TWI797146B - Terminal device, roadside device, communication system, and communication method - Google Patents

Terminal device, roadside device, communication system, and communication method Download PDF

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TWI797146B
TWI797146B TW107125481A TW107125481A TWI797146B TW I797146 B TWI797146 B TW I797146B TW 107125481 A TW107125481 A TW 107125481A TW 107125481 A TW107125481 A TW 107125481A TW I797146 B TWI797146 B TW I797146B
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vehicle
pedestrian
terminal
aforementioned
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TW201914326A (en
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上野剛
須藤浩章
後明一聖
田中悟史
松村慎太郎
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日商松下控股股份有限公司
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0226—Traffic management, e.g. flow control or congestion control based on location or mobility
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/08—Load balancing or load distribution
    • H04W28/0875—Load balancing or load distribution to or through Device to Device [D2D] links, e.g. direct-mode links
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/08—Load balancing or load distribution
    • H04W28/09—Management thereof
    • H04W28/0958—Management thereof based on metrics or performance parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/18—Selecting a network or a communication service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/04—Terminal devices adapted for relaying to or from another terminal or user

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Devices For Checking Fares Or Tickets At Control Points (AREA)

Abstract

[課題]可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。 　　[解決手段]具備有：在與車載終端(3)之間，進行藉由屬於第1通訊方式的步行者-車輛間通訊所為之直接通訊的步行者-車輛間通訊部(13)；在與車載終端(3)之間，進行藉由透過設置在道路的路側機(5)的第2通訊方式所為之間接通訊的無線LAN通訊部(14)；及根據關於自身裝置的狀態的裝置資訊，判定自身裝置是否為危險狀態，按照該判定結果，選擇直接通訊與間接通訊的任一者的通訊方式的控制部(16)。[Problem] While suppressing pedestrian-vehicle communication congestion, it is possible to promptly and reliably notify pedestrians or vehicle drivers of the presence of pedestrians or vehicles in the surrounding area. [solution means] have: between the vehicle-mounted terminal (3), the pedestrian-vehicle communication part (13) for direct communication by the pedestrian-vehicle communication belonging to the first communication method; Between the vehicle-mounted terminals (3), the wireless LAN communication unit (14) that performs indirect communication through the second communication method of the roadside machine (5) installed on the road; and based on the device information about the state of the own device, A control unit (16) that determines whether the own device is in a dangerous state, and selects a communication method of either direct communication or indirect communication according to the result of the determination.

Description

終端裝置、路側裝置、通訊系統、及通訊方法Terminal device, roadside device, communication system, and communication method

本發明係關於：將包含自身裝置的位置資訊的訊息以步行者-車輛間通訊送訊至其他終端裝置的終端裝置、被設置在道路且與終端裝置進行通訊的路側裝置、具備有終端裝置及路側裝置的通訊系統、及由終端裝置將訊息以步行者-車輛間通訊送訊至其他終端裝置的通訊方法者。The present invention relates to a terminal device that transmits information including location information of its own device to other terminal devices through pedestrian-to-vehicle communication, a roadside device that is installed on a road and communicates with a terminal device, a terminal device and The communication system of the roadside device, and the communication method for sending information from the terminal device to other terminal devices through pedestrian-vehicle communication.

近年來，不斷在發展利用ITS(Intelligent Transport System：高度道路交通系統)的安全駕駛支援無線系統的實用化及邁向普及的檢討。在該安全駕駛支援無線系統中，係藉由以裝載在車輛的車載終端彼此進行通訊的車輛-車輛間通訊、或在設置在道路上的路側機與車載終端之間進行通訊的道路-車輛間通訊，交換包含車輛的位置資訊等的訊息，對車輛駕駛人進行為避免事故發生的注意喚起。In recent years, the practical application and popularization of the safe driving support wireless system using ITS (Intelligent Transport System: advanced road traffic system) have been continuously developed. In this safe driving support wireless system, it is a vehicle-to-vehicle communication that communicates with a vehicle-mounted terminal mounted on a vehicle, or a road-to-vehicle communication that communicates between a roadside device installed on a road and a vehicle-mounted terminal. Communication, exchanging information including vehicle location information, etc., and arousing the attention of vehicle drivers to avoid accidents.

此外，近年來，為防止步行者的事故，已提出一種在步行者所持有的步行者終端與車載終端之間進行通訊的步行者-車輛間通訊。在該步行者-車輛間通訊中，步行者終端與車載終端直接交換包含位置資訊等的訊息，對車載終端通知步行者的存在，並且對步行者終端通知車輛的存在，藉此可對步行者與車輛駕駛人雙方，以適當時序進行注意喚起，因此在防止步行者事故方面，被期待較大效果。In addition, in recent years, in order to prevent accidents of pedestrians, pedestrian-vehicle communication has been proposed that communicates between a pedestrian terminal held by a pedestrian and a vehicle-mounted terminal. In this pedestrian-vehicle communication, the pedestrian terminal and the vehicle-mounted terminal directly exchange messages including location information, notify the vehicle-mounted terminal of the presence of the pedestrian, and notify the pedestrian terminal of the presence of the vehicle, thereby enabling pedestrians to be notified. Both the vehicle driver and the vehicle driver are called to attention at an appropriate timing, so a large effect is expected in preventing pedestrian accidents.

在如上所示之步行者-車輛間通訊中，如繁華街道的十字路口般在步行者或車輛變多的狀況下，因步行者終端或車載終端增加，步行者-車輛間通訊的流量會增大，而有發生步行者-車輛間通訊的壅塞之虞，該步行者-車輛間通訊的壅塞必須儘可能避免，因此以減低步行者-車輛間通訊的流量為宜。In the pedestrian-vehicle communication as shown above, when there are many pedestrians or vehicles at the intersection of a busy street, the flow of pedestrian-vehicle communication will increase due to the increase of pedestrian terminals or vehicle terminals. Large, there is a risk of pedestrian-to-vehicle communication congestion. The pedestrian-to-vehicle communication congestion must be avoided as much as possible, so it is advisable to reduce the pedestrian-to-vehicle communication traffic.

以關於如上所示之步行者-車輛間通訊的流量減低的技術而言，以往已知一種技術係在車載終端可在與路側機及步行者終端之間進行第1通訊(V2X通訊：道路-車輛間通訊及步行者-車輛間通訊)的通訊系統中，路側機在與步行者終端之間進行無線LAN等第2通訊，在與車載終端之間進行第1通訊(道路-車輛間通訊)(參照專利文獻1)。 [先前技術文獻] [專利文獻]Regarding the technology for reducing the flow rate of pedestrian-to-vehicle communication as shown above, there is a conventionally known technology in which the vehicle-mounted terminal can perform the first communication with the roadside device and the pedestrian terminal (V2X communication: road- In the communication system of vehicle-to-vehicle communication and pedestrian-to-vehicle communication), the roadside unit performs the second communication such as wireless LAN with the pedestrian terminal, and performs the first communication with the vehicle terminal (road-to-vehicle communication) (Refer to Patent Document 1). [Prior Art Document] [Patent Document]

[專利文獻1]日本特開2017-68335號公報[Patent Document 1] Japanese Patent Laid-Open No. 2017-68335

(發明所欲解決之課題)(Problem to be solved by the invention)

在步行者-車輛間通訊系統中，與前述習知技術同樣地，若欲進行不同於步行者-車輛間通訊的第2通訊時，即使終端數增加，亦可抑制步行者-車輛間通訊的壅塞。但是，若形成為步行者終端與車載終端透過路側機來進行間接通訊的構成時，在步行者終端與車載終端之間的訊息的收送訊耗費時間。因此，若步行者或車輛為危險狀態，為了對周邊的步行者或車輛駕駛人迅速且確實地通知該步行者或車輛的存在，以直接通訊(步行者-車輛間通訊)傳送訊息為宜。In the pedestrian-to-vehicle communication system, similarly to the aforementioned prior art, if a second communication different from pedestrian-to-vehicle communication is to be performed, even if the number of terminals increases, the pedestrian-to-vehicle communication can be suppressed. congested. However, if the pedestrian terminal and the vehicle-mounted terminal communicate indirectly through the roadside device, it takes time to transmit and receive information between the pedestrian terminal and the vehicle-mounted terminal. Therefore, when pedestrians or vehicles are in a dangerous state, in order to promptly and surely notify the pedestrians or vehicles in the vicinity of the existence of the pedestrians or vehicles, it is appropriate to transmit a message by direct communication (pedestrian-vehicle communication).

此外，在步行者-車輛間通訊的通訊品質正在降低的狀況下、或步行者-車輛間通訊的通訊流量增大而常見封包衝撞的狀況下，會發生通訊錯誤，因封包錯誤而頻頻發生再送。在如上所示之狀況下，會有原本訊息應快速到達的直接通訊(步行者-車輛間通訊)比間接通訊更慢的情形。另一方面，若步行者為如失智症患者般需要監護的人物時、或車輛為如救護車或消防車般的緊急車輛時，必須儘可能早期對周邊的步行者或車輛駕駛人通知步行者或車輛的存在。因此，若通知的緊急性特別高時，以直接通訊及間接通訊之雙方的通訊方式傳送訊息為宜。In addition, when the communication quality of pedestrian-vehicle communication is deteriorating, or when the communication traffic of pedestrian-vehicle communication increases and packet collisions are common, communication errors may occur, and retransmissions may occur frequently due to packet errors. . In the situation shown above, there may be cases where direct communication (pedestrian-vehicle communication) where messages should arrive quickly is slower than indirect communication. On the other hand, if the pedestrian is a person who needs monitoring such as a dementia patient, or the vehicle is an emergency vehicle such as an ambulance or a fire engine, it is necessary to notify the surrounding pedestrians or vehicle drivers as early as possible. presence of persons or vehicles. Therefore, if the urgency of the notification is particularly high, it is advisable to send the message by means of both direct communication and indirect communication.

