JP2011204151A - Inter-vehicle communication method and inter-vehicle communication device - Google Patents

Inter-vehicle communication method and inter-vehicle communication device Download PDF

Info

Publication number
JP2011204151A
JP2011204151A JP2010073082A JP2010073082A JP2011204151A JP 2011204151 A JP2011204151 A JP 2011204151A JP 2010073082 A JP2010073082 A JP 2010073082A JP 2010073082 A JP2010073082 A JP 2010073082A JP 2011204151 A JP2011204151 A JP 2011204151A
Authority
JP
Japan
Prior art keywords
vehicle
position information
inter
vehicles
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP2010073082A
Other languages
Japanese (ja)
Inventor
Toshio Ito
敏夫 伊東
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daihatsu Motor Co Ltd
Original Assignee
Daihatsu Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daihatsu Motor Co Ltd filed Critical Daihatsu Motor Co Ltd
Priority to JP2010073082A priority Critical patent/JP2011204151A/en
Publication of JP2011204151A publication Critical patent/JP2011204151A/en
Withdrawn legal-status Critical Current

Links

Images

Landscapes

  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

PROBLEM TO BE SOLVED: To make not only a present vehicle but also the other surrounding vehicle recognize a relative position relation of the respective vehicles around the present vehicle including the vehicle which cannot communicate directly as accurately as possible by using inter-vehicle communication without loading a special map database.SOLUTION: By a vehicle detection part 5, a laser radar 6 and an in-vehicle camera 7, the other surrounding vehicle is detected and the relative position information of the other vehicle is accurately formed. The formed position information and position information received by an inter-vehicle receiver 9 by the inter-vehicle communication are transmitted from an inter-vehicle transmitter 13, and delivered to the other surrounding vehicle by the inter-vehicle communication. Highly accurately position information formed by the external world detection means of each vehicle is shared by the present vehicle and the other surrounding vehicle, and the relative position relation of the respective surrounding vehicles is recognized on the basis of the shared position information.

Description

この発明は、各車両が相互に位置情報をやり取りする車車間通信方法および車車間通信装置に関する。   The present invention relates to a vehicle-to-vehicle communication method and a vehicle-to-vehicle communication device in which each vehicle exchanges position information with each other.

従来、車両の性能・仕様・装備は様々であり、車車間通信機能を備えた車両の場合も、ＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）の受信機を搭載しているものや、さらには、外界を検出するレーダ（レーザレーダ、ミリ波レーダ等）や車載カメラを搭載しているものもある。   Conventionally, the performance, specifications, and equipment of vehicles vary, and in the case of vehicles equipped with a vehicle-to-vehicle communication function, those equipped with GPS (Global Positioning System) receivers, and further detecting the outside world Some are equipped with a radar (laser radar, millimeter wave radar, etc.) or an in-vehicle camera.

そして、車車間通信により、ＧＰＳの測位情報を用いて得た自車の位置情報を車車間通信で互いにやり取りし、自車のＧＳＰの位置情報と受信したＧＳＰの位置情報とによって周囲の車両との相対的な位置関係（車間距離等）を把握すると、ＧＰＳの測位状況によっては位置情報の誤差が数ｍ〜１０数ｍ以上となるため、接近する車両との相対的な位置関係を正確に把握することはできない。   Then, the position information of the own vehicle obtained by using the GPS positioning information is exchanged by inter-vehicle communication by inter-vehicle communication, and the surrounding vehicle is determined by the position information of the own vehicle GSP and the received position information of the GSP. If the relative positional relationship (distance between vehicles, etc.) is grasped, the positional information error will be several meters to several tens meters or more depending on the positioning status of GPS, so the relative positional relationship with the approaching vehicle can be accurately determined. I can't figure it out.

図４は見通しの悪いＴ字路の交差点での車車間通信の例を示し、図中のＡは例えば南北の道路１００から交差点２００に進む車両であり、Ｂ、Ｃ、Ｄは東西の道路１０１を東から交差点２００に進む一群の車両であり、車両Ｂが先頭車両、車両Ｄがつぎの車両、車両Ｃが最後尾の車両である。   FIG. 4 shows an example of vehicle-to-vehicle communication at a T-junction intersection with poor visibility. In the figure, A is a vehicle that goes from the north-south road 100 to the intersection 200, for example, B, C, and D are east-west roads 101. From the east to the intersection 200, where vehicle B is the leading vehicle, vehicle D is the next vehicle, and vehicle C is the last vehicle.

そして、車両Ａに注目すると、従来は、車車間通信により、他の車両Ｂ〜Ｄが送信したそれぞれの位置情報を別々に受信して収集し、自車（車両Ａ）の位置情報と受信した各車両Ｂ〜Ｄの位置情報とに基づいて車両Ｂ〜Ｄそれぞれとの車間距離を求め、交差点２００に接近する車両Ｂ〜Ｄとの相対的な位置関係を把握している。   When attention is paid to the vehicle A, conventionally, the position information transmitted by the other vehicles B to D is separately received and collected by inter-vehicle communication, and received with the position information of the own vehicle (vehicle A). Based on the positional information of the vehicles B to D, the distance between the vehicles B to D is obtained, and the relative positional relationship with the vehicles B to D approaching the intersection 200 is grasped.

このとき、車車間通信でやり取りする位置情報が位置精度の悪いＧＰＳの位置情報であれば、自車（車両Ａ）と車両Ｂ〜Ｄそれぞれとの車間距離の誤差が大きく、交差点２００に接近して自車に近づく車両Ｂ〜Ｄとの相対的な位置関係の把握に誤りが生じる。   At this time, if the position information exchanged by inter-vehicle communication is GPS position information with poor position accuracy, the error in the inter-vehicle distance between the vehicle (vehicle A) and each of the vehicles B to D is large, and the vehicle approaches the intersection 200. Thus, an error occurs in grasping the relative positional relationship with the vehicles BD approaching the host vehicle.

図５は上記の位置関係の把握の誤りの例を示し、この例の場合、交差点２００に近いほうから車両Ｂ、車両Ｄ、車両Ｃの順であって、車両Ｂ、Ｃは右寄り、車両Ｄは左寄りに走行しているが、車間距離の誤差が大きく、誤って、車両Ｄ、車両Ｂ、車両Ｃの順であって、車両Ｄ、Ｃは右寄り、車両Ｓは左寄りに走行していると把握する。   FIG. 5 shows an example of the above-described misunderstanding of the positional relationship. In this example, vehicles B, D, and C are in order from the side closer to the intersection 200. Is traveling to the left, but the error in the inter-vehicle distance is large, and erroneously, vehicle D, vehicle B, and vehicle C are in this order, vehicles D and C are traveling to the right, and vehicle S is traveling to the left. To grasp.

