JP7091082B2 - Communication method, roadside unit and communication system - Google Patents

Description

The present disclosure relates to a communication method, a roadside machine and a communication system, and more particularly to a communication method between a roadside machine and a vehicle, and a roadside machine and a communication system for constructing and distributing a dynamic map using sensor information.

In recent years, technological development has been progressing toward the provision of safe driving support and the realization of autonomous driving. Among them, a method is considered in which a driver and a vehicle use a dynamic map to grasp dynamic information such as the positions of surrounding vehicles, pedestrians, bicycles, and signal conditions.

A dynamic map is a map in which dynamic information in which the position, speed, etc. of an object changes with time is superimposed on a static map in which the position of an object does not change with time. More specifically, dynamic maps superimpose static information such as buildings and roads on static maps on map data, such as surrounding vehicles and pedestrians acquired from sensors mounted on vehicles and roadside aircraft. It is a map that superimposes dynamic information such as the position and speed of.

The vehicle can support the driver's safe driving by visualizing the surrounding information based on the dynamic map and transmitting it to the driver. In addition, by using a dynamic map, the vehicle can accurately grasp the surrounding conditions that change from moment to moment due to the movement of itself, the surrounding vehicles, and the movement of bicycles and the like.

Further, by using the dynamic map, the vehicle can recognize the surrounding situation in a range that cannot be recognized only by the sensor mounted on itself. For example, when entering a place with poor visibility such as an intersection, the positions of vehicles and pedestrians can be grasped in advance. As a result, the vehicle can adjust the speed for safety and control the steering wheel with a margin according to the surrounding conditions, which can lead to the reduction of accidents and the efficiency of traffic.

Various methods have been proposed for collecting and distributing dynamic information necessary for creating such a dynamic map (see, for example, Patent Documents 1 and 2). Patent Document 1 proposes a method of controlling communication between a vehicle and a roadside machine. Further, Patent Document 2 discloses a vehicle information providing device that receives oncoming vehicle information from an infrastructure control device and provides oncoming vehicle information to a driver before making a right turn at an intersection. The vehicle information providing device is configured to recognize the existence of an oncoming vehicle that cannot be seen by the driver, and to notify the presence of an oncoming vehicle that cannot be seen when there is an oncoming vehicle that cannot be seen.

Japanese Patent No. 5316193 Japanese Patent No. 4247710

However, in Patent Document 1, by controlling the communication between the roadside machine and the vehicle based on the time slot, the communication from the roadside machine to the vehicle is guaranteed, and the roadside machine can acquire information from the vehicle. However, when the roadside machine collects information from multiple vehicles in the limited network band, the information of the same vehicle can be duplicated and necessary information, for example, the roadside machine can be observed. It may not be possible to obtain information such as pedestrians and vehicles in the vicinity that are not in the area.

Further, Patent Document 2 discloses a configuration in which oncoming vehicle information is provided from the infrastructure control device to the vehicle information providing device, but information such as pedestrians and vehicles in a range that the infrastructure control device has not observed is disclosed in the vehicle. The configuration provided from the information providing device to the infrastructure control device is not disclosed.

The present disclosure has been made in view of the above circumstances, and provides a communication method, a roadside machine, and a communication system capable of suppressing a shortage of network bandwidth.

The communication method according to one aspect of the present disclosure is a communication method executed by the roadside machine, and is a first motion indicating a dynamic object around the roadside machine acquired by a sensor mounted on the roadside machine. A first dynamic map is configured based on a first data acquisition step for acquiring target information, the first dynamic information acquired in the first data acquisition step, and a static map showing a static object. Then, a transmission step of broadcasting a request for dynamic information indicating the first dynamic map and a dynamic object not included in the first dynamic map to an in-vehicle device around the roadside machine. A plurality of the in-vehicle devices so that the first reception step of receiving the second dynamic information extracted by each in-vehicle device from the plurality of in-vehicle devices and the second dynamic information received in the first reception step do not overlap. Request to transmit the second dynamic information to the vehicle selection step of selecting at least one and not all of the in-vehicle devices from the machines and the in-vehicle device selected by the vehicle selection step. A request step to be performed, a second data acquisition step for further acquiring the first dynamic information acquired by the sensor mounted on the roadside machine after the first data acquisition step, and the first after updating from the selected in-vehicle device. 2 A second receiving step for receiving dynamic information, the first dynamic information acquired in the second data acquisition step, the second dynamic information received in the second receiving step, and a static object. A configuration step for configuring a dynamic map based on a static map indicating the above, and a second transmission step for transmitting the dynamic map configured in the configuration step to one or more in-vehicle devices that communicate with the roadside unit. And, the required step is carried out for all the in -vehicle devices selected by the vehicle selection step.

It should be noted that these general or specific embodiments may be realized by a system, a method, an integrated circuit, a computer program or a recording medium, and may be realized by any combination of a system, a method, an integrated circuit, a computer program and a recording medium. May be done.

According to the present disclosure, it is possible to suppress a shortage of network bandwidth.

FIG. 1 is a schematic diagram showing an example of the configuration of the communication system according to the first embodiment. FIG. 2 is a block diagram showing an example of the functional configuration of the vehicle-mounted device according to the first embodiment. FIG. 3 is a diagram showing an example of object information stored in the object information management unit according to the first embodiment. FIG. 4 is a diagram showing an example of an object request stored in the object request management unit in the first embodiment. FIG. 5 is a diagram showing an example of an object request packet according to the first embodiment. FIG. 6 is a diagram showing an example of a packet of object information delivered from the vehicle to the roadside machine in the first embodiment. FIG. 7 is a diagram showing an example of the hardware configuration of the vehicle-mounted device according to the first embodiment. FIG. 8 is a diagram showing an example of the functional configuration of the roadside machine according to the first embodiment. FIG. 9 is a block diagram showing an example of the detailed configuration of the selection unit. FIG. 10 is an explanatory diagram showing an example of a selection method performed by the vehicle selection unit using the selection candidate list. FIG. 11 is a sequence diagram showing an example of the operation of the communication system according to the first embodiment. FIG. 12 is a flowchart showing an example of the operation of the roadside machine according to the first embodiment. FIG. 13 is a flowchart showing an example of the detailed operation of the vehicle selection process shown in FIG. FIG. 14 is a diagram showing an example of the configuration of the roadside machine according to the second embodiment. FIG. 15 is a diagram showing an example of area information in the second embodiment. FIG. 16 is a schematic diagram showing a required area in the second embodiment. FIG. 17 is a diagram showing an example of the functional configuration of the vehicle-mounted device according to the second embodiment. FIG. 18 is a flowchart showing an example of the operation of the roadside machine according to the second embodiment.

The communication method according to one aspect of the present disclosure acquires first dynamic information indicating a dynamic object around the roadside machine and second dynamic information indicating a dynamic object around the in-vehicle device. At least one of the plurality of in-vehicle devices, which is a communication method in the roadside unit, based on a list in which the second dynamic information and the in-vehicle device having the second dynamic information are associated with each other. A vehicle selection step for selecting an in-vehicle device, a data acquisition step for acquiring the first dynamic information indicating the surrounding state of the roadside machine acquired by a sensor mounted on the roadside machine, and a data acquisition step for acquiring the data acquisition step. A configuration step for constructing a dynamic map based on the first dynamic information obtained, the second dynamic information acquired from the selected in-vehicle device, and a static map showing a static object, and the above. Includes a transmission step of transmitting the dynamic map configured in the configuration steps to one or more vehicle-mounted devices that communicate with the roadside unit.

According to this, in the vehicle selection step, at least one in-vehicle device is selected from a plurality of in-vehicle devices based on a list in which the second dynamic information and the in-vehicle device having the second dynamic information are associated with each other. do. In the configuration step, a dynamic map is configured based on the first dynamic information acquired in the data acquisition step, the second dynamic information acquired from the selected on-board unit, and the static map showing the static object. do. Then, in the transmission step, the configured dynamic map is transmitted to one or more in-vehicle devices. As a result, the roadside unit can supplement the second dynamic information that cannot be observed by the roadside unit by avoiding receiving the duplicated second dynamic information, and the on-board unit utilizes this dynamic map. can do.