因此，本發明之主要目的在提供藉由在終端裝置間的步行者-車輛間通訊(直接通訊)、與透過路側裝置的間接通訊的2個通訊方式之中，選擇適當的通訊方式，藉此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在的終端裝置、路側裝置、通訊系統、及通訊方法。 (解決課題之手段)Therefore, the main purpose of the present invention is to provide an appropriate communication method among the two communication methods of pedestrian-vehicle communication (direct communication) between terminal devices and indirect communication through roadside devices, thereby A terminal device, a roadside device, a communication system, and a communication method that can promptly and reliably notify surrounding pedestrians or vehicle drivers of the presence of pedestrians or vehicles while suppressing pedestrian-vehicle communication congestion. (means to solve the problem)

本發明之終端裝置係形成為以下構成：其係將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的終端裝置，其具備有：第1通訊部，其係在與前述其他終端裝置之間，進行藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊；第2通訊部，其係在與前述其他終端裝置之間，進行藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊；及控制部，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇前述直接通訊與前述間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置。The terminal device of the present invention is formed into the following configuration: it is a terminal device that transmits information including position information of its own device to other terminal devices through pedestrian-vehicle communication, and it is equipped with: a first communication unit, which is Between the above-mentioned other terminal devices, direct communication is performed through the aforementioned pedestrian-vehicle communication belonging to the first communication method; the second communication part, which is between the aforementioned other terminal devices, through Indirect communication by the second communication method of the roadside device installed on the road; and a control unit that selects either the aforementioned direct communication or the aforementioned indirect communication based on device information about at least any one of the status and attributes of its own device or the communication method of both parties, and transmit the aforementioned message to the aforementioned other terminal device by the selected communication method.

此外，本發明之路側裝置係形成為以下構成：其係被設置在道路，與終端裝置進行通訊的路側裝置，其具備有：通訊部，其係中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊；及控制部，其係由前述終端裝置收集關於前述終端裝置的狀態及屬性的至少任一者的裝置資訊，根據該裝置資訊，選擇藉由前述終端裝置間所為之直接通訊、與透過自身裝置的間接通訊的任一方或雙方的通訊方式，將包含關於所選擇出的通訊方式的資訊的訊息，由前述通訊部傳送至前述終端裝置。In addition, the roadside device of the present invention is formed into the following configuration: it is installed on the road and communicates with the terminal device, and it is equipped with: a communication unit that relays the included position between the aforementioned terminal devices. Sending and receiving of messages of information; and a control unit that collects device information about at least any one of the status and attributes of the aforementioned terminal device from the aforementioned terminal device, and selects the device information that is performed between the aforementioned terminal devices based on the device information. In direct communication and indirect communication through one's own device or both parties, a message including information about the selected communication method is transmitted from the aforementioned communication unit to the aforementioned terminal device.

此外，本發明之通訊系統係形成為以下構成：其係具備有：將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的終端裝置；及被設置在道路，與前述終端裝置進行通訊的路側裝置的通訊系統，前述終端裝置係具備有：第1通訊部，其係在與前述其他終端裝置之間，進行藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊；第2通訊部，其係在與前述其他終端裝置之間，進行藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊；及控制部，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇前述直接通訊與前述間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置。In addition, the communication system of the present invention is formed as follows: it is equipped with: a terminal device that transmits a message including position information of its own device to other terminal devices through pedestrian-vehicle communication; and is installed on a road, In the communication system of the roadside device that communicates with the aforementioned terminal device, the aforementioned terminal device is equipped with: a first communication unit that communicates with the aforementioned other terminal devices through the aforementioned pedestrian-vehicle that belongs to the first communication method The second communication unit performs indirect communication with the above-mentioned other terminal devices through the second communication method through the roadside device installed on the road; and the control unit performs indirect communication based on Regarding the device information of at least any one of the status and attributes of the own device, select either or both of the aforementioned direct communication and the aforementioned indirect communication, and use the selected communication mode to transmit the aforementioned information to the aforementioned other terminal devices.

此外，本發明之通訊方法係形成為以下構成：其係將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的通訊方法，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊、與藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置。 (發明之效果)In addition, the communication method of the present invention is formed into the following configuration: it is a communication method that transmits a message including position information of its own device to other terminal devices through pedestrian-vehicle communication, which is based on the state of its own device and For the device information of at least any one of the attributes, select the direct communication through the aforementioned pedestrian-vehicle communication belonging to the first communication method, and the indirect communication through the second communication method through the roadside device installed on the road The communication method of either party or both parties, and transmit the aforementioned information to the aforementioned other terminal devices in the selected communication mode. (Effect of Invention)

藉由本發明，由於根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。According to the present invention, since either or both of direct communication and indirect communication are selected according to device information, it is possible to quickly and reliably communicate to surrounding pedestrians or vehicle drivers while suppressing pedestrian-vehicle communication congestion. Promptly notify pedestrians or vehicles of their presence.

用以解決前述課題而完成的第1發明係形成為以下構成：一種終端裝置，其係將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的終端裝置，其具備有：第1通訊部，其係在與前述其他終端裝置之間，進行藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊；第2通訊部，其係在與前述其他終端裝置之間，進行藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊；及控制部，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇前述直接通訊與前述間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置。The first invention completed to solve the aforementioned problems has the following configuration: a terminal device that transmits a message including position information of its own device to another terminal device through pedestrian-to-vehicle communication. It is equipped with: a first communication unit, which performs direct communication with the aforementioned other terminal devices through the aforementioned pedestrian-vehicle communication belonging to the first communication method; a second communication unit, which communicates with the aforementioned other terminal devices Between other terminal devices, indirect communication is performed through the second communication method of the roadside device installed on the road; and the control unit selects the Either or both of the aforementioned direct communication and the aforementioned indirect communication shall use the selected communication mode to transmit the aforementioned message to the aforementioned other terminal device.

藉此，由於根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。In this way, since either one or both of direct communication and indirect communication is selected according to device information, it is possible to quickly and reliably communicate to surrounding pedestrians or vehicle drivers while suppressing pedestrian-vehicle communication congestion. Notify the presence of pedestrians or vehicles.

此外，第2發明係形成為以下構成：前述控制部係根據關於前述裝置資訊所包含的自身裝置的狀態的狀態資訊，判定自身裝置是否為危險狀態，按照該判定結果，選擇前述直接通訊與前述間接通訊的任一方的通訊方式。In addition, the second invention is formed in such a configuration that the control unit determines whether the own device is in a dangerous state based on the state information about the state of the own device included in the device information, and selects between the direct communication and the The means of communication of either party to an indirect communication.

藉此，由於按照步行者或車輛的狀態，適當切換直接通訊與間接通訊，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知為危險狀態的終端裝置(步行者或車輛)的存在。In this way, since the direct communication and the indirect communication are appropriately switched according to the state of pedestrians or vehicles, it is possible to promptly and surely notify surrounding pedestrians or vehicle drivers of danger while suppressing pedestrian-vehicle communication congestion. Status of the presence of the end device (pedestrian or vehicle).

此外，第3發明係形成為以下構成：前述控制部係根據前述狀態資訊，若偵測到自身裝置的使用者已採取預定的危險行動，判定為危險狀態。In addition, the third invention is configured such that the control unit determines that the state is in a dangerous state when it detects that the user of the self-device has taken a predetermined dangerous action based on the state information.

藉此，可對周邊的步行者或車輛駕駛人迅速且確實地通知採取危險行動的步行者的存在。Thereby, the presence of pedestrians taking dangerous actions can be promptly and reliably notified to surrounding pedestrians or vehicle drivers.

此外，第4發明係形成為以下構成：前述控制部係根據前述狀態資訊，若偵測到設有自身裝置的車輛已進行預定的危險行駛，判定為危險狀態。In addition, the fourth invention is configured such that the control unit determines that the vehicle is in a dangerous state when it detects that the vehicle equipped with its own device has performed predetermined dangerous driving based on the state information.

藉此，可對周邊的步行者或車輛駕駛人迅速且確實地通知進行危險行駛的車輛的存在。Thereby, surrounding pedestrians and vehicle drivers can be promptly and reliably notified of the presence of a vehicle traveling dangerously.

此外，第5發明係形成為以下構成：前述控制部係根據前述狀態資訊，若自身裝置位於預定的危險區域內，判定為危險狀態。In addition, the fifth invention has a configuration in which the control unit determines that the self-device is in a dangerous state based on the state information, if the self-device is located in a predetermined dangerous area.

藉此，可對周邊的步行者或車輛駕駛人迅速且確實地通知位於危險區域內的步行者的存在。Thereby, surrounding pedestrians and vehicle drivers can be quickly and reliably notified of the presence of pedestrians in the dangerous area.

此外，第6發明係形成為以下構成：前述控制部係根據前述狀態資訊，若自身裝置以預定值以上的速度移動，判定為危險狀態。In addition, the sixth invention is configured in such a way that the control unit determines that the state is dangerous if the own device moves at a speed equal to or higher than a predetermined value based on the state information.

藉此，可對周邊的步行者或車輛駕駛人迅速且確實地通知以高速移動的終端裝置(步行者或車輛)的存在。Thereby, the presence of a terminal device (pedestrian or vehicle) moving at high speed can be promptly and reliably notified to surrounding pedestrians or vehicle drivers.

此外，第7發明係形成為以下構成：前述控制部係根據自身裝置的位置資訊與地圖資訊，判定自身裝置是否位於特定區域內，按照該判定結果，選擇通訊方式。In addition, the seventh invention is configured such that the control unit determines whether the own device is located in a specific area based on the position information and map information of the own device, and selects a communication method according to the determination result.

藉此，即使在特定區域內存在多數終端裝置的情形下，亦可抑制步行者-車輛間通訊(直接通訊)的壅塞。Thereby, even in the case where many terminal devices exist in a specific area, congestion of pedestrian-vehicle communication (direct communication) can be suppressed.

此外，第8發明係形成為以下構成：前述控制部係判定自身裝置是否位於預定條件的十字路口的周邊區域、平交道的周邊區域、及特定車輛的停車場的周邊區域的任一者，作為前述特定區域。In addition, the eighth invention is formed in such a configuration that the control unit determines whether the self-device is located in any one of a surrounding area of a predetermined intersection, a surrounding area of a level crossing, and a surrounding area of a parking lot for a specific vehicle, as the above-mentioned specific area.

