JP5370320B2 - Wireless communication method, wireless communication apparatus, and wireless communication system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid collision to an oncoming vehicle by radio communication by ensuring real-time property even without using an expensive and highly functional central processing unit by extremely reducing an amount of transmitted/received data compared with conventional vehicle-to-vehicle communications by avoiding delay caused by crosstalk and retransmission. <P>SOLUTION: A radio communication device 100 mounted on a vehicle comprises: a central processing unit 10 acquiring information of a road in the direction of travel based on an acquired present position and direction and road information read out from a storage part 13; a transmission setting information generation part 15 allocating a transmission channel calculated based on first identification information to a transmission part 19; and a reception setting information generation part 16 allocating a reception channel calculated based on second identification information having the inverse direction of the first identification information to a reception part 20. Thereby, the transmission channel of the one device and the reception channel of the other device of the radio communication devices 100 moving in the mutually reverse directions becomes the same, which makes it possible to perform bi-directional radio communication without crosstalk. <P>COPYRIGHT: (C)2012,JPO&amp;INPIT

Description

  The present invention relates to a wireless communication method, a wireless communication device, and a wireless communication system, and more particularly, a wireless communication method, a wireless communication device, and a wireless communication device that perform road entry management for avoiding a vehicle collision by wireless communication based on road information. The present invention relates to a communication system.

  2. Description of the Related Art Conventionally, there is known a method for avoiding a collision on a narrow road where a device for performing road-to-vehicle communication or vehicle-to-vehicle communication is mounted on a vehicle and cannot pass an oncoming vehicle (see, for example, Patent Document 1). .

  In the collision avoidance method described in Patent Document 1, wireless communication between a mobile station installed in a vehicle and a fixed station installed on the roadside (for example, an optical beacon connected to a traffic information center managed by a region or the like). Communication (road-to-vehicle communication) is performed, and the mobile station receives information on entry permission and prohibition from a fixed station installed on the roadside, thereby avoiding a collision with an oncoming vehicle in a narrow road.

  Moreover, according to the collision avoidance method described in Patent Document 1, it is possible to know the approach of the oncoming vehicle by directly receiving the information transmitted from the oncoming vehicle by the inter-vehicle communication device installed in the vehicle. It is possible to determine whether or not to enter a narrow road, and it is also possible to avoid a collision in a narrow road.

Japanese Patent Laid-Open No. 10-86761

  However, in road-to-vehicle communication, an infrastructure for installing a fixed station on the road side for each narrow road is essential, and there is a problem that enormous work and costs are generated. In addition, in the inter-vehicle communication, the above-described infrastructure is not necessary, but there is a problem that the load of the inter-vehicle communication device increases due to an increase in the amount of data to be transmitted and received compared with the road-to-vehicle communication, and real-time performance cannot be secured. Arise.

  Although it is possible to improve the real-time property by mounting a high-performance central processing unit (CPU) on the vehicle, problems such as high costs arise. Furthermore, the method described in Patent Document 1 has a problem that interference due to communication and delay due to retransmission cannot be avoided.

  The present invention has been made in view of the above points, and by avoiding delay due to interference and retransmission, the amount of data transmitted and received is greatly reduced compared to conventional inter-vehicle communication, and an expensive and highly functional central processing unit is provided. An object of the present invention is to provide a wireless communication method, a wireless communication apparatus, and a wireless communication system that can ensure real-time performance even when not used and can avoid a collision with an oncoming vehicle by wireless communication.

In order to achieve the above object, a wireless communication method according to a first aspect of the present invention shows a current location information acquisition step for acquiring a current position of the own device and a direction in which the own device travels, and an intersection or a place where different roads intersect Road information read from storage means storing in advance road information including at least road position information and width, and road link information indicating a road between two adjacent road nodes; A position information acquisition step for acquiring each position information of the first road node and the second road node that are both ends of the road link connected to the road link at the current position from the acquired current position and direction; First identification information having directionality from the first road node to the second road node, based on the positional information of the first and second road nodes, Based on the identification information generation step for generating second identification information having directionality from the road node to the first road node, and the current position and direction acquired in the current location information acquisition step, The first transmission channel or the first transmission frequency calculated on the basis of the first identification information is assigned to the transmission means when the second road node is determined to be moving to be the entrance of the road link. Transmission setting information for allocating the second transmission channel or the second transmission frequency calculated based on the second identification information to the transmission means when it is determined that the road node is moving to be the entrance of the road link. Based on the current position and direction acquired in the generation step and the current location information acquisition step, it is determined that the own device is moving so that the first road node becomes the entrance of the road link. The first reception channel or the first reception frequency having the same channel number or frequency as the second transmission channel or the second transmission frequency calculated based on the second identification information is assigned to the receiving means, Of the first transmission channel or the first transmission frequency with the same channel number or frequency as calculated based on the first identification information. and receiving setting information generation step flop assigned to receiving means 2 receive channel or the second reception frequency, and generates the entry data indicating that the own apparatus enters the road link, the device itself becomes the inlet road link An entry data transmission step for transmitting via the transmission means when entering the first or second road node, and an exit data indicating that the device has exited the road link; Other than the own device having the same configuration as the own device , and an exit data transmitting step for generating data and transmitting the data via the transmission means when the own device exits from the second or first road node serving as the exit of the road link. Incoming data transmitted by another device or exit data transmitted by another device is received by the receiving means of the own device, and the other device is located in the road link based on the received entry data or exit data. And a reception and output step of outputting the determination result .

In order to achieve the above object, the wireless communication method according to the second aspect of the invention requests a transmission timing setting step for setting the transmission timing of the transmission means, and an approach to the road link connected to the road link at the current position. An entry request data transmission step for generating the entry request data to be transmitted and transmitting it through the transmission means, and that the reception request data received by the other device when the current position is within the road link is received by the reception means. A response data transmission step of generating response data indicating that the vehicle is located in the road link when detected, and transmitting the response data through the transmission means at the transmission timing set by the transmission timing setting step. And

In order to achieve the above object, in the wireless communication method of the third invention, the reception and output steps of the first or second invention receive the entry data or response data transmitted by another device by the receiving means. After detecting that the reception means has received the exit data and the standby guidance notification step for notifying the standby guidance prohibiting entry to the road link connected to the road link at the current position. a travel permission guidance providing step of notifying the running permission guidance to allow entry into the connected road link in the road link the current position and said free Mukoto.

In order to achieve the above object, a wireless communication method according to a fourth aspect of the present invention provides a standby guidance notification step according to the third aspect in which whether or not there is unprocessed received data among the data received by the receiving means. The unprocessed data determination step, and the unprocessed data determination step determines that there is unprocessed received data, at least the width of the first or second road node serving as the entrance of the road link, and the own device Indicates whether or not it is possible to pass the oncoming vehicle that transmitted unprocessed received data based on the width of the vehicle equipped with the vehicle and the width of the oncoming vehicle equipped with other devices A passing level is calculated, and the passing level is compared with a predetermined threshold to determine whether or not a passing is possible. Risurechigai characterized in that the notifying standby guide to prohibit entry into the connected road link the current position when it is determined that it is difficult.

  In order to achieve the above object, a wireless communication method of a fifth invention is based on the first invention, based on at least the width of the first or second road node serving as an entrance of a road link. A passing level determination step of calculating a passing level indicating the degree of whether or not a mounted vehicle can be passed with an oncoming vehicle, and comparing the passing level with a predetermined threshold to determine whether or not a passing is possible. And when the passing level determination step determines that the passing is difficult, the first and second transmission channels or the first and second transmission frequencies are calculated by the transmission setting information generation step, and the reception setting information. The first and second reception channels or the first and second reception frequencies are calculated by the generation step.