そして、このような誤りが生じると、衝突可能性の判断等の走行支援に支障が生じる。   If such an error occurs, it will hinder driving support such as determination of the possibility of collision.

また、図４の車両Ｄについては、路側の建物等によって車車間通信の電波が車両Ａに届きにくくなり、場合によっては車両Ａと位置情報のやり取りができない事態も発生し、このような場合には、車両Ａは車両Ｄの存在すら把握できない。   In addition, with respect to the vehicle D in FIG. 4, it is difficult for the vehicle-side communication radio waves to reach the vehicle A due to roadside buildings or the like, and in some cases, location information cannot be exchanged with the vehicle A. The vehicle A cannot grasp even the presence of the vehicle D.

そして、車両Ｂ〜Ｄについても、周囲の車両との相対的な位置関係の把握に誤りが生じると、車両Ａの場合と同様の問題が発生する。   As for the vehicles B to D, if an error occurs in grasping the relative positional relationship with the surrounding vehicles, the same problem as in the case of the vehicle A occurs.

そこで、交差点の情報を受信し、受信した交差点の位置を地図データベースを参照して特定し、交差点の位置を基準にして自車の位置情報を精度よく形成することが提案されている（例えば、特許文献１（段落［００２７］−［００７０］、図１〜図６等）参照）。   Therefore, it has been proposed to receive intersection information, identify the position of the received intersection with reference to a map database, and accurately form the position information of the vehicle based on the position of the intersection (for example, Patent Document 1 (see paragraphs [0027]-[0070], FIGS. 1 to 6).

特開２００４−１８５４２９号公報JP 2004-185429 A

車車間通信を行なう各車両が特許文献１に記載のようにして自車の位置情報の精度を高めると、前記した位置関係の把握の誤りを防止できる。しかしながら、交差点の情報を受信し、受信した交差点の位置を地図データベースを参照して特定するため、交差点の位置情報を有する特殊な地図データベースを用意しなければならず、車両にそのような特殊な地図データベースを搭載することはコスト等の面から困難であり、実用的でない。   When each vehicle performing inter-vehicle communication increases the accuracy of the position information of the own vehicle as described in Patent Document 1, it is possible to prevent the above-described error in grasping the positional relationship. However, in order to receive the intersection information and identify the received intersection position with reference to the map database, a special map database having the intersection position information must be prepared, and the vehicle has such a special information. Mounting a map database is difficult from the standpoint of cost and is not practical.

本発明は、自律センサとしてのレーダや車載カメラ等の外界検出手段を搭載する車両の場合、レーダの測距データや車載カメラの前方の撮影画像データ等から得られる車間距離の精度は高く、周囲の車両の相対的な位置関係を正確に把握することが可能であることに着目してなされたものであり、特殊な地図データベースを搭載したりすることなく、車車間通信を用いて、直接には通信できない車両を含む自車の周囲の各車両の相対的な位置関係を、自車だけでなく周囲の他の車両も極力正確に把握できるようにすることを目的とする。   In the case of a vehicle equipped with an external sensor such as a radar or an in-vehicle camera as an autonomous sensor, the present invention has a high accuracy of the inter-vehicle distance obtained from the distance measurement data of the radar, the captured image data in front of the in-vehicle camera, etc. It was made by paying attention to the fact that it is possible to accurately grasp the relative positional relationship between vehicles, and without using a special map database, An object of the present invention is to make it possible to grasp as much as possible not only the own vehicle but also other surrounding vehicles as much as possible about the relative positional relationship of the vehicles around the own vehicle including vehicles that cannot communicate.

上記した目的を達成するために、本発明の車車間通信方法は、各車両が相互に位置情報を通信する車車間通信方法であって、各車両は、外界検出手段により周囲の他の車両を検出して他の車両の相対的な位置情報を形成し、前記外界検出手段により形成した位置情報および受信した位置情報を送信して車両間で共有することを特徴としている（請求項１）。   In order to achieve the above-described object, the vehicle-to-vehicle communication method of the present invention is a vehicle-to-vehicle communication method in which each vehicle communicates position information with each other, and each vehicle detects other vehicles around it by means of an external detection means. It detects and forms relative position information of other vehicles, and transmits the position information formed by the external field detection means and the received position information to be shared between the vehicles (Claim 1).

また、本発明の車車間通信装置は、周囲の他の車両を検出して他の車両の相対的な位置情報を形成する外界検出手段と、前記外界検出手段が形成した他の車両の位置情報および受信した自車の位置情報を車車間通信により送信する通信手段とを備え、前記外界検出手段が形成した位置情報および前記通信手段が受信した位置情報に基づいて周囲の他の車両との位置関係の位置情報を認識し、認識した位置情報を車両間で共有することを特徴としている（請求項２）。   The inter-vehicle communication device according to the present invention includes an external detection unit that detects other surrounding vehicles and forms relative positional information of the other vehicles, and positional information of the other vehicles formed by the external detection unit. And communication means for transmitting the received position information of the own vehicle by inter-vehicle communication, and the positions of the other surrounding vehicles based on the position information formed by the outside world detection means and the position information received by the communication means. Relevant position information is recognized, and the recognized position information is shared between vehicles (claim 2).

請求項１、２の発明の場合、外界検出手段により周囲の他の車両を検出して他の車両の相対的な位置情報を精度よく形成できる。さらに、外界検出手段により形成した位置情報および車車間通信によって受信した位置情報を、車車間通信によって周囲の他の車両に渡すことができる。その結果、自車および周囲の他の車両は、外界検出手段が形成した位置情報および通信手段が受信した自車の位置情報に基づいて周囲の他の車両との位置関係の位置情報を高い精度で認識して共有することができる。   In the case of the first and second aspects of the invention, it is possible to accurately form relative position information of other vehicles by detecting other surrounding vehicles by the external detection means. Furthermore, the position information formed by the external environment detection means and the position information received by the inter-vehicle communication can be passed to other surrounding vehicles by the inter-vehicle communication. As a result, the own vehicle and other surrounding vehicles can accurately obtain the positional information of the positional relationship with other surrounding vehicles based on the position information formed by the external detection means and the position information of the own vehicle received by the communication means. Can be recognized and shared.