藉此，滿足步道與車道因構造物而分離等預定條件的十字路口的周邊區域、為了在平交道暫時停止而車輛慢速駕駛的平交道的周邊區域，由於危險性變低，因此即使將位於如上所示之危險性低的特定區域內的終端裝置形成為間接通訊，亦可避免安全性降低。此外，特定車輛的停車場的周邊區域係形成為間接通訊，路側裝置藉由從步行者的終端裝置所接收到的資訊，可識別是否有欲乘上公車的人，因此可避免欲乘上公車的人被誤認為欲衝出或橫越馬路之危險性高的人的情形。In this way, the surrounding area of the intersection satisfying the predetermined conditions such as the separation of the footpath and the lane due to the structure, and the surrounding area of the level crossing where the vehicle drives at a slow speed in order to temporarily stop on the level crossing are less dangerous, so even if the The terminal devices in the specific area with low risk as shown above form indirect communication, which can also avoid the reduction of safety. In addition, the surrounding area of the parking lot for a specific vehicle is formed as an indirect communication, and the roadside device can identify whether there is a person who wants to get on the bus through the information received from the pedestrian's terminal device, so that it is possible to avoid people who want to get on the bus. Situations where a person is mistaken for a high-risk person who is about to rush off or cross the road.

此外，第9發明係形成為以下構成：前述控制部係若自身裝置位於作為前述特定區域的平交道的周邊區域內時，根據由截路機的控制裝置所取得的截路機的動作資訊，判定截路機是否為禁止通行狀態，按照該判定結果，選擇通訊方式。In addition, the ninth invention is formed in such a configuration that the control unit is configured based on the operation information of the road cutter acquired by the control device of the road cutter when its own device is located in the surrounding area of the level crossing that is the aforementioned specific area, It is judged whether the road interceptor is in the prohibited state, and the communication method is selected according to the judgment result.

藉此，若截路機為禁止通行狀態，平交道的周邊區域由於車輛為了暫時停止而慢行，因此危險性變低，因此即使將位於平交道的周邊區域內的終端裝置形成為間接通訊，亦可避免安全性降低。In this way, if the road cutter is in a prohibited state, the surrounding area of the level crossing is less dangerous because the vehicle slows down to temporarily stop, so even if the terminal device located in the surrounding area of the level crossing is formed as indirect communication, Reduced security can also be avoided.

此外，第10發明係形成為以下構成：前述控制部係若自身裝置位於作為前述特定區域的特定車輛的停車場的周邊區域內時，根據由前述其他終端裝置所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊與地圖資訊，判定前述特定車輛是否已接近至離前述停車場為預定距離以內，按照該判定結果，選擇通訊方式。In addition, the tenth invention is formed in such a configuration that the control unit, if its own device is located in the surrounding area of a parking lot of a specific vehicle as the specific area, based on other vehicles included in the message received by the other terminal device The attribute information, location information and map information of the vehicle are used to determine whether the aforementioned specific vehicle has approached within a predetermined distance from the aforementioned parking lot, and a communication method is selected according to the determination result.

藉此，藉由選擇直接通訊，可對位於停車場周邊的步行者或車輛駕駛人迅速且確實地通知特定車輛正在接近停車場。Thereby, by selecting direct communication, pedestrians or vehicle drivers located around the parking lot can be quickly and surely notified that a specific vehicle is approaching the parking lot.

此外，第11發明係形成為以下構成：前述控制部係根據由前述其他終端裝置所接收到的訊息所包含的通訊方式資訊，判定在自身裝置的周邊是否存在已經正在進行前述直接通訊的其他終端裝置，按照該判定結果，選擇通訊方式。In addition, the eleventh invention has a configuration in which the control unit determines whether or not there is another terminal that is already performing the direct communication in the vicinity of the own device based on the communication method information included in the message received by the other terminal device. The device selects a communication method according to the determination result.

藉此，使先開始直接通訊的終端裝置的直接通訊優先，而限制其他終端裝置的直接通訊，藉此可抑制步行者-車輛間通訊(直接通訊)的壅塞。In this way, the direct communication of the terminal device that starts the direct communication first is given priority, and the direct communication of other terminal devices is restricted, thereby suppressing the congestion of pedestrian-vehicle communication (direct communication).

此外，第12發明係形成為以下構成：前述控制部係根據由前述其他終端裝置所接收到的訊息所包含的位置資訊及屬性資訊，判定在自身裝置的預定距離以內是否存在特定車輛，按照該判定結果，選擇前述直接通訊與前述間接通訊的任一方的通訊方式。In addition, the twelfth invention is formed in such a configuration that the control unit determines whether a specific vehicle exists within a predetermined distance from the own device based on the position information and attribute information included in the message received by the other terminal device, and according to the As a result of the judgment, choose the communication method of any one of the aforementioned direct communication and the aforementioned indirect communication.

藉此，使被設在緊急車輛等特定車輛的終端裝置的直接通訊優先，而限制其他終端裝置的直接通訊，藉此可抑制步行者-車輛間通訊(直接通訊)的壅塞，並且可迅速且確實地對周邊的步行者或車輛駕駛人通知特定車輛的存在。In this way, the direct communication of the terminal device installed in a specific vehicle such as an emergency vehicle is prioritized, and the direct communication of other terminal devices is restricted, thereby suppressing the congestion of the pedestrian-vehicle communication (direct communication), and quickly and quickly The presence of a specific vehicle is reliably notified to nearby pedestrians or vehicle drivers.

此外，第13發明係形成為以下構成：前述控制部係根據由前述其他終端裝置所接收到的訊息所包含的屬性資訊，判別存在於自身裝置的周邊的前述其他終端裝置的類別，根據對應該類別的優先度，選擇前述直接通訊與前述間接通訊的任一方的通訊方式。In addition, the thirteenth invention is formed in such a configuration that the control unit determines the type of the other terminal device existing around its own device based on the attribute information included in the message received by the other terminal device, and based on the corresponding The priority of the category, select the communication method of any party of the aforementioned direct communication and the aforementioned indirect communication.

藉此，使優先度高的終端裝置的直接通訊優先，而限制其他終端裝置的直接通訊，藉此可抑制步行者-車輛間通訊(直接通訊)的壅塞，並且可迅速且確實地對周邊的步行者或車輛駕駛人通知優先度高的終端裝置的存在。In this way, the direct communication of the high-priority terminal device is prioritized, and the direct communication of other terminal devices is restricted, thereby suppressing the congestion of the pedestrian-vehicle communication (direct communication), and quickly and reliably responding to the surrounding A pedestrian or a vehicle driver notifies the presence of a terminal device with a high priority.

此外，第14發明係形成為以下構成：前述控制部係根據關於前述裝置資訊所包含的自身裝置的屬性的屬性資訊，若自身裝置的使用者為特定人物，選擇前述直接通訊與前述間接通訊之雙方的通訊方式。In addition, the fourteenth invention is formed in such a configuration that the control unit selects between the direct communication and the indirect communication if the user of the own device is a specific person based on the attribute information about the attribute of the own device included in the device information. The means of communication between the two parties.

藉此，若自身裝置的使用者為特定人物，由於以直接通訊及間接通訊之雙方的通訊方式傳送訊息，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人早期通知尤其通知緊急性高的特定人物的存在。In this way, if the user of the self-device is a specific person, since the message is transmitted by both direct communication and indirect communication, it is possible to control pedestrians or vehicles driving around while suppressing pedestrian-vehicle communication congestion. Person early notification notifies especially the existence of a specific person whose urgency is high.

此外，第15發明係形成為以下構成：前述控制部係根據關於前述裝置資訊所包含的自身裝置的屬性的屬性資訊，若自身裝置的車輛為特定車輛，選擇前述直接通訊與前述間接通訊之雙方的通訊方式。In addition, the fifteenth invention is formed in such a configuration that the control unit selects both of the direct communication and the indirect communication if the vehicle of the own device is a specific vehicle based on the attribute information about the attribute of the own device included in the device information. way of communication.

藉此，若自身裝置的車輛為特定車輛，由於以直接通訊及間接通訊之雙方的通訊方式傳送訊息，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人早期通知尤其通知緊急性高的特定車輛的存在。In this way, if the vehicle installed by itself is a specific vehicle, since the message is transmitted by the communication method of both direct communication and indirect communication, it is possible to suppress pedestrian-vehicle communication congestion, and at the same time provide information to surrounding pedestrians or vehicle drivers. Early notification notifies in particular the presence of specific vehicles of high urgency.

此外，第16發明係形成為以下構成：前述控制部係根據關於前述裝置資訊所包含的自身裝置的屬性的屬性資訊，若自身裝置的車輛為特定車輛而且前述車輛為緊急性高的狀態，選擇前述直接通訊與前述間接通訊之雙方的通訊方式。In addition, the sixteenth invention is formed in such a configuration that the control unit selects if the vehicle of the self-device is a specific vehicle and the vehicle is in a state of high urgency based on the attribute information about the attributes of the own device included in the device information. The means of communication between the aforementioned direct communication and the aforementioned indirect communication.

藉此，將藉由直接通訊與間接通訊之雙方的通訊方式所為之訊息的送訊，限定在通知緊急性高的情形下，藉此可更進一步抑制步行者-車輛間通訊的壅塞。In this way, the transmission of messages by both the direct communication and the indirect communication is limited to the case of high notification urgency, thereby further suppressing pedestrian-vehicle communication congestion.

此外，第17發明係形成為以下構成：前述控制部係根據關於前述裝置資訊所包含的自身裝置的屬性的屬性資訊，若自身裝置的車輛為特定車輛而且在前述車輛的周邊步行者多時，選擇前述直接通訊與前述間接通訊之雙方的通訊方式。In addition, the seventeenth invention is configured such that the control unit, based on the attribute information about the attributes of the own device included in the device information, when the vehicle of the own device is a specific vehicle and there are many pedestrians around the vehicle, Choose the communication method for both parties of the aforementioned direct communication and the aforementioned indirect communication.