In order to achieve the above object, a wireless communication device according to a sixth aspect of the present invention is an intersection or different from a position acquisition unit that acquires the current position of the own device and a direction acquisition unit that acquires a direction in which the own device travels. Storage means for storing in advance road information including at least road node position information and width indicating a place where roads intersect and road link information indicating a road between two adjacent road nodes; and position acquisition means The first road node and the first road node that are both ends of the road link connected to the road link at the current position from the current position acquired by the direction acquisition means, the direction acquired by the direction acquisition means, and the road information read from the storage means Position information acquisition means for acquiring each position information of the two road nodes, transmission means and reception means, and the first and second road nodes acquired by the position information acquisition means Based on the position information, first identification information having directionality from the first road node to the second road node, and first direction information having directionality from the second road node to the first road node. Based on the current position acquired by the position acquisition means, the direction acquired by the direction acquisition means, and the own device identifies the first road node of the road link. When it is determined that the vehicle is moving to be an entrance, the first transmission channel or the first transmission frequency calculated based on the first identification information is assigned to the transmission means, and the second road node is assigned to the road link. A transmission setting information generating means for allocating the second transmission channel or the second transmission frequency calculated based on the second identification information to the transmission means when it is determined that it is moving so as to be an entrance; and a position acquisition means. By When it is determined based on the acquired current position and the direction acquired by the direction acquiring means that the device is moving to the first road node to be the entrance of the road link, the second identification The first reception channel or the first reception frequency having the same channel number or frequency as the second transmission channel or the second transmission frequency calculated based on the information is assigned to the reception means, and the second road node is assigned to the road link. When it is determined that the mobile station is moving to be the entrance, the second transmission channel or the second channel having the same channel number or frequency as the first transmission channel or the first transmission frequency calculated based on the first identification information Receiving setting information generating means for assigning the receiving frequency to the receiving means, and entry data indicating that the vehicle has entered the road link. An entry data transmission means for transmitting via the transmission means when entering the second road node, and exit data indicating that the exit from the road link is generated, and the second apparatus or the second where the own apparatus becomes an exit of the road link Exit data transmission means for transmitting via a transmission means when leaving from one road node , and entry data transmitted by another device other than the own device having the same configuration as the own device, or exit data transmitted by another device Receiving and outputting means for judging whether or not another device is located in the road link based on the incoming data or the outgoing data received by the receiving means and outputting the judgment result And

In order to achieve the above object, according to a sixth aspect of the present invention, there is provided a wireless communication apparatus according to the sixth aspect, wherein the transmission timing setting means for setting the transmission timing of the transmission means and the road connected to the road link at the current position and entering request data transmission means generates the entry request data for requesting the entry of the link is transmitted via the transmitting means, when the current position is within the road link, receives ingress request data other device transmits when detecting that it has received by means generates response data indicating that located in the road link, a response data transmitting means for transmitting via a transmission means at a transmission timing which is set by the transmission timing setting means It further has these.

In order to achieve the above object, in the wireless communication device of the eighth invention, the reception and output means of the sixth or seventh invention receives the entry data or response data transmitted by another device by the reception means. After detecting that the reception means has received the standby guidance notification means for notifying the standby guidance prohibiting entry to the road link connected to the road link at the current position, and the reception means. characterized by chromatic and running permission guidance informing means for informing a running permission guidance to allow entry into the road link to the connected road link the current position.

In order to achieve the above object, a wireless communication apparatus according to a ninth aspect of the present invention is configured to determine whether there is unprocessed received data among the data received by the receiving means. When the unprocessed data determination means determines that there is unprocessed received data by the unprocessed data determination means, at least the width of the first or second road node serving as the entrance of the road link, and the own device Indicates whether or not it is possible to pass the oncoming vehicle that transmitted unprocessed received data based on the width of the vehicle equipped with the vehicle and the width of the oncoming vehicle equipped with other devices The passing level is calculated, and the passing level is compared with a predetermined threshold value to determine whether or not a passing is possible. The passing level determining unit determines whether the passing is possible. Wherein the notifying the standby guide to prohibit entry into the connected road link the current position when it is determined.

  In order to achieve the above object, a wireless communication device according to a tenth aspect of the invention relates to the sixth aspect of the invention based on at least the width of the first or second road node serving as an entrance of a road link. Passing level determination means for calculating a passing level indicating whether or not a mounted vehicle can be passed with an oncoming vehicle, and comparing the passing level with a predetermined threshold to determine whether a passing is possible. The first and second transmission channels or the first and second transmission frequencies are calculated by the transmission setting information generation unit when the passing level determination unit determines that the passing is difficult. The information generation means calculates the first and second reception channels or the first and second reception frequencies.

Furthermore, in order to achieve the above object, an eleventh aspect of the invention is a wireless communication system that performs wireless communication with each other by a wireless communication device mounted on each of a plurality of vehicles. Position acquisition means for acquiring the current position, direction acquisition means for acquiring the traveling direction of the device itself, position information and width of a road node indicating an intersection or a place where different roads intersect, and between two adjacent road nodes Road information including at least road link information indicating a road is read from the storage means, the current position acquired by the position acquisition means, the direction acquired by the direction acquisition means, and the storage means Each position information of the first road node and the second road node that are both ends of the road link connected to the road link at the current position is acquired from the road information. Direction information from the first road node to the second road node based on the position information of the first and second road nodes acquired by the position information acquisition means, the transmission means and the reception means, and the position information acquisition means Acquired by the position acquisition means, the identification information generating means for generating the first identification information having the position and the second identification information having the direction from the second road node to the first road node. Based on the first identification information, when it is determined that the own device is moving to the entrance of the road link based on the current position and the direction acquired by the direction acquisition means When the first transmission channel or the first transmission frequency calculated in the above is assigned to the transmission means and it is determined that the second road node is moving to be the entrance of the road link, the second identification information is used. Calculated Based on the transmission setting information generation means for assigning the two transmission channels or the second transmission frequency to the transmission means, the current position acquired by the position acquisition means, and the direction acquired by the direction acquisition means, When it is determined that one road node is moving to be an entrance of a road link, the same channel number or frequency as the second transmission channel or the second transmission frequency calculated based on the second identification information When the first receiving channel or the first receiving frequency is assigned to the receiving means and it is determined that the second road node is moving to be the entrance of the road link, the calculation is based on the first identification information. The reception setting information generation for allocating the second reception channel or second reception frequency having the same channel number or frequency as the first transmission channel or first transmission frequency to the reception means. And an entry data transmission that generates the entry data indicating that the vehicle has entered the road link and transmits the data via the transmission means when the device enters the first or second road node serving as the road link entrance. means generates an exit data indicating that left the road link, and transmitting means when the device itself that has exited from the second or first road node becomes the exit of the road link, the own of the own apparatus having the same configuration Whether the receiving device receives the entry data transmitted by another device other than the device or the exit data transmitted by the other device, and whether the other device is located in the road link based on the received entry data or the exit data. And receiving and outputting means for determining whether or not and outputting the determination result .

  According to the present invention, it is possible to receive all transmission information from other wireless communication devices moving in the opposite direction on the same road without interference, and avoid delays due to interference and retransmission. The amount of data to be transmitted and received can be greatly reduced compared to the above, which ensures real-time performance without using an expensive and high-performance central processing unit, and enables wireless communication to collide with oncoming vehicles. Can be avoided.

It is a block diagram of one embodiment of a wireless communication device of the present invention. It is a figure which shows an example of the road structure for operation | movement description of this invention apparatus of FIG. It is a flowchart for operation | movement description of one Embodiment of the radio | wireless communication apparatus of this invention. It is a figure which shows an example of a width level. It is a flowchart which shows the transmission / reception setting process in FIG. It is a flowchart which shows the reception process in FIG. It is a figure which shows the format of an example of the data transmitted / received by this invention apparatus of FIG. It is a figure which shows an example of a standby guidance display. It is a figure which shows an example of a travel permission guidance display. It is a flowchart of an example of an approach determination process. It is a figure explaining an example of the calculation method of a passing level. It is a flowchart which shows the transmission process in FIG. FIG. 6 is another example of a road configuration for explaining the operation of the device of the present invention in FIG. 1. It is a flowchart explaining the process performed in the case of the transmission process by one Embodiment of the radio | wireless communication apparatus of this invention. It is a flowchart for operation | movement description of one Embodiment of the radio | wireless communication apparatus of this invention which received approach request data from the other vehicle. It is a sequence diagram for operation | movement description of one Embodiment of this invention apparatus at the time of approach request data reception. It is a flowchart for another operation | movement description of one Embodiment of the radio | wireless communication apparatus of this invention. It is a figure which shows an example of the road structure for operation | movement description of other embodiment of the radio | wireless communication apparatus of this invention. It is a figure which shows an example of the road structure for operation | movement description of other embodiment of the radio | wireless communication apparatus of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a block diagram of an embodiment of a wireless communication apparatus according to the present invention.