Further, by selecting the roadside unit so that the number of on-board units that transmit the second dynamic information to the roadside unit is small, the communication time used by the entire on-board unit can be shortened. Therefore, the roadside unit can efficiently collect the second dynamic information necessary for creating the dynamic map from the on-board unit. As a result, it is possible to suppress a shortage of network bandwidth between the roadside unit and the on-board unit.

Therefore, it is possible to efficiently collect the data necessary for creating a dynamic map and suppress the shortage of network bandwidth.

In particular, by efficiently collecting the data necessary for creating a dynamic map, it is stable by suppressing the failure of uploading information from the on-board unit to the roadside unit due to the lack of network bandwidth between the on-board units. Communication can be realized.

Further, the roadside unit according to one aspect of the present disclosure is a roadside unit installed on a road, and includes a sensor that acquires sensing data indicating information indicating a state around the roadside unit and a static unit including the road. A component that constitutes a dynamic map in which the first dynamic information on the road based on the sensing data is superimposed on the target map, and the dynamic map are transmitted to a plurality of in-vehicle devices that can communicate with each other. A communication unit that receives second dynamic information not included in the dynamic map from each of the plurality of in-vehicle devices, and an in-vehicle device that transmits the received second dynamic information and the second dynamic information. The second dynamic information is transmitted to the roadside machine to the vehicle selection unit that selects at least one in-vehicle device from the plurality of in-vehicle devices and the at least one in-vehicle device based on the list associated with the above. It has a requesting part and a requesting part.

Further, the communication system according to one aspect of the present disclosure includes a roadside unit and each on-board unit mounted on a plurality of vehicles that transmit the second dynamic information to the roadside unit.

Also in these, the same action and effect as described above are obtained.

Further, the communication method according to one aspect of the present disclosure further includes a request step for requesting the on-board unit selected by the vehicle selection step to transmit the second dynamic information to the roadside unit. In the configuration step, for the request step, the first dynamic information acquired in the data acquisition step and the dynamic not included in the dynamic map acquired from the in-vehicle device selected in the vehicle selection step. A dynamic map is constructed based on the second dynamic information indicating various objects and the static map.

According to this method, in the configuration step, the first dynamic information acquired in the data acquisition step and the dynamic object acquired from the in-vehicle device selected in the vehicle selection step, which is not included in the dynamic map, are shown. 2 A dynamic map is constructed based on the dynamic information and the static map. The roadside machine can superimpose the second dynamic information not included in the dynamic map on the dynamic map by acquiring the second dynamic information including the surrounding conditions that are difficult for the roadside aircraft to observe. The on-board unit can grasp the surrounding situation more accurately by using the dynamic map configured by this.

Further, the communication method according to one aspect of the present disclosure further includes a reception step for receiving the second dynamic information, and in the reception step, the second dynamic information is transmitted to each of the one or more vehicle-mounted devices. Receive from.

According to this method, in the reception step, the second dynamic information is received from each of the on-board units having one or more roadside units. Therefore, in the vehicle selection step, the second dynamic information can be acquired from the selected in-vehicle device, so that it is not necessary to acquire the second dynamic information from all the in-vehicle devices. Therefore, it is possible to suppress a shortage of network bandwidth between the roadside unit and the on-board unit.

Further, in the communication method according to one aspect of the present disclosure, in the vehicle selection step, the in-vehicle device having the largest number of transmitted the second dynamic information from the plurality of in-vehicle devices included in the list. The first selection is made, the in-vehicle device that is the target of the first selection is excluded from the list, and the second in-vehicle device that is the target of the first selection is transmitted. The second selection is made to select the in-vehicle device that transmitted the second dynamic information common to the dynamic information, and the in-vehicle device that is the target of the second selection is excluded from the list, and the list is added. Update.

According to this method, from among the plurality of in-vehicle devices included in the list, the in-vehicle device to which the first selection is made is excluded from the list. In addition, the in-vehicle device that is the target of the second selection is excluded from the list, and the list is updated. In this way, by excluding the in-vehicle device that is the target of the first selection and the in-vehicle device that is the target of the second selection from the list, the number of in-vehicle devices to be selected is reduced. be able to. Therefore, by reducing the number of on-board units that communicate with the roadside unit, it is possible to reduce the amount of communication between the roadside unit and the on-board unit.

Further, the communication method according to one aspect of the present disclosure further exists in the predetermined area set in advance based on the second dynamic information received by setting a predetermined area in advance from the static map. The second step of receiving dynamic information is included.

According to this method, the step of receiving the second dynamic information receives the second dynamic information existing in a predetermined area preset from the static map. Therefore, by setting a predetermined area in which the second dynamic information is required in advance, it is not necessary to receive the second dynamic information in the unnecessary area. That is, the roadside unit can reduce the amount of communication of the second dynamic information received from the on-board unit in order to limit the predetermined area in which the second dynamic information is required. As a result, the number of in-vehicle devices that communicate with the roadside unit can be reduced, and the amount of communication between the roadside unit and the in-vehicle device can be reduced. Therefore, the data necessary for creating a dynamic map can be efficiently collected. , It is possible to suppress the shortage of network bandwidth.

In this way, the roadside machine can surely acquire the second dynamic information required by the roadside machine while realizing stable communication while suppressing the shortage of network resources.

It should be noted that the present disclosure is not only realized as an apparatus, but also realized as an integrated circuit provided with a processing means provided in such an apparatus, or as a method in which the processing means constituting the apparatus is used as a step. Can be realized as a program that causes a computer to execute, or can be realized as information, data, or a signal indicating the program. The programs, information, data and signals may be distributed via a recording medium such as a CD-ROM and a communication medium such as the Internet.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that all of the embodiments described below show a preferred specific example of the present disclosure. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, the order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present disclosure will be described as arbitrary components constituting the more preferable form.

(Embodiment 1)
[Communication system configuration]
FIG. 1 is a schematic diagram showing an example of the configuration of the communication system 1 according to the first embodiment.

The communication system 1 shown in FIG. 1 includes a roadside unit 10, an on-board unit 11A, and an on-board unit 11B. In the following, since the vehicle-mounted device 11A and the vehicle-mounted device 11B have the same configuration, they may be collectively referred to as the vehicle-mounted device 11. Although two in-vehicle devices 11 are illustrated in FIG. 1, it is an example and may be two or more.

The on-board unit 11 is mounted on a vehicle traveling on the road 12. The on-board unit 11 is connected to the roadside unit 10 via wireless communication such as a wireless LAN (Local Area Network).

The roadside unit 10 is installed on the road 12 and is connected to each on-board unit 11 via a wireless LAN. Details of these configurations and the like will be described below.

[Configuration of in-vehicle device]
FIG. 2 is a block diagram showing an example of the functional configuration of the vehicle-mounted device 11 according to the first embodiment. The on-board unit 11 is mounted on a vehicle traveling on the road 12. The vehicle-mounted device 11 shown in FIG. 2 includes a communication unit 111, a dynamic map configuration unit 112, an object information processing unit 113, an object request update unit 114, an object information generation unit 115, a management unit 116, and a sensor 117. Be prepared. The management unit 116 is composed of a dynamic map management unit 1161, an object information management unit 1162, and an object request management unit 1163.

<Communication Department>
The communication unit 111 wirelessly communicates with the roadside unit 10. The communication unit 111 receives a dynamic map, an object request packet, and the like from the roadside machine 10. In the present embodiment, the communication unit 111 communicates with the roadside unit 10 via wireless communication such as a wireless LAN.

<Sensor>
Sensor 117 acquires sensing data that is dynamic and static information that exists around the vehicle, such as the position of pedestrians, other vehicles, their directions of travel, their shapes, and their time. .. In the present embodiment, the sensor 117 includes a distance measuring sensor such as a laser range finder or a millimeter wave sensor, and observes values such as the distance to an object around the vehicle and the shape of the object as sensing data at predetermined time intervals. get. The sensor 117 transmits the acquired sensing data to the object information generation unit 115 and the like.