藉此，將藉由直接通訊與間接通訊之雙方的通訊方式所為之訊息的送訊，限定在周邊步行者多的情形下，藉此可更進一步抑制步行者-車輛間通訊的壅塞。In this way, the transmission of messages by both direct communication and indirect communication is limited to the situation where there are many pedestrians around, thereby further suppressing the congestion of pedestrian-vehicle communication.

此外，第18發明係形成為以下構成：一種路側裝置，其係被設置在道路，與終端裝置進行通訊的路側裝置，其具備有：通訊部，其係中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊；及控制部，其係由前述終端裝置收集關於前述終端裝置的狀態及屬性的至少任一者的裝置資訊，根據該裝置資訊，選擇藉由前述終端裝置間所為之直接通訊、與透過自身裝置的間接通訊的任一方或雙方的通訊方式，將包含關於所選擇出的通訊方式的資訊的訊息，由前述通訊部傳送至前述終端裝置。In addition, the eighteenth invention is constituted as follows: a roadside device that is installed on a road and communicates with a terminal device is provided with a communication unit that relays a communication between the terminal devices. A sending and receiving message of a message including location information; and a control unit that collects device information about at least any one of the state and attribute of the aforementioned terminal device from the aforementioned terminal device, and selects between the aforementioned terminal devices based on the device information. For direct communication, indirect communication through its own device, or both parties, a message containing information about the selected communication method will be sent from the aforementioned communication unit to the aforementioned terminal device.

藉此，與第1發明同樣地，由於根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。In this way, similar to the first invention, since either or both of direct communication and indirect communication are selected according to device information, it is possible to suppress pedestrian-vehicle communication congestion, while providing information to surrounding pedestrians or vehicles. The driver of the vehicle promptly and surely notifies the presence of pedestrians or vehicles.

此外，第19發明係形成為以下構成：一種路側裝置，其係被設置在道路，與終端裝置進行通訊的路側裝置，其具備有：第1通訊部，其係以屬於第1通訊方式的道路-車輛間通訊，中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊；第2通訊部，其係以不同於前述第1通訊方式的第2通訊方式，中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊；及控制部，其係當由前述終端裝置接收到包含前述終端裝置的位置資訊的訊息時，按照前述終端裝置的類別，選擇前述第1通訊部、與前述第2通訊部的任一者，將包含前述終端裝置的位置資訊的訊息中繼至其他終端裝置。In addition, the nineteenth invention is formed into the following configuration: a roadside device installed on a road, which communicates with a terminal device, and includes: a first communication unit for a road belonging to a first communication method - Inter-vehicle communication, which relays the transmission and reception of messages including location information between the aforementioned terminal devices; the second communication part, which uses a second communication method different from the aforementioned first communication method, to relay the aforementioned The transmission and reception of messages including positional information between terminal devices; and the control unit, when receiving a message including positional information of the aforementioned terminal device from the aforementioned terminal device, according to the type of the aforementioned terminal device, select the aforementioned first Either one of the first communication unit and the second communication unit relays the message including the location information of the terminal device to the other terminal device.

藉此，按照終端裝置為步行者終端、或車載終端的類別，適當切換由路側裝置送訊至終端裝置的通訊方式，藉此可一邊抑制步行者-車輛間通訊的壅塞，一邊以複數通訊方式由路側裝置對終端裝置，對周邊的步行者或車輛駕駛人迅速且確實地通知該步行者或車輛的存在。In this way, according to whether the terminal device is a pedestrian terminal or a vehicle-mounted terminal, the communication method sent from the roadside device to the terminal device can be appropriately switched, thereby suppressing the congestion of pedestrian-vehicle communication while using multiple communication methods From the roadside device to the terminal device, the presence of the pedestrian or vehicle is quickly and surely notified to the surrounding pedestrian or vehicle driver.

此外，第20發明係形成為以下構成：一種通訊系統，其係具備有：將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的終端裝置；及被設置在道路，與前述終端裝置進行通訊的路側裝置的通訊系統，前述終端裝置係具備有：第1通訊部，其係在與前述其他終端裝置之間，進行藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊；第2通訊部，其係在與前述其他終端裝置之間，進行藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊；及控制部，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇前述直接通訊與前述間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置。In addition, the twentieth invention is constituted as follows: a communication system including: a terminal device that transmits a message including positional information of its own device to another terminal device through pedestrian-vehicle communication; The road is a communication system of a roadside device that communicates with the aforementioned terminal device. The aforementioned terminal device is equipped with: a first communication unit that communicates with the aforementioned other terminal devices through the aforementioned pedestrians that belong to the first communication method. - Direct communication by means of inter-vehicle communication; the second communication unit, which performs indirect communication with the aforementioned other terminal devices through the second communication method through the roadside device installed on the road; and the control unit, which Selecting either or both of the aforementioned direct communication and the aforementioned indirect communication based on the device information about at least any one of the status and attributes of the own device, and using the selected communication mode to transmit the aforementioned message to the aforementioned other terminal device.

藉此，與第1發明同樣地，根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。Thereby, as in the first invention, either one or both of the direct communication and the indirect communication can be selected according to the device information, so it is possible to control pedestrians or vehicles in the surrounding area while suppressing pedestrian-vehicle communication congestion. The driver promptly and reliably notifies the presence of pedestrians or vehicles.

此外，第21發明係形成為以下構成：一種通訊方法，其係由終端裝置，將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的通訊方法，其根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊、與藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置。In addition, the twenty-first invention is constituted as follows: a communication method in which a terminal device transmits a message including location information of its own device to another terminal device through pedestrian-to-vehicle communication, which is based on the The device information of at least any one of the status and attributes of the self-device is selected from the direct communication through the aforementioned pedestrian-vehicle communication belonging to the first communication method, and the second communication through the roadside device installed on the road. Either party or both parties of the indirect communication shall transmit the aforementioned information to the aforementioned other terminal devices in the selected communication mode.

藉此，與第1發明同樣地，根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。Thereby, as in the first invention, either one or both of the direct communication and the indirect communication can be selected according to the device information, so it is possible to control pedestrians or vehicles in the surrounding area while suppressing pedestrian-vehicle communication congestion. The driver promptly and reliably notifies the presence of pedestrians or vehicles.

此外，第22發明係形成為以下構成：一種通訊方法，其係被設置在道路，與終端裝置進行通訊的路側裝置的通訊方法，其中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊，根據由前述終端裝置所收集到的關於前述終端裝置的狀態及屬性的至少任一者的裝置資訊，選擇藉由前述終端裝置間所為之直接通訊、與透過自身裝置的間接通訊的任一方或雙方的通訊方式，將包含關於所選擇出的通訊方式的資訊的訊息傳送至前述終端裝置。In addition, the twenty-second invention is constituted as follows: a communication method of a roadside device installed on a road to communicate with a terminal device, wherein a message including positional information carried out between the terminal devices is relayed. To send and receive messages, according to the device information collected by the aforementioned terminal devices on at least any one of the status and attributes of the aforementioned terminal devices, choose between direct communication between the aforementioned terminal devices and indirect communication through its own device The communication method of either party or both parties transmits a message containing information about the selected communication method to the aforementioned terminal device.

藉此，與第1發明同樣地，根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。Thereby, as in the first invention, either one or both of the direct communication and the indirect communication can be selected according to the device information, so it is possible to control pedestrians or vehicles in the surrounding area while suppressing pedestrian-vehicle communication congestion. The driver promptly and reliably notifies the presence of pedestrians or vehicles.

此外，第23發明係形成為以下構成：一種通訊方法，其係被設置在道路，進行在終端裝置間所進行之包含位置資訊的訊息的收送訊的中繼的路側裝置的通訊方法，其當由前述終端裝置接收到包含前述終端裝置的位置資訊的訊息時，按照前述終端裝置的類別，選擇屬於第1通訊方式的道路-車輛間通訊、或不同於前述第1通訊方式的第2通訊方式的任一者，將包含前述終端裝置的位置資訊的訊息中繼至其他終端裝置。In addition, the twenty-third invention is constituted as follows: a communication method of a roadside device installed on a road for relaying transmission and reception of messages including positional information between terminal devices, wherein When the terminal device receives a message including the location information of the terminal device, according to the type of the terminal device, select the road-vehicle communication belonging to the first communication method, or the second communication different from the first communication method. In any of the methods, the message including the location information of the aforementioned terminal device is relayed to another terminal device.

藉此，與第1發明同樣地，根據裝置資訊，選擇直接通訊與間接通訊的任一方或雙方的通訊方式，因此可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在。Thereby, as in the first invention, either one or both of the direct communication and the indirect communication can be selected according to the device information, so it is possible to control pedestrians or vehicles in the surrounding area while suppressing pedestrian-vehicle communication congestion. The driver promptly and reliably notifies the presence of pedestrians or vehicles.

以下一邊參照圖示，一邊說明本發明之實施形態。Embodiments of the present invention will be described below with reference to the drawings.

(第1實施形態) 　　圖1係第1實施形態之通訊系統的全體構成圖。(First Embodiment) Fig. 1 is an overall configuration diagram of a communication system according to a first embodiment.

該通訊系統係具備有：步行者所攜帶的步行者終端1(終端裝置)及攜帶式資訊終端2；被裝載在車輛的車載終端3(終端裝置)及汽車導航裝置4；及路側機5(路側裝置)，在步行者終端1與車載終端3之間進行步行者-車輛間通訊，此外，透過路側機5，在步行者終端1與車載終端3之間，進行WiFi(註冊商標)等無線LAN通訊。This communication system is equipped with: pedestrian terminal 1 (terminal device) and portable information terminal 2 that the pedestrian carries; Car terminal 3 (terminal device) and car navigation device 4 that are loaded on the vehicle; And roadside machine 5 ( roadside device) to perform pedestrian-vehicle communication between the pedestrian terminal 1 and the vehicle-mounted terminal 3. In addition, through the roadside device 5, wireless communication such as WiFi (registered trademark) is performed between the pedestrian terminal 1 and the vehicle-mounted terminal 3. LAN communication.

