JP6972646B2 - Traffic guidance terminal - Google Patents

Description

The present invention mainly relates to a traffic guidance terminal, a traffic guidance processing device, and a communication terminal device that guide traffic to a vehicle, a pedestrian, a bicycle, or the like by using communication.

Conventionally, when road traffic is restricted due to road construction or the like, a traffic guide deployed at the road construction site gives instructions to vehicles, pedestrians, etc. to guide the traffic. Further, instead of such a traffic guide, there is a system that automatically guides traffic to a vehicle or the like.

For example, in Patent Document 1, traffic lights installed at both ends of a work zone at a road construction site detect the traffic volume of a vehicle using a vehicle sensor, switch the display of the traffic light based on the detection result, and use wireless communication. A technique for automatically guiding traffic by sharing a detection result and a display switching timing between traffic lights is disclosed.

JP-A-2009-217576

By the way, in recent years, technological developments for a safe driving support system that assists a driver's driving in order to prevent a traffic accident and the like, and an autonomous driving vehicle capable of autonomous driving of the vehicle have become active. Such a safe driving support system and an autonomous driving vehicle detect a traffic restricted section by recognizing the movement of a traffic guide and the display of a traffic light by image recognition technology when traveling on a road where traffic is restricted, and obtain an image. Based on the recognition result, it is necessary to call attention to the driver traveling in the section and to control the driving. However, when image recognition is used, there is a possibility that traffic guidance cannot be recognized correctly due to variations in movements depending on the weather and traffic guides.

Therefore, an object of the present invention is to realize a traffic guidance terminal or the like capable of guiding traffic to a vehicle or the like using wireless communication.

In order to solve the above problems, the traffic guidance terminal (100, 200, 300) of the present invention is used.
An operation unit (101) for inputting passability information or impassability information of the first moving body moving on the road as the first passability information, and
A control unit (105, 109) that generates a first message including the first passability information, and a control unit (105, 109).
A transmission unit (106) that transmits the first message to the first mobile body, and a transmission unit (106).
To prepare for.

According to the traffic guidance terminal, the traffic guidance processing device, and the communication terminal device of the present invention, it is possible to safely guide traffic to a pedestrian or a bicycle having a vehicle or a communication terminal device.

A block diagram illustrating the configuration of the traffic guidance terminal of the first embodiment. The figure explaining the usage state of the traffic guidance terminal of Embodiment 1. The figure explaining the process of the transmission message generation part of Embodiment 1. The figure explaining the process of the received message analysis part of Embodiment 1. A block diagram illustrating the configuration of the traffic guidance terminals of the second and third embodiments. The figure explaining the process of the transmission message generation part of Embodiment 2. A block diagram illustrating the configuration of the traffic guidance processing device of the fourth embodiment. The figure explaining the use state of the traffic guidance terminal and the traffic guidance processing apparatus of Embodiment 4. The figure explaining the information table of the memory in the traffic guidance processing apparatus of Embodiment 4. The figure explaining the processing of the message control unit in the traffic guidance processing apparatus of Embodiment 4. The figure explaining the process of the transmission message generation part in the traffic guidance terminal of Embodiment 4. A block diagram illustrating the configuration of the communication terminal device according to the fifth embodiment. A block diagram illustrating a configuration of a communication terminal device according to a modification of the fifth embodiment.

Hereinafter, the configurations of the respective embodiments of the traffic guidance terminal, the traffic guidance processing device, and the communication terminal device that performs wireless communication with the traffic guidance terminal or the traffic guidance processing device of the present invention will be described with reference to the drawings. The present invention means the invention described in the section of the scope of claims or the means for solving the problem, and is not limited to the following embodiments. Further, the words in the brackets mean the words described in the section of the scope of claims or the means for solving the problem, and are not limited to the following embodiments.
Further, the configuration and method described in the dependent clause of the claims and the configuration and method of the embodiment corresponding to the configuration and method described in the dependent clause are arbitrary configurations and methods in the present invention.

(Embodiment 1)
FIG. 1 shows the configuration of the traffic guidance terminal 100 of the first embodiment. The traffic guidance terminal 100 includes an operation switch 101, a positioning unit 102, a wireless communication unit 103, and a status display unit 104. The wireless communication unit 103 includes a transmission message generation unit 105, a transmission unit 106, an antenna 107, a reception unit 108, and a reception message analysis unit 109. The transmitted message generation unit 105 and the received message analysis unit 109 collectively correspond to the "control unit" of the present invention.

Further, FIG. 2 illustrates an example of the usage state of the traffic guidance terminal 100 of the first embodiment. In the example of FIG. 2, the road whose one lane is designated as a restricted area by construction is a restricted section, and the traffic guide A holding the traffic guidance terminal 100A is at one end (starting point) of the restricted section. A traffic guide B holding the traffic guidance terminal 100B is deployed at the other end (end point) of the traffic restricted section. Then, the traffic guides A and B use the traffic guidance terminals 100A and 100B to send a message by wireless communication to the vehicles A and B who are trying to enter the traffic restricted section from the start point or the end point of the traffic restricted section, respectively. Send each. It is assumed that both the traffic guidance terminals 100A and 100B have the configuration of the traffic guidance terminal 100 of the first embodiment.
Here, the "traffic restricted section" includes not only a section where access to the section is restricted but also a section where the speed, the number of lanes, etc. in the section are restricted.

Whether or not the vehicle A moving on the road (corresponding to the "first moving body" of the present invention) may pass through the restricted passage on the operation switch 101 (corresponding to the "operation unit" of the present invention). That is, the passability information of the vehicle A (corresponding to the "first passability information" of the present invention) is input by the traffic guide A. For example, when the traffic guide A allows the vehicle A to pass through the restricted traffic section, the traffic guide A inputs the passability information to the traffic guidance terminal 100 by turning the operation switch 101 “ON”. If the vehicle A is not allowed to pass, the operation switch 101 is set to "OFF" to input the impassable information. The passability information or the passability information input from the operation switch 101 in this way is output to the transmission message generation unit 105 as passability information.
Here, the "moving body" of the present invention does not have to be an object that is constantly moving, and may be an object that temporarily stops, and includes, for example, a vehicle, a pedestrian, a bicycle, and the like. Further, "input" does not necessarily have to be input manually, but also includes automatic input based on the measurement result of a sensor or the like.