  In the figure, a wireless communication device 100 is installed in a vehicle, and includes a central processing unit (CPU) 10, a position acquisition unit 11, a direction acquisition unit 12, and a storage unit 13 that stores at least road information. An identification information calculation unit 14, a transmission setting information generation unit 15 that generates transmission setting information, a reception setting information generation unit 16 that generates reception setting information, a transmission timing setting unit 17, an information input unit 18, and an antenna 21 includes a transmission unit 19 and a reception unit 20 that perform wireless transmission and reception.

  The central processing unit 10 includes a ROM (Read Only Memory) that stores a program for executing the operation of the present embodiment, and a RAM (Random Access Memory) used for writing and reading data at the time of calculation. 22, and executes various processes described later of the wireless communication apparatus 100 to comprehensively control each unit in the wireless communication apparatus 100. The central processing unit 10 constitutes position information acquisition means, entry data transmission means, exit data transmission means, entry request data transmission means, response data transmission means, passing level determination means, etc. of the present invention.

  The position acquisition unit 11 constitutes the position acquisition means of the present invention, and periodically receives, for example, a GPS signal transmitted via an artificial satellite constituting a well-known global positioning system (GPS). And it is comprised from the GPS sensor which acquires the positional information which consists of the latitude and the longitude showing a geographical present position by well-known calculation.

  The direction acquisition unit 12 constitutes a direction acquisition unit of the present invention, and includes, for example, a known direction sensor, and acquires a direction (azimuth) in which the vehicle on which the wireless communication device 100 is mounted travels. Note that the direction acquisition unit 12 may acquire a direction from information included in the GPS signal without using a special sensor such as a direction sensor.

  The storage unit 13 constitutes storage means of the present invention, and includes position information and width of road nodes indicating intersections or different road locations, and road link information indicating roads connecting two adjacent road nodes. Is stored in advance.

  The identification information calculation unit 14 constitutes identification information generation means of the present invention, and is identified from the road information stored in the storage unit 13 by the central processing unit 10 and is the road at the current position of the wireless communication device 100 First identification information having a direction from the first road node to the second road node among the link and the first road node serving as the entrance of the road link and the second road node serving as the exit. And second identification information having a direction from the second road node toward the first road node.

  The transmission setting information generation unit 15 constitutes transmission setting information generation means of the present invention, calculates a transmission channel as transmission setting information based on the first identification information calculated by the identification information calculation unit 14, and performs central processing. The transmission channel is assigned to the transmission unit 19 via the device 10. The reception setting information generation unit 16 calculates a reception channel as reception setting information based on the second identification information calculated by the identification information calculation unit 14 and assigns the reception channel to the reception unit 20 via the central processing unit 10. .

  The transmission timing setting unit 17 constitutes a transmission timing setting unit of the present invention, and sets the transmission timing of the transmission unit 19. The information input unit 18 inputs transmission information during construction or during group leaving school. The transmission unit 19 is assigned a transmission channel that is transmission setting information calculated by the transmission setting information generation unit 15, and wirelessly transmits data of the transmission channel via the antenna 21. The reception unit 20 is assigned a reception channel, which is the reception setting information calculated by the reception setting information generation unit 15, and selectively receives data of the allocated reception channel from data received via the antenna 21. The transmission unit 19 and the antenna 21 constitute the transmission means of the present invention, and the reception unit 20 and the antenna 21 constitute the reception means of the present invention.

  In addition, the central processing unit 10, the position acquisition unit 11, the direction acquisition unit 12, the storage unit 13, the identification information calculation unit 14, the transmission setting information generation unit 15, the transmission unit 19, and the antenna 21 are information such as a construction site or a group school. A wireless transmission device 101 that assumes only transmission is configured.

  Next, the operation of Example 1 of the present embodiment will be described with reference to FIGS. FIG. 2 is a diagram showing an example of a road configuration for explaining the operation of the wireless communication apparatus, and FIG. 3 is a flowchart of an embodiment of the wireless communication apparatus and the wireless communication method of the present invention.

  Now, as schematically shown in FIG. 2, the first vehicle node 30 on which the vehicle 30 equipped with the wireless communication device 100 is currently traveling on the road 36 and serves as an entrance to a road 38 having a narrower width than the road 36. It is assumed that the vehicle is traveling in the 32 direction. On the other hand, it is assumed that the other vehicle 31 on which the wireless communication device 100 is mounted is traveling in the direction of the second road node 33 that becomes the exit of the narrow road 38. In addition, the own vehicle is a vehicle on which the wireless communication device 100 that is the subject in the description of the operation of the embodiment is mounted, and the other vehicle is a vehicle on which the wireless communication device 100 other than the own vehicle is mounted. .

  In this state, as shown in the flowchart of FIG. 3, the central processing unit 10 of the wireless communication device 100 mounted on the host vehicle 30 firstly acquires the current position information acquired by the position acquisition unit 11 and the direction acquisition unit. The direction information indicating the current traveling direction of the own vehicle 30 (in other words, the moving direction of the wireless communication device 100 itself) acquired by 12 is acquired as current location information (step S10). Thereby, the central processing unit 10 knows that the own vehicle 30 is currently traveling along the road 36 toward the road 38 having a narrower width than the road 36.

  Subsequently, the central processing unit 10 of the wireless communication device 100 mounted on the host vehicle 30 reads at least the road node position information, road link information, and road node width read from the storage unit 13. Based on the current location information acquired in step S10, road information on a narrow road 38 connected to the road 36 in the traveling direction of the host vehicle 30 is acquired (step S20).

  Subsequently, the central processing unit 10 can pass the oncoming vehicle based on the width (road width) included in the road information of the road 38 based on the width of the first road node 32 that is the entrance of the road 38. It is determined whether or not there exists, that is, a passing level is determined (step S30). In this determination, levels 1 to 5 of the width Wr as shown in FIG. 4 are set in advance, and it is determined that it is difficult to pass in the case of the level 1 with the narrowest width Wr and the level 2 with the next narrowest width Wr. It is determined that a level 3 or higher, which is a width Wr wider than 2, can be passed. However, in the determination in step S30 of the flowchart of FIG. 3, it is shown that it is difficult to pass level 2 or lower and that it is possible to pass level 3 or higher as an example, but the determination of passing is not limited to this.

  If the central processing unit 10 determines in the passing level determination in step S30 that the passing is possible, the central processing unit 10 ends the process and performs the current location information acquisition process again. On the other hand, if it is determined in the passing level determination in step S30 that it is difficult to pass, it is determined that it is necessary to confirm the presence or absence of an oncoming vehicle, and transmission / reception settings for communication preparation are performed (step S40).

  In the transmission / reception setting of step S40, as shown in the flowchart of FIG. 5, first, from the road information of the road 38 that is difficult to pass, the starting point information that becomes the entrance of the road 38 and the exit of the road 38 To obtain end point information (step S41). Subsequently, the central processing unit 10 acquires the position information A of the first road node 32 from the start point information of the road 38 (step S42), and acquires the position information B of the second road node 33 from the end point information of the road 38. Obtain (step S43). The position information A includes a longitude λ1 and a latitude φ1, and the position information B includes a longitude λ2 and a latitude φ2.

  Next, the identification information calculation unit 14 has first direction information having a direction from the entrance position information A to the exit position information B, and a directionality from the exit position information B to the entrance position information A. And the second identification information having the (step S44). Subsequently, the transmission setting information generation unit 15 calculates a transmission channel number as transmission setting information from the first identification information, and assigns the transmission channel number to the transmission unit 19 via the central processing unit 10 (step S45). ). Further, the reception setting information unit 16 calculates a reception channel number as reception setting information from the second identification information, and assigns the reception channel number to the reception unit 20 via the central processing unit 10 (step S46).