在步行者-車輛間通訊中，將包含位置資訊等所需資訊的訊息，在步行者終端1與車載終端3之間進行傳送接收。在該步行者-車輛間通訊中，藉由ITS無線通訊，亦即利用在利用ITS(Intelligent Transport System：高度道路交通系統)的安全駕駛支援無線系統中所採用的頻帶(例如700MHz帶或5.8GHz帶)的無線通訊，來傳送接收訊息。In pedestrian-vehicle communication, messages including required information such as position information are transmitted and received between the pedestrian terminal 1 and the vehicle-mounted terminal 3 . In this pedestrian-vehicle communication, by ITS wireless communication, that is, using the frequency band (for example, 700MHz band or 5.8GHz Band) wireless communication to send and receive messages.

在無線LAN通訊中，路側機5成為母機(存取點)，步行者終端1及車載終端3成為子機，路側機5中繼在步行者終端1與車載終端3之間的訊息的收送訊。其中，訊息的形式及內容在步行者-車輛間通訊與無線LAN通訊為共通。In wireless LAN communication, the roadside unit 5 serves as the master unit (access point), the pedestrian terminal 1 and the vehicle-mounted terminal 3 serve as slave units, and the roadside unit 5 relays the sending and receiving of messages between the pedestrian terminal 1 and the vehicle-mounted terminal 3 News. Among them, the form and content of the message are common to the pedestrian-vehicle communication and the wireless LAN communication.

步行者終端1係與攜帶式資訊終端2相連接。該攜帶式資訊終端2係智慧型手機、行動電話、平板終端、穿戴式終端等。在步行者終端1中，係在與車載終端3之間傳送接收訊息，藉此若判定必須進行注意喚起時，對攜帶式資訊終端2輸出注意喚起的指示，在攜帶式資訊終端2中，係按照來自步行者終端1的指示，進行對乘坐人員的注意喚起的輸出動作(例如聲音輸出或振動等)。The pedestrian terminal 1 is connected with the portable information terminal 2 . The portable information terminal 2 is a smart phone, a mobile phone, a tablet terminal, a wearable terminal, and the like. In the pedestrian terminal 1, the system transmits and receives messages with the vehicle-mounted terminal 3, so that if it is determined that attention must be aroused, the portable information terminal 2 outputs an instruction to arouse attention. In the portable information terminal 2, the system In accordance with instructions from the pedestrian terminal 1, an output operation (for example, sound output, vibration, etc.) to call the attention of the occupant is performed.

車載終端3係與汽車導航裝置4相連接。該汽車導航裝置4係對駕駛人進行路徑導引者。在車載終端3中，在與步行者終端1之間傳送接收訊息，藉此若判定必須進行注意喚起時，對汽車導航裝置4輸出注意喚起的指示，在汽車導航裝置4中，係按照來自車載終端3的指示，進行駕駛人注意喚起的輸出動作(例如聲音輸出或畫面顯示等)。The vehicle-mounted terminal 3 is connected with the car navigation device 4 . The car navigation device 4 guides the route of the driver. In the vehicle-mounted terminal 3, transmit and receive messages with the pedestrian terminal 1, if it is determined that the attention must be aroused, the car navigation device 4 outputs an instruction to arouse the attention. According to the instruction of the terminal 3, an output operation (for example, sound output or screen display, etc.) to call the driver's attention is performed.

其中，步行者終端1亦可形成為被內置在攜帶式資訊終端2者，車載終端3亦可形成為被內置在汽車導航裝置4者。Here, the pedestrian terminal 1 may be built in the portable information terminal 2 , and the vehicle-mounted terminal 3 may be built in the car navigation device 4 .

此外，步行者終端1自身亦可形成為進行注意喚起的輸出動作者。此外，車載終端3自身亦可形成為進行注意喚起的輸出動作者。此外，亦可車載終端3與駕駛人所持有的攜帶式資訊終端2進行通訊，使攜帶式資訊終端2進行對駕駛人的注意喚起的輸出動作。In addition, the pedestrian terminal 1 itself may serve as an output agent for calling attention. In addition, the in-vehicle terminal 3 itself may be used as an output operator for calling attention. In addition, the vehicle-mounted terminal 3 may also communicate with the portable information terminal 2 held by the driver, so that the portable information terminal 2 performs an output action to call the driver's attention.

路側機5係被設置在十字路口的訊號機的近旁等步行者或車輛多、且容易發生在步行者終端1或車載終端3的步行者-車輛間通訊壅塞的地點。The roadside unit 5 is installed near a signal machine at an intersection where there are many pedestrians or vehicles, and pedestrian-vehicle communication congestion between the pedestrian terminal 1 or the vehicle-mounted terminal 3 is likely to occur.

接著，說明第1實施形態之步行者終端1及車載終端3中的訊息的送訊狀況。圖2係顯示步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。Next, the transmission state of the message in the pedestrian terminal 1 and the vehicle-mounted terminal 3 of the first embodiment will be described. FIG. 2 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 .

在本實施形態中，在步行者終端1及車載終端3中，以用以傳送訊息的通訊方式而言，可選擇：藉由步行者-車輛間通訊，在步行者終端1與車載終端3之間直接傳送接收訊息的直接通訊；及藉由透過路側機5的無線LAN通訊，在步行者終端1與車載終端3之間傳送接收訊息的間接通訊的任一者。In this embodiment, in the pedestrian terminal 1 and the vehicle-mounted terminal 3, in terms of the communication method used to transmit messages, it is possible to choose: through the pedestrian-vehicle communication, between the pedestrian terminal 1 and the vehicle-mounted terminal 3 Either of direct communication in which information is directly transmitted and received between them; and indirect communication in which information is transmitted and received between pedestrian terminal 1 and vehicle-mounted terminal 3 by wireless LAN communication through roadside device 5 .

其中，在ITS中，係以預定間隔(例如100ms)定期傳送訊息，無論直接通訊及間接通訊的任何通訊方式，訊息的送訊時序均為相同。Among them, in ITS, messages are sent regularly at predetermined intervals (for example, 100 ms), and regardless of any communication method of direct communication or indirect communication, the timing of sending messages is the same.

在此，若步行者終端1或車載終端3位於路側機5的通訊範圍外，由於無法進行透過路側機5的間接通訊，因此選擇直接通訊。另一方面，若步行者終端1或車載終端3進入至路側機5的通訊範圍內而可進行間接通訊時，由直接通訊被切換成間接通訊。Here, if the pedestrian terminal 1 or the vehicle-mounted terminal 3 is located outside the communication range of the roadside device 5, since the indirect communication through the roadside device 5 cannot be performed, direct communication is selected. On the other hand, if the pedestrian terminal 1 or the vehicle-mounted terminal 3 enters the communication range of the roadside device 5 and can perform indirect communication, the direct communication is switched to the indirect communication.

此外，在本實施形態中，在步行者終端1中，按照關於步行者的狀態的裝置資訊，選擇通訊方式(直接通訊或間接通訊)。尤其在本實施形態中，係判定步行者是否為危險狀態，按照該判定結果，選擇通訊方式。In addition, in this embodiment, in the pedestrian terminal 1, a communication method (direct communication or indirect communication) is selected according to the device information on the state of the pedestrian. In particular, in this embodiment, it is judged whether the pedestrian is in a dangerous state, and the communication method is selected according to the judgment result.

亦即，如圖2(A-1)所示，若步行者非為危險狀態，選擇間接通訊，藉由無線LAN通訊，透過路側機5，訊息由步行者終端1被傳送至車載終端3。另一方面，如圖2(A-2)所示，若步行者成為危險狀態，由間接通訊被切換成直接通訊，且藉由步行者-車輛間通訊，訊息由步行者終端1被直接傳送至車載終端3。That is, as shown in FIG. 2(A-1), if the pedestrian is not in a dangerous state, select indirect communication, and the information is transmitted from the pedestrian terminal 1 to the vehicle terminal 3 through the roadside device 5 through wireless LAN communication. On the other hand, as shown in Figure 2(A-2), if the pedestrian becomes dangerous, the indirect communication is switched to the direct communication, and the message is directly transmitted from the pedestrian terminal 1 through the pedestrian-vehicle communication To the vehicle terminal 3.

在此，在本實施形態中，若偵測到衝出或跌倒等步行者的危險行動，判定步行者為危險狀態。Here, in this embodiment, if the dangerous behavior of the pedestrian such as rushing or falling is detected, it is determined that the pedestrian is in a dangerous state.

此外，在本實施形態中，若步行者進入至危險區域，判定步行者為危險狀態。其中，危險區域係指例如不具將步道與車道分離的防護構造物的步道中靠近車道的區域、或事故多發的危險十字路口的周邊區域等危險性高的任意區域，設為被預先設定在地圖資訊者。In addition, in this embodiment, if a pedestrian enters a dangerous area, it is determined that the pedestrian is in a dangerous state. Among them, the dangerous area refers to an arbitrary area with high risk such as an area close to the roadway in the footway without a protective structure separating the footway from the roadway, or the surrounding area of a dangerous intersection where accidents frequently occur, and is set in advance on the map. informant.

此外，在本實施形態中，步行者終端1的持有人乘坐腳踏車或摩托車等，若步行者以預定值(被視為一般步行的速度的上限值)以上的速度移動，判定步行者為危險狀態。In addition, in this embodiment, if the holder of the pedestrian terminal 1 rides a bicycle or a motorcycle, etc., if the pedestrian moves at a speed above a predetermined value (regarded as the upper limit of the normal walking speed), it is determined that the pedestrian into a dangerous state.

此外，在本實施形態中，若步行者為小孩、高齡者、失智症患者等採取危險行動的可能性高的人物，判定步行者為危險狀態。In addition, in the present embodiment, if the pedestrian is a child, an elderly person, a person with dementia, etc. who are likely to take dangerous actions, it is determined that the pedestrian is in a dangerous state.

此外，在本實施形態中，在車載終端3中，按照車輛的狀態，選擇通訊方式(直接通訊或間接通訊)。尤其在本實施形態中，判定車輛是否為危險狀態，按照該判定結果，選擇通訊方式。In addition, in this embodiment, in the vehicle-mounted terminal 3, a communication method (direct communication or indirect communication) is selected according to the state of the vehicle. In particular, in this embodiment, it is judged whether or not the vehicle is in a dangerous state, and a communication method is selected according to the judgment result.