In the first embodiment, the passability information to be input is switched between the passable information and the impassable information by switching "ON" and "OFF" of the operation switch 101, but means other than the switch. The passable information or the impassable information may be input to the traffic guidance terminal 100A.

The positioning unit 102 acquires the position information, time information, etc. (hereinafter, positioning information) of the traffic guidance terminal 100A by using GPS or the like, and inputs the positioning information to the transmission message generation unit 105. As will be described later, the acquired positioning information is included in the message transmitted to the vehicle A. As a result, the vehicle A accurately grasps the position of the traffic guide A based on the position information of the traffic guidance terminal 100A included in the positioning information, and at what point in time the passability information is available based on the time information. It is possible to grasp whether the signal is transmitted from the traffic guidance terminal 100A.

The transmission message generation unit 105 generates a message (corresponding to the "first message" of the present invention) including the passability information input from the operation switch 101 and the positioning information input from the positioning unit 102. Then, the generated message is input to the transmission unit 106. The information included in the message is arbitrary except for passability information and may not include positioning information, or may include information other than passability information and positioning information.

The transmission unit 106 transmits the message generated by the transmission message generation unit 105 to the vehicle A and the traffic guidance terminal 100B (corresponding to the “other device” of the present invention) via the antenna 107. Here, the "transmitting unit" of the present invention and the "receiving unit" described later shall include the configuration of the antenna 107.
The "other device" of the present invention refers to a traffic guidance terminal and a traffic guidance processing device described later. Further, "transmitting to another device" includes not only the case where the first message is directly transmitted to the other device but also the case where the first message is indirectly transmitted via a repeater or the like.

The receiving unit 108 receives a message (corresponding to the "second message" of the present invention) from the traffic guidance terminal 100B (corresponding to the "second traffic guidance terminal" of the present invention) held by the traffic guide B. In the received message, the passability information or the passability information of the vehicle B (corresponding to the "second moving object" of the present invention) input to the traffic guidance terminal 100B by the traffic guide B is the passability information (this). Corresponding to the "second passability information" of the invention). The receiving unit 108 inputs the received message to the received message analysis unit 109.
In addition, "from the second traffic guidance device" of the present invention means that the second message is directly received from the second traffic guidance terminal and indirectly received via a repeater or the like. Also includes.

The received message analysis unit 109 analyzes whether the passability information included in the received message indicates passability information or passability information. Then, based on the analysis result, the received message analysis unit 109 generates a display control signal instructing the content to be displayed on the status display unit 104, and inputs the display control signal to the status display unit 104.

The state display unit 104 (corresponding to the "notification unit" of the present invention) displays the content of the passability information of the vehicle B on the traffic guidance terminal 100A based on the display control signal. For the display control signal, for example, when the passability information included in the received message indicates the passability information of the vehicle B, the blue lamp is turned on, and when the passability information of the vehicle B is indicated, the red lamp is turned on. Instructs the status display unit 104 to light up. Alternatively, this display control signal may instruct the status display unit 104 to display the "passable" or "passable" of the vehicle B on the dial. In response to the instruction of the display control signal, the status display unit 104 "notifies" the traffic guide A of the content of the passability information included in the received message.
Here, the "notification" of the present invention includes not only the case of visually displaying the notification but also the case of notifying by voice.

Hereinafter, the processing performed in each configuration of the traffic guidance terminal 100 will be described in more detail.
FIG. 3 is a flowchart showing a process of generating a message to be transmitted to a vehicle and another traffic guidance terminal in the transmission message generation unit 105 of the first embodiment.

The transmission message generation unit 105 has a time count function, and the time when a message is input to the transmission unit 106 is set to zero, and the time count is constantly updated (S101). Then, by determining whether or not the time count has reached a predetermined value or more, it is determined that a predetermined time has elapsed since the immediately preceding message was input to the transmission unit 106 (S102). When it is determined that the time count exceeds a predetermined value, the transmission message generation unit 105 acquires the positioning information of the traffic guidance terminal 100 from the positioning unit 102 (S103). Here, by the processing of S101 and S102, the transmission message generation unit 105 can periodically generate a message.

Next, the transmission message generation unit 105 acquires the passability information input by the operation switch 101 (S104), and determines whether the input passability information is the passability information or the passability information (passability information). S105).

When it is determined that the passability information has been input to the operation switch 101, the transmission message generation unit 105 stores the passability information indicating the passability information in the message (S106). On the other hand, when it is determined that the impassability information has been input to the operation switch 101, the passability information indicating the impassability information is stored in the message (S107). Then, the transmission message generation unit 105 generates a message including the passability information indicating either the passability information or the impassability information and the positioning information input from the positioning unit 102, and sends the message to the transmission unit 106. Output (S108). Then, when the message is output to the transmission unit 106, the transmission message generation unit 105 resets the time count to zero (S109).

Next, FIG. 4 shows a flowchart of the processing content of the received message analysis unit 109 of the first embodiment.

The received message analysis unit 109 determines whether or not the receiving unit 108 has received a new message from another communication device (S201). When the receiving unit 108 determines that a new message has been received, the received message analysis unit 109 confirms the sender ID included in the received message (S202). When it is determined that the source ID is a source registered in the traffic guidance terminal 100A, for example, the traffic guidance terminal 100B (S203), the received message analysis unit 109 can obtain the passability information included in the received message. It is confirmed whether the passable information or the impassable information is indicated (S204).

The received message analysis unit 109 generates a display control signal based on the confirmation result in S204, that is, whether the passability information indicates the passability information or the passability information, and the display control signal is used as the status display unit 104. Is input to (S205).

As described above, according to the first embodiment, the traffic guidance terminal 100 of the present invention can transmit the passability information of the traffic restricted section to the vehicle trying to enter the traffic restricted section by wireless communication.

Further, according to the first embodiment, the traffic guidance terminal 100 of the present invention transmits and receives passability information to and from another traffic guidance terminal, so that the passability information input to the traffic guidance terminal 100 can be used for other traffic. It can be shared with the guidance terminal.

(Embodiment 2)
In the first embodiment, a message is transmitted to the vehicle in which the passability information or the passability information input by the operation switch 101 is stored as the passability information as it is. However, in order to prevent erroneous traffic permission information from being transmitted to the vehicle due to, for example, an erroneous operation by a traffic guide, and to perform traffic guidance in a restricted traffic section more safely, the traffic received from another traffic guidance terminal is used. It is desirable to refer to the passability information to determine the content of the passability information to be transmitted to the vehicle.