The sensor 117 may further include an image pickup device such as a camera and a stereo camera. In this case, the sensor 117 further detects a traffic light, a sign, and the like on the road 12, and acquires information such as the position of the traffic light, the sign, and their colors.

<Dynamic map component>
When the dynamic map configuration unit 112 receives the dynamic map from the roadside unit 10 via the communication unit 111, the dynamic map configuration unit 112 is managed by the object information management unit 1162, which will be described later, and exists around the vehicle-mounted device 11. The dynamic map is reconstructed based on the second object information and the dynamic map received from the roadside machine 10. That is, the dynamic map configuration unit 112 superimposes the received dynamic map with the second object information such as the position and speed of surrounding vehicles and pedestrians acquired by the sensor 117 mounted on the vehicle-mounted device 11. Reconstruct the dynamic map. Then, the dynamic map configuration unit 112 stores the reconstructed dynamic map in the dynamic map management unit 1161. The second object information is calculated by the object information generation unit 115, which will be described later. The second object information is an example of the second dynamic information.

The dynamic map shows first object information showing dynamic objects around the roadside machine 10 and static objects such as roads around the roadside machine 10, traffic lights and signs placed on the roads. Including information. The first object information is an example of the first dynamic information.

<Object information generator>
The object information generation unit 115 calculates and calculates second object information such as other vehicles and pedestrians existing around the in-vehicle device 11 based on the sensing data around the in-vehicle device 11 acquired by the sensor 117. 2 The object information is stored in the object information management unit 1162. Here, the second object information is an object including speed information indicating the speed of the object, orientation information indicating the traveling direction of the object, position information indicating the position of the object, an object identifier used to identify the object, and the like. Related information. The second object information is mainly information indicating a dynamic object, but may be information indicating a static object. The position information includes the current position of the object and the position where the object existed in the past.

<Management Department>
The management unit 116 includes a memory such as RAM and a storage such as a hard disk drive or a solid state drive, and has a dynamic map management unit 1161 that manages a dynamic map and an object information management unit 1162 that manages a second object information. , It is composed of an object request management unit 1163 that manages object requests.

When the dynamic map management unit 1161 receives the dynamic map from the dynamic map configuration unit 112, the dynamic map management unit 1161 stores the dynamic map.

The object information management unit 1162 stores the second object information. The second object information will be described with reference to FIG.

FIG. 3 is a diagram showing an example of the second object information stored in the object information management unit 1162. As shown in FIG. 3, the second object information is stored in the object information management unit 1162 in association with the object identifier, the time stamp, the position of the object, the speed of the object, and the traveling direction of the object. Has been done. Although one type of second object information will be described with reference to FIG. 3, a plurality of types of second object information may naturally exist.

The object identifier is used to identify a plurality of objects in the vehicle-mounted device 11, and is assigned by the object information generation unit 115. The object identifier may be a unique identifier as long as the observed object has a unique identifier such as a vehicle number and a MAC address (Media Access Control address).

The object request management unit 1163 stores the object identifier. The object identifier is illustrated in FIG. FIG. 4 is a diagram showing an example of an object request to be described later, which is stored in the object request management unit 1163.

<Object request update section>
The object request update unit 114 receives an object request packet from the roadside machine 10 via the communication unit 111. The object request packet requests the vehicle to transmit the second object information required by the roadside machine 10 to the vehicle-mounted machine 11 to be requested by the roadside machine 10 to the roadside machine 10. Used for. The transmission request here is, in other words, an object request.

FIG. 5 is a diagram showing an example of an object request packet. As shown in FIG. 5, the object request packet contains information related to the requested vehicle and information related to the requested object.

Information related to the requested vehicle includes an object identifier, a time stamp, and vehicle location information. The information related to the requested vehicle may be only the object identifier, the time stamp, and the position information of the vehicle, and may be information that uniquely selects a vehicle from a plurality of vehicles traveling on the road. Therefore, the information related to the requested vehicle may be information indicating the speed of the vehicle or information indicating the direction of the vehicle.

Information related to the requested object includes the object identifier, time stamp, and object location information. The information related to the object to be requested may be only the object identifier or only the time stamp and the position information of the object. The information related to the requested object transmitted by the roadside machine 10 may be information that uniquely identifies the object from the plurality of objects included in the plurality of second object information managed by the vehicle-mounted machine 11.

The object request update unit 114 confirms whether or not the information related to the requested vehicle is the information indicating the vehicle-mounted device 11. Specifically, the object request updating unit 114 confirms whether or not the object identifier described as the information related to the requested vehicle is the information indicating the vehicle-mounted device 11. This is because a vehicle that is not the requested vehicle may erroneously receive information related to the requested vehicle, so that the on-board unit 11 mounted on the incorrect vehicle is sent to the roadside unit 10 to the requested vehicle. This is to suppress the transmission of related information. Therefore, when the information related to the vehicle of the request destination is not the information indicating the vehicle-mounted device 11, the object request update unit 114 discards the object request packet and ends the process when the object request packet is received.

When the information related to the requested vehicle is the time stamp and the position of the vehicle, the object request updating unit 114 indicates the position of the on-board unit 11 with respect to the time stamp and the information related to the requested vehicle. Check if the position matches. Here, in the position confirmation, there is a possibility that an error has occurred in the position information managed by the roadside unit 10 and the on-board unit 11. Therefore, in confirming the position, the object request update unit 114 may determine that an error within a predetermined value matches. The predetermined value may be set in advance by the administrator of this system, or may be statistically calculated by this system. In the comparison described below, it is assumed that the error is taken into consideration.

When the information related to the vehicle of the request destination is the information indicating the in-vehicle device 11, the object request update unit 114 stores the information related to the object to be requested in the object request management unit 1163.

<Object Information Processing Department>
When the object information processing unit 113 receives the dynamic map from the roadside machine 10 via the communication unit 111, the object information processing unit 113 obtains the second object information corresponding to the object identifier managed by the object request management unit 1163 in the object information management unit. The second object information acquired from 1162 is transmitted to the roadside unit 10 via the communication unit 111.

Further, the object information processing unit 113 compares the first object information included in the dynamic map received from the roadside machine 10 with the second object information stored in the object information management unit 1162. That is, the object information processing unit 113 has the first object included in the received dynamic map based on the information indicating the time observed by the sensor 117 and the position information regarding the second object information included in the received dynamic map. It is confirmed whether or not the information and the second object information stored in the object information management unit 1162 are the same information. Then, when the object information processing unit 113 stores the second object information not included in the received dynamic map in the object information management unit 1162, the object information processing unit 113 also transmits the second object information to the roadside machine 10.

[Hardware configuration of in-vehicle device]
FIG. 6 is a diagram showing an example of the hardware configuration of the vehicle-mounted device 11 according to the first embodiment.

As shown in FIG. 6, the on-board unit 11 is realized by the computer 1000. Here, the computer 1000 includes a CPU (Central Processing Unit) 1001, a ROM (Read Only Memory) 1002, a RAM (Random Access Memory) 1003, a communication IF (Interface) 1004, and a sensor 1006. The CPU 1001, ROM 1002, RAM 1003, communication IF 1004 and sensor 1006 are connected by a communication bus 1005.

The CPU 1001 is a central processing unit, and by executing a control program or the like stored in the ROM 1002, for example, the communication IF 1004 and the sensor 1006 are controlled to perform various processes.

The ROM 1002 is a read-only storage device, and is a ROM that holds programs and data in advance.

The RAM 1003 is a storage device capable of writing and reading, and is used for storing data and the like when executing a program. The RAM 1003 may be a storage such as a hard disk drive or a solid state drive.

The communication IF 1004 is an interface for wirelessly communicating with the roadside device 10, and is, for example, a communication circuit.

The sensor 1006 is a sensor such as the laser range finder or the millimeter wave sensor described above, and is controlled by the CPU 1001. The sensor 1006 may be connected via USB (Universal Serial Bus) or communication IF 1004.