そのため、例えば新たな車両が現われた場合、この新たな車両は各車両から別々に精度の低い位置情報を受信するのではなく、各車両が共有している精度の高い位置関係の位置情報を一括して受信することができるので、誤った位置関係で各車両を認識してしまうことを防止できる。また、自車および周囲の他の車両は、外界検出手段では検出できない周囲の他の車両についても、周囲の他の車両との位置関係の位置情報を認識し、認識した位置情報を車両間で共有することができ、車車間通信で受信した位置情報から相対的な位置関係を正確に把握できる。また、外界検出手段を搭載していない周囲の他の車両も、外界検出手段の高い精度の位置情報に基づいて、周囲の他の車両の相対的な位置関係を極力正確に把握できる。   Therefore, for example, when a new vehicle appears, the new vehicle does not receive low-accuracy position information separately from each vehicle, but collects high-accuracy positional positional information shared by each vehicle at once. Therefore, it is possible to prevent each vehicle from being recognized by an incorrect positional relationship. In addition, the host vehicle and other surrounding vehicles also recognize positional information with respect to other surrounding vehicles that cannot be detected by the external detection means, and recognize the recognized positional information between the vehicles. The relative positional relationship can be accurately grasped from the positional information received by the inter-vehicle communication. Also, other surrounding vehicles not equipped with the outside world detecting means can grasp the relative positional relationship between the surrounding other vehicles as accurately as possible based on the highly accurate position information of the outside world detecting means.

したがって、特殊な地図データベースを搭載したりすることなく、車車間通信を用いて、直接には通信できない車両を含む自車の周囲の各車両の相対的な位置関係を、自車だけでなく周囲の他の車両も極力正確に把握できる。   Therefore, the relative positional relationship of each vehicle around the vehicle including vehicles that cannot be directly communicated using inter-vehicle communication without installing a special map database is not limited to the vehicle itself. Other vehicles can be grasped as accurately as possible.

本発明の一実施形態の車車間通信装置のブロック図である。1 is a block diagram of an inter-vehicle communication device according to an embodiment of the present invention. 本発明の車車間通信の模式的な説明図である。It is typical explanatory drawing of the inter-vehicle communication of this invention. 図１の動作説明用のフローチャートである。It is a flowchart for operation | movement description of FIG. 交差点における車車間通信の模式的な説明図である。It is typical explanatory drawing of the vehicle-to-vehicle communication in an intersection. ＧＰＳの位置情報をやり取りする従来例の誤認識の説明図である。It is explanatory drawing of the misrecognition of the prior art example which exchanges the positional information on GPS.

つぎに、本発明をより詳細に説明するため、一実施形態について、図１〜図３を参照して詳述する。   Next, in order to describe the present invention in more detail, an embodiment will be described in detail with reference to FIGS.

図１は車両１が搭載する車車間通信装置の構成を示し、２は自車情報管理部であり、例えばＧＰＳ受信部３により受信した自車位置のＧＰＳの測位情報および、ＣＡＮ（Ｃｏｎｔｒｏｌｌｅｒ Ａｒｅａ Ｎｅｔｗｏｒｋ）通信部４により受信した速度センサ、舵角センサ、ヨーレートセンサ等の自車内の走行に関連する各種自律センサの検出情報を収集し、それらを自車の車両情報として管理する。   FIG. 1 shows a configuration of an inter-vehicle communication device mounted on a vehicle 1, and reference numeral 2 denotes an own vehicle information management unit, for example, GPS positioning information received by the GPS receiving unit 3 and a CAN (Controller Area Network). ) Collecting detection information of various autonomous sensors related to traveling in the vehicle such as a speed sensor, a steering angle sensor, and a yaw rate sensor received by the communication unit 4 and managing them as vehicle information of the vehicle.

５は車両検知部であり、自車前方を探査するレーザレーダ６および自車前方を撮影する単眼ＣＣＤカメラ構成の車載カメラ７とともに本発明の外界検出手段を形成し、レーザレーダ６の測距データおよび車載カメラ７の撮影データに基づく周知のセンサフュージョンの処理により、自車前方の一または複数の他の車両を検知して他の各車両の車間距離や車速、進行方向を含む相対的な位置情報を精度よく形成する。   Reference numeral 5 denotes a vehicle detection unit, which forms the outside detection means of the present invention together with the laser radar 6 for exploring the front of the own vehicle and the on-vehicle camera 7 having a monocular CCD camera for photographing the front of the own vehicle. And the relative position including the inter-vehicle distance, the vehicle speed, and the traveling direction of each of the other vehicles by detecting one or more other vehicles ahead of the host vehicle by a known sensor fusion process based on the shooting data of the in-vehicle camera 7 Form information accurately.

８はフラッシュメモリ等の書き換え自在の固体情報記憶素子あるいはＨＤＤにより形成された検知車両データ記憶部であり、車両検知部８が管理する最新の一定時間分の周囲の他の各車両の相対的な位置情報を検出位置情報として書き換え自在に記憶する。   Reference numeral 8 denotes a detected vehicle data storage unit formed by a rewritable solid-state information storage element such as a flash memory or an HDD, and the relative relative value of other vehicles around the latest fixed time managed by the vehicle detection unit 8 The position information is rewritably stored as detected position information.

９は本発明の車車間通信手段の受信機（車車間受信機）であり、同様の車車間通信手段を備えた送受信可能距離内の他の車両の送信機からの車車間通信の情報を受信する。   9 is a receiver for vehicle-to-vehicle communication means (vehicle-to-vehicle receiver) according to the present invention, which receives vehicle-to-vehicle communication information from transmitters of other vehicles within the transmittable / receivable distance provided with similar vehicle-to-vehicle communication means. To do.

１０は検知車両データ記憶部８と同様の構成の受信他車データ記憶部であり、受信機９が受信した他の車両からの車間距離や車速、進行方向を含む相対的な位置情報を受信位置情報として書き換え自在に記憶する。   Reference numeral 10 denotes a reception other vehicle data storage unit having the same configuration as that of the detected vehicle data storage unit 8. The receiver 9 receives relative position information including the inter-vehicle distance, the vehicle speed, and the traveling direction from other vehicles received by the receiver 9. It is stored as rewritable information.

１１は車両確認部であり、検知車両データ記憶部８の各検出位置情報および受信他車データ記憶部１０の各受信位置情報が入力され、それらの位置情報から、後述するようにして、自車の前、後の各方向から接近する他の各車両の相対的な位置関係を極力正確に把握して確認する。   Reference numeral 11 denotes a vehicle confirmation unit, to which each detected position information in the detected vehicle data storage unit 8 and each received position information in the received other vehicle data storage unit 10 are input. Before and after, confirm the relative positional relationship of other vehicles approaching from each direction as accurately as possible.