Therefore, in the second embodiment, a configuration for generating a message to be transmitted to the vehicle based on a message received from another traffic guidance terminal will be described. The detailed description of the common points with the first embodiment will be omitted, and the differences will be mainly described.
Further, in the second embodiment, as in the first embodiment, the traffic guidance terminal 200A transmits a message to the vehicle A, the traffic guidance terminal 200B transmits a message to the vehicle B, and the traffic guidance terminals 200A and 200B send messages to each other. It shall be sent and received.

FIG. 5 shows the configuration of the traffic guidance terminal 200 of the second embodiment. The signal output from the received message analysis unit 109 is input to the transmission message generation unit 105 in addition to the status display unit 104, and the signal is input from the transmission message generation unit 105 to the status display unit 104. The point is different from the traffic guidance terminal 100 of the first embodiment. The traffic guidance terminal 200 of FIG. 5 has the same reference numerals as the configuration corresponding to the traffic guidance terminal 100 of the first embodiment.

Similar to the received message analysis unit 109 of the first embodiment, the received message analysis unit 109 of the second embodiment depends on whether the passability information included in the received message indicates passability information or impassability information. , A display control signal is generated and input to the status display unit 104. The received message analysis unit 109 of the second embodiment further generates a message generation control signal according to the passability information included in the received message, and inputs the message generation control signal to the transmitted message generation unit 105.

Here, the received message analysis unit 109 of the traffic guidance terminal 200A indicates that the vehicle B is impassable when the passability information included in the message received from the traffic guidance terminal 200B indicates the impassability information of the vehicle B. The message generation control signal is input to the transmission message generation unit 105.
On the other hand, when the passability information included in the message received from the traffic guidance terminal 200B indicates the passability information of the vehicle B, a message generation control signal indicating that the vehicle B is passable is input to the transmission message generation unit 105. ..

FIG. 6 is a flowchart showing the processing contents in the transmission message generation unit 105 of the second embodiment. Since the processing of S301 to S304 in FIG. 6 is the same as the processing of S101 to S104 in FIG. 3, the description thereof will be omitted.

Similar to the transmission message generation unit 105 of the first embodiment, the transmission message generation unit 105 determines whether the passability information input to the operation switch 101 is the passability information or the passability information (S305). When it is determined that the passability information of the vehicle A has been input to the operation switch 101, the transmission message generation unit 105 confirms the content of the message generation control signal input from the received message analysis unit 109 (S306).

Here, when the message generation control signal input from the received message analysis unit 109 indicates that the vehicle B is impassable, the transmission message generation unit 105 is a message including the passability information of the vehicle A acquired in S304. (S307, S308).

On the other hand, when the message generation control signal input from the received message analysis unit 109 indicates that the vehicle B is passable, the transmitted message generation unit 105 invalidates the input in the operation switch 101 to the status display unit 104. A display control signal for notifying is input (S309).

The transmission message generation unit 105 further generates a message including the passability information of the vehicle A regardless of the passability information of the vehicle A input by the operation switch 101 (S310).

Further, when it is determined in S305 that the traffic impassability information of the vehicle A has been input to the operation switch 101, the transmission message generation unit 105 generates a message including the traffic impassability information of the vehicle A (S310).

Then, as in the first embodiment, a message including passability information indicating either passability information or impassability information and positioning information input from the positioning unit 102 is generated and output to the transmission unit 106. (S311). Then, when the message is output to the transmission unit 106, the transmission message generation unit 105 resets the time count to zero (S312).

As described above, the traffic guidance terminal 200 of the second embodiment can generate a message to be transmitted to the vehicle based on the passability information included in the message received from the other traffic guidance terminal. As a result, for example, even if both of the traffic guides deployed at both ends of the traffic restriction section input the passability information by turning on the operation switch 101 of the traffic guidance terminal 200, one of them is used. Since the traffic guidance terminal 200 transmits the passability information indicating the impassability information to the vehicle, it is possible to prevent the vehicle from entering from both ends of the traffic restriction section at the same time.

Further, according to the second embodiment, by notifying the traffic guide member that the input on the operation switch 101 is invalid, it is possible to prevent the traffic guide member from performing erroneous traffic guidance.

(Modification 1)
In the second embodiment, when the passability information included in the received message indicates the passability information, the transmission message generation unit 105 includes the passability information regardless of the passability information input by the operation switch 101. Is being generated. However, even in cases other than the above, the transmission message generation unit 105 may generate a message including the impassability information regardless of the passability information input by the operation switch 101.

For example, when the transmission message generation unit 105 receives the passability information indicating the passability information of the vehicle B, the passability information indicating the passability information of the vehicle B is transmitted after the last reception of the passability information. Calculate the time elapsed until the availability information is received. Then, when it is determined that the calculated time has not passed the "predetermined" time, the transmission message generation unit 105 cannot pass the vehicle A regardless of the passability information of the vehicle A input by the operation switch 101. Generate a message containing information.
Here, the "predetermined" of the present invention includes not only a case where it is always constant but also a case where it is uniquely determined according to a condition.

According to this modification 1, the vehicle B enters the restricted passage section while the traffic guidance terminal 200B is transmitting the passability information indicating the passability information, and then the content of the passability information is passed through. Even if the vehicle B is changed to impassable, the traffic guidance terminal 200A transmits the impassable information to the vehicle A while a certain period of time elapses until the vehicle B leaves the restricted traffic section, so that the traveling direction is different. It is possible to prevent vehicles from entering the restricted traffic section at the same time.

(Embodiment 3)
The traffic guidance terminals 100 and 200 of the first and second embodiments have described a configuration in which a message is transmitted to and received from another traffic guidance terminal and a message is transmitted to the vehicle. In the third embodiment described below, a configuration will be described in which a message is not only transmitted unilaterally to the vehicle but also received from the vehicle. The traffic guidance terminal 300 of the third embodiment will be described with reference to FIG. Further, in the third embodiment, the traffic guidance terminal 300A transmits a message to the vehicle A, the traffic guidance terminal 300B transmits a message to the vehicle B, and the traffic guidance terminals 300A and 300B send and receive messages to each other. ..