  Here, the calculation method of the transmission channel number and the reception channel number will be described in detail by taking a specific low power radio as an example. For example, when using a frequency band from 429.1750 MHz to 4297375 MHz that can be used with a specific low power radio, 46 channels can be used with a frequency interval of 12.5 kHz. Among these, since channels 1 to 6 have the longest transmission time and the shortest pause time, channels 7 to 46 that enable continuous transmission are used. In this case, from the position information A (λ1, φ1) of the road node 32, the position information B (λ2, φ2) of the road node 33, and the total number N of channels, the transmission channel number CNs and the reception channel number CNr are expressed as (1 ) And (2).

CNs = abs (λ1 + φ2) mod N + 7 (1)
CNr = abs (λ2 + φ1) mod N + 7 (2)
Here, abs (λ1 + φ2) in equation (1) corresponds to the first identification information, and abs (λ2 + φ1) in equation (2) corresponds to the second identification information. In equation (1), “7” is added to the remainder (natural number) obtained by dividing the first identification information, which is the absolute value of the sum of the longitude λ1 of the position information A and the latitude φ2 of the position information B, by the total number N of channels. The value indicates the transmission channel number CNs. Similarly, the expression (2) is “7” to the remainder (natural number) obtained by dividing the second identification information, which is the absolute value of the sum of the longitude λ2 of the position information B and the latitude φ1 of the position information A, by the total number N of channels. The value obtained by adding is the reception channel number CNr. The above “7” indicates the channel start number “7” among the 7 to 46 channels capable of continuous transmission.

  The frequency may be determined instead of the channel number. In this case, the transmission frequency Fs and the reception frequency Fr are expressed by the following expression (3) using the transmission channel number CNs and the reception channel number CNr, where the lower limit of the use frequency is Fm and the channel frequency interval is Fi. And (4).

Fs = Fm + CNs × Fi (3)
Fr = Fm + CNr × Fi (4)
Note that the channel number and frequency calculation methods are not limited to the above formulas (1) to (4) as long as they are calculation formulas calculated from position information indicating the start and end points of the road. In addition, it is desirable that the position information used for the calculation is truncated and used in units of seconds so as not to include a slight error existing for each map data including road information stored in the storage unit 13. In this way, even when different map data is used, it is possible to determine a channel without depending on different road link numbers and road node numbers for each map data.

  The other vehicle 31 that is the oncoming vehicle 30 shown in FIG. 2 is also equipped with the wireless communication device 100 shown in FIG. 1, but when viewed from the other vehicle 31, the entrance and exit of the narrow road 38 are shown. Therefore, the wireless communication device 100 of the other vehicle 31 is opposite to that of the wireless communication device 100 of the own vehicle 30 in the directions of the first identification information and the second identification information to be generated. Therefore, CNr represented by the expression (2) is set as the transmission channel number, and CNs represented by the expression (1) is set as the reception channel number. As a result, bidirectional wireless communication is possible between the host vehicle 30 and the other vehicle 31.

  In the flowchart of FIG. 5, steps S42 and S43 may be reversed, and steps S45 and S46 may be reversed, and the processing order is not limited to the flowchart of FIG.

  Next, as shown in the flowchart of FIG. 3, the central processing unit 10 performs a reception process following the transmission / reception setting process in step S40 (step S50). In the reception process of step S50, as shown in the flowchart of FIG. 6, the central processing unit 10 receives the entry / exit data by the reception unit 20 until the own vehicle 30 enters the first road node 32 at the entrance of the road 38. It is determined whether or not it has been acquired (received) (step S51). If the entry / exit data is not acquired, the process proceeds to an output process after step S55 described later. On the other hand, when the entry / exit data is acquired, the contents of the entry / exit data are analyzed to determine whether the entry / exit data indicates entry into the road 38 (step S52).

  Here, the data transmitted / received by the wireless communication device 100 has a format configuration including a data type flag (DA) 40 and a data area 41 of contents (DB) corresponding to the data type, as shown in FIG. 7, for example. is there. In the data type flag 40, a flag indicating entry / exit on the road 38, a request flag for another vehicle, a response flag for another vehicle, and the like can be set. In the data area 41, “1” indicating that the vehicle has entered the road 38 or “0” that indicates that the vehicle has exited, vehicle width information, passing, type of construction, group leaving school, one-way restriction, Information such as the presence or absence of traffic lights can be included as necessary.

  The entry / exit data determined to be acquired in step S51 is data in which the entry / exit flag is set in the data type flag 40. Further, the entry data is data in which the data area 41 of entry / exit data includes “1” indicating entry into the road and vehicle width information as necessary. The exit data is data in which the data area 41 of the exit / exit data includes “0” indicating that the user has exited the road and, if necessary, vehicle width information. Here, the data determined in steps S51 and S52 is data transmitted by the other vehicle 31 in its transmission process (corresponding to a transmission process in step S70 described later).

  When the data acquired by the vehicle 30 is entry data that includes the data type flag 40 as an entry / exit flag and that includes “1” indicating that the vehicle 38 has entered the data area 41. The central processing unit 10 in the wireless communication device 100 of the host vehicle 30 increments the value M of the internal counter whose initial value is “0” by one (step S53), and proceeds to the next output processing. On the other hand, when the data acquired by the vehicle 30 is exit data in which the data type flag 40 is an entry / exit flag and the data area 41 includes “0” indicating that the vehicle 38 has exited from the road 38. The central processing unit 10 in the wireless communication device 100 of the own vehicle 30 decrements the value M of the internal counter by one (step S54), and proceeds to the next output processing. Since the reception process of step S50 is periodically repeated, the value M of the internal counter is gradually increased to indicate a value of “1” or more while the other vehicle 31 that is an oncoming vehicle is traveling on the road 38, After the other vehicle 31 exits the road 38, it gradually decreases, and after a certain time, shows a value of "0" or less.

  In the output process, the central processing unit 10 in the wireless communication device 100 of the host vehicle 30 performs the processes of steps S55 to S57. That is, the central processing unit 10 first determines whether or not the value M of the internal counter is “0” or less (step S55). Subsequently, when the value M of the internal counter is not “0” or less, that is, when it is determined that the value is “1” or more, the central processing unit 10 determines that the other vehicle 31 that is an oncoming vehicle is traveling on the road 38. As shown in FIG. 8, a waiting guidance is displayed on the display 50 (not shown in FIG. 1) for the driver (user) of the vehicle 30 (see FIG. 8). Step S56).

  On the other hand, when it is determined in step S55 that the value M of the internal counter is “0” or less, the central processing unit 10 determines that the other vehicle 31 that is an oncoming vehicle has left the road 38, and As shown in FIG. 9, a travel permission guidance for displaying a message 61 indicating that the vehicle is allowed to enter on the display 50 (not shown in FIG. 1) is given to the driver (user) of the vehicle 30 (step). S57).

  Note that the standby guidance display in FIG. 8 and the travel permission guidance display in FIG. 9 display a road map 55 around the current location on the display 50 and highlight a road image 56 showing a narrow road 38. Messages 60 and 61 are displayed in such a manner that the vehicle's mark 51 is superimposed on them. However, the standby guidance or the travel permission guide may display only the message 60 or 61, or the driver of the host vehicle 30 (the driver of the host vehicle 30) may temporarily wait or travel permission by voice output from a speaker not shown in FIG. The notification form is not particularly limited.

  Moreover, before performing the standby guidance process of step S56, you may implement the approach determination process shown to the flowchart of FIG. In the entry determination process, as shown in FIG. 10, the central processing unit 10 first turns on the entry determination flag (step S561). Subsequently, the central processing unit 10 detects whether or not there is received data (step S562). If there is no received data, the process proceeds directly to step S70 in FIG. 3, and if there is received data, the central processing unit 10 receives the received data. It is determined whether or not the number K of data is greater than “0” (step S563).