１２は送信制御部であり、自車情報管理部２の自車の車両情報および、車両確認部１１を介した検知車両データ記憶部５の各検出位置情報、受信他車データ記憶部１０の各受信位置情報（それらの情報に基づく後述の車両認識部の認識した位置情報を含む）に、自車に設定された識別情報（ＩＤ）を付した送信情報を本発明の車車間通信手段の送信機（車車間送信機）１３に送り、送信機１３から所定の電波で送信する。   Reference numeral 12 denotes a transmission control unit, which includes vehicle information of the own vehicle of the own vehicle information management unit 2, each detected position information of the detected vehicle data storage unit 5 via the vehicle confirmation unit 11, and each of the received other vehicle data storage unit 10 Transmission information including identification information (ID) set for the own vehicle is added to the reception position information (including position information recognized by a vehicle recognition unit, which will be described later based on the information), and transmitted by the inter-vehicle communication means of the present invention. Is sent to a machine (vehicle-to-vehicle transmitter) 13 and transmitted from the transmitter 13 by a predetermined radio wave.

１４は位置情報出力部であり、自車情報管理部２の自車の車両情報および、車両確認部１１が確認した周囲の他の各車両の位置情報を車両１内の図示省略した衝突防止支援処理部等に出力する。   Reference numeral 14 denotes a position information output unit. The vehicle information of the own vehicle of the own vehicle information management unit 2 and the position information of other surrounding vehicles confirmed by the vehicle confirmation unit 11 are not shown in the vehicle 1 and support for collision prevention is omitted. Output to the processing unit.

つぎに、車両間の位置情報のやり取りおよび、車両確認部１１による自車の周囲の他の各車両の相対的な位置情報の確認について説明する。   Next, exchange of position information between vehicles and confirmation of relative position information of other vehicles around the host vehicle by the vehicle confirmation unit 11 will be described.

図２は図４と同じ見通しの悪いＴ字路の走行状況を模式的に示し、説明を簡単にするため、車両Ａ〜Ｄはいずれも図１の構成であって外界検出手段を備えているものとする。   FIG. 2 schematically shows the traveling situation of a T-shaped road having the same poor visibility as FIG. 4 and for simplicity of explanation, each of the vehicles A to D has the configuration of FIG. Shall.

この場合、東西の道路１０１を東から交差点２００に進む車両Ｂ〜Ｄの一群において、最も後ろの車両Ｃは、その前の車両Ｂ、Ｄとの車間距離Ｌｃｂ、Ｌｃｄや車両Ｂ、Ｄの車速、進行方向等を、自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから検出し、車間距離Ｌｃｂ、Ｌｃｄ等の情報に車両Ｃの固有の識別情報（ＩＤ）を付して形成した位置情報を送信機１３から送信する。   In this case, in the group of vehicles B to D traveling on the east-west road 101 from the east to the intersection 200, the rearmost vehicle C is the inter-vehicle distances Lcb, Lcd and the vehicle speeds of the vehicles B, D with the preceding vehicles B, D. The traveling direction is detected from the ranging data of the laser radar 6 of the own vehicle and the photographing data of the photographing camera 7, and the identification information (ID) unique to the vehicle C is added to the information such as the inter-vehicle distances Lcb and Lcd. The formed position information is transmitted from the transmitter 13.

車両Ｄは、同様にして、その前の車両Ｂとの車間距離Ｌｄｂや車両Ｂの車速、進行方向等を検出し、車間距離Ｌｄｂの検出位置情報を形成する。また、受信機９により車両Ｃが送信した車間距離Ｌｃｂ、Ｌｃｄの受信位置情報を受信する。そして、車間距離Ｌｃｂ、Ｌｃｄ、Ｌｄｂの情報に固有の識別情報を付して形成した位置情報を自車の送信機１３から送信する。   Similarly, the vehicle D detects the inter-vehicle distance Ldb with the preceding vehicle B, the vehicle speed, the traveling direction, and the like of the vehicle B, and forms detected position information of the inter-vehicle distance Ldb. Further, the reception position information of the inter-vehicle distances Lcb and Lcd transmitted by the vehicle C is received by the receiver 9. And the positional information formed by attaching | subjecting intrinsic | native identification information to the information of the inter-vehicle distances Lcb, Lcd, and Ldb is transmitted from the transmitter 13 of the own vehicle.

車両Ｂは、車両Ａを自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから検出する前は、車両Ｃが送信した車間距離Ｌｃｂ、Ｌｃｄの位置情報および車両Ｄが送信した車間距離Ｌｃｂ、Ｌｃｄ、Ｌｄｂを受信し、受信した車間距離Ｌｃｂ、Ｌｃｄ、Ｌｄｂの受信位置情報に固有の識別情報を付して形成した位置情報を自車の送信機１３から送信する。   The vehicle B detects the position of the inter-vehicle distances Lcb and Lcd transmitted by the vehicle C and the inter-vehicle distance transmitted by the vehicle D before the vehicle A is detected from the distance measurement data of the laser radar 6 of the own vehicle and the photographing data of the photographing camera 7. The distance Lcb, Lcd, and Ldb are received, and the position information formed by adding unique identification information to the received position information of the inter-vehicle distances Lcb, Lcd, and Ldb is transmitted from the transmitter 13 of the own vehicle.

そして、車両Ｂ〜Ｄは車車間通信可能な距離範囲内の一群として走行しているので、車車間通信の送受信を繰り返すことにより、結局、車両Ｂ〜Ｄはそれぞれの受信機９により、他の車両（車両Ｂについては車両Ｃ，Ｄ、車両Ｃについては車両Ｂ、Ｄ、車両Ｄについては車両Ｂ、Ｃ）が送信した車間距離Ｌｃｂ、Ｌｃｄ、Ｌｄｂの受信位置情報を得て車間距離Ｌｃｂ、Ｌｃｄ、Ｌｄｂの位置情報を共有する。   And since vehicles BD are traveling as a group within a distance range in which vehicle-to-vehicle communication is possible, by repeating transmission / reception of vehicle-to-vehicle communication, vehicles BD are eventually connected to each other by the respective receivers 9. The reception position information of the inter-vehicle distances Lcb, Lcd, and Ldb transmitted by the vehicle (vehicles C and D for the vehicle B, vehicles B and D for the vehicle C, and vehicles B and C for the vehicle D) is obtained to obtain the inter-vehicle distance Lcb, The position information of Lcd and Ldb is shared.