亦即，如圖2(B-2)所示，若車輛非為危險狀態，選擇間接通訊，藉由無線LAN通訊，透過路側機5，訊息由車載終端3被傳送至步行者終端1。另一方面，如圖2(B-1)所示，若車輛成為危險狀態，由間接通訊被切換成直接通訊，藉由步行者-車輛間通訊，訊息由車載終端3被直接傳送至步行者終端1。That is, as shown in FIG. 2 (B-2), if the vehicle is not in a dangerous state, select indirect communication, and through wireless LAN communication, the information is transmitted from the vehicle terminal 3 to the pedestrian terminal 1 through the roadside device 5 . On the other hand, as shown in Figure 2(B-1), if the vehicle becomes in a dangerous state, the indirect communication is switched to direct communication, and the message is directly transmitted from the vehicle terminal 3 to the pedestrian through the pedestrian-vehicle communication. Terminal 1.

在此，在本實施形態中，若車輛以預定值(被視為一般行駛的速度的上限值)以上的速度移動，判定車輛為危險狀態。Here, in the present embodiment, when the vehicle moves at a speed equal to or higher than a predetermined value (the upper limit of the speed regarded as normal traveling), it is determined that the vehicle is in a dangerous state.

此外，在本實施形態中，若車輛已進行急加速或急轉向或蛇行等危險行駛，判定車輛為危險狀態。In addition, in the present embodiment, if the vehicle has undergone dangerous driving such as rapid acceleration, sharp steering, or snaking, it is determined that the vehicle is in a dangerous state.

接著，說明第1實施形態之步行者終端1的概略構成。圖3係顯示步行者終端1的概略構成的區塊圖。Next, a schematic configuration of the pedestrian terminal 1 according to the first embodiment will be described. FIG. 3 is a block diagram showing a schematic configuration of the pedestrian terminal 1 .

步行者終端1係具備有：測位部11、狀態檢測部12、步行者-車輛間通訊部13(第1通訊部)、無線LAN通訊部14(第2通訊部)、輸出入部15、控制部16、及記憶部17。The pedestrian terminal 1 is equipped with: a positioning unit 11, a state detection unit 12, a pedestrian-vehicle communication unit 13 (first communication unit), a wireless LAN communication unit 14 (second communication unit), an input/output unit 15, and a control unit. 16, and memory unit 17.

測位部11係藉由GPS(Global Positioning System，全球定位系統)，QZSS(Quasi-Zenith Satellite System，準天頂衛星系統)等衛星測位系統，測定自身裝置的位置，且取得自身裝置的位置資訊。其中，亦可利用攜帶式資訊終端2所具有的測位功能，取得自身裝置的位置資訊。The positioning unit 11 uses GPS (Global Positioning System, Global Positioning System), QZSS (Quasi-Zenith Satellite System, Quasi-Zenith Satellite System) and other satellite positioning systems to measure the position of its own device and obtain the position information of its own device. Wherein, the location information of the portable information terminal 2 can also be used to obtain the location information of its own device.

狀態檢測部12係檢測自身裝置(持有自身裝置的步行者)的狀態者，具備有：加速度感測器25、及方位感測器26。The state detection unit 12 detects the state of the own device (pedestrian holding the own device), and includes an acceleration sensor 25 and an orientation sensor 26 .

步行者-車輛間通訊部13係藉由步行者-車輛間通訊，將訊息以廣播傳送至車載終端3，此外，接收由車載終端3被傳送的訊息。在該步行者-車輛間通訊中，進行使用在利用ITS的安全駕駛支援無線系統中被採用的頻帶的無線通訊。The pedestrian-vehicle communication unit 13 broadcasts a message to the vehicle-mounted terminal 3 through the pedestrian-vehicle communication, and receives the message transmitted from the vehicle-mounted terminal 3 . In this inter-pedestrian-vehicle communication, wireless communication using a frequency band used in a safe driving support wireless system using ITS is performed.

無線LAN通訊部14係藉由WiFi(註冊商標)等無線LAN通訊，透過路側機5，將訊息傳送至車載終端3，此外，接收由車載終端3透過路側機5所被傳送的訊息。The wireless LAN communication unit 14 transmits information to the vehicle-mounted terminal 3 through the roadside device 5 through wireless LAN communication such as WiFi (registered trademark), and receives information transmitted from the vehicle-mounted terminal 3 through the roadside device 5 .

輸出入部15係在與攜帶式資訊終端2之間進行資訊的輸出入。根據由該輸出入部15被輸出的資訊，在攜帶式資訊終端2中，進行對步行者喚起注意的動作。The input/output unit 15 performs input/output of information with the portable information terminal 2 . Based on the information output from the input/output unit 15, the portable information terminal 2 performs an action to draw the attention of pedestrians.

記憶部17係記憶地圖資訊、或以構成控制部16的處理器所被執行的程式等。其中，地圖資訊亦可由攜帶式資訊終端2取得。The storage unit 17 stores map information, programs executed by the processor constituting the control unit 16 , and the like. Wherein, the map information can also be obtained by the portable information terminal 2 .

控制部16係具備有：訊息控制部21、通訊方式選擇部22、衝撞判定部23、及注意喚起控制部24。該控制部16係由處理器所構成，控制部16的各部係藉由以處理器執行被記憶在記憶部17的程式來實現。The control unit 16 includes a message control unit 21 , a communication method selection unit 22 , a collision determination unit 23 , and an attention arousing control unit 24 . The control unit 16 is constituted by a processor, and each unit of the control unit 16 is realized by executing the program stored in the memory unit 17 by the processor.

訊息控制部21係控制終端ID或位置資訊等包含步行者資訊的訊息的送訊。此時，按照通訊方式選擇部22的選擇結果，由步行者-車輛間通訊部13或無線LAN通訊部14傳送訊息。The message control unit 21 controls the transmission of messages including pedestrian information such as terminal IDs and location information. At this time, the message is transmitted by the pedestrian-vehicle communication unit 13 or the wireless LAN communication unit 14 according to the selection result of the communication method selection unit 22 .

通訊方式選擇部22係選擇將訊息傳送至車載終端3時的通訊方式(直接通訊或間接通訊)。The communication method selection unit 22 selects the communication method (direct communication or indirect communication) when transmitting the message to the vehicle-mounted terminal 3 .

在該通訊方式選擇部22中，首先，根據由路側機5以廣播被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內，亦即是否可進行間接通訊，若自身裝置不在路側機5的通訊範圍內，選擇直接通訊。In this communication mode selection part 22, first, according to the beacon signal transmitted by broadcasting by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5, that is, whether indirect communication is possible, if the own device is not in Within the communication range of the roadside machine 5, select direct communication.

另一方面，若自身裝置在路側機5的通訊範圍內，取得狀態檢測部12的檢測結果等表示自身裝置(自身步行者)是否為危險狀態的狀態資訊，根據該狀態資訊，判定自身步行者是否為危險狀態，按照該判定結果，選擇通訊方式。亦即，若自身步行者為危險狀態，選擇直接通訊，若自身步行者非為危險狀態，選擇間接通訊。On the other hand, if the self-device is within the communication range of the roadside machine 5, the state information indicating whether the self-device (self-pedestrian) is in a dangerous state, such as the detection result of the state detection unit 12, is obtained, and the self-pedestrian is determined according to the state information. Whether it is a dangerous state or not, according to the judgment result, select the communication method. That is, if the self-walker is in a dangerous state, direct communication is selected, and if the self-walker is not in a dangerous state, indirect communication is selected.

在此，在本實施形態中，根據狀態檢測部12的檢測結果，若偵測到自身步行者已採取衝出或跌倒等危險行動時，判定自身步行者為危險狀態。具體而言，若由加速度感測器25的檢測結果，偵測到自身步行者突然開始跑(急加速)，此外，由方位感測器26的檢測結果，偵測到自身步行者突然變更方向(急回轉)時，判定為衝出。此外，若由加速度感測器25的檢測結果，偵測到突然朝下動作，判定為跌倒。Here, in this embodiment, based on the detection result of the state detection unit 12, if it is detected that the own pedestrian has taken dangerous actions such as rushing out or falling down, it is determined that the own pedestrian is in a dangerous state. Specifically, if the detection result of the acceleration sensor 25 detects that the pedestrian suddenly starts to run (quick acceleration), and in addition, the detection result of the orientation sensor 26 detects that the pedestrian suddenly changes direction. (sudden turning), it is judged as rushing out. In addition, if a sudden downward movement is detected from the detection result of the acceleration sensor 25, it is determined to be a fall.

此外，在本實施形態中，根據在測位部11所取得的自身步行者的現在的位置資訊、及被記憶在記憶部17的地圖資訊，若自身步行者位於預定的危險區域內，判定步行者為危險狀態。In addition, in this embodiment, based on the current position information of the own pedestrian acquired by the positioning unit 11 and the map information stored in the memory unit 17, if the own pedestrian is in a predetermined dangerous area, it is determined that the pedestrian is into a dangerous state.

此外，在本實施形態中，由在測位部11所取得的自身步行者的位置資訊的推移狀況，取得步行者的移動速度，若自身步行者以預定值(被視為一般步行的速度的上限值)以上的速度移動，判定步行者為危險狀態。In addition, in this embodiment, the moving speed of the pedestrian is obtained from the transition state of the position information of the pedestrian acquired by the positioning unit 11. limit) above the speed, it is determined that the pedestrian is in a dangerous state.

此外，在本實施形態中，根據自身步行者的屬性資訊，若自身步行者為小孩、高齡者、失智症患者等採取危險行動的可能性高的人物，判定步行者為危險狀態。其中，是否為採取危險行動的可能性高的人物的資訊係若作為步行者的屬性資訊而預先記憶在記憶部17即可。In addition, in this embodiment, based on the attribute information of the pedestrian, if the pedestrian is a child, an elderly person, a person with dementia, etc. who are likely to take dangerous actions, it is determined that the pedestrian is in a dangerous state. Among them, the information on whether or not the person is a person with a high possibility of taking a dangerous action may be stored in the memory unit 17 in advance as the attribute information of the pedestrian.

