information) for the vehicle-mounted communication device 3 to grasp the time accuracy degradation of the own device 2 is additionally included in the transmission information (transmission method). is there. The first abnormal transmission mode is different from the normal transmission mode only in that the time accuracy degradation information is included in the transmission information, and the other points are common to the normal transmission mode.

  When the in-vehicle communication device 3 (or another roadside communication device 2) that has received the transmission information transmitted from the roadside communication device 1 in the first abnormal mode detects that the transmission information includes time accuracy degradation information, The synchronization with the roadside communication device 2 that is the transmission source of the transmission information is stopped. The in-vehicle communication device 3 that has stopped synchronization may be synchronized with the other roadside communication device 2 if there is no problem with the time accuracy of the other roadside communication device 2.

  When the time accuracy degradation information is included in the transmission information, a field for time accuracy degradation information may be secured in the frame structure (particularly, the extended MAC header F2 or the payload F3) shown in FIG. The time information (data item 2 in FIG. 6)) and the number of relays (data item 5) in FIG. 6) already included in the extended MAC header F2 can be used.

  When the time information is used, for example, when the time information is composed of 32 bits, one bit out of the 32 bits may be used as a flag indicating whether or not the time accuracy is reduced.

When the number of relays is used, a value larger than the actual number of relays may be set. When the roadside communication device 2 transmits transmission information, the number of relays is set to 0 in the normal transmission mode, but in the first abnormal mode, for example, the number of relays is set to 15 and transmitted from the roadside communication device 2. You may let them. Since the in-vehicle communication device 3 is configured to select the slot information S6 that arrives with the smallest number of relays, the in-vehicle communication device 3 does not select the slot information S6 with a very large number of relays. For this reason, it can avoid that the vehicle-mounted communication apparatus 3 synchronizes with the roadside communication apparatus 2 of the 1st abnormality time mode.
Further, in the in-vehicle communication device 3, if the number of times of relaying is larger than a predetermined reference number, it is determined that the received time information (current time) should not be trusted due to accumulation of time error accompanying the relaying, and the time of reception It is configured not to perform synchronization based on information.
Therefore, if the roadside communication device 2 sets a number of times (for example, 15 times) larger than a predetermined reference number as the number of relays, synchronization by the in-vehicle communication device 3 can be avoided.

The second abnormal time transmission mode is a mode in which transmission is performed so as to avoid causing radio wave interference to other roadside communication devices due to a decrease in time accuracy. When one slot is shared by a plurality of roadside communication devices 2 by time division, if the time accuracy of any one of the plurality of roadside communication devices 2 decreases, the transmission time with other roadside communication devices 2 May cause radio wave interference. Therefore, as shown in FIG. 10 (b), the roadside communication device 2 in the second abnormal time transmission mode abandons the time slot T1 allocated to the own device 2, and performs transmission by CSMA (carrier sense method). Do.
That is, as shown in FIG. 10A, the roadside communication device 2 in the normal transmission mode (and the first abnormal transmission mode) performs transmission in the time slot T1, whereas the second abnormal transmission mode. As shown in FIG. 10B, the roadside communication device 2 determines the transmission timing by carrier sense in the time zone T2 for the in-vehicle communication device 3. In other words, the roadside communication device 2 in the second abnormality transmission mode performs communication in the same manner as the in-vehicle communication device 3. Thereby, it can prevent that transmission time overlaps with the other roadside communication apparatus 2. FIG.

  In the present embodiment, in the second abnormal time transmission mode, the time error t1 detected in step S1 exceeds the second threshold value that is larger than the first threshold value, that is, the time accuracy is greatly deteriorated. If it does, it is executed. When the time accuracy is only slightly deteriorated (first threshold value <time error t1 <second threshold value), it is only necessary to avoid synchronization by the in-vehicle communication device 3 by the first abnormal time transmission mode. When the time accuracy is significantly deteriorated (second threshold value <time error t1), radio wave interference between the roadside communication devices 2 becomes a problem, so it is preferable to shift to the second abnormal time transmission mode.

In the second abnormal transmission mode, the time accuracy degradation information may be transmitted in the same manner as in the first abnormal transmission mode.
Moreover, it is not necessary to provide two types of transmission modes at the time of abnormality, and only one of them may be provided. That is, the second abnormal time transmission mode can be executed not only when the time accuracy is significantly deteriorated but also when the time error is somewhat deteriorated.

  Each embodiment disclosed this time is an illustration of the present invention and is not restrictive. The scope of rights of the present invention is shown not by the above-described embodiment but by the scope of claims for patent, and includes all modifications within the scope of claims for patent, its configuration and equivalent meaning and scope.