The receiving unit 108 of the traffic guidance terminal 300A of the third embodiment receives the message transmitted from the other traffic guidance terminal 300B via the antenna 107, and also receives the vehicle position information and the vehicle position information transmitted from the vehicle A or B. Receives traveling direction information (hereinafter referred to as vehicle information). The receiving unit 108 inputs the received vehicle information to the received message analysis unit 109.

The received message analysis unit 109 acquires the information of the traffic restricted section of the vehicle stored in the memory (not shown), and compares the traffic restricted section with the vehicle information included in the message received from the vehicle A or B. .. As a result of comparison, when it is determined that the vehicle position indicated by the vehicle information is located within the traffic restricted section and the traffic guidance terminal 300A is located in the traveling direction of the vehicle, the transmission message generation unit 105 is operated by the operation switch. Regardless of the passability information of the vehicle A input in 101, a message including the passability information of the vehicle A is generated.

According to the third embodiment, it is possible to prevent a vehicle having a different traveling direction from entering the restricted traffic section while the vehicle is passing through the restricted traffic section, so that it is safer. It becomes possible to guide traffic.

(Embodiment 4)
The traffic guidance terminals 100, 200, and 300 of the first to third embodiments all acquire positioning information by the positioning unit 102, in addition to the function of transmitting and receiving messages to and from the vehicle and other traffic guidance terminals. , It has a function to generate a message to be transmitted to the vehicle based on the received message. Therefore, it is conceivable that the configuration of the traffic guidance terminal is complicated and the power consumption is high, in addition to the case where it has only the function of transmitting and receiving messages. However, the traffic guidance terminal is often operated by a traffic guide at a place away from the power source for a long time, and it is desirable that the power consumption is low.

Therefore, in the fourth embodiment, a traffic guidance processing device that is separate from the traffic guidance terminal is provided, and the traffic guidance processing device has a part of the functions of the traffic guidance terminal in the first to third embodiments to guide the traffic. Simplify the structure and processing of the terminal.

1. 1. Configuration and Function on the Traffic Guidance Processing Device Side FIG. 7 shows the configuration of the traffic guidance processing device 400. The traffic guidance processing device 400 includes a data acquisition unit 401, a message control unit 402, a memory 403, and a wireless communication unit 404. The wireless communication unit 404 includes an antenna 405, a reception unit 406, a reception message analysis unit 407, a transmission message generation unit 408, and a transmission unit 409. The "transmitting unit" and "receiving unit" of the traffic guidance device of the present invention shall include an antenna.

Further, FIG. 8 shows an example of the usage state of the traffic guidance processing device 400 of the fourth embodiment. In this example, the traffic guidance processing device 400 transmits and receives messages by wireless communication to the traffic guidance terminals 500A and B held by the traffic guides A and B deployed at the start point and the end point of the traffic restriction section, respectively. Then, the traffic guidance terminals 500A and B transmit a message by wireless communication to the vehicles A and B who are about to enter the restricted traffic section.

The data acquisition unit 401 acquires information necessary for traffic guidance of the vehicle. For example, HMI (Human Machine Interface) and a map database are used to acquire location information on which traffic guidance terminals are arranged, information on the location and range of traffic restricted sections, and time information using GPS. The information acquired from the data acquisition unit 401 is input to the message control unit 402.

The message control unit 402 inputs the information input from the data acquisition unit 401 to the memory 403, and the memory 403 stores these information. Among the information input to the memory, the information related to the traffic guidance terminal is stored in correspondence with the identification information of the traffic guidance terminals 500A and B. The message control unit 402 also stores the information input from the received message analysis unit 407, which will be described later, in association with the identification information of the traffic guidance terminals 500A and B, which are the transmission sources of the information.

The receiving unit 406 of the wireless communication unit 404 serves as passability information or passability information of the vehicles A and B input to the operation switch 101 from the traffic guidance terminals 500A and B via the antenna 405, respectively. Receive each containing message. Then, the receiving unit 406 inputs the received message to the received message analysis unit 407.

The received message analysis unit 407 analyzes whether the passability information included in the message input from the reception unit 406 indicates the passability information or the passability information. Then, the analysis result is input to the message control unit 402.

The message control unit 402 inputs the analysis result input from the received message analysis unit 407 to the memory 403. The memory 403 stores the analysis result of the received message analysis unit 407 in association with the identification information of the traffic guidance terminal, similarly to the information input from the data acquisition unit 401. At this time, the passability information of the vehicle included in the analysis result is stored in the memory as the operation state information.

The message control unit 402 generates a flag indicating "changeable" or "unchangeable" based on the operation status information of the traffic guidance terminal stored in the memory 403. Then, the generated flag is input to the transmission message generation unit 408.
In the example shown below, when the flag indicates "changeable" (hereinafter referred to as "changeable flag"), the traffic guidance terminal receiving the flag indicates the content of the passability information included in the message transmitted to the vehicle. May be changed. That is, in the traffic guidance terminal that received the changeable flag while transmitting the message containing the impassable information, if the input from the operation switch changes to the passable information, the pass is possible according to the change. A message containing information can be generated and the message can be sent to the vehicle. On the other hand, when the flag indicates "unchangeable" (hereinafter, "unchangeable flag"), the traffic guidance terminal receiving the flag changes the content of the passability information included in the message sent to the vehicle. Is prohibited. That is, in the traffic guidance terminal that received the immutable flag while transmitting the message containing the impassable information, the traffic guidance terminal can pass even if the input from the operation switch changes to the passable information. It is not possible to send a message containing information and it will continue to send a message containing impassable information to the vehicle.
In the example shown below, the "changeable flag" and "unchangeable flag" are used, but instead of these flags, a message containing passability information is forced to the traffic guidance terminal that received the flag. Use the "Vehicle passable" flag to instruct the traffic guidance terminal to generate the flag, and the "Vehicle impassable" flag to force the traffic guidance terminal that received the flag to generate a message containing the impassable information. You may.

FIG. 9 shows an example of an information table of data stored in the memory 403. In the information table of this example, the identification information (traffic guidance terminal ID) of the traffic guidance terminals 500A and 500B used together with the traffic guidance processing device 400 is stored as "001" and "002", respectively. Then, the position information of the traffic guidance terminal and the regulation section information for deploying the traffic guidance terminal are stored for each traffic guidance terminal ID.