[Structure of roadside machine]
FIG. 7 is a diagram showing an example of the functional configuration of the roadside machine 10 according to the first embodiment.

The roadside unit 10 is installed on the road 12, for example, by being mounted on a utility pole or a traffic light near the road. The roadside machine 10 shown in FIG. 7 includes a communication unit 101, a dynamic map distribution unit 102, a dynamic map configuration unit 103, a selection unit 104, an object information processing unit 105, a management unit 106, and a sensor 107. To prepare for.

<Communication Department>
The communication unit 101 wirelessly communicates with the on-board unit 11 mounted on the vehicle. The communication unit 101 receives the second object information and the like that are not included in the dynamic map from the vehicle-mounted device 11. In the present embodiment, the communication unit 101 communicates with the vehicle-mounted device 11 mounted on the vehicle via wireless communication such as a wireless LAN.

<Sensor>
The sensor 107 acquires sensing data, which are dynamic and static objects existing around the roadside machine 10. In the present embodiment, the sensor 107 includes a distance measuring sensor such as a laser range finder or a millimeter wave sensor, and acquires observation values such as a distance to an object around the roadside machine 10 and an object shape as information. The sensor 107 outputs the acquired sensing data to the dynamic map configuration unit 103 and the like. The sensor 107 may calculate the first object information from the sensing data and output the calculated first object information to each on-board unit 11.

The sensor 107 may further include an image pickup device such as a camera and a stereo camera. In this case, the sensor 107 further detects traffic lights and signs on the road 12, and acquires information such as the traffic lights, the positions of the signs, and their colors as data.

<Management Department>
The management unit 106 is composed of, for example, a memory such as RAM and a storage such as a hard disk drive or a solid state drive, and is composed of a dynamic map management unit 1061, a static map management unit 1062, and an object information management unit 1063.

The dynamic map management unit 1061 stores a dynamic map configured by the dynamic map configuration unit 103, in which the first object information is superimposed on the static map.

The static map management unit 1062 stores map information indicating a static map in a range assigned in advance by the administrator of the roadside machine 10. The map information indicating the static map stored in the static map management unit 1062 includes information indicating static objects indicating equipment installed on the road, such as the position, type, and position of the roadside unit of the traffic light. It may be included.

The object information management unit 1063 stores the second object information acquired from the vehicle-mounted device 11 by the object information processing unit 105.

<Object Information Processing Department>
The object information processing unit 105 receives the second object information calculated by the vehicle-mounted device 11 and the transmission source information regarding the vehicle-mounted device 11 that has transmitted the second object information from the vehicle-mounted device 11 via the communication unit 101. FIG. 8 is a diagram showing an example of a packet received from the vehicle-mounted device 11. In FIG. 8, the packet includes the second object information and source information regarding the vehicle-mounted device 11.

More specifically, the object information processing unit 105 receives the second object information calculated by the vehicle-mounted device 11 from each of the vehicle-mounted devices 11 mounted on the plurality of vehicles traveling on the road. The second object information in FIG. 8 is an object identifier, a time stamp indicating a time, a position, a speed, and a traveling direction in which the vehicle-mounted device 11 senses the object. Further, the source information regarding the vehicle-mounted device 11 is an object identifier, a time stamp, a position, a speed, and a traveling direction. The object information processing unit 105 stores the second object information received from the vehicle-mounted device 11 and the transmission source information regarding the vehicle-mounted device 11 that has transmitted the second object information in the object information management unit 1063.

<Selection section>
The selection unit 104 selects the vehicle-mounted device 11 based on the second object information received from the vehicle-mounted device 11 via the communication unit 101.

FIG. 9 is a block diagram showing an example of the detailed configuration of the selection unit 104. In FIG. 9, the selection unit 104 includes a vehicle selection unit 1041 and an object information request unit 1042.

The vehicle selection unit 1041 creates a selection candidate list by associating and listing the second object information managed by the object information management unit 1063 and the information of the in-vehicle device 11 that has transmitted the second object information. Here, the selection candidate list includes the second object information regarding the object received from each of the plurality of vehicle-mounted devices 11 and the transmission source information regarding the vehicle-mounted device 11 that has transmitted the second object information to the roadside device. The second object information includes at least information for identifying an object, and includes, for example, an object identifier. The source information includes at least information for selecting the source vehicle-mounted device 11, and includes, for example, an object identifier.

The vehicle selection unit 1041 selects the on-board unit 11 from the selection candidate list so that the number of the on-board units 11 that transmit the second object information to the roadside unit 10 is as small as possible. For example, the vehicle selection unit 1041 selects the on-board unit 11 from the selection candidate list in descending order of the number of objects transmitted to the roadside unit 10. The vehicle selection unit 1041 selects the first on-board unit 11 having the largest number of objects transmitted to the roadside unit 10 from the selection candidate list. Then, the vehicle selection unit 1041 removes the first vehicle-mounted device 11 having the same second object information as the second object information transmitted by the selected first vehicle-mounted device 11 from the selection candidate list. Next, the vehicle selection unit 1041 selects the second on-board unit 11 having the largest number of objects transmitted to the roadside unit 10 from the selection candidate list by the same method as the method for selecting the first on-board unit 11. Select. By repeating the above steps until the selection candidate list becomes empty, the vehicle selection unit 1041 selects the on-board unit 11 for receiving the second object information.

Here, the selection method will be described with reference to FIG. FIG. 10 is an explanatory diagram showing an example of a selection method performed by the vehicle selection unit 1041 using the selection candidate list.

In FIG. 10A, it is assumed that the selection candidate list 131 includes three on-board units 11 that have transmitted the second object information to the roadside unit 10. The object identifiers in the three vehicle-mounted devices 11 are "object1", "object2", and "object3". Among them, the vehicle-mounted device 11 that transmits the second object information most is the "object 2" that transmits three types of second object information. Therefore, from the selection candidate list 131, the vehicle selection unit 1041 has the object identifiers "object4" and "object5" of the second object information corresponding to the object identifier of the vehicle-mounted device 11 which is the transmission source vehicle information "object2". “Object 6” is selected as the first in-vehicle device 11. The selected first on-board unit 11 is an example of the first selection. Then, the vehicle selection unit 1041 deletes the object identifier "object2" and the object identifiers "object4", "object5", and "object6" corresponding to the object identifier "object2" from the selection candidate list 131. Further, the object identifiers "object4" and "object5" corresponding to the object identifier of the in-vehicle device 11 which is the vehicle information of the transmission source correspond to "object1", and the object identifier of the in-vehicle device 11 which is the vehicle information of the transmission source is "object2". It overlaps with the object identifiers "object4" and "object5" corresponding to "". Therefore, further, the object identifiers "object4" and "object5" corresponding to the object identifier of the vehicle-mounted device 11 which is the vehicle information of the transmission source correspond to "object1" are deleted from the selection candidate list 131. As a result, as shown in FIG. 10B, the vehicle selection unit 1041 deletes these from the selection candidate list 131 and creates an updated selection candidate list 132.

Next, when the vehicle selection unit 1041 creates the updated selection candidate list 132, the object information request unit 1042 sends an object request packet to the vehicle-mounted device 11 selected from the updated selection candidate list 132 via the communication unit 101. To send.

Next, the vehicle selection unit 1041 receives the second object information from the vehicle-mounted device 11 selected from the updated selection candidate list 132. That is, in the vehicle-mounted device 11 that transmits the second object information most from the selection candidate list 132, the vehicle selection unit 1041 has the object identifier of the vehicle information of the transmission source "object3", and the object identifier "object3". The object identifier "object7" corresponding to "" is selected as the second in-vehicle device 11. The selected second on-board unit 11 is an example of the second selection. Then, the vehicle selection unit 1041 deletes the object identifier "object3" and the object identifier "object7", which is the second object information corresponding to the object identifier "object3", from the selection candidate list 132. As a result, as shown in FIG. 10 (c), the vehicle selection unit 1041 creates an updated selection candidate list 133 in which these are deleted from the selection candidate list 132. The vehicle selection unit 1041 ends the selection because the contents of the selection candidate list 133 are empty.