For example, in the above embodiment, it is assumed that the road-to-road communication is performed wirelessly. However, in order to secure a sufficient wireless communication band between the roadside communication device 2 and the in-vehicle communication device 3, the road-to-road communication is used. There may be a case where a wireless communication band is not allocated.
Therefore, when the roadside communication devices 2 can communicate with each other by the wired communication unit 22, the overall slot information S6 between them may be exchanged by wired communication.

  Furthermore, in the intelligent transportation system of the above embodiment, a communication device (mobile communication terminal) carried by a pedestrian or the like can be used instead of or in addition to the in-vehicle communication device 3. However, in this case, the mobile communication terminal does not perform wireless transmission during the transmission time (first slot SL1) of the roadside communication device 2 as in the case of the in-vehicle communication device 3 of the above embodiment. Need to follow.

1 traffic signal 2 roadside communication device 3 in-vehicle communication device (mobile communication device)
4 Central device 5 Vehicle 21 Wireless communication unit (transmission unit)
22 Wired communication unit 23 Control unit 23A Transmission control unit 23B Data relay unit 23C Time correction unit 24C Time accuracy detection unit 24 Storage unit
S6 Slot information T1 First slot (time slot)
T2 Second slot (Time slot)

Claims (14)

A wireless device that performs transmission within a transmittable time during which wireless transmission can be performed,
A detection unit for detecting a time accuracy decrease of the wireless device;
A transmission control unit that controls to perform transmission in an abnormal time transmission mode when the detection unit detects the time accuracy decrease;
Equipped with a,
The abnormal-time transmission mode is a wireless device in which transmission information includes information for allowing other wireless devices to grasp the time accuracy degradation of the own device. The transmission information includes relay information indicating the number of times the transmission information is relayed by a radio.
The information for the time accuracy reduction of its own other radios to understand, the relay information, the radio device according to claim 1, wherein those that are set to a value larger than the actual number of relays. A wireless device that performs transmission within a transmittable time during which wireless transmission can be performed,
A detection unit for detecting a time accuracy decrease of the wireless device;
A transmission control unit that controls to perform transmission in an abnormal time transmission mode when the detection unit detects the time accuracy decrease;
With
The abnormal-time transmission mode is a mode in which the transmission timing of the own device is determined by carrier sense and transmission is performed.
Radios. A wireless device that performs transmission within a transmittable time during which wireless transmission can be performed,
The wireless device is the roadside communication device in a wireless communication system in which the mobile communication device determines the transmission timing by carrier sense in a time other than the transmittable time when the roadside communication device performs wireless transmission
A detection unit for detecting a time accuracy decrease of the wireless device;
A transmission control unit that controls to perform transmission in an abnormal time transmission mode when the detection unit detects the time accuracy decrease;
With
The abnormal transmission mode includes a first abnormal transmission mode and a second abnormal transmission mode,
The first abnormal time transmission mode is a mode in which transmission information includes information for another wireless device to grasp the time accuracy degradation of its own device,
The second abnormal time transmission mode is a mode in which transmission is performed so as to avoid giving radio wave interference to other wireless devices due to a decrease in time accuracy.
The transmission control unit performs transmission in the first abnormal-time transmission mode when the time accuracy decrease is detected, and detects that the time accuracy has deteriorated beyond a predetermined threshold. Perform in abnormal mode
Radios. The said detection part detects a time precision fall based on the difference of the time which received the signal from the other radio | wireless machine, and the original time which should receive the said signal. The radio described in 1.   A time slot for a roadside communication device that allows radio transmission by a roadside communication device is shared by a plurality of roadside communication devices by time division, and a time zone other than the time slot for the roadside communication device is opened for wireless transmission by a mobile communication device. The roadside communication device in the communication system,
  A detection unit for detecting a time accuracy decrease of the roadside communication device;
  A transmission control unit that controls to perform transmission in an abnormal time transmission mode when the detection unit detects the time accuracy decrease;
With
  The abnormal-time transmission mode abandons the transmittable time allocated to itself within the time slot for the roadside communication device, and causes radio interference to the mobile communication device in a time zone other than the time slot for the roadside communication device. It is a mode to transmit so as to avoid giving
  Roadside communication device. A wireless communication system in which a mobile communication device is synchronized with a roadside communication device that performs transmission at a transmittable time during which wireless transmission can be performed,
A detection unit for detecting a time accuracy decrease of the roadside communication device;
A transmission control unit that performs control so that transmission of the roadside communication device is performed in an abnormal time transmission mode when the time accuracy decrease of the roadside communication device is detected by the detection unit;
The abnormal-time transmission mode is a mode in which transmission information includes information for allowing other wireless devices to grasp the time accuracy degradation of the own device.
Wireless communication system. A communication control method in a wireless device that performs transmission in a transmittable time during which wireless transmission can be performed,