この状態で車両Ｂが交差点２００に接近し、車両Ｂが車両Ａを自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから検出すると、同時に、車両Ａも車両Ｂを自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから検出する。   In this state, when the vehicle B approaches the intersection 200 and the vehicle B detects the vehicle A from the distance measurement data of the laser radar 6 of the own vehicle and the shooting data of the shooting camera 7, the vehicle A also detects the vehicle B of the own vehicle. Detection is performed from distance measurement data of the laser radar 6 and photographing data of the photographing camera 7.

そして、車両Ｂは、自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから車両Ａの車間距離Ｌｂａを検出して車間距離Ｌｂａの検出位置情報を形成し、車間距離Ｌｂａ（＝Ｌａｂ）、Ｌｃｂ、Ｌｃｄ、Ｌｄｂの位置情報を得、自車の送信機１３から、車間距離Ｌｂａの検出位置情報も加えて送信する。また、車両Ａも、自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから車両Ｂの車間距離Ｌａｂ（＝Ｌｂａ）を検出して車間距離Ｌａｂの検出位置情報を形成し、自車の送信機１３から車間距離Ｌａｂの検出位置情報を送信する。   Then, the vehicle B detects the inter-vehicle distance Lba of the vehicle A from the distance measurement data of the laser radar 6 of the own vehicle and the imaging data of the imaging camera 7 to form detection position information of the inter-vehicle distance Lba, and the inter-vehicle distance Lba (= Lab), Lcb, Lcd, Ldb position information is obtained, and the detected position information of the inter-vehicle distance Lba is also transmitted from the transmitter 13 of the own vehicle. Further, the vehicle A also detects the inter-vehicle distance Lab (= Lba) of the vehicle B from the distance measurement data of the laser radar 6 of the own vehicle and the image data of the imaging camera 7, and forms detection position information of the inter-vehicle distance Lab. The detected position information of the inter-vehicle distance Lab is transmitted from the vehicle transmitter 13.

このとき、車両Ｃ、Ｄと車両Ａとが車車間通信可能な距離まで接近していないとすると、車両Ｃ，Ｄは、車両Ｂが送信した車間距離Ｌｂａの検出位置情報を加えた送信情報を受信することにより、車両Ａ〜Ｄが自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データにより実測して検出した車間距離Ｌｂａ（＝Ｌａｂ）、Ｌｃｂ、Ｌｃｄ、Ｌｄｂの位置情報を共有する。車両Ａも車両Ｂの送信情報を受信することにより、車間距離Ｌａｂ（＝Ｌｂａ）、Ｌｃｂ、Ｌｃｄ、Ｌｄｂの位置情報を共有する。   At this time, if the vehicles C and D and the vehicle A are not approaching to a distance that enables vehicle-to-vehicle communication, the vehicles C and D transmit transmission information including the detected position information of the inter-vehicle distance Lba transmitted by the vehicle B. By receiving the position information of the inter-vehicle distances Lba (= Lab), Lcb, Lcd, and Ldb detected by the vehicles A to D actually measured by the distance measurement data of the own laser radar 6 and the shooting data of the shooting camera 7. Share. By receiving the transmission information of the vehicle B, the vehicle A also shares the positional information of the inter-vehicle distances Lab (= Lba), Lcb, Lcd, and Ldb.

さらに、車両Ｃ、Ｄと車両Ａとが車車間通信可能な距離まで接近すると、車両Ｂが送信した情報は他の車両Ａ、Ｃ、Ｄが受信し、他の車両Ａ、Ｃ、Ｄが送信した情報についても同様であり、車車間通信可能な範囲の各車両Ａ〜Ｄは、車両Ａ〜Ｄが自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データにより実測して検出した車間距離Ｌｂａ（＝Ｌａｂ）、Ｌｄｂ、Ｌｃｂ、Ｌｃｄの位置情報を等しく共有する。   Furthermore, when the vehicles C and D and the vehicle A approach to a distance that enables vehicle-to-vehicle communication, the information transmitted by the vehicle B is received by the other vehicles A, C, and D and transmitted by the other vehicles A, C, and D. The same applies to the information obtained, and each of the vehicles A to D within the range in which vehicle-to-vehicle communication is possible was detected by the vehicles A to D being actually measured by the distance measurement data of the laser radar 6 of the own vehicle and the shooting data of the shooting camera 7. The position information of the inter-vehicle distances Lba (= Lab), Ldb, Lcb, and Lcd is shared equally.

ここで、車両Ａ〜Ｄの車両認識部１１は、自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから検出できる他の車両については、受信位置情報と検出位置情報の車間距離や進行方向等のマッチングから車両を特定（同定）して相対的な位置関係を正確に把握して確認し、自車のレーザレーダ６の測距データ、撮影カメラ７の撮影データから検出できない他の車両についても、車間距離Ｌｂａ（＝Ｌａｂ）、Ｌｄｂ、Ｌｃｂ、Ｌｃｄの受信位置情報および車速、進行方向等から相対的な位置関係を正確に把握して確認する。具体的には、車両Ａの車両認識部１１は、検出した車間距離Ｌａｂの位置情報から車両Ｂの相対的な位置関係を把握し、検出した車間距離Ｌａｂの位置情報と受信した車間距離Ｌｄｂの位置情報とから車両Ｄの相対的な位置関係を把握し、車間距離Ｌａｂ、Ｌｃｂの位置情報または車間距離Ｌａｂ、Ｌｄｂ、Ｌｃｄの位置情報から車両Ｃの相対的な位置関係を把握する。車両Ｂ〜Ｄの車両認識部１１も同様にして周囲の他の車両の相対的な位置関係を把握する。この場合、路側の建物等によって車車間通信の電波が車両Ａに届きにくく、場合によっては車両Ａと位置情報のやり取りができなくなる車両Ｄも、車両Ｂ、Ｃからの受信位置情報に基づき、車両Ａを含む周囲の他の車両の相対的な位置関係を把握することができる。   Here, the vehicle recognition unit 11 of the vehicles A to D is the inter-vehicle distance between the received position information and the detected position information for other vehicles that can be detected from the ranging data of the laser radar 6 of the own vehicle and the shooting data of the shooting camera 7. The vehicle is identified (identified) by matching the direction of travel, the direction of travel, etc., and the relative positional relationship is accurately grasped and confirmed, and cannot be detected from the ranging data of the laser radar 6 of the own vehicle or the photographing data of the photographing camera 7 The relative positional relationship between the vehicle distances Lba (= Lab), Ldb, Lcb, and Lcd, the vehicle speed, the traveling direction, and the like are accurately grasped and confirmed. Specifically, the vehicle recognition unit 11 of the vehicle A grasps the relative positional relationship of the vehicle B from the position information of the detected inter-vehicle distance Lab, and the positional information of the detected inter-vehicle distance Lab and the received inter-vehicle distance Ldb. The relative positional relationship of the vehicle D is grasped from the position information, and the relative positional relationship of the vehicle C is grasped from the positional information of the inter-vehicle distances Lab and Lcb or the positional information of the inter-vehicle distances Lab, Ldb and Lcd. Similarly, the vehicle recognition unit 11 of the vehicles B to D grasps the relative positional relationship of other surrounding vehicles. In this case, the vehicle D which is difficult for the vehicle-to-vehicle communication radio waves to reach the vehicle A due to roadside buildings or the like, and the vehicle A cannot exchange position information with the vehicle A, based on the received position information from the vehicles B and C. The relative positional relationship between other vehicles including A can be grasped.