Even if the vehicle selection unit 1041 creates a plurality of combinations of the on-board units 11 from the selection candidate list and selects a combination in which the number of on-board units 11 for transmitting the second object information to the roadside unit 10 is reduced. good. Then, the object information request unit 1042 may transmit an object request packet to all the vehicle-mounted devices 11 selected by the vehicle selection unit 1041 via the communication unit 101.

<Dynamic map component>
As shown in FIG. 7, the dynamic map component 103 is based on the information indicating the surrounding state of the roadside machine 10 acquired by the sensor 107, and the first object information such as vehicles and pedestrians around the roadside machine 10. Is calculated. Based on the calculated first object information and the second object information managed by the object information management unit 1063, the dynamic map configuration unit 103 creates a dynamic first object on the road on a static map including the road. A dynamic map in which information and second object information are superimposed is constructed.

In the present embodiment, when the dynamic map configuration unit 103 acquires the sensing data from the sensor 107, the dynamic map configuration unit 103 calculates the first object information from the sensing data of the sensor 107. Then, the dynamic map configuration unit 103 associates the calculated first object information with the second object information acquired from the object information management unit 1063 and the static map acquired from the static map management unit 1062. , Construct a dynamic map.

Then, the dynamic map configuration unit 103 stores the configured dynamic map in the dynamic map management unit 1061.

<Dynamic map distribution unit>
The dynamic map distribution unit 102 distributes the dynamic map stored in the dynamic map management unit 1061 to the vehicle-mounted device 11. More specifically, the dynamic map distribution unit 102 distributes the dynamic map configured by the dynamic map configuration unit 103 to the plurality of vehicle-mounted devices 11 communicating with the roadside unit 10 via the communication unit 101. .. The information included in the dynamic map distributed here may be only the object information (first object information and second object information) that does not include the static map.

The hardware configuration of the roadside machine 10 in the first embodiment is realized by, for example, the computer 1000 shown in FIG. 6, similarly to the on-board unit 11. Since the details are as described above, the description thereof is omitted here.

[Operation of the entire communication system]
Next, the operation of the communication system 1 configured as described above will be described with reference to FIG.

FIG. 11 is a sequence diagram showing an example of the operation of the communication system 1 according to the first embodiment. In FIG. 11, a case where the vehicle-mounted device 11A and the vehicle-mounted device 11B are present will be described as an example. Further, it is assumed that the on-board unit 11A has the second object information that is not included in the dynamic map possessed by the roadside unit 10. It is assumed that the on-board unit 11B has only the second object information included in the first dynamic map possessed by the roadside unit 10. In FIG. 11, for convenience, the dynamic map configured before the roadside unit 10 receives the second object information from the vehicle-mounted device 11 is set as the first dynamic map, and the roadside unit 10 has the second object information from the vehicle-mounted device 11. The dynamic map configured after receiving is the second dynamic map.

First, the dynamic map configuration unit 103 of the roadside machine 10 acquires the sensing data observed by the sensor 107, calculates the first object information from the sensing data, and manages the second object information by the object information management unit 1063. And the static map managed by the static map management unit 1062, the first dynamic map is configured (S10).

Next, the roadside unit 10 distributes the configured first dynamic map to the vehicle-mounted device 11A and the vehicle-mounted device 11B (S111). The roadside unit 10 distributes the first dynamic map to the in-vehicle device 11A and the in-vehicle device 11B, and also distributes the object request packet to the in-vehicle device 11A and the in-vehicle device 11B. That is, the roadside machine 10 broadcasts the first dynamic map and the object request packet to the vehicle-mounted device 11A and the vehicle-mounted device 11B.

Next, when the in-vehicle device 11A receives the first dynamic map (S12A1), the dynamic map configuration unit 112 receives the first dynamic map and the second object information managed by the object information management unit 1162. That is, the first dynamic map is reconstructed by integrating with the second object information calculated by the object information generation unit 115 based on the sensing data observed by the sensor 117. The dynamic map configuration unit 112 stores the reconstructed first dynamic map in the dynamic map management unit 1161.

Next, the in-vehicle device 11A extracts the second object information managed by the object information management unit 1162, which is not included in the first object information included in the received first dynamic map (S13A1). ..

Next, the vehicle-mounted device 11A has the second object information managed by the object information management unit 1162, which is not included in the first object information included in the first dynamic map received in step S12A1. If so, the second object information that is not included is transmitted to the roadside machine 10. Here, the vehicle-mounted device 11A transmits the second object information stored in the object request management unit 1163 to the roadside device 10 (S13A2).

In steps S13A2 and S13B2, the vehicle-mounted device 11 may transmit all the second object information sensed by itself to the roadside device 10.

Similar to the vehicle-mounted device 11A, the vehicle-mounted device 11B also performs step S12B1 for receiving the first dynamic map, step S12B1 for extracting the second object information, and step S13B2 for transmitting the second object information. Here, since the processing of step S12B1, step S13B1 and step S13B2 is the same as that of step S12A1, step S13A1 and step S13A2, the description thereof will be omitted.

Next, when the roadside machine 10 receives the second object information (S14), the roadside machine 10 stores the received second object information in the object information management unit 1063. Step S14 may be an example of a receiving step.

Next, the roadside machine 10 selects the vehicle-mounted device 11 that transmits the second object information to the roadside machine 10 (S15). Step S15 is an example of a vehicle selection step.

Next, the roadside unit 10 transmits an object request packet to the selected vehicle-mounted unit 11 (S15). In this flow, it is assumed that the roadside unit 10 selects the vehicle-mounted device 11A and transmits an object request packet to the selected vehicle-mounted device 11A. That is, the roadside machine 10 transmits the object request packet to the vehicle-mounted device 11A by unicast (S151). Step S151 is an example of a request step.

Next, when the vehicle-mounted device 11A receives the object request packet (S16), the vehicle-mounted device 11A updates the object request management unit 1163 based on the information described in the received object request packet. That is, since the vehicle-mounted device 11B does not receive the object request packet, the vehicle-mounted device 11B does not transmit the second object information to the roadside device 10.

Further, the vehicle-mounted device 11A transmits the second object information not included in the first dynamic map to the roadside device 10 in response to the received object request packet (S17). Since the vehicle-mounted device 11A receives the object request packet, the second object managed by the object information management unit 1162, which is not included in the first object information included in the received second dynamic map. If the information exists, the second object information that is not included is transmitted to the roadside unit 10. That is, the vehicle-mounted device 11A transmits the second object information to the roadside machine 10 including the second object information stored in the object request management unit 1163.

Next, when the roadside machine 10 receives the second object information not included in the first dynamic map (S18), the roadside machine 10 stores the received second object information in the object information management unit 1063. Step S18 is an example of a receiving step.

Here, it is assumed that the received second dynamic map includes all the second object information managed by the object information management unit 1162, and the second object information is not transmitted.

The timing at which the vehicle-mounted device 11A transmits the second object information stored in the object request management unit 1163 may be the timing at which the object information generation unit 115 updates the object information management unit 1162.

Next, the sensor 107 senses the surroundings of the roadside machine 10 to generate sensing data (an example of a data acquisition step), and outputs the sensing data to the dynamic map configuration unit 103 of the roadside machine 10. Similar to step S10, the dynamic map configuration unit 103 calculates the first object information from the surrounding sensing data observed by the sensor 107, and manages the calculated first object information and the object information management unit 1063 in step S14. A second dynamic map is configured by using the second object information generated and the static map stored in the static map management unit 1062 (S19). Step S17 is an example of a configuration step.

Next, the roadside unit 10 transmits the configured second dynamic map to the vehicle-mounted unit 11 (S112). Step S112 is an example of a transmission step.