  When the number K of received data is “0” or less, the process proceeds to step S70 in FIG. 3. However, when the number K of received data is “1” or more, first, the received data is analyzed to analyze the received data. After acquiring the other vehicle width included in the data area 41 (step S564), a passing level is calculated (step S565). For example, as shown in FIG. 11, when the own vehicle width is α, the other vehicle width is β, the width of the road to be driven is Wr, and the passing level is Lev as shown in FIG. A passing level Lev that satisfies the equation inequality is calculated.

α × Lev + β × Lev ≦ Wr (5)
Here, as shown in FIG. 11, the passing level Lev is “1.1” for level 1, “1.2” for level 2, “1.3” for level 3, and “1.4 for level 4”. Level 5 is “1.5”.

  After calculating the passing level in step S565, the central processing unit 10 determines whether the calculated passing level is 1 or 2, or the level is 3 or more (step S566), and the level is 3 or more. When it is determined that the vehicle can travel, the value of the number K of received data is decremented by one, and it is determined again in step S563 whether K is greater than “0”. The processing of steps S564 to S566 is performed again for the next received data.

  On the other hand, the central processing unit 10 determines that it is difficult to pass when the level is 1 or 2 in the determination of step S566, does not analyze the received data any more, and sets the entry determination flag to OFF. The entry is prohibited (step S568), and the process proceeds to the standby guidance process in step S56.

  In the flowchart of FIG. 10, as an example, it is shown that passing level 2 or lower is difficult and passing level 3 or higher is possible, but the determination of passing is not limited to this. The determination of the margin width and level of passing may be changed according to the vehicle type and driving level.

  Next, following the reception process in step S50 of FIG. 3, the central processing unit 10 determines whether or not the vehicle can travel (step S60). If the vehicle is not capable of traveling, the reception process of step S50 is continuously executed. If the vehicle is capable of traveling by the reception process of step S50, a transmission process is performed (step S70).

  In the transmission process of step S70, the central processing unit 10 here, as shown in the flowchart of FIG. 12, here, in order to notify the other vehicle 31 that is an oncoming vehicle, the first of the entrance of the road 38 The entry data described above is transmitted from the transmission unit 19 at the timing of entering the road node 32 (step S71).

  Thereafter, the central processing unit 10 in the wireless communication device 100 mounted on the own vehicle 30 reaches the second road node 33 at the exit of the road 38 while acquiring the current position of the own vehicle 30 (the wireless communication device 100). It is determined whether or not (step S72). When the second road node 33 is reached, the aforementioned exit data is transmitted from the transmission unit 19 at the timing of exiting the road 38 (step S73).

  The central processing unit 10 clears the information (step S80) following the transmission process in step S70 of FIG. 3, and ends the process.

  As described above, according to the wireless communication device 100 of the present embodiment, with the above-described configuration, the host vehicle 30 can enter the first road node 32 at the entrance of the narrow road 38 before the other oncoming vehicle. If no data is received from the car 31, the entry data indicating that the host vehicle 30 has entered the road 38 and is traveling is entered at the timing of entering the first road node 32 at the entrance of the road 38. A collision can be avoided by transmitting to the vehicle 31 and waiting the other vehicle 31 so as not to enter the road 38. On the other hand, when approach data indicating that the vehicle 30 is traveling on the road 38 from another vehicle 31 before the vehicle 30 enters the first road node 32 at the entrance of the narrow road 38 is received. Will collide by waiting near the first road node 32 so as not to enter the road 38 until it receives the exit data transmitted from the other car 31 and confirms that the other car 31 has left the road 38. Can be avoided.

  In this case, the transmission channel of the wireless communication device 100 of the own vehicle 30 and the reception channel of the wireless communication device 100 of the other vehicle 31 are the same, and the reception channel of the wireless communication device 100 of the own vehicle 30 and the wireless channel of the other vehicle 31 are. Since the transmission channels of the communication apparatus 100 are the same, no interference occurs. Therefore, according to radio communication apparatus 100 of the present embodiment, delay due to interference and retransmission can be avoided, so that the amount of data to be transmitted / received can be greatly reduced as compared with conventional inter-vehicle communication. The real-time property can be ensured without using an expensive and highly functional central processing unit as the central processing unit 10.

  As schematically shown in FIG. 13, the own vehicle 30 and the other vehicle 39 each equipped with the wireless communication device 100 are traveling on a narrow road 38 toward the second road node 33, and wireless communication is performed. Even when the other vehicle 31 equipped with the device 100 is traveling in the direction of the second road node 33 serving as the exit of the narrow road 38, the wireless communication device 100 according to the present embodiment can avoid collision. It is.

  That is, in this case, according to the wireless communication device 100 of the present embodiment, the wireless communication device 100 of the host vehicle 30 and the wireless communication device 100 of the other vehicle 39 traveling in the same direction have their transmission channels set to f1, respectively. Therefore, the wireless communication device 100 of the own vehicle 30 does not receive the incoming data transmitted from the wireless communication device 100 of the subsequent other vehicle 39 by performing frequency filtering. Can be. When the other vehicle 39 enters the road 38 following the own vehicle 30, the wireless communication device 100 of the other vehicle 31 that is an oncoming vehicle set in the transmission channel f2 and the reception channel f1 Each of the entry data of the wireless communication device 100 and the wireless communication device 100 of the other vehicle 39 is received, the internal counter is incremented, and it is possible to wait until the entered own vehicle 30 and the other vehicle 39 leave, It is possible to avoid entering into and colliding with 38 at the same time.

  Note that, since the transmission channels of the wireless transmission devices 100 of the own vehicle 30 and the other vehicle 39 are the same, interference of transmission radio waves between the own vehicle 30 and the other vehicle 39 can be considered. Since the time of entry of the road node 32 at the entrance of the vehicle is set as the transmission timing, the vehicle 30 and the other vehicle 39 are not transmitted at the same timing, and thus the interference of the transmission radio waves can be avoided.

  Thus, according to radio communication apparatus 100 of the present embodiment, transmission information from a plurality of radio communication apparatuses moving in the same direction on the same road is subjected to frequency filtering, and transmission from radio communication apparatuses moving in the reverse direction is performed. It is possible to receive all information only, and by setting the transmission timing based on the approach time to the road node, interference of outgoing information from multiple wireless communication devices entering the road link from the same road node Reception can be avoided. Thereby, according to radio communication apparatus 100 of the present embodiment, delay due to interference and retransmission can be avoided, so that the amount of data to be transmitted / received can be greatly reduced compared to conventional inter-vehicle communication, and is expensive. Real-time performance can be ensured without using a high-performance central processing unit, and collision with an oncoming vehicle can be avoided by wireless communication.

  Next, the operation of Example 2 of the present embodiment will be described with reference to FIGS.

  The wireless communication device 100 according to the present embodiment acquires an absolute time using a sensor such as a GPS sensor, and adjusts the internal clock of the device itself to the acquired absolute time. By adjusting the absolute time, each wireless communication device 100 mounted on another vehicle can be synchronized. As a result, in the first embodiment, the entry data for notifying that the own vehicle 30 is entering is simply transmitted at the entry timing of the road node 32 at the entrance of the road 38 of the own vehicle 30 (step S71). On the other hand, in the second embodiment, response data for informing the other vehicle 31 that the own vehicle 30 has already entered the road 38 at the calculated transmission timing in response to the entry request data from the other vehicle 31. Can be sent.

  That is, when the central processing unit 10 of the wireless communication device 100 performs the transmission process in step S70 of FIG. 3, as shown in the flowchart of FIG. 14, the road where the current position acquired by the position acquisition unit 11 becomes the entry point It is determined whether or not the position is on the node 32 (step S101). If it is determined that the current position is on the road node 32, data is transmitted at the first transmission timing 1 determined for entry / exit data among transmission timings set in advance for transmission data (step S102). ). For example, when the time interval is divided every 10 ms, one second is considered as one group and is divided into transmission timings “1” to “100”. Then, “1” at the head of the transmission timing from “1” to “100” is assigned as a fixed timing to be transmitted at the time of entry and data is transmitted.