When the time accuracy degradation of the radio is detected, the radio controls to execute an abnormal time transmission mode in which transmission is performed in a predetermined transmission method in order to cope with the time accuracy degradation ,
The abnormal-time transmission mode is a mode in which transmission information includes information for allowing other wireless devices to grasp the time accuracy degradation of the own device.
Communication control method. A wireless communication system in which a mobile communication device is synchronized with a roadside communication device that performs transmission at a transmittable time during which wireless transmission can be performed,
A detection unit for detecting a time accuracy decrease of the roadside communication device;
A transmission control unit that performs control so that transmission of the roadside communication device is performed in an abnormal time transmission mode when the time accuracy decrease of the roadside communication device is detected by the detection unit;
The abnormal-time transmission mode is a mode in which transmission is performed by determining the transmission timing of the own device by carrier sense so as to avoid causing radio interference to other wireless devices due to a decrease in time accuracy.
Wireless communication system. A communication control method in a wireless device that performs transmission in a transmittable time during which wireless transmission can be performed,
When the time accuracy degradation of the radio is detected, the radio controls to execute an abnormal time transmission mode in which transmission is performed in a predetermined transmission method in order to cope with the time accuracy degradation,
The abnormal-time transmission mode is a mode in which the transmission timing of the own device is determined by carrier sense and transmission is performed.
Communication control method. A wireless communication system in which a mobile communication device is synchronized with a roadside communication device that performs transmission at a transmittable time during which wireless transmission can be performed,
A detection unit for detecting a time accuracy decrease of the roadside communication device;
A transmission control unit that performs control so that transmission of the roadside communication device is performed in an abnormal time transmission mode when the time accuracy decrease of the roadside communication device is detected by the detection unit;
The abnormal transmission mode includes a first abnormal transmission mode and a second abnormal transmission mode,
The first abnormal time transmission mode is a mode in which transmission information includes information for another wireless device to grasp the time accuracy degradation of its own device,
The second abnormal time transmission mode is a mode in which transmission is performed so as to avoid giving radio wave interference to other wireless devices due to a decrease in time accuracy.
The transmission control unit performs transmission in the first abnormal-time transmission mode when the time accuracy decrease is detected, and detects that the time accuracy has deteriorated beyond a predetermined threshold. Perform in abnormal mode
Wireless communication system. A communication control method in a wireless device that performs transmission in a transmittable time during which wireless transmission can be performed,
When the time accuracy degradation of the radio is detected, the radio controls to execute an abnormal time transmission mode in which transmission is performed in a predetermined transmission method in order to cope with the time accuracy degradation,
The abnormal transmission mode includes a first abnormal transmission mode and a second abnormal transmission mode,
The first abnormal time transmission mode is a mode in which transmission information includes information for another wireless device to grasp the time accuracy degradation of its own device,
The second abnormal time transmission mode is a mode in which transmission is performed so as to avoid giving radio wave interference to other wireless devices due to a decrease in time accuracy.
The transmission control unit performs transmission in the first abnormal-time transmission mode when the time accuracy decrease is detected, and detects that the time accuracy has deteriorated beyond a predetermined threshold. Perform in abnormal mode
Communication control method.
Road-to-vehicle communication system.   A time slot for a roadside communication device that allows radio transmission by a roadside communication device is shared by a plurality of roadside communication devices by time division, and a time zone other than the time slot for the roadside communication device is opened for wireless transmission by a mobile communication device. A communication system,
  A detection unit for detecting a time accuracy decrease of the roadside communication device;
  A transmission control unit that controls to perform transmission in an abnormal time transmission mode when the detection unit detects the time accuracy decrease;
With
  The abnormal-time transmission mode abandons the transmittable time allocated to itself within the time slot for the roadside communication device, and causes radio interference to the mobile communication device in a time zone other than the time slot for the roadside communication device. It is a mode to transmit so as to avoid giving
  Wireless communication system.   A time slot for a roadside communication device that allows radio transmission by a roadside communication device is shared by a plurality of roadside communication devices by time division, and a time zone other than the time slot for the roadside communication device is opened for wireless transmission by a mobile communication device. Communication control method, comprising:
  A detection unit for detecting a time accuracy decrease of the roadside communication device;
  A transmission control unit that controls to perform transmission in an abnormal time transmission mode when the detection unit detects the time accuracy decrease;
With
  The abnormal-time transmission mode abandons the transmittable time allocated to itself within the time slot for the roadside communication device, and causes radio interference to the mobile communication device in a time zone other than the time slot for the roadside communication device. It is a mode to transmit so as to avoid giving
  Communication control method.

Images