Further, in this information table, the operation state information input from the received message analysis unit 407 is stored for each traffic guidance terminal ID. In this example, "ON" is stored as the operation status information when the passability information included in the message received from the traffic guidance terminal indicates the passability information, and "OFF" is stored as the operation state information when the passability information is indicated. There is.
The information table shown in FIG. 9 stores the operation status information input in the past 20 seconds. However, the information table may store the operation state information for 20 seconds or more or 20 seconds or less. This information table also stores flag information generated based on operation status information. The information table shown in FIG. 9 is an example, and information not shown in FIG. 9 may be stored.

Here, the processing in the message control unit 402 will be described with reference to FIG.

The message control unit 402 determines whether or not the position information and the restricted section information have been input from the data acquisition unit 401 (S401). When it is determined that the information has been input from the data acquisition unit 401, the message control unit 402 updates the position information and the restricted section information in the information table of the memory 403 shown in FIG. 9 (S402).

Next, the message control unit 402 determines whether or not there is an input from the received message analysis unit 407 regarding the analysis result of the passability information included in the messages received from the traffic guidance terminals 500A and 500B (S403). When it is determined that the analysis result has been input from the received message analysis unit 407, the message control unit 402 updates the operation state information in the information table of the memory 403 (S404).

The message control unit 402 confirms and compares the operation status information of the two traffic guidance terminals 500A and 500B stored in the information table of the memory 403 (S405). According to this comparison (S405), for example, when the operation status information of the traffic guidance terminal 500A is "ON" and the operation status information of the traffic guidance terminal 500B is "OFF", it can be changed for the traffic guidance terminal 500A. The flag is set to the non-changeable flag for the traffic guidance terminal 500B (S406). As a result, while the vehicle A is entering the restricted traffic section from the side where the traffic guidance terminal 500A that is transmitting the message including the passability information is deployed, the traffic guidance terminal B keeps the traffic guidance terminal B regardless of the input of the operation switch. , Only messages containing impassable information can be sent to vehicle B.
Further, when the operation status information of the two traffic guidance terminals stored in the information table is both "OFF", that is, the passability information received from the two traffic guidance terminals is both impassable information. (S405), the message control unit 402 sets the flag of one of the two traffic guidance terminals to the changeable flag and the other to the non-changeable flag, and sets this information in the information table of the memory 403. Store (S406). As a result, since the passability information indicating the impassability information is transmitted from one of the traffic guidance terminals to the vehicle, it is possible to prevent the vehicle from entering from both ends of the traffic restriction section at the same time.
Here, the "case" of the present invention refers to the case where the changeable flag and the changeable flag are set immediately, and also the changeable flag after a lapse of a predetermined time as in the modification example 1 described later. Includes the case of performing the process of setting each non-changeable flag.

Then, the message control unit 402 takes out the flag from the information table of the memory 403 and inputs it to the transmission message generation unit 408 (S407). The message control unit 402 further takes out the information input from the data acquisition unit 401 from the information table and inputs it to the transmission message generation unit 408. The flags and information retrieved from the information table are associated with each traffic guidance terminal ID.

Returning to FIG. 7, the transmission message generation unit 408 of the wireless communication unit 404 generates a message including the flag input from the message control unit 402 and the position information of the traffic guidance terminal, and inputs the message to the transmission unit 409.

The transmission unit 409 transmits the message input from the transmission message generation unit 408 to the traffic guidance terminals 500A and 500B via the antenna 405, respectively.
The message transmitted from the traffic guidance processing device 400 to the traffic guidance processing terminal 500 is information other than the flag and the position information of the traffic guidance terminal, for example, the operation state information of each traffic guidance terminal 500 (that is, to each traffic guidance terminal). The entered passability information) may be included.

2. 2. Functions and Configurations on the Traffic Guidance Terminal Side The configuration of the traffic guidance terminal 500 of the fourth embodiment is substantially the same as the configurations of the traffic guidance terminals 200 and 300 shown in FIG. 5, except that it does not have a positioning unit. Therefore, the configuration of the traffic guidance terminal 500 will be described with reference to FIG.

The reception unit 108 of the traffic guidance terminal 500A receives a message from the traffic guidance processing device 400, and outputs the received message to the reception message analysis unit 109. The received message analysis unit 109 extracts the flag associated with its own traffic guidance terminal ID, the position information of the traffic guidance terminal, and the like from the received message. Then, a message generation control signal is generated and input to the transmission message generation unit 105 according to whether the extracted flag is a changeable flag or a non-changeable flag.

Further, when the message received from the traffic guidance processing device 400 includes the passability information input to the other traffic guidance device 500B, the received message analysis unit 109 displays the display control signal based on the passability information. Is generated and input to the status display unit 104.

When the flag included in the message received from the traffic guidance processing device 400 is an immutable flag, the received message analysis unit 109 inputs a message generation control signal indicating that the flag is “unchangeable” to the transmission message generation unit 105. do.
On the other hand, when the flag included in the message received from the traffic guidance processing device 400 is a changeable flag, a message generation control signal indicating that the flag is "changeable" is input to the transmission message generation unit 105.

FIG. 11 is a flowchart showing the processing contents in the transmission message generation unit 105 of the traffic guidance terminal 500 of the fourth embodiment. Since the processing of S501 and S502 in FIG. 11 is the same as the processing of S301 and S302 in FIG. 6, the description thereof will be omitted.

The transmitted message generation unit 105 of the fourth embodiment acquires the position information and the like corresponding to its own traffic guidance terminal ID extracted by the received message analysis unit 109 (S503).

Next, the transmitted message generation unit 105 confirms the content of the message generation control signal input from the received message analysis unit 109 (S504), and determines whether the received flag is a changeable flag or a non-changeable flag. (S505). Then, when it is determined that the flag is a changeable flag (S505), the transmission message generation unit 105 acquires the passability information input by the operation switch 101 (S506), and the input passability information passes through. It is determined whether the information is passable or impassable (S507).

Here, the transmission message generation unit 105 sends a message including the passability information (S508) when the passability information is input by the operation switch 101, and the passability information is input when the passability information is input. Generate a message containing information (S510).

On the other hand, when it is determined that the flag received in S505 is an immutable flag, the transmission message generation unit 105 notifies the status display unit 104 of the display control signal that the change of the input in the operation switch 101 is invalid. Is output (S509). Further, regardless of the passability information input by the operation switch 101, a message including the passability information is generated (S510).