衝撞判定部23係根據在測位部11所取得的自身步行者的位置資訊、及由車載終端3所接收到的訊息所包含的車輛的位置資訊，判定是否有車輛衝撞到自身步行者的危險性。The collision determination unit 23 determines whether there is a risk of the vehicle colliding with the pedestrian on the basis of the position information of the pedestrian obtained by the positioning unit 11 and the vehicle position information contained in the message received by the vehicle-mounted terminal 3. .

注意喚起控制部24係按照衝撞判定部23的判定結果，實施對自身步行者的注意喚起。在本實施形態中，係透過輸出入部15，對攜帶式資訊終端2輸出注意喚起的指示，按照該指示，在攜帶式資訊終端2中，進行對步行者的注意喚起的輸出動作(例如聲音輸出或振動等)。The attention calling control unit 24 calls the attention of the own pedestrian according to the determination result of the collision determination unit 23 . In the present embodiment, through the input/output unit 15, an instruction to arouse the attention is output to the portable information terminal 2, and according to the instruction, in the portable information terminal 2, an output action (for example, a sound output) to arouse the pedestrian's attention is carried out. or vibration, etc.).

接著，說明第1實施形態之車載終端3的概略構成。圖4係顯示車載終端3的概略構成的區塊圖。Next, a schematic configuration of the vehicle-mounted terminal 3 of the first embodiment will be described. FIG. 4 is a block diagram showing a schematic configuration of the vehicle-mounted terminal 3 .

車載終端3係具備有：測位部31、狀態檢測部32、步行者-車輛間通訊部33(第1通訊部)、無線LAN通訊部34(第2通訊部)、輸出入部35、控制部36、及記憶部37。The vehicle-mounted terminal 3 is equipped with: a positioning unit 31, a state detection unit 32, a pedestrian-vehicle communication unit 33 (first communication unit), a wireless LAN communication unit 34 (second communication unit), an input/output unit 35, and a control unit 36 , and memory unit 37.

測位部31係藉由GPS、QZSS等衛星測位系統，測定自身裝置的位置，而取得自身裝置的位置資訊。其中，亦可利用汽車導航裝置4所具有的測位功能，來取得自身裝置的位置資訊。The positioning unit 31 measures the position of the own device by satellite positioning systems such as GPS and QZSS, and obtains the position information of the own device. Among them, the location information of the car navigation device 4 can also be obtained by using the positioning function of the car navigation device 4 .

狀態檢測部32係檢測自身裝置(裝載有自身裝置的車輛)的狀態者，具備有：加速度感測器45、及方位感測器46。The state detection unit 32 detects the state of its own device (the vehicle on which the own device is mounted), and includes an acceleration sensor 45 and an orientation sensor 46 .

步行者-車輛間通訊部33係藉由步行者-車輛間通訊，將訊息以廣播傳送至步行者終端1，此外，接收由步行者終端1被傳送的訊息。在該步行者-車輛間通訊中，進行使用在利用ITS的安全駕駛支援無線系統中所採用的頻帶的無線通訊。The pedestrian-vehicle communication unit 33 broadcasts a message to the pedestrian terminal 1 through the pedestrian-vehicle communication, and receives the message transmitted from the pedestrian terminal 1 . In this inter-pedestrian-vehicle communication, wireless communication using a frequency band used in a safe driving support wireless system using ITS is performed.

無線LAN通訊部34係藉由WiFi(註冊商標)等無線LAN通訊，將訊息透過路側機5而傳送至步行者終端1，此外，接收由步行者終端1透過路側機5所被傳送的訊息。The wireless LAN communication unit 34 transmits information to the pedestrian terminal 1 through the roadside device 5 through wireless LAN communication such as WiFi (registered trademark), and receives information transmitted from the pedestrian terminal 1 through the roadside device 5 .

輸出入部35係在與汽車導航裝置4之間進行資訊的輸出入。根據由該輸出入部35被輸出的資訊，在汽車導航裝置4中，進行對駕駛人喚起注意的動作。The input/output unit 35 performs input/output of information with the car navigation device 4 . Based on the information output from the input/output unit 35 , the car navigation device 4 performs an action to call the driver's attention.

記憶部37係記憶地圖資訊、或以構成控制部36的處理器予以執行的程式。其中，地圖資訊亦可由汽車導航裝置4取得。The storage unit 37 stores map information or programs executed by the processor constituting the control unit 36 . Wherein, the map information can also be obtained by the car navigation device 4 .

控制部36係具備有：訊息控制部41、通訊方式選擇部42、衝撞判定部43、及注意喚起控制部44。該控制部36係由處理器所構成，控制部36的各部係藉由以處理器執行被記憶在記憶部37的程式來實現。The control unit 36 includes a message control unit 41 , a communication method selection unit 42 , a collision determination unit 43 , and an attention arousing control unit 44 . The control unit 36 is constituted by a processor, and each unit of the control unit 36 is realized by executing the program stored in the memory unit 37 by the processor.

訊息控制部41係控制包含終端ID或位置資訊等車輛資訊的訊息的送訊。此時，按照通訊方式選擇部42的選擇結果，由步行者-車輛間通訊部33或無線LAN通訊部34傳送訊息。The message control unit 41 controls transmission of messages including vehicle information such as terminal ID and location information. At this time, the message is transmitted by the pedestrian-vehicle communication unit 33 or the wireless LAN communication unit 34 according to the selection result of the communication method selection unit 42 .

通訊方式選擇部42係選擇將訊息傳送至步行者終端1時的通訊方式(直接通訊或間接通訊)。The communication mode selection unit 42 selects a communication mode (direct communication or indirect communication) when transmitting a message to the pedestrian terminal 1 .

在該通訊方式選擇部42中，首先，根據由路側機5以廣播被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內，亦即，是否可進行間接通訊，若自身裝置不在路側機5的通訊範圍內，選擇直接通訊。In this communication mode selection unit 42, first, according to the beacon signal transmitted by broadcasting by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5, that is, whether indirect communication is possible, if the own device Not within the communication range of the roadside machine 5, select direct communication.

另一方面，若自身裝置在路側機5的通訊範圍內，取得狀態檢測部32的檢測結果等表示自身裝置(自身車輛)是否為危險狀態的狀態資訊，根據該狀態資訊，判定自身車輛是否為危險狀態，按照該判定結果，選擇通訊方式。亦即，若自身車輛為危險狀態，選擇直接通訊，若自身車輛非為危險狀態，選擇間接通訊。On the other hand, if the self-device is within the communication range of the roadside device 5, the state information indicating whether the self-device (self-vehicle) is in a dangerous state, such as the detection result of the state detection unit 32, is obtained, and based on the state information, it is determined whether the self-vehicle is in a dangerous state. Dangerous state, according to the judgment result, select the communication method. That is, if the self-vehicle is in a dangerous state, direct communication is selected, and if the self-vehicle is not in a dangerous state, indirect communication is selected.

在此，在本實施形態中，由在測位部31所取得的自身車輛的位置資訊的推移狀況取得自身車輛的移動速度，若自身車輛以預定值(被視為一般行駛的速度的上限值)以上的速度移動時，判定自身車輛為危險狀態。Here, in this embodiment, the moving speed of the own vehicle is obtained from the transition state of the position information of the own vehicle acquired by the positioning unit 31. ) and above, it is determined that the own vehicle is in a dangerous state.

此外，在本實施形態中，根據狀態檢測部32的檢測結果，若偵測到自身車輛已進行急加速或急回轉(急轉向)或蛇行等危險行駛時，判定自身車輛為危險狀態。具體而言，由加速度感測器45的檢測結果，偵測自身車輛的急加速，此外，由方位感測器46的檢測結果，偵測自身車輛的急回轉或蛇行。In addition, in this embodiment, based on the detection result of the state detection unit 32, if the self-vehicle is detected to be in dangerous driving such as rapid acceleration, sharp turn (sharp steering), or snaking, it is determined that the self-vehicle is in a dangerous state. Specifically, the rapid acceleration of the own vehicle is detected from the detection result of the acceleration sensor 45 , and the sudden turn or snaking of the own vehicle is detected from the detection result of the orientation sensor 46 .

衝撞判定部43係根據在測位部31所取得的自身車輛的位置資訊、及由步行者終端1所接收到的訊息所包含的步行者的位置資訊，判定是否有自身車輛衝撞到步行者的危險性。The collision determination unit 43 judges whether there is a danger of the own vehicle colliding with the pedestrian based on the position information of the own vehicle acquired by the positioning unit 31 and the position information of the pedestrian included in the message received by the pedestrian terminal 1. sex.

注意喚起控制部44係按照衝撞判定部43的判定結果，進行對自身車輛的駕駛人的注意喚起。在本實施形態中，透過輸出入部35，將注意喚起的指示輸出至汽車導航裝置4，按照該指示，在汽車導航裝置4中，進行對駕駛人的注意喚起的輸出動作(例如聲音輸出或畫面顯示等)。The attention calling control unit 44 calls the attention of the driver of the own vehicle according to the determination result of the collision determination unit 43 . In the present embodiment, through the input/output unit 35, the instruction of arousing attention is output to the car navigation device 4, and according to the instruction, in the car navigation device 4, the output action (for example, sound output or picture output) of arousing the driver's attention is carried out. display, etc.).

接著，說明第1實施形態之路側機5的概略構成。圖5係顯示路側機5的概略構成的區塊圖。Next, a schematic configuration of the roadside device 5 according to the first embodiment will be described. FIG. 5 is a block diagram showing a schematic configuration of the roadside device 5 .

路側機5係具備有：無線LAN通訊部51、控制部52、及記憶部53。The roadside device 5 includes a wireless LAN communication unit 51 , a control unit 52 , and a memory unit 53 .

無線LAN通訊部51係藉由WiFi(註冊商標)等無線LAN通訊，接收由步行者終端1或車載終端3被傳送的訊息，此外，將所接收到的訊息以廣播傳送至步行者終端1或車載終端3。The wireless LAN communication part 51 receives the message transmitted by the pedestrian terminal 1 or the vehicle terminal 3 through wireless LAN communication such as WiFi (registered trademark), and also broadcasts the received message to the pedestrian terminal 1 or the vehicle terminal 3. Vehicle terminal 3.