Next, when the vehicle-mounted device 11A receives the second dynamic map (S12A2), the dynamic map configuration unit 112 receives the second dynamic map and the second object information stored in the object information management unit 1162. The second dynamic map is reconstructed based on. The dynamic map configuration unit 112 stores the reconstructed second dynamic map in the dynamic map management unit 1161. The dynamic map configuration unit 112 may overwrite the received second dynamic map with the first dynamic map, or may overwrite the reconstructed second dynamic map.

When the vehicle-mounted device 11B receives the second dynamic map (S12B2), the dynamic map configuration unit 112 transfers the received second dynamic map and the second object information stored in the object information management unit 1162. The second dynamic map is reconstructed based on this. The dynamic map configuration unit 112 stores the reconstructed second dynamic map in the dynamic map management unit 1161. The dynamic map configuration unit 112 may overwrite the received second dynamic map with the first dynamic map, or may overwrite the reconstructed second dynamic map. Hereinafter, the same process as in step S14 is repeated until the vehicle to be selected does not exist.

In such a communication system 1, the first dynamic map of the roadside machine 10 is transmitted to the vehicle-mounted device 11, the vehicle-mounted device 11 extracts the second object information not included in the first dynamic map, and the roadside machine 11 is used. The second object information not included in the first dynamic map is transmitted to 10. The roadside machine 10 receives the second object information not included in the first dynamic map from the vehicle-mounted device 11, and the roadside machine 10 constitutes a new second dynamic map. The roadside unit 10 transmits the configured second dynamic map to the vehicle-mounted unit 11. The on-board unit 11 can obtain a new second dynamic map by repeatedly extracting the second object information that is not included in the configured second dynamic map.

[Operation of roadside machine]
Next, the operation of the roadside machine 10 in the first embodiment will be described.

FIG. 12 is a flowchart showing an example of the operation of the roadside machine 10 in the first embodiment. In FIG. 12, for convenience, the dynamic map configured before the roadside unit 10 receives the second object information from the vehicle-mounted device 11 is set as the first dynamic map, and the roadside unit 10 has the second object information from the vehicle-mounted device 11. The dynamic map configured after receiving is the second dynamic map. The first dynamic map may be an example of a dynamic map.

In FIG. 12, as described above, the sensor 107 of the roadside machine 10 first acquires the sensing data of the roadside machine 10 from the sensor 107, and the object information generation unit 115 calculates the first object information based on the sensing data. (S101). The dynamic map configuration unit 103 calculates the first object information from the sensing data. The dynamic map configuration unit 103 configures the first dynamic map based on the first object information and the static map, and delivers the first dynamic map and the object request packet to the vehicle-mounted device 11 (S102).

Next, the roadside machine 10 receives the second object information not included in the first dynamic map from the vehicle-mounted device 11 because the specific object cannot be observed by the sensor 107 (S103). Here, the roadside machine 10 associates the second object information not included in the first dynamic map with the information of the transmission source regarding the vehicle-mounted machine 11 that has transmitted the second object information to the object information management unit 1063. Remember.

Next, the roadside machine 10 transfers the second object information to the roadside machine 10 from the second object information stored in the object information management unit 1063 and the source information regarding the vehicle-mounted machine 11 that has transmitted the second object information. The in-vehicle device 11 to be transmitted is selected. Then, the roadside unit 10 transmits an object request packet to the selected vehicle-mounted unit 11 (S104).

Next, the roadside machine 10 acquires sensing data around the roadside machine 10 from the sensor 107 in the same manner as in step S101 (S105).

Next, the roadside unit 10 receives the second object information from the selected vehicle-mounted unit 11 (S106).

Next, the roadside machine 10 has the first object information based on the sensing data, the second object information managed by the object information management unit 1063 in step S103, and the static map stored in the static map management unit 1062. A second dynamic map is configured based on the above, and the configured second dynamic map is transmitted to the in-vehicle device 11 (S107). Hereinafter, the same process as in step S104 is repeated until the vehicle to be selected does not exist. The second dynamic map is a dynamic map.

Hereinafter, the details of the vehicle selection process will be described with reference to FIG.

FIG. 13 is a flowchart showing an example of the detailed operation of the vehicle selection process shown in FIG.

In the vehicle selection process shown in FIG. 13, first, the selection unit 104 of the roadside machine 10 acquires the second object information and the transmission source information regarding the vehicle-mounted device 11 that has transmitted the second object information from the object information management unit 1063. A selection candidate list is created in which the second object information managed by the object information management unit 1063 and the source information related to the in-vehicle device 11 are associated with each other and listed (S121).

Next, the vehicle selection unit 1041 confirms whether or not the created selection candidate list is empty (S122).

When the selection candidate list is empty (Yes in S122), the vehicle selection unit 1041 ends the vehicle selection process.

On the other hand, when the selection candidate list is not empty (NO in S122), the vehicle selection unit 1041 selects the in-vehicle device 11 from the in-vehicle devices 11 included in the selection candidate list (S123). Here, the specific method for selecting the in-vehicle device 11 is as described above. For example, the vehicle selection unit 1041 selects the on-board unit 11 having the largest number of second object information transmitted to the roadside unit 10.

Next, the object information request unit 1042 transmits an object request packet to the vehicle-mounted device 11 selected by the vehicle selection unit 1041 from the selection candidate list (S124).

Next, the vehicle selection unit 1041 excludes the duplicate second object information transmitted by the vehicle-mounted device 11 selected in step S124 from the selection candidate list (S125). This is as described in FIG. 10 above. Then, the vehicle selection unit 1041 returns to the process of step S122, and repeats this process until the result is Yes in step S122.

[Effects, etc.]
Next, the operation and effect of the communication method, the roadside machine 10, and the communication system 1 in the present embodiment will be described.

As described above, in the communication method according to one aspect of the present disclosure, in the vehicle selection step, a plurality of in-vehicle devices are based on a list in which the second object information and the in-vehicle device 11 having the second object information are associated with each other. At least one on-board unit 11 is selected from the eleven. In the configuration step, a dynamic map is configured based on the first object information acquired in the data acquisition step, the second object information acquired from the selected in-vehicle device 11, and the static map showing the static object. .. Then, in the transmission step, the configured dynamic map is transmitted to one or more in-vehicle devices 11. As a result, the roadside unit 10 can supplement the second object information that cannot be observed by the roadside unit 10 by avoiding receiving the duplicated second object information, and the on-board unit 11 displays this dynamic map. It can be utilized.

Further, by selecting the roadside unit 10 so that the number of vehicle-mounted units 11 that transmit the second object information to the roadside unit 10 is small, the communication time used by all the vehicle-mounted units 11 can be shortened. Therefore, the roadside machine 10 can efficiently collect the second object information necessary for creating the dynamic map from the vehicle-mounted machine 11. As a result, it is possible to suppress a shortage of network bandwidth between the roadside unit 10 and the on-board unit 11.

Therefore, it is possible to efficiently collect the data necessary for creating a dynamic map and suppress the shortage of network bandwidth.

In particular, by efficiently collecting the data necessary for creating the dynamic map, it is possible to suppress the failure of uploading information from the on-board unit 11 to the roadside unit 10 due to the lack of network bandwidth between the on-board units 11. , Stable communication can be realized.

Further, the roadside machine 10 according to one aspect of the present disclosure and the communication system 1 according to one aspect of the present disclosure also have the same effects as described above.

Further, according to the communication method according to one aspect of the present disclosure, in the configuration step, the first object information acquired in the data acquisition step and the dynamic map acquired from the in-vehicle device 11 selected in the vehicle selection step are included. A dynamic map is constructed based on the second object information indicating the dynamic object that has not been created and the static map. By acquiring the second object information including the surrounding conditions that are difficult for the roadside machine 10 to observe, the roadside machine 10 can superimpose the second object information not included in the dynamic map on the dynamic map. The on-board unit 11 can grasp the surrounding situation more accurately by using the dynamic map configured by this.