Then, a message including the passability information indicating either the passability information or the passability information and the position information received from the traffic guidance processing device 400 is generated and output to the transmission unit 106 (S511). Then, when the message is output to the transmission unit 106, the transmission message generation unit 105 resets the time count to zero (S512).

According to the fourth embodiment, the traffic guidance terminal does not need to acquire position information or the like in the positioning unit, and less processing is required when generating a message to be transmitted to the vehicle. Therefore, the structure of the traffic guidance terminal is reduced. Can be simplified.

In the above embodiment, the message transmitted from the traffic guidance processing device 400 to the traffic guidance terminal 500 includes the position information of the traffic guidance terminal and the like in addition to the flag. However, this location information and the like do not always have to be transmitted to the traffic guidance terminal 500.
For example, these pieces of information are transmitted to the traffic guidance terminal 500 before the start of use as initial data. On the other hand, the traffic guidance terminal 500 stores a message received from the traffic guidance processing device 400 in a memory (not shown). Then, when the traffic guidance terminal 500 transmits a message to the vehicle, various information stored in the memory may be taken out and stored in the message.

Further, in the above embodiment, the traffic guidance processing device 400 acquires the position information of the traffic guidance terminal and the like, and transmits the information to the traffic guidance terminal 500. However, as in the first to third embodiments, the traffic guidance terminal 500 may have a positioning unit, and the positioning unit may acquire the position information and the like of the traffic guidance terminal 500. In this case, the traffic guidance processing device 400 can omit the data acquisition unit 401.

(Modification 1)
In the fourth embodiment, when the operation status information of the two traffic guidance terminals stored in the information table is both "OFF", the message control unit 402 immediately performs the traffic of one of the two traffic guidance terminals. The flag of the guidance terminal is set to the changeable flag, and the other is set to the non-changeable flag. Instead of this, when the operation status information of the two traffic guidance terminals stored in the information table is both "OFF", both flags are set to the non-changeable flag for a predetermined time, and a predetermined time elapses. Later, one flag may be set to the modifiable flag and the other to the immutable flag.

For example, when the operation status information of the two traffic guidance terminals 500A and 500B is both "OFF", the message control unit 402 has elapsed since "ON" was last stored in the operation status information of the traffic guidance terminal 500A. Calculate the time spent. Then, when it is determined that the calculated time has not elapsed, the message control unit 402 sets both flags to the unchangeable flag. Then, when it is determined that the predetermined time has elapsed, the flag of the traffic guidance terminal 500A is set to the non-changeable flag, and the flag of the traffic guidance terminal 500B is set to the changeable flag.

According to this modification 1, the vehicle A enters the restricted passage section while the traffic guidance terminal 500A is transmitting the passability information indicating the passability information, and then the content of the passability information is passed through. By changing it to disabled, when the operation status information stored in the information table of the traffic guidance processing device 400 changes from "ON" to "OFF", a certain period of time elapses until the vehicle A leaves the restricted traffic section. During this period, the immutable flag is set and transmitted to the traffic guidance terminals 500A and 500B. Therefore, since the traffic guidance terminals 500A and 500B both transmit the impassable information to the vehicle, it is possible to prevent vehicles having different traveling directions from entering the restricted traffic section at the same time.

(Modification 2)
In addition to the traffic guidance terminal 500, the traffic guidance processing device 400 of the fourth embodiment may further receive vehicle position information and traveling direction information (hereinafter referred to as vehicle information) from a vehicle traveling in a restricted traffic section. ..

When the received message analysis unit 407 of the traffic guidance processing device 400 according to the second modification determines that the message input from the receiving unit 406 is received from the vehicle, the vehicle information is transmitted to the message control unit together with the vehicle identification information. Enter in 402.

The message control unit 402 acquires the information of the traffic restricted section stored in the information table, compares the information of the traffic restricted section with the vehicle position information, and the vehicle position indicated by the vehicle information is within the traffic restricted section. Determine if it is located in. When the message control unit 402 further determines that the traffic guidance terminal is located in the traveling direction of the vehicle, the message control unit 402 sets the flag of the traffic guidance terminal to the immutable flag, and the traffic guidance terminal outputs the impassable information. Continue to send the contained message to the vehicle.

According to this modification 2, since the traffic guidance processing device can accurately grasp the position of the vehicle, the vehicle enters the restricted traffic section from the opposite direction while the vehicle is passing through the restricted traffic section. Instructions can be given to the traffic guidance terminal to prevent entry.

(Embodiment 5)
In the fifth embodiment of the present invention, the configuration of the communication terminal device having the wireless communication unit that wirelessly communicates with the traffic guidance terminal or the traffic guidance device according to the first to fourth embodiments will be described.
In the following description, an example in which the communication terminal device of the fifth embodiment is an on-board unit mounted on a vehicle will be described.

FIG. 12 shows the configuration of the communication terminal device 500 of the autonomous driving vehicle. The communication terminal device 500 includes a wireless communication unit 501, a data acquisition unit 502, a determination unit 503, and a vehicle travel control unit 504 (corresponding to the "control unit" of the present invention).
The wireless communication unit 501 includes an antenna 505, a receiving unit 506, a received message analysis unit 507, a transmission message generation unit 508, and a transmission unit 509. Further, the data acquisition unit 502 includes a sensor unit 510, a vehicle position estimation unit 511, a camera 512, an image recognition unit 513, and a map database 514, and the determination unit 503 includes a situation determination unit 515 and a travel plan determination unit 516. To prepare for.

The receiving unit 506 of the wireless communication unit 501 receives a message including passability information from the traffic guidance terminal of the present invention via the antenna 505. The receiving unit 506 inputs the received message to the received message analysis unit 507.

The received message analysis unit 507 analyzes whether the passability information included in the received message indicates passability information or impassability information, and inputs the analysis result to the situation determination unit 515. Here, when the received message includes information other than the passability information, for example, the position information of the traffic guidance terminal, the received message analysis unit 507 also inputs such information to the situation determination unit 515.

Further, the position information of the own vehicle acquired from the sensor unit 510, which will be described later, is input to the transmission message generation unit 508 of the wireless communication unit 501. Then, the transmission message generation unit 508 generates a message including the position information of the own vehicle and inputs it to the transmission unit 509. The transmission unit 509 transmits a message to the traffic guidance terminal of the third embodiment or the traffic guidance processing device of the fourth embodiment via the antenna 505.
As a matter of course, the wireless communication unit 501 can also be used as a wireless communication unit for general vehicle-to-vehicle communication, road-to-vehicle communication, pedestrian-vehicle communication, and the like.