  Next, the transmission timing setting part 17 allocates the transmission timing of the own vehicle 30 using the time which entered the road node 32 (step S103). In this transmission timing allocation, the predicted travel time (t) is calculated from the distance of the road 38 and the average speed obtained from the width, and the time (q) less than the predicted travel time is calculated from the time at the time of entry, and the time interval is calculated. The transmission timing is calculated from the equation of number (d) / t × q. For example, if the entry time is h: m: 12.345 seconds and the estimated travel time (t) is calculated as 1 minute, the transmission timing is 100/60 × 12.345 (≈20), The transmission timing is assigned as “20”.

  After entering the road node 32, the wireless communication device 100 of the host vehicle 30 traveling on the road 38 in the direction of the road node 33 is transmitted from a certain distance before the road node 33 as shown in the sequence diagram of FIG. When the entry request data 70 from the car 31 is received, transmission is performed according to the flowchart of FIG. That is, when it is determined that the wireless communication device 100 of the own vehicle 30 has received the entry request data 70 (Yes in Step S111), the wireless communication device 100 determines that it is the assigned transmission timing described with FIG. 14 (Yes in Step S112). Response data 71 for informing that the car 30 is already traveling on the road 38 (the current position of the wireless communication device 100 is in the road 38) is transmitted (step S113). Here, the entry request data 70 is data in which the data type flag 40 in the data of the format shown in FIG. 4 is a request flag for another vehicle. Further, the response data 71 is “1” indicating that the data type flag 40 in the data of the format shown in FIG. 4 is a response flag, and that the current position of the wireless communication device 100 is in the road 38 in the data area 41. "Is included in the data.

  As shown in FIG. 16, the wireless communication device 100 of the other vehicle 31 determines that there is a vehicle traveling on the road 38 from the received response data 71 and displays a temporary standby guidance on the display. The other vehicle 31 waits in front of the road node 33 as indicated by 72 in FIG.

  Then, when the vehicle 30 leaves the road 38, the exit data 73 is transmitted at a fixed timing. The wireless communication device 100 of the other vehicle 31 determines from the received exit data 73 that the vehicle has exited the road 38, displays a travel permission guide on the display, and enters the road 38 as indicated by 74 in FIG. Will be.

  As described above, in the second embodiment, the wireless communication device 100 arranges the transmission intervals on the basis of the passing time of the entry point, so that the host vehicle 30 and the oncoming vehicle can operate even when the host vehicle 30 is traveling on the road 38. Communication with a certain other vehicle 31 becomes possible, thereby avoiding a collision.

  Next, the operation of Example 3 of the present embodiment will be described with reference to FIG. In the present embodiment, for example, the safe communication can be performed by the wireless communication device 100 possessed by a leader such as a teacher who leads students who are leaving the group. In this case, the road width (width) of the road that passes when leaving the group and the safe width required when leaving the group are input in advance as the own width by the information input unit 18.

  As shown in the flowchart of FIG. 17, the central processing unit 10 of the wireless communication device 100 receives data transmitted by an approaching vehicle (an oncoming vehicle) on the road under school and determines whether there is unprocessed received data. (Step S201). When there is unprocessed received data, the central processing unit 10 determines the width of the oncoming vehicle obtained from the width of the road to be approached and the data transmitted by the oncoming vehicle when the width of the road that is about to enter the group is leaving. A passing level is calculated based on whether or not the sum is greater than the sum of the other width) (step S202). The passing level can be calculated by, for example, the method shown in step S565 and FIG.

  Subsequently, based on the passing level calculated in step S202, the central processing unit 10 secures a safe road width necessary to pass the oncoming vehicle. It is determined whether or not there is received data for processing. If it is determined that a safe road width is not secured and passing is not possible, the value of a variable that cannot pass is incremented by 1 (step S204), and then the process proceeds to step S201. Return again to determine whether there is unprocessed received data. The initial value of the variable that cannot pass is “0”.

  When the central processing unit 10 performs the processing of steps S201 to S204 for all of the received data and determines that there is no unprocessed received data, the value of the variable that cannot pass is “1” or more. Is determined (step S205). When the wireless communication device 100 determines that the value of the variable that cannot pass is “1” or more, the wireless communication device 100 enters a data waiting state as to whether the receiving unit 20 receives the aforementioned entry data or the aforementioned departure data ( Step S206).

  When it is determined that the receiving unit 20 has received the entry data, the central processing unit 10 of the wireless communication device 100 determines that the oncoming vehicle has entered the narrow road, waits without entering, and returns to step S201. On the other hand, when the receiving unit 20 determines that the exit data has been received, the passing level of the oncoming vehicle is calculated based on the width of the road, the own width, the width of the oncoming vehicle that has transmitted the exit data, and the like (step S20). S207). This passing level can be calculated by the same method as in step S202, for example.

  Subsequently, the central processing unit 10 determines whether or not passing is possible based on the passing level value calculated in step S207 (step S208), and determines that the passing level value is smaller than a predetermined threshold and that passing is not possible. Sometimes, the central processing unit 10 of the wireless communication device 100 determines that the oncoming vehicle that has transmitted the exit data has exited from a narrow road, decrements the value of a variable that cannot pass (step S209), and step S205. Returning to, it is determined again whether the value of the variable that cannot pass is “1” or more or “0”. On the other hand, when it is determined in step S208 that the passing is possible, the central processing unit 10 returns to the data waiting state in step S206 through step S205 without changing the value of the variable that cannot pass.

  The central processing unit 10 performs the processing of steps S205 to S209, and as a result, when the value of the variable that cannot pass is determined to be “0” in step S205, the central processing unit 10 cannot pass from the narrow road to be approached. It is determined that all such oncoming vehicles have exited, and notification that entry is possible is made (step S210). This notification that the vehicle is allowed to enter is a notification of an entry permission guide on the display or a voice by a speaker. The wireless communication device 100 waits for the notification that the entry is possible, and does not hold the identification information for each oncoming vehicle, and the students who are going to go to school by a leader such as a teacher who has the wireless communication device 100 enter a narrow road. Can be passed safely.

  Although not particularly shown in FIG. 17, standby guidance is displayed on the display until it is determined in step S205 that the value of the variable that cannot be passed is “0”. In this way, it is possible to avoid collisions with oncoming vehicles even when leaving school.

  Next, the operation of another embodiment of the wireless communication apparatus of the present invention will be described. The present embodiment is an example in which the wireless transmission device 101 is placed in a road construction section to avoid collision on the road in the construction section.

  FIG. 18 shows an example of a road configuration for explaining the operation of another embodiment of the wireless communication apparatus of the present invention. In FIG. 18, the wireless transmission device 101 having the configuration shown in FIG. 1 is installed in the construction section of the road 58. The position information of one point Z1 at both ends of the construction section is composed of longitude λ1 and latitude φ1, and the position information of the other point Z2 is composed of longitude λ2 and latitude φ2.

  The wireless transmission device 101 switches the transmission channels # 1 and # 2 from the transmission unit 19 at regular intervals and transmits the position information of the construction zone points Z1 and Z2. In the transmission period of the transmission channel # 1, the transmission unit 19 outputs the construction section exit following the position information (λ1, φ1) of the point Z1, which is the construction section entrance information, for a vehicle heading from the point C to the point Z1. The position information (λ2, φ2) of the point Z2, which is information, is transmitted. Further, in the transmission period of the transmission channel # 2, for the vehicle heading from the point D to the point Z2, it is the construction section exit information following the position information (λ2, φ2) of the point Z2, which is the construction section entrance information. The position information (λ1, φ1) of the point Z1 is transmitted.

  On the other hand, although not shown in FIG. 18, the wireless communication device 100 mounted on the vehicle from the point C to the point Z1 and the wireless communication device 100 mounted on the vehicle from the point D to the point Z2 are Each of the configurations shown in the block diagram of FIG. 1 is assumed to be able to receive data of reception channels # 1 and # 2 in an initial state.