Further, according to the communication method according to one aspect of the present disclosure, in the reception step, the second object information is received from each of the vehicle-mounted devices 11 having one or more roadside devices 10. Therefore, in the vehicle selection step, the second object information can be acquired from the selected vehicle-mounted device 11, so that it is not necessary to acquire the second object information from all the vehicle-mounted devices 11. Therefore, it is possible to suppress a shortage of network bandwidth between the roadside unit 10 and the on-board unit 11.

Further, according to the communication method according to one aspect of the present disclosure, the vehicle-mounted device 11 to which the first selection is made is excluded from the list from the plurality of vehicle-mounted devices 11 included in the list. In addition, the vehicle-mounted device 11 that is the target of the second selection is excluded from the list, and the list is updated. In this way, by excluding the in-vehicle device 11 that is the target of the first selection and the in-vehicle device 11 that is the target of the second selection from the list, the in-vehicle device 11 that is the target of selection can be selected. It can be reduced. Therefore, by reducing the number of on-board units 11 communicating with the roadside unit 10, the amount of communication between the roadside unit 10 and the on-board unit 11 can be reduced.

(Embodiment 2)
Hereinafter, the second embodiment will be described.

The present embodiment is different from the first embodiment in that the second object information corresponding to the area information is used. Unless otherwise specified, the communication method, the roadside machine 20, and the communication system 1 of the present embodiment are the same as those of the first embodiment, and the same configuration is designated by the same reference numeral to provide detailed information about the configuration. The explanation is omitted.

[Structure of roadside machine]
FIG. 14 is a diagram showing an example of the configuration of the roadside machine 20 in the second embodiment.

As shown in FIG. 14, the roadside machine 20 further includes a first request area setting unit 208 in the present embodiment with respect to the configuration of the roadside machine 10 of the first embodiment, and the management unit 206 further requests. The area management unit 2064 is provided.

<Required area management department>
The request area management unit 2064 stores information indicating a request area regarding the area for which the roadside machine 20 collects the second object information. The information indicating the requested area includes information indicating an area previously specified by the roadside machine 20 with respect to the vehicle-mounted device 21 and the sensor 107 in the area around the roadside machine 20, and object information existing in the area specified in advance (the first). 1 object information and 2nd object information) are included.

Here, as shown in FIG. 16, the required area may be a predetermined area by the administrator of the roadside machine 20, or may be an area calculated by the roadside machine 20 based on the sensor 107 and the static map. FIG. 16 is a schematic diagram showing a required area in the second embodiment. The requested area is shown in diagonal lines.

For example, by setting an area that affects the vehicle as a request area in advance, a second object that is not included in the dynamic map for an area that does not require information indicating an object, such as a building. The need to determine if information exists is low. Therefore, if the request area in which the second object information is required is set in advance, it is not necessary to receive the second object information in the unnecessary area. On the other hand, the parking lot may be included as a required area because vehicles may come out. As described above, for example, in the area where the traveling of the vehicle is not so affected, it is not necessary to calculate the second object information which is not included in the dynamic map in the on-board unit 21, and the roadside unit 20 is outside the required area. It is also not necessary to receive the second object information that is not included in the dynamic map.

The first request area setting unit 208 transmits the request area stored in the request area management unit 2064 to the in-vehicle device 21 via the communication unit 101. More specifically, the request area management unit 2064 transmits a packet indicating the request area as shown in FIG. If the packet indicating the request area has an identifier that can be uniquely identified on the map, the identifier is included as the area identifier, and the set of vertices of the area surrounding the area is included. That is, the area identifier is an identifier assigned to each area, and the aggregate of the vertices of the area is an aggregate for specifying the area by enclosing it with a plurality of vertices.

[Configuration of in-vehicle device]
FIG. 17 is a diagram showing an example of the configuration of the vehicle-mounted device 21 according to the second embodiment. In FIG. 17, the same reference numerals are given to the same configurations as those of the vehicle-mounted device 11 of the first embodiment, and detailed description thereof will be omitted.

In the vehicle-mounted device 21 shown in FIG. 17, the management unit 216 and the object information processing unit 213 are different from the configuration of the vehicle-mounted device 11 of the first embodiment. The management unit 216 includes a request area management unit 2164. Further, the vehicle-mounted device 21 includes a second request area setting unit 218.

When the second request area setting unit 218 receives a packet in the request area as shown in FIG. 15, the request area management unit 2164 stores information indicating the received request area.

The request area management unit 2164 stores information about an area in which the roadside machine 20 collects the second object information. Here, the information indicating the requested area may be predetermined by the administrator of the roadside machine 20, or may be an area calculated by the roadside machine 20 based on the sensor 107 and the static map.

<Object Information Processing Department>
When the object information processing unit 213 receives the dynamic map from the roadside machine 20 via the communication unit 111, the object information management unit 213 obtains the second object information corresponding to the object identifier managed by the object request management unit 1163 in the object information management unit. Received from 1162. The object information processing unit 213 confirms whether or not the object exists in the request area managed by the request area management unit 2164. When the object exists in the request area, the object information processing unit 213 has the first object information included in the received dynamic map and the second object information existing in the request area stored in the object information management unit 1162. And compare. Here, the object information processing unit 213 transmits the second object information that exists in the request area and is not included in the dynamic map to the roadside machine 20.

[Operation of the entire communication system]
Next, the operation of the communication system 1 configured as described above will be described with reference to FIG.

FIG. 18 is a flowchart showing an example of the operation of the roadside machine 20 in the second embodiment. The flow of FIG. 18 is the same as that of FIG. 12 of the first embodiment, and the same processing is appropriately omitted. In FIG. 18, for convenience, the dynamic map configured before the roadside unit 10 receives the second object information from the vehicle-mounted device 11 is set as the first dynamic map, and the roadside unit 10 has the second object information from the vehicle-mounted device 11. The dynamic map configured after receiving is the second dynamic map.

As shown in FIG. 18, as described above, the sensor 107 of the roadside machine 20 acquires the sensing data of the roadside machine 20 from the sensor 107, and the dynamic map configuration unit 103 calculates the first object information from the sensing data. (S101). The dynamic map configuration unit 103 configures the first dynamic map based on the first object information, the static map, and the requested area. Further, the dynamic map configuration unit 103 distributes the first dynamic map, the information indicating the request area stored in the request area management unit 2064, and the object request packet to the vehicle-mounted device 21 (S202).

Next, the roadside machine 20 receives the second object information from the vehicle-mounted device 21 that exists in the request area because the specific object cannot be observed by the sensor 107 and is not included in the first dynamic map. (S203). Step S203 is an example of a step of receiving the second dynamic information existing in the area.

Next, the roadside machine 20 transfers the second object information to the roadside machine 20 from the second object information stored in the object information management unit 1063 and the source information regarding the vehicle-mounted machine 21 that has transmitted the second object information. The in-vehicle device 21 to be transmitted is selected. Then, the roadside machine 20 transmits an object request packet to the selected vehicle-mounted device 21 (S104).

Next, the roadside machine 20 acquires the sensing data around the roadside machine 20 from the sensor 107 in the same manner as in step S101, and the dynamic map configuration unit 103 calculates the first object information from this sensing data (S105). ).

Next, the roadside machine 20 obtains the first object information based on the sensing data, the second object information managed by the object information management unit 1063 in step S203, and the request area managed by the request area management unit 2064. A second dynamic map is configured based on the information shown and the static map stored in the static map management unit 1062, and the configured second dynamic map is transmitted to the in-vehicle device 21 (S206).

Next, the roadside machine 20 receives the second object information from the selected vehicle-mounted device 21 (S107). Hereinafter, the same process as in step S104 is repeated until the in-vehicle device 11 to be selected does not exist.

[Effects, etc.]
Next, the operation and effect of the communication method, the roadside machine 20, and the communication system 1 in the present embodiment will be described.

As described above, in the communication method according to one aspect of the present disclosure, the extraction step receives the second object information existing in the preset request area from the static map. Therefore, by setting the request area in which the second object information is required in advance, it is not necessary to receive the second object information in the unnecessary area. That is, the roadside machine 20 can suppress the communication amount of the second object information received from the vehicle-mounted device 21 in order to limit the request area in which the second object information is required. As a result, the number of on-board units 21 that communicate with the roadside unit 20 is reduced, so that the amount of communication between the roadside unit 20 and the on-board unit 21 can be reduced, so that the roadside unit 20 is necessary for creating a dynamic map. Data can be efficiently collected and the shortage of network bandwidth can be suppressed.