The data acquisition unit 502 acquires data necessary for traveling the vehicle. For example, the sensor unit 510 including an acceleration sensor, a gyro, GPS, etc. acquires data such as the speed and traveling direction of the vehicle (hereinafter referred to as own vehicle data) and inputs the data to the own vehicle position estimation unit 511. The own vehicle position estimation unit 511 estimates the current position and running state of the own vehicle based on the input own vehicle data. Further, the camera 512 acquires an image around the vehicle and inputs it to the image recognition unit 513. As a result, the image recognition unit 513 can recognize obstacles, objects, and lanes located in front of the vehicle. The data acquisition unit 502 further has a map database 514 in which map information of the road on which the vehicle passes is stored.
Then, the current position and running state of the own vehicle are from the own vehicle position estimation unit 511, the image information is from the image recognition unit 513, and the map information of the place where the own vehicle is currently traveling is from the map database 514. It is input to 515.

The situation determination unit 515 determines the traveling status of the own vehicle based on the information input from the data acquisition unit 502 and the received message analysis unit 507. Then, the travel plan determination unit 516 creates a vehicle travel plan based on the determination result of the situation determination unit 515 and inputs it to the vehicle travel control unit 504.

The vehicle travel control unit 504 (corresponding to the "control unit" of the present invention) controls the operation of the own vehicle, for example, acceleration / deceleration, stop, etc., based on the input from the travel plan determination unit 516.

In the communication terminal device 500 of the fifth embodiment, for example, the situation determination unit 515 recognizes that there is a traffic guide in front of the communication terminal device 500 based on the image information from the image recognition unit 513. Then, from the position information input from the own vehicle position estimation unit 511 and the position information of the traffic guidance terminal input from the received message analysis unit 507, the passability information included in the message received from the traffic guidance terminal is forward. It is judged that it was sent from the traffic guide located in. Here, when the passability information indicates the passability information, the travel plan determination unit 516 determines that the own vehicle should stop, determines the deceleration rate based on the current speed information, and determines the deceleration rate. The information is input to the vehicle travel control unit 594. Then, the vehicle travel control unit 504 brakes the own vehicle according to the input deceleration rate. On the other hand, when the passability information indicates the passability information, the situation determination unit 515 inputs information on the approach route and the approach timing to the traffic restricted section into the travel planning unit 516, and the travel planning unit 516 thereof. Create a travel plan for restricted sections based on the information.

According to the fifth embodiment, the communication terminal device 500 can safely enter and travel in the restricted traffic section by controlling the operation of the own vehicle based on the message received from the traffic guidance terminal of the present invention. It will be possible.

(Modification example)
In the fifth embodiment, the communication terminal device 500 of the automatic driving vehicle is shown, but the communication terminal device having a wireless communication unit that communicates with the traffic guidance terminal or the traffic guidance processing device of the first to fourth embodiments is the automatic driving vehicle. It is not limited to the on-board unit to be mounted. For example, the communication terminal device of the fifth embodiment may be an on-board unit of a manually driven vehicle, or may be a communication terminal device carried by a pedestrian or a bicycle user.

Hereinafter, with reference to FIG. 13, a modified example in which the communication terminal device of the fifth embodiment is an on-board unit mounted on a manually driven vehicle is shown. The traffic guidance terminal 600 of FIG. 13 has the same reference numeral as that of the communication terminal device 500 shown in FIG.

FIG. 13 shows the configuration of the communication terminal device 600 of the manually driven vehicle. Like the communication terminal device 500, the communication terminal device 600 includes a wireless communication unit 501 and a data acquisition unit 502, and further includes a driving support determination unit 601 (corresponding to the "determination unit" of the present invention) and an HMI output 602 (this). Corresponds to the "notification unit" of the invention). In the communication terminal device 600 of the manually driven vehicle, the driver of the vehicle can visually recognize the situation around the vehicle. Therefore, unlike the communication terminal device 500, the data acquisition unit 502 of the communication terminal device 600 has a camera 512. And the image recognition unit 513 are not included.

In this modification, the driving support determination unit 601 determines the next action to be taken by the own vehicle based on the information input from the own vehicle position estimation unit 511, the map database 514, and the received message analysis unit 507. Then, the determination result is output to the HMI output 602, and the determination result is notified to the driver visually or by voice.

Examples of the wireless communication unit in the on-board unit include a semiconductor, an electronic circuit, a module, or an ECU (electronic control unit). Further, examples of the communication terminal device include a car navigation system, a smartphone, a personal computer, and a mobile information terminal, in addition to a state in which an ECU is mounted on an automobile.

(Summary)
The features of the traffic guidance terminal, the traffic guidance processing device, the traffic guidance terminal, and the communication terminal device that communicates with the traffic guidance processing device in each embodiment of the present invention have been described above.

The traffic guidance terminals in the above embodiments 1 to 4 are all premised on being operated by a traffic guide. However, the traffic guidance terminal of the present invention does not necessarily have to be used by humans. For example, a vehicle detection sensor may be further provided in the traffic guidance terminal, and passability information may be input by automatically operating the operation switch of the traffic guidance terminal based on the input from the sensor.

Each embodiment has also been described as an explanation of the method in the flowchart. However, in light of the fact that the operation of each block in the block diagram can also be grasped as an invention of the method, the invention described in the block diagram is also illustrated as an invention of the method.
In addition, such a method can be realized not only by the above-mentioned thing, but also by a combination of a program recorded on a recording medium such as a memory or a hard disk, and a microcomputer having a dedicated or general-purpose CPU and a memory for executing the program. .. The program can also be provided from the server via a communication line without going through a recording medium. This ensures that you always have the latest features through program upgrades.

The traffic guidance terminal according to the present invention is mainly used for communication with a vehicle, but may be used for communication with a device carried by a pedestrian or a bicycle. Furthermore, the present invention is not limited to these uses.