そして、自車情報管理部２、車両検知部５、車両確認部１０、送信制御部１１、位置情報出力部１３は、マイクロコンピュータのソフトウェア処理によって形成される。   And the own vehicle information management part 2, the vehicle detection part 5, the vehicle confirmation part 10, the transmission control part 11, and the positional information output part 13 are formed by the software process of a microcomputer.

図３は上記車車間通信装置の車車間通信方法の処理手順を示し、レーザレーダ６の測距データ、車載カメラ７の撮影データから車両検知部５が新たな車両を前方に検知したり、受信機９が車車間通信の情報電波を受信すると、ステップＳ１をＹＥＳで通過してステップＳ２に移行する。   FIG. 3 shows a processing procedure of the vehicle-to-vehicle communication method of the vehicle-to-vehicle communication device. The vehicle detection unit 5 detects a new vehicle forward or receives it from the distance measurement data of the laser radar 6 and the image data of the in-vehicle camera 7. When the machine 9 receives the information radio wave of the inter-vehicle communication, step S1 is passed through YES and the process proceeds to step S2.

そして、レーザレーダ６の測距データ、車載カメラ７の撮影データから車両検知部５が新たな車両を前方に検知したときは、ステップＳ２をＹＥＳで通過し、車両検知部８により当該車両の位置情報を検出他車両位置情報として検知車両データ記憶部８に追加記憶する（ステップＳ３）。また、受信機９が車車間通信の情報電波を受信したときは、ステップＳ２のＮＯまたはステップＳ３からステップＳ４に移行し、ステップＳ４をＹＥＳで通過して受信した他の車両からの受信自車位置情報を受信他車データに書き換え自在に記憶する（ステップＳ５）。   And when the vehicle detection part 5 detects a new vehicle ahead from the ranging data of the laser radar 6, and the imaging | photography data of the vehicle-mounted camera 7, step S2 is passed by YES and the position of the said vehicle is detected by the vehicle detection part 8. The information is additionally stored in the detected vehicle data storage unit 8 as detected other vehicle position information (step S3). Further, when the receiver 9 receives the information radio wave of the inter-vehicle communication, the process proceeds from NO in step S2 or step S3 to step S4, and receives the own vehicle from another vehicle that has received step S4 with YES. The position information is stored in a rewritable manner in the received other vehicle data (step S5).

ステップＳ３、Ｓ５で情報を記憶した後、または、ステップＳ４をＮＯで通過した後、ステップＳ６に移行し、車両認識部１１により、検知車両データ記憶部５の各検出位置情報、受信他車データ記憶部１０の各受信位置情報に基づき、前記したようにして自車の前、後の各方向から接近する他の各車両の相対的な位置関係を正確に把握して確認する。   After information is stored in steps S3 and S5, or after step S4 is passed through NO, the process proceeds to step S6, where the vehicle recognition unit 11 detects each detected position information and received other vehicle data in the detected vehicle data storage unit 5. Based on each reception position information of the memory | storage part 10, as mentioned above, it grasps | ascertains correctly and confirms the relative positional relationship of each other vehicle approaching from each direction before and behind the own vehicle.

さらに、ステップＳ６からステップＳ７に移行し、送信制御部１２の制御により、自車情報管理部２の自車の車両情報および、検知車両データ記憶部５の各検出位置情報、受信他車データ記憶部１０の各受信位置情報に、自車に設定された識別情報（ＩＤ）を付した送信情報を、送信機１３から送信し、ステップＳ１に戻る。なお、送信機１３から送信する検知車両データ記憶部５の各検出位置情報、受信他車データ記憶部１０の各受信位置情報は、詳しくは、それらの位置情報に基づいて車両認識部１１が周囲の他の車両との位置関係の位置情報を認識し、認識した位置情報である。   Further, the process proceeds from step S6 to step S7, and under the control of the transmission control unit 12, the vehicle information of the own vehicle of the own vehicle information management unit 2, each detected position information of the detected vehicle data storage unit 5, and the received other vehicle data storage Transmission information, in which the identification information (ID) set for the vehicle is attached to each reception position information of the unit 10, is transmitted from the transmitter 13, and the process returns to step S1. In addition, each detection position information of the detection vehicle data storage part 5 transmitted from the transmitter 13 and each reception position information of the reception other vehicle data storage part 10 are described in detail by the vehicle recognition unit 11 based on the position information. It is the positional information which recognized the positional information of positional relationship with other vehicles, and was recognized.

ところで、ステップＳ１において、車両検知部５が新たな車両を前方に検知したり、受信機９が車車間通信の情報電波を受信するまでは、ステップＳ１をＮＯで通過してステップＳ７に移行し、送信機１３からの情報の送信を繰り返す。   By the way, in step S1, until vehicle detection part 5 detects a new vehicle ahead, or receiver 9 receives the information radio wave of inter-vehicle communication, step S1 is passed by NO and it shifts to step S7. The transmission of information from the transmitter 13 is repeated.