In this way, the roadside machine 20 can surely acquire the second object information required by the roadside machine 20 while realizing stable communication while suppressing the shortage of network resources.

(Other variants)
Although the communication method, the roadside unit and the communication system according to one or more aspects of the present disclosure have been described above, the present disclosure is not limited to the first and second embodiments of the present embodiment. As long as it does not deviate from the gist of the present disclosure, various modifications that can be conceived by those skilled in the art are applied to the first and second embodiments, and a form constructed by combining components in different embodiments is also one of the present disclosures. It may be included in the range of a plurality of embodiments. For example, the following cases are also included in the present disclosure.

For example, in the communication methods, roadside units and communication systems according to the first and second embodiments, if the on-board unit cannot sense the sensing data, the sensing data cannot be transmitted to the roadside unit. In this case, since it is possible that the blind spot of the roadside machine changes after a predetermined period of time, the roadside machine constructed a dynamic map when a predetermined period or more has passed since the sensing data could not be received. May be reset once.

Further, in the communication method, the roadside unit and the communication system in the above-described first and second embodiments, the roadside unit directly selects at least one or more in-vehicle equipment from the plurality of in-vehicle equipment, but the present invention is not limited to this. , The roadside unit may indirectly select one or more in-vehicle devices from a plurality of in-vehicle devices via a server. That is, the plurality of vehicle-mounted devices may once transmit the second object information to the server, and the roadside unit may select one or more vehicle-mounted devices from the plurality of vehicle-mounted devices stored in the server.

(1) Each of the above devices is specifically a computer system including a microprocessor, ROM, RAM, a hard disk unit, a display unit, a keyboard, a mouse, and the like. A computer program is stored in the RAM or the hard disk unit. When the microprocessor operates according to a computer program, each device achieves its function. Here, a computer program is configured by combining a plurality of instruction codes indicating commands to a computer in order to achieve a predetermined function.

(2) A part or all of the constituent elements constituting each of the above-mentioned devices may be composed of one system LSI (Large Scale Integration: large-scale integrated circuit). A system LSI is a super-multifunctional LSI manufactured by integrating a plurality of components on one chip, and specifically, is a computer system including a microprocessor, ROM, RAM, and the like. .. A computer program is stored in the RAM. The system LSI achieves its function by operating the microprocessor according to the computer program.

(3) A part or all of the components constituting each of the above devices may be composed of an IC card or a single module that can be attached to and detached from each device. The IC card or the module is a computer system composed of a microprocessor, ROM, RAM and the like. The IC card or module may include the above-mentioned super multifunctional LSI. When the microprocessor operates according to a computer program, the IC card or module achieves its function. This IC card or this module may have tamper resistance.

(4) The present disclosure may be the method shown above. Further, it may be a computer program that realizes these methods by a computer, or it may be a digital signal composed of a computer program.

The present disclosure also discloses a computer program or a computer-readable recording medium such as a flexible disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray). It may be recorded in a trademark) Disc), a semiconductor memory, or the like. Further, it may be the digital signal recorded on these recording media.

Further, the present disclosure may transmit a computer program or a digital signal via a telecommunication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like.

Further, the present disclosure is a computer system including a microprocessor and a memory, in which the memory stores the computer program, and the microprocessor may operate according to the computer program.

Further, even if the program or the digital signal is recorded and transferred to the recording medium, or the program or the digital signal is transferred via a network or the like, the program or the digital signal is carried out by another independent computer system. good.

(5) Each of the above embodiments may be combined.

The present disclosure can be used for communication methods, roadside units and communication systems, and in particular, for communication methods, roadside units and communication systems used for the provision of safe driving support and the construction of dynamic maps for the realization of autonomous driving. be able to.

1 Communication system 11, 11A, 11B, 21 On-board unit 10, 20 Roadside unit 101 Communication unit 103 Dynamic map configuration unit (configuration unit)
105 Object Information Processing Department (Request Department)
107 Sensor 1041 Vehicle selection unit 1042 Object information request unit (request unit)

Claims (5)

A communication method executed by a roadside machine,
The first data acquisition step of acquiring the first dynamic information indicating the dynamic object around the roadside machine acquired by the sensor mounted on the roadside machine, and the first data acquisition step.
A first dynamic map is configured based on the first dynamic information acquired in the first data acquisition step and a static map showing a static object, and the first dynamic map and the first dynamic map are configured. 1 A transmission step of broadcasting a request for dynamic information indicating a dynamic object not included in the dynamic map to an in-vehicle device around the roadside machine.
The first reception step of receiving the second dynamic information extracted by each in-vehicle device from a plurality of in-vehicle devices,
A vehicle selection step of selecting at least one and not all of the in-vehicle devices from the plurality of in-vehicle devices so that the second dynamic information received in the first reception step does not overlap.
A request step for requesting the on-board unit selected in the vehicle selection step to transmit the second dynamic information, and a request step.
A second data acquisition step for further acquiring the first dynamic information acquired by the sensor mounted on the roadside machine after the first data acquisition step, and a second data acquisition step.
The second reception step of receiving the updated second dynamic information from the selected in-vehicle device, and
A dynamic map based on the first dynamic information acquired in the second data acquisition step, the second dynamic information received in the second reception step, and a static map showing a static object. And the configuration steps that make up
A second transmission step of transmitting the dynamic map configured in the configuration step to one or more on-board units communicating with the roadside unit is included.
The required step is carried out for all the in -vehicle devices selected by the vehicle selection step.
Communication method. In the vehicle selection step,
From the plurality of in-vehicle devices, the first selection is made to select the in-vehicle device having the largest number of transmitted second dynamic information.
The in-vehicle device selected in the first selection is excluded, and the in-vehicle device that transmits the second dynamic information common to the second dynamic information transmitted by the in-vehicle device that is the target of the first selection. Make the second selection,
The communication method according to claim 1. Further, a predetermined area is preset in the static map, and the static map is set in advance.
In the transmission step, a request for the first dynamic map and dynamic information indicating a dynamic object not included in the predetermined area is broadcast to an in-vehicle device around the roadside machine.
The communication method according to claim 1 or 2. It is a roadside machine installed on the road,
With the sensor
Components and
Communication department and
Equipped with a vehicle selection department
The sensor acquires the first dynamic information indicating a dynamic object around the roadside machine acquired by the sensor mounted on the roadside machine.
The component unit configures the first dynamic map based on the acquired first dynamic information and a static map showing a static object.
The communication unit broadcasts a request for the first dynamic map and dynamic information indicating a dynamic object not included in the first dynamic map to an in-vehicle device around the roadside machine. The second dynamic information extracted by each in-vehicle device is received from a plurality of in-vehicle devices, and the second dynamic information is received.
The vehicle selection unit selects at least one and not all of the in-vehicle devices from the plurality of in-vehicle devices so that the received second dynamic information does not overlap.
The communication unit requests the selected on-board unit to transmit the second dynamic information, and requests the selected in-vehicle device to transmit the second dynamic information.
After acquiring the first dynamic information, the sensor further acquires the first dynamic information acquired by the sensor mounted on the roadside machine.
The communication unit receives the updated second dynamic information from the selected in-vehicle device, and receives the updated second dynamic information.
The component unit is dynamically based on the first dynamic information further acquired, the updated second dynamic information received from the selected in-vehicle device, and a static map showing a static object. Compose the map and
The communication unit transmits the configured dynamic map to one or more on-board units that communicate with the roadside unit.
The communication unit requests all the selected on-board units to transmit the second dynamic information.
Roadside machine. The roadside machine according to claim 4 and
Each in-vehicle device mounted on a plurality of vehicles that transmits the second dynamic information to the roadside machine is provided.
Communications system.

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