100 Traffic guidance device, 101 operation switch, 102 positioning unit, 103 wireless communication unit, 104 status display unit, 105 message generation unit, 106 transmission unit, 107 antenna, 108 reception unit, 109 reception message analysis unit, 400 traffic guidance processing unit , 401 data acquisition unit, 402 message control unit, 403 memory, 404 wireless communication unit, 405 antenna, 406 receiving unit, 407 received message analysis unit, 408 transmission message generation unit, 409 transmission unit, 500 communication terminal device, 501 wireless communication Unit, 502 data acquisition unit, 503 judgment unit, 504 control unit, 505 antenna, 506 receiving unit, 507 received message analysis unit, 508 transmission message generation unit, 509 transmission unit, 510 sensor unit, 511 vehicle position estimation unit, 512 Camera, 513 image recognition unit, 514 map database, 515 situation judgment unit, 516 driving plan determination unit, 601 driving support judgment unit, 602 HMI output

Claims (12)

An operation unit (101) for inputting passability information or impassability information of the first moving body moving on the road as the first passability information, and
A receiving unit that receives a second message from the second traffic guidance terminal, which includes passability information or impassability information of the second moving object input to the second traffic guidance terminal as the second passability information. 108) and
A control unit (105, 109) that generates a first message including the first passability information based on the second message.
A transmission unit (106) that transmits the first message to the first mobile body, and a transmission unit (106).
A traffic guidance terminal (200, 300). The transmitter further transmits the first message to a device other than the first mobile body.
The traffic guidance terminal according to claim 1. When the second passability information indicates the passability information of the second mobile body, the control unit may use the first control unit regardless of the first passability information input to the operation unit. Generates the first message containing the impassable information of the mobile body of
The traffic guidance terminal (200) according to claim 1. In the control unit, the second passability information indicates the passability information of the second mobile body, and finally the second passability information indicating the passability information of the second mobile body. If a predetermined time has not passed since the reception, the first passable information including the pass impassability information of the first mobile body is included regardless of the passability information of the first passability input to the operation unit. Generate a message,
The traffic guidance terminal (200) according to claim 1. The receiving unit further receives the position information and the traveling direction information of the second moving body.
The control unit acquires a traffic restriction section that restricts the passage of the first and second mobile bodies, the position information of the second mobile body is located within the traffic restriction section, and When the traffic guidance terminal is located in the traveling direction of the second mobile body, the first mobile body cannot pass regardless of the first passability information input to the operation unit. Generate the first message containing the information,
The traffic guidance terminal (300) according to claim 1. Further provided is a notification unit (104) for notifying the user of the traffic guidance terminal that the second passability information and the input in the operation unit are invalid.
Transport induction terminal according to claim 3 to 5, wherein (200, 300). An operation unit (101) for inputting passability information or impassability information of a moving body moving on a road, a control unit (105, 109) for generating a message including the passability information, and the message. A traffic guidance processing device capable of communicating with a first traffic guidance terminal and a second traffic guidance terminal including a transmission unit (106) for transmitting to a moving body.
The first message including the passability information or the passability information of the first mobile body as the first passability information is received from the first traffic guidance terminal, and the passability information or the passability information of the second mobile body is received. A receiving unit (406) that receives a second message including the impassable information as the second passability information from the second traffic guidance terminal, and
When the first and second passability information are compared and both the first and second passability information indicate passability information, or the first passability information indicates passlessness information, the first passability information indicates impassability information. When the second passability information indicates passability information, a flag prohibiting change of the first passability information or a flag instructing the first message to include the impassability information. Message control unit (402) to generate
A transmission unit (409) that transmits the flag to the first traffic guidance terminal, and
A traffic guidance processing device (400). An operation unit (101) for inputting passability information or impassability information of a moving body moving on a road, a control unit (105, 109) for generating a message including the passability information, and the message. A traffic guidance processing device capable of communicating with a first traffic guidance terminal including a transmission unit (106) for transmitting to a moving body.
The first message including the passability information or the passability information of the first mobile body as the first passability information is received from the first traffic guidance terminal, and the second mobile body to the second. A receiving unit (406) that receives the position information and the traveling direction information of the moving body, and
The traffic restricted section that restricts the passage of the first and second mobile bodies is acquired, the position information of the second mobile body is located within the traffic restricted section, and the first traffic. When the guidance terminal is located in the traveling direction of the second mobile body, the first message includes a flag prohibiting change to the first passability information or the impassability information. A message control unit (402) that generates a flag instructing
A transmission unit (409) that transmits the flag to the first traffic guidance terminal, and
A traffic guidance processing device (400). A step of inputting passability information or impassability information of the first moving object moving on the road as the first passability information, and
A step of receiving a second message from the traffic guidance terminal, which includes passability information or impassability information of the second moving object input to the traffic guidance terminal as the second passability information.
A step of generating a first message including the first passability information based on the second message, and
The step of transmitting the first message to the first mobile body, and
Traffic guidance methods, including. A step of inputting passability information or impassability information of the first moving object moving on the road as the first passability information, and
A step of receiving a second message from the traffic guidance terminal, which includes passability information or impassability information of the second moving object input to the traffic guidance terminal as the second passability information.
A step of generating a first message including the first passability information based on the second message, and
The step of transmitting the first message to the first mobile body, and
A program for traffic guidance to execute. An operation unit (101) for inputting passability information or impassability information of a first moving object traveling on a road as a first passability information, and a first message including the first passability information are generated. The first movement that receives the first message from a traffic guidance terminal including a control unit (105, 109) and a transmission unit (106) that transmits the first message to the first mobile body. It is a communication terminal device mounted on the body.
A receiving unit (506) for receiving the first message, which includes the passable information or the impassable information of the road as the first passability information.
A determination unit (503) that determines an action to be taken by the first moving body based on the first passability information, and a determination unit (503).
Based on the judgment result of the judgment unit, the control unit (504) that controls the operation of the first moving body and the control unit (504)
A communication terminal device (500). The operation unit (101) for inputting the passability information or the impassability information of the first moving object moving on the road as the first passability information, and the second moving body input to the second traffic guidance terminal. A receiving unit (108) that receives a second message including passability information or impassability information as the second passability information from the second traffic guidance terminal, and the first message based on the second message. A first traffic guidance terminal including a control unit (105, 109) that generates a first message including passability information, and a transmission unit (106) that transmits the first message to the first moving object. A communication terminal device mounted on the first mobile body, which receives the first message from the user.
A receiving unit (506) for receiving the first message, which includes the passable information or the impassable information of the road as the first passability information.
A determination unit (601) that determines an action to be taken by the first moving body based on the first passability information, and
A notification unit (602) that notifies the user of the communication terminal device of the determination result of the determination unit, and
A communication terminal device (600).

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