したがって、前記実施形態の場合、車両１は、レーザレーダ６、車載カメラ７および車両検知部５が形成する外界検出手段により周囲の他の車両を検出して他の車両の相対的な位置情報を精度よく形成することができる。さらに、外界検出手段により形成した位置情報および、車車間通信の受信機９によって受信した位置情報を、車車間通信の送信機１３にから送信して周囲の他の車両に渡すことができ、それらの位置情報に基づいて周囲の他の車両との位置関係の位置情報を認識し、認識した位置情報を車両間で共有することができる。そのため、例えば図２の走行状況において、車両Ｂの手前に新たな車両Ａが現われた場合、新たな車両Ａが現われた場合、この新たな車両Ａは、他の各車両Ｂ〜Ｄから別々に精度の低い位置情報を受信するのではなく、各車両Ｂ〜Ｄが共有している精度の高いお互いの位置関係の位置情報（車群の位置関係）を一括して受信することができるので、誤った位置関係で各車両Ｂ〜Ｄを認識してしまうことを防止できる。また、車車間通信する車両１およびその周囲の車両は、自車および周囲の各車両の精度の高い情報を、車車間通信で直接得ることができないときにも共有することができ、他の車両の外界検出手段により形成された精度の高い位置情報を用いて、特殊な地図データベースを搭載することなく、しかも、通信できない車両についても、周囲の他の車両の相対的な位置関係を極力正確に把握でき、位置情報出力部１４の周囲の他の各車両の精度の高い位置情報に基づいて衝突防止支援等を行なうことができる。   Therefore, in the case of the said embodiment, the vehicle 1 detects other surrounding vehicles by the external field detection means which the laser radar 6, the vehicle-mounted camera 7, and the vehicle detection part 5 form, and relative position information of the other vehicles is obtained. It can be formed with high accuracy. Further, the position information formed by the external environment detection means and the position information received by the inter-vehicle communication receiver 9 can be transmitted from the inter-vehicle communication transmitter 13 to be passed to other surrounding vehicles. Based on the position information, the position information of the positional relationship with other surrounding vehicles can be recognized, and the recognized position information can be shared between the vehicles. Therefore, for example, when the new vehicle A appears in front of the vehicle B in the traveling state of FIG. 2, when the new vehicle A appears, the new vehicle A is separated from the other vehicles B to D separately. Rather than receiving low-accuracy position information, each vehicle B to D can receive a high-accuracy position information (position relation of vehicle groups) of each other in a batch, It is possible to prevent the vehicles B to D from being recognized due to an incorrect positional relationship. Further, the vehicle 1 that communicates between the vehicles and the surrounding vehicles can share high-accuracy information of the own vehicle and the surrounding vehicles even when the vehicle 1 cannot directly obtain the information by the vehicle-to-vehicle communication. Using the highly accurate position information formed by the outside world detection means, it is possible to accurately determine the relative positional relationship of other surrounding vehicles even for vehicles that cannot communicate without installing a special map database. It is possible to grasp, and collision prevention support or the like can be performed based on highly accurate position information of other vehicles around the position information output unit 14.

また、例えば図２の車両Ｄが、車両検知部５、レーザレーダ６、車載カメラ７の外界検知手段を備えていない場合、車両Ａ〜Ｄのいずれも車間距離Ｌｄｂの位置情報は得られないが、車両Ｄは車車間通信によって、他の車両Ａ〜Ｃと同じ車間距離Ｌｂａ（＝Ｌａｂ）、Ｌｃｂ、Ｌｃｄの位置情報を等しく共有することができ、自車に接近する車両の相対的な位置関係を極力正確に把握できる。他の車両Ａ〜Ｃが、車両検知部５、レーザレーダ６、車載カメラ７の外界検知手段を備えていない場合も同様である。   Further, for example, when the vehicle D in FIG. 2 does not include the external detection means of the vehicle detection unit 5, the laser radar 6, and the in-vehicle camera 7, none of the vehicles A to D can obtain the position information of the inter-vehicle distance Ldb. The vehicle D can share the same positional information of the same inter-vehicle distances Lba (= Lab), Lcb, and Lcd as the other vehicles A to C by inter-vehicle communication, and the relative position of the vehicle approaching the host vehicle Ascertain the relationship as accurately as possible. The same applies to the case where the other vehicles A to C do not include the external detection means of the vehicle detection unit 5, the laser radar 6, and the in-vehicle camera 7.

そして、本発明は上記した実施形態に限定されるものではなく、その趣旨を逸脱しない限りにおいて上述したもの以外に種々の変更を行なうことが可能であり、例えば、外界検出手段は、レーザレーダ６、車載カメラ７のいずれか一方を備えていてもよく、それ以外の自律センサを備えていてもよい。また、共有する位置情報は、車両だけでなく種々の交通インフラの設備や施設で利用することも可能である。   The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the gist of the present invention. Any one of the vehicle-mounted cameras 7 may be provided, and other autonomous sensors may be provided. The shared location information can be used not only in vehicles but also in various transportation infrastructure facilities and facilities.

つぎに、図１の各部の構成は前記実施形態の構成に限るものではないのは勿論である。   Next, as a matter of course, the configuration of each unit in FIG. 1 is not limited to the configuration of the above embodiment.

そして、本発明は、衝突防止支援等を行なう種々の車両の車車間通信に適用することができる。   The present invention can be applied to inter-vehicle communication of various vehicles that perform collision prevention support and the like.

１、Ａ〜Ｄ 車両
５ 車両検知部
６ レーザレーダ
７ 車載カメラ
８ 検知車両データ記憶部
９ 車車間受信機
１０ 受信他車データ記憶部
１３ 車車間送信機 DESCRIPTION OF SYMBOLS 1, AD Vehicle 5 Vehicle detection part 6 Laser radar 7 Car-mounted camera 8 Detected vehicle data storage part 9 Inter-vehicle receiver 10 Reception other vehicle data storage part 13 Inter-vehicle transmitter

Claims (2)

各車両が相互に位置情報を通信する車車間通信方法であって、
各車両は、外界検出手段により周囲の他の車両を検出して位置情報を形成し、前記外界検出手段により形成した位置情報および受信した位置情報を送信して車両間で共有することを特徴とする車車間通信方法。 A vehicle-to-vehicle communication method in which each vehicle communicates position information with each other,
Each vehicle detects other surrounding vehicles by an external environment detection means to form position information, and transmits the position information formed by the external environment detection means and the received position information to be shared between the vehicles. Vehicle-to-vehicle communication method. 周囲の他の車両を検出して位置情報を形成する外界検出手段と、
前記外界検出手段が形成した位置情報および受信した位置情報を車車間通信により送信する通信手段とを備え、
前記外界検出手段が形成した位置情報および前記通信手段が受信した位置情報に基づいて周囲の他の車両との位置関係の位置情報を認識し、認識した位置情報を車両間で共有することを特徴とする車車間通信装置。 An outside detection means for detecting other surrounding vehicles to form position information;
Communication means for transmitting the position information formed by the outside world detection means and the received position information by inter-vehicle communication,
Recognizing position information of a positional relationship with other surrounding vehicles based on the position information formed by the outside world detection means and the position information received by the communication means, and the recognized position information is shared between the vehicles. Vehicle-to-vehicle communication device.
JP2010073082A 2010-03-26 2010-03-26 Inter-vehicle communication method and inter-vehicle communication device Withdrawn JP2011204151A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2010073082A JP2011204151A (en) 2010-03-26 2010-03-26 Inter-vehicle communication method and inter-vehicle communication device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2010073082A JP2011204151A (en) 2010-03-26 2010-03-26 Inter-vehicle communication method and inter-vehicle communication device