  The wireless communication apparatus 100 mounted on the vehicle heading from the point C to the point Z1 receives the construction section entrance information and the exit coordinates transmitted by the transmission channel # 1 through the reception channel # 1, and the identification information calculation unit 14 The first identification information having the direction from the entrance position information Z1 to the exit position information Z2, and the second identification information having the direction from the exit position information Z2 to the entrance position information Z1 And the transmission setting information generation unit 15 calculates the transmission channel number CNs from the first identification information as transmission setting information by the same arithmetic expression as the expression (1), and sets the transmission channel number CNs to the center. It assigns to the transmission part 19 via the processing apparatus 10. Also, the reception setting information unit 16 calculates the reception channel number CNr from the second identification information as reception setting information by the same arithmetic expression as the expression (2), and the reception channel number CNr is calculated by the central processing unit 10. To the receiving unit 20.

  On the other hand, the wireless communication device 100 mounted on the vehicle heading from the point D to the point Z2 receives the construction section entrance information and the exit coordinates transmitted by the transmission channel # 2 through the reception channel # 2, and calculates the identification information. First identification information having a direction from the position information Z2 of the inlet toward the position information Z1 of the outlet by the unit 14, and a second identification having a direction from the position information Z1 of the outlet to the position information Z2 of the inlet Information. Thus, in the same manner as described above, in the wireless communication device 100 mounted on the vehicle heading from the point D to the point Z2, the transmission setting information generation unit 15 sets the transmission channel number CNr by the same arithmetic expression as the expression (2). The transmission channel number CNr is calculated and assigned to the transmission unit 19 via the central processing unit 10. Also, the reception setting information unit 16 calculates the reception channel number CNs from the second identification information as reception setting information by the same arithmetic expression as the expression (1), and the reception channel number CNs is calculated by the central processing unit 10. To the receiving unit 20.

  As a result, bidirectional wireless communication is possible between a vehicle that is about to enter the point Z1 from the point C and a vehicle that is about to enter the point Z2 from the point D. As a result, for example, a vehicle that has entered the construction section from the point Z1 transmits the entry data using the transmission channel CNs. The oncoming vehicle at the point Z2 receives the approach data transmitted by the vehicle on the reception channel CNs, calculates the passing level, determines whether or not passing can be made, and determines whether or not the passing in the construction section is possible. To do. Thereby, the collision avoidance in a construction area can be performed.

  In the above description, the channel number is calculated. However, instead of the channel number, the frequency may be calculated by the expression (3) or (4). Further, the channel number and frequency calculation are not limited to equations (1) to (4).

  FIG. 19 shows an example of a road configuration for explaining the operation of still another embodiment of the wireless communication apparatus of the present invention. In the figure, the same components as those in FIG. 18 are denoted by the same reference numerals, and the description thereof is omitted. In FIG. 19, wireless transmission devices 101 a and 101 b having the same configuration as the wireless transmission device 101 shown in FIG. 1 are installed in the construction section of the road 58.

  The wireless transmission device 101a uses the transmission channel 19 from the transmission unit 19 for the vehicle heading from the point C to the point Z1, following the position information (λ1, φ1) of the point Z1 that is the entrance information of the construction section. The position information (λ2, φ2) of the point Z2, which is the exit information of the section, is transmitted. On the other hand, the wireless transmission device 101b follows the position information (λ2, φ2) of the point Z2 that is the entrance information of the construction section for the vehicle heading from the point D to the point Z2 through the transmission channel # 2 from the transmission unit 19. The position information (λ1, φ1) of the point Z1, which is exit information of the construction section, is transmitted.

  The example of FIG. 19 is different from the example of FIG. 18 in that the transmission channels of the wireless transmission devices 101a and 101b are fixedly assigned to # 1 and # 2, but are installed in other vehicles. The operation of the wireless communication device 100 is the same as that of the example of FIG.

  Note that the present invention is not limited to the above-described embodiments and examples, and includes, for example, a wireless communication system that performs collision avoidance between the own vehicle on which the wireless communication device 100 is mounted and another vehicle. It is. The present invention also includes a collision avoidance program that causes a computer to execute the operation of the flowchart of FIG. In this case, the collision avoidance program may be reproduced from the storage medium and taken into the computer, or may be distributed via a communication network and taken into the computer.

10 Central processing unit (CPU)
11 Position acquisition unit 12 Direction acquisition unit
DESCRIPTION OF SYMBOLS 13 Memory | storage part 14 Identification information calculation part 15 Transmission setting information generation part 16 Reception setting information generation part 17 Transmission timing setting part 18 Information input part 19 Transmission part 20 Reception part 21 Antenna 30 Own vehicle 31, 39 Other vehicles 32 1st road Node 33 Second road node 36 Road with wide road 38 Road with narrow road 40 Data type flag 41 Data area for each data type 50 Display 51 Vehicle mark 58 Road 60, 61 Message 100 Wireless communication device 101, 101a, 101b Wireless Transmitter

Claims (11)

A current location information acquisition step of acquiring a current position of the own device and a direction in which the own device travels;
Read out from the storage means storing in advance road information including at least information on the position and width of road nodes indicating intersections or places where different roads intersect and information on road links indicating roads between two adjacent road nodes The first road node and the second road node that are both ends of the road link connected to the road link at the current position from the road information and the current position and the direction acquired at the current location information acquisition step. A position information acquisition step of acquiring each of the position information,
First identification information having directionality from the first road node to the second road node based on the acquired position information of the first and second road nodes, and the second road An identification information generating step for generating second identification information having directionality from a node to the first road node;
Based on the current position and the direction acquired in the current location information acquisition step, when it is determined that the device is moving to the first road node to be an entrance of the road link, When it is determined that the first transmission channel or the first transmission frequency calculated based on the identification information is allocated to the transmission means and the second road node is moving to be the entrance of the road link, A transmission setting information generation step of assigning a second transmission channel or a second transmission frequency calculated based on the second identification information to the transmission means;
Based on the current position and the direction acquired in the current location information acquisition step, when it is determined that the device is moving the first road node to be an entrance of the road link, The first reception channel or the first reception frequency having the same channel number or frequency as the second transmission channel or the second transmission frequency calculated based on the identification information is assigned to a receiving means, and the second road node is assigned When it is determined that the vehicle is moving so as to be the entrance of the road link, the second channel number or frequency is the same as the first transmission channel or the first transmission frequency calculated based on the first identification information. and receiving setting information generation steps of assigning to said receiving means receiving channel or a second reception frequency,
Generates entry data indicating that the own device has entered the road link, and transmits the data via the transmission means when the own device enters the first or second road node serving as the entrance of the road link. An approach data transmission step for
Generates exit data indicating that the own device has exited the road link, and transmits it via the transmission means when the own device exits from the second or first road node serving as an exit of the road link. An exit data transmission step for
The entry data transmitted by another device other than the own device having the same configuration as the own device, or the exit data transmitted by the other device is received by the reception unit of the own device, and the received entry data or the A wireless communication method comprising: receiving and outputting a step of determining whether or not the other device is located within the road link based on exit data and outputting the determination result . A transmission timing setting step for setting a transmission timing of the transmission means;
An entry request data transmission step for generating entry request data for requesting entry into a road link connected to the road link at the current position and transmitting the data via the transmission means;
Response data indicating that the vehicle is located within the road link when the reception means detects that the entry request data transmitted by the other device is received when the current position is within the road link. 2. The wireless communication method according to claim 1, further comprising: a response data transmission step of generating a response data to transmit via the transmission means at the transmission timing set by the transmission timing setting step. The receiving and outputting steps include
When it is detected that the entry means or the response data transmitted by the other device has been received by the receiving means, a standby guidance for prohibiting entry to a road link connected to the road link at the current position is notified. A standby guidance notification step,
-Law including a travel permission guidance providing step of notifying the running permission guidance to allow entry of the the current position connected road link in the road link after detecting that it has received and by the receiving means of the exit data The wireless communication method according to claim 1 or 2. The standby guidance notification step includes:
Unprocessed data determination step for determining whether or not there is unprocessed received data among the data received by the receiving means;
When it is determined in the unprocessed data determination step that unprocessed received data exists, at least the width of the first or second road node serving as the entrance of the road link and the own vehicle equipped with the own device Based on the vehicle width and the vehicle width of the oncoming vehicle equipped with the other device , a passing level indicating whether or not the oncoming vehicle that transmitted the unprocessed received data can be passed is determined. A passing level determination step for calculating and determining whether or not passing is possible by comparing the passing level with a predetermined threshold,
4. The wireless communication according to claim 3, wherein when the passing level is determined to be difficult by the passing level determining step, a standby guide prohibiting entry into the road link connected to the current position is notified. Method.   Based on at least the width of the first or second road node serving as the entrance of the road link, a passing level indicating whether or not a vehicle on which the vehicle is mounted can be passed with an oncoming vehicle is calculated. The transmission setting further includes a passing level determining step for determining whether or not passing is possible by comparing the passing level with a predetermined threshold, and when the passing level is determined to be difficult by the passing level determining step. Calculation of the first and second transmission channels or the first and second transmission frequencies by the information generation step, and the first and second reception channels or the first and second by the reception setting information generation step The wireless communication method according to claim 1, wherein the reception frequency is calculated. Position acquisition means for acquiring the current position of the own device;
Direction acquisition means for acquiring a traveling direction of the device;
Storage means for storing in advance road information including at least information on the position and width of a road node indicating an intersection or a place where different roads intersect, and road link information indicating a road between two adjacent road nodes; ,
From the current position acquired by the position acquisition means, the direction acquired by the direction acquisition means, and the road information read from the storage means, the road link connected to the road link of the current position Position information acquisition means for acquiring each position information of the first road node and the second road node at both ends;
Transmitting means and receiving means;
First identification information having directionality from the first road node to the second road node based on the position information of the first and second road nodes acquired by the position information acquisition means; Identification information generating means for generating second identification information having directionality from the second road node to the first road node;
Based on the current position acquired by the position acquisition unit and the direction acquired by the direction acquisition unit, the own device moves the first road node to be the entrance of the road link. When it is determined that the first transmission channel or the first transmission frequency calculated based on the first identification information is assigned to the transmission means, the second road node becomes an entrance to the road link. Transmission setting information generating means for assigning the second transmission channel or the second transmission frequency calculated based on the second identification information to the transmission means,
Based on the current position acquired by the position acquisition unit and the direction acquired by the direction acquisition unit, the own device moves the first road node to be the entrance of the road link. When it is determined that the first reception channel or the first reception frequency having the same channel number or frequency as the second transmission channel or the second transmission frequency calculated based on the second identification information is received. And when determining that the second road node is moving to be the entrance of the road link, the first transmission channel calculated based on the first identification information or the first Reception setting information generating means for assigning a second reception channel or second reception frequency having the same channel number or frequency as the transmission frequency to the reception means;
Entry data transmission that generates entry data indicating entry into the road link and that is transmitted via the transmission means when the device enters the first or second road node serving as an entrance of the road link Means,
Exit data transmission that generates exit data indicating exit from the road link and that is transmitted via the transmission means when the own device exits the second or first road node serving as an exit of the road link. Means ,
The entry means transmitted by a device other than the device itself having the same configuration as the device itself or the exit data transmitted by the other device is received by the receiving means, and the received entry data or the exit data is received. And a receiving and outputting means for judging whether or not the other device is located within the road link and outputting the judgment result . Transmission timing setting means for setting the transmission timing of the transmission means;
Entry request data transmission means for generating entry request data for requesting entry into a road link connected to the road link at the current position and transmitting the data via the transmission means;
Response data indicating that the vehicle is located within the road link when the reception means detects that the entry request data transmitted by the other device is received when the current position is within the road link. The wireless communication apparatus according to claim 6, further comprising: response data transmitting means for generating the data via the transmission means at the transmission timing set by the transmission timing setting means. Reception and output means
When it is detected that the entry means or the response data transmitted by the other device has been received by the receiving means, a standby guidance for prohibiting entry to a road link connected to the road link at the current position is notified. Standby guidance notification means to perform,
A travel permission guidance notifying means for notifying a travel permission guide permitting entry into a road link connected to the road link at the current position after detecting that the exit data has been received by the receiving means;
Wireless communication apparatus according to claim 6 or 7, characterized in that it has a. The standby guidance notification means includes:
Unprocessed data determining means for determining whether or not there is unprocessed received data among the data received by the receiving means;
When it is determined by the unprocessed data determination means that unprocessed received data exists, at least the width of the first or second road node serving as the entrance of the road link and the own vehicle equipped with the own device Based on the vehicle width and the vehicle width of the oncoming vehicle equipped with the other device , a passing level indicating whether or not the oncoming vehicle that transmitted the unprocessed received data can be passed is determined. A passing level determining means for calculating and determining whether or not passing is possible by comparing the passing level with a predetermined threshold;
9. The wireless communication according to claim 8, wherein a standby guidance for prohibiting entry into the road link connected to the current position is informed when the passing level is determined to be difficult by the passing level determining means. apparatus.   Based on at least the width of the first or second road node serving as the entrance of the road link, a passing level indicating whether or not a vehicle on which the vehicle is mounted can be passed with an oncoming vehicle is calculated. And passing level determination means for determining whether or not passing is possible by comparing the passing level with a predetermined threshold, and when the passing level is determined to be difficult by the passing level determination means, the transmission Calculation of the first and second transmission channels or the first and second transmission frequencies by the setting information generation means, and the first and second reception channels or the first and second by the reception setting information generation means. The wireless communication apparatus according to claim 6, wherein the reception frequency is calculated as 2. A wireless communication system that performs wireless communication with each other by a wireless communication device mounted on each of a plurality of vehicles,
The wireless communication device
Position acquisition means for acquiring the current position of the own device;
Direction acquisition means for acquiring a traveling direction of the device;
Storage means for storing in advance road information including at least information on the position and width of a road node indicating an intersection or a place where different roads intersect, and road link information indicating a road between two adjacent road nodes; ,
From the current position acquired by the position acquisition means, the direction acquired by the direction acquisition means, and the road information read from the storage means, the road link connected to the road link of the current position Position information acquisition means for acquiring each position information of the first road node and the second road node at both ends;
Transmitting means and receiving means;
First identification information having directionality from the first road node to the second road node based on the position information of the first and second road nodes acquired by the position information acquisition means; Identification information generating means for generating second identification information having directionality from the second road node to the first road node;
Based on the current position acquired by the position acquisition unit and the direction acquired by the direction acquisition unit, the own device moves the first road node to be the entrance of the road link. When it is determined that the first transmission channel or the first transmission frequency calculated based on the first identification information is assigned to the transmission means, the second road node becomes an entrance to the road link. Transmission setting information generating means for assigning the second transmission channel or the second transmission frequency calculated based on the second identification information to the transmission means,
Based on the current position acquired by the position acquisition unit and the direction acquired by the direction acquisition unit, the own device moves the first road node to be the entrance of the road link. When it is determined that the first reception channel or the first reception frequency having the same channel number or frequency as the second transmission channel or the second transmission frequency calculated based on the second identification information is received. And when determining that the second road node is moving to be the entrance of the road link, the first transmission channel calculated based on the first identification information or the first Reception setting information generating means for assigning a second reception channel or second reception frequency having the same channel number or frequency as the transmission frequency to the reception means;
Entry data transmission that generates entry data indicating entry into the road link and that is transmitted via the transmission means when the device enters the first or second road node serving as an entrance of the road link Means,
Exit data transmission that generates exit data indicating exit from the road link and that is transmitted via the transmission means when the own device exits the second or first road node serving as an exit of the road link. Means ,
The entry means transmitted by a device other than the device itself having the same configuration as the device itself or the exit data transmitted by the other device is received by the receiving means, and the received entry data or the exit data is received. And a receiving and outputting means for judging whether or not the other device is located in the road link and outputting the judgment result .

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