Publications (1)

Publication Number Publication Date
JP2011204151A true JP2011204151A (en) 2011-10-13

Family

ID=44880705

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010073082A Withdrawn JP2011204151A (en) 2010-03-26 2010-03-26 Inter-vehicle communication method and inter-vehicle communication device

Country Status (1)

Country Link
JP (1) JP2011204151A (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015064745A1 (en) * 2013-10-31 2015-05-07 本田技研工業株式会社 Information notification device, information notification system, information notification method, and information notification program
KR101947581B1 (en) * 2018-02-07 2019-05-02 주식회사 에스더블유엠 Apparatus for sharing point cloud data
JP2019160354A (en) * 2019-07-02 2019-09-19 スズキ株式会社 Inter-vehicle information sharing system
JP2019185800A (en) * 2019-07-02 2019-10-24 スズキ株式会社 Inter-vehicle information sharing system
JP2019185799A (en) * 2019-07-02 2019-10-24 スズキ株式会社 Inter-vehicle information sharing system
JP2020013437A (en) * 2018-07-20 2020-01-23 株式会社デンソー Vehicle control device and vehicle control method
US10644399B2 (en) 2015-03-19 2020-05-05 Hyundai Motor Company Vehicle and method for controlling the same
US10880293B2 (en) 2017-08-25 2020-12-29 Ford Global Technologies, Llc Authentication of vehicle-to-vehicle communications
US11521259B2 (en) 2019-01-18 2022-12-06 Toyota Jidosha Kabushiki Kaisha System, information processing apparatus, information processing method, and non-transitory computer readable medium

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10380894B2 (en) 2013-10-31 2019-08-13 Honda Motor Co., Ltd. Information notification device, information notification system, information notification method, and information notification program
JPWO2015064745A1 (en) * 2013-10-31 2017-03-09 本田技研工業株式会社 Information notification device, information notification system, information notification method, and information notification program
WO2015064745A1 (en) * 2013-10-31 2015-05-07 本田技研工業株式会社 Information notification device, information notification system, information notification method, and information notification program
US10644399B2 (en) 2015-03-19 2020-05-05 Hyundai Motor Company Vehicle and method for controlling the same
US10880293B2 (en) 2017-08-25 2020-12-29 Ford Global Technologies, Llc Authentication of vehicle-to-vehicle communications
KR101947581B1 (en) * 2018-02-07 2019-05-02 주식회사 에스더블유엠 Apparatus for sharing point cloud data
JP2020013437A (en) * 2018-07-20 2020-01-23 株式会社デンソー Vehicle control device and vehicle control method
WO2020017179A1 (en) * 2018-07-20 2020-01-23 株式会社デンソー Vehicle control device and vehicle control method
JP7044000B2 (en) 2018-07-20 2022-03-30 株式会社デンソー Vehicle control device and vehicle control method
US11878670B2 (en) 2018-07-20 2024-01-23 Denso Corporation Apparatus and method for controlling vehicle to perform occupant assistance according to detection accuracy of autonomous sensor
US11521259B2 (en) 2019-01-18 2022-12-06 Toyota Jidosha Kabushiki Kaisha System, information processing apparatus, information processing method, and non-transitory computer readable medium
JP2019160354A (en) * 2019-07-02 2019-09-19 スズキ株式会社 Inter-vehicle information sharing system
JP2019185800A (en) * 2019-07-02 2019-10-24 スズキ株式会社 Inter-vehicle information sharing system
JP2019185799A (en) * 2019-07-02 2019-10-24 スズキ株式会社 Inter-vehicle information sharing system

Similar Documents

Publication Publication Date Title
JP2011204151A (en) Inter-vehicle communication method and inter-vehicle communication device
US8229663B2 (en) Combined vehicle-to-vehicle communication and object detection sensing
US8886386B2 (en) Method for wireless communication between vehicles
EP2535883B1 (en) Train-of-vehicle travel support device
US10685571B2 (en) Vehicle dispatch system, autonomous driving vehicle, and vehicle dispatch method
CN106485949A (en) The sensor fusion of the video camera for vehicle and V2V data
JP2011221653A (en) Apparatus for identifying vehicle to be tracked
US10192447B2 (en) Inter-vehicle information sharing system
CN108091178B (en) Vehicle anti-collision system based on Internet of vehicles
CN104900052A (en) Traffic monitoring system
EP3556625B1 (en) Vehicle control system, external electronic control unit, vehicle control method, and application
CN110709907B (en) Detection of vehicle-to-vehicle performance of a vehicle
EP3258455B1 (en) Warning system for an automated vehicle
KR20160144761A (en) Accident data recorder and method for generating accident information thereof
WO2016129250A1 (en) Communication system, vehicle-mounted device, and information center
JP2005339432A (en) Collision prevention system and on-vehicle device, relay device and position transmitter for pedestrian
JP2009187413A (en) Onboard device and vehicle travel support system
US10249192B2 (en) Notification regarding an estimated movement path of a vehicle
US11501539B2 (en) Vehicle control system, sensing device and sensing data processing method
CN113743709A (en) Online perceptual performance assessment for autonomous and semi-autonomous vehicles
JP2012211843A (en) Position correction device and inter-vehicle communication system
CN116572995B (en) Automatic driving method and device of vehicle and vehicle
JP2011209849A (en) Driving support method and driving support device
JP2012212337A (en) Inter-vehicle communication device and inter-vehicle communication system
US10691136B2 (en) Method and device for providing a signal for operating at least two vehicles

Legal Events

Date Code Title Description
A300 Withdrawal of application because of no request for examination

Free format text: JAPANESE INTERMEDIATE CODE: A300

Effective date: 20130604