記憶部53係記憶在構成控制部52的處理器所執行的程式等。The storage unit 53 stores programs and the like executed by the processor constituting the control unit 52 .

控制部52係具備有：訊息控制部61。該控制部52係由處理器所構成，訊息控制部61係藉由以處理器執行被記憶在記憶部53的程式來實現。The control unit 52 includes a message control unit 61 . The control unit 52 is constituted by a processor, and the message control unit 61 is realized by executing the program stored in the memory unit 53 by the processor.

訊息控制部61係若在無線LAN通訊部51接收由步行者終端1或車載終端3被傳送的訊息，將該訊息由無線LAN通訊部51傳送至步行者終端1或車載終端3。The message control unit 61 transmits the message from the wireless LAN communication unit 51 to the pedestrian terminal 1 or the vehicle terminal 3 when the wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the vehicle terminal 3 .

但是，路側機5係若接收由步行者終端1或車載終端3被傳送的訊息，每次將所接收到的訊息進行傳送即可，但是亦可將所接收到的複數訊息總括進行傳送。亦即，將所接收到的複數訊息的各個所包含的步行者資訊或車輛資訊儲存在1個訊息來進行傳送。However, if the roadside device 5 receives the message transmitted from the pedestrian terminal 1 or the vehicle terminal 3, it only needs to transmit the received message each time, but it is also possible to collectively transmit the received plural messages. That is, the pedestrian information or vehicle information included in each of the plurality of received messages is stored in one message and transmitted.

此外，亦可按照所接收到的訊息的內容，以與接收到的順序為不同的順序傳送訊息。例如，根據所接收到的訊息所包含的位置資訊，算出由送訊源(步行者終端1或車載終端3)至路側機5的距離，使接近路側機5的送訊源的訊息優先，由接近路側機5的送訊源的訊息依序進行送訊。此外，在送訊源的終端類別(步行者終端1及車載終端3)設定優先順位，將優先順位高的送訊源的訊息先傳送。此外，根據所接收到的訊息所包含的位置資訊，若送訊源的位置未改變，即不會傳送所接收到的訊息。In addition, the messages may be transmitted in an order different from the received order according to the content of the received messages. For example, according to the location information contained in the received message, calculate the distance from the transmission source (pedestrian terminal 1 or vehicle terminal 3) to the roadside device 5, and give priority to the message of the transmission source close to the roadside device 5, by Messages from transmission sources close to the roadside unit 5 are transmitted sequentially. In addition, priority is set in the terminal types (pedestrian terminal 1 and vehicle-mounted terminal 3 ) of the source of the message, and the message of the source with the highest priority is transmitted first. In addition, according to the location information contained in the received message, if the location of the sending source has not changed, the received message will not be transmitted.

接著，說明第1實施形態之步行者終端1傳送訊息時的動作順序。圖6係顯示步行者終端1、車載終端3及路側機5的動作順序的流程圖。Next, the operation sequence when the pedestrian terminal 1 of the first embodiment transmits a message will be described. FIG. 6 is a flowchart showing the operation procedure of the pedestrian terminal 1 , the vehicle-mounted terminal 3 , and the roadside device 5 .

在步行者終端1中，首先，在測位部11中，取得自身裝置(自身步行者)的位置資訊(ST101)。接著，在訊息控制部21中，根據自身步行者的位置資訊，判定是否為傳送步行者資訊的狀況，具體而言為自身步行者是否處於屋內等安全地帶(ST102)。In the pedestrian terminal 1, first, the positioning unit 11 acquires positional information of the own device (self-pedestrian) (ST101). Next, in the message control unit 21, based on the position information of the own pedestrian, it is determined whether the pedestrian information is transmitted, specifically, whether the own pedestrian is in a safe area such as a house (ST102).

在此，若為傳送步行者資訊的狀況(ST102中為Yes)，接著，在通訊方式選擇部22中，選擇傳送訊息時的通訊方式(直接通訊或間接通訊)(ST103)。Here, if the pedestrian information is to be transmitted (Yes in ST102), then, in the communication mode selection unit 22, the communication mode (direct communication or indirect communication) when transmitting the message is selected (ST103).

接著，在訊息控制部21中，若在通訊方式選擇部22所被選擇出的通訊方式為直接通訊(ST104中為Yes)，將包含步行者資訊的訊息，由步行者-車輛間通訊部13傳送至車載終端3(ST105)。另一方面，若在通訊方式選擇部22所被選擇出的通訊方式為間接通訊(ST104中為No)，將包含步行者資訊的訊息，由無線LAN通訊部14傳送至路側機5(ST106)。Next, in the message control section 21, if the communication method selected in the communication method selection section 22 is direct communication (Yes in ST104), the message including the information of the pedestrian is sent by the pedestrian-to-vehicle communication section 13. It is sent to the vehicle-mounted terminal 3 (ST105). On the other hand, if the selected communication method in the communication method selection section 22 is indirect communication (No in ST104), the message including pedestrian information is sent to the roadside machine 5 by the wireless LAN communication section 14 (ST106) .

在路側機5中，係在訊息控制部61中，若在無線LAN通訊部51接收由步行者終端1被送訊的訊息(ST201)，將該訊息由無線LAN通訊部51傳送至車載終端3(ST202)。In the roadside device 5, in the message control unit 61, if the wireless LAN communication unit 51 receives the message sent by the pedestrian terminal 1 (ST201), the message is transmitted to the vehicle terminal 3 by the wireless LAN communication unit 51. (ST202).

在車載終端3中，若在步行者-車輛間通訊部33接收由步行者終端1被送訊的訊息、或在無線LAN通訊部34接收由路側機5被送訊的訊息時(ST301)，在衝撞判定部43中，根據訊息所包含的步行者的位置資訊等，進行是否有自身車輛衝撞到步行者的危險性的衝撞判定(ST302)。In the vehicle-mounted terminal 3, if the pedestrian-to-vehicle communication unit 33 receives the message sent by the pedestrian terminal 1, or when the wireless LAN communication unit 34 receives the message sent by the roadside device 5 (ST301), The collision determination unit 43 performs a collision determination as to whether or not there is a risk of the own vehicle colliding with the pedestrian based on the pedestrian's position information included in the message (ST302).

接著，在注意喚起控制部44中，根據衝撞判定部43的判定結果，判定是否必須對駕駛人喚起注意(ST303)。在此，若必須對駕駛人喚起注意(ST303中為Yes)，實施對駕駛人喚起注意(ST304)。Next, in the attention calling control unit 44, it is determined whether or not the driver should be called to attention based on the determination result of the collision determination unit 43 (ST303). Here, if it is necessary to call the driver's attention (Yes in ST303), call the driver's attention (ST304).

接著，說明第1實施形態之車載終端3傳送訊息時的動作順序。圖7係顯示步行者終端1、車載終端3及路側機5的動作順序的流程圖。Next, the operation sequence when the vehicle-mounted terminal 3 of the first embodiment transmits a message will be described. FIG. 7 is a flowchart showing the operation procedure of the pedestrian terminal 1 , the vehicle-mounted terminal 3 and the roadside device 5 .

在車載終端3中，車輛的引擎被起動時，在通訊方式選擇部42中，選擇傳送訊息時通訊方式(直接通訊或間接通訊)(ST401)。In the vehicle-mounted terminal 3, when the engine of the vehicle is started, the communication method (direct communication or indirect communication) when transmitting a message is selected in the communication method selection unit 42 (ST401).

接著，在訊息控制部41中，若在通訊方式選擇部42被選擇出的通訊方式為直接通訊(ST402中為Yes)，將包含車輛資訊的訊息，由步行者-車輛間通訊部33傳送至步行者終端1(ST403)。另一方面，若在通訊方式選擇部42被選擇出的通訊方式為間接通訊(ST402中為No)，將包含車輛資訊的訊息，由無線LAN通訊部34傳送至路側機5 (ST404)。Next, in the message control unit 41, if the communication mode selected in the communication mode selection unit 42 is direct communication (Yes in ST402), the message containing the vehicle information is sent from the pedestrian-to-vehicle communication unit 33 to Pedestrian terminal 1 (ST403). On the other hand, if the communication method selected by the communication method selection unit 42 is indirect communication (No in ST402), the message including the vehicle information is transmitted from the wireless LAN communication unit 34 to the roadside device 5 (ST404).

在路側機5中，係在訊息控制部61中，若在無線LAN通訊部51接收由車載終端3被送訊的訊息(ST501)，將該訊息由無線LAN通訊部51傳送至步行者終端1(ST502)。In the roadside device 5, in the message control unit 61, if the wireless LAN communication unit 51 receives the message sent by the vehicle terminal 3 (ST501), the message is transmitted to the pedestrian terminal 1 by the wireless LAN communication unit 51. (ST502).

在步行者終端1中，若在步行者-車輛間通訊部13接收由車載終端3被傳送的訊息、或在無線LAN通訊部14接收由路側機5被送訊的訊息時(ST601)，在衝撞判定部23中，根據訊息所包含的車輛的位置資訊等，進行是否有車輛衝撞到自身步行者的危險性的衝撞判定(ST602)。In the pedestrian terminal 1, if the pedestrian-vehicle communication unit 13 receives the message transmitted by the vehicle terminal 3, or the wireless LAN communication unit 14 receives the message sent by the roadside device 5 (ST601), The collision determination unit 23 performs a collision determination as to whether or not there is a risk of the vehicle colliding with the pedestrian on the basis of the vehicle's position information included in the message (ST602).

接著，在注意喚起控制部44中，根據衝撞判定部23的判定結果，判定是否需要對步行者喚起注意(ST603)。在此，若必須對步行者喚起注意(ST603中為Yes)，實施對步行者喚起注意(ST604)。Next, in the attention calling control unit 44 , it is determined whether or not it is necessary to call the pedestrian's attention based on the determination result of the collision determination unit 23 ( ST603 ). Here, if it is necessary to call attention to pedestrians (Yes in ST603), call attention to pedestrians (ST604).

接著，說明在第1實施形態之步行者終端1及車載終端3所進行的通訊方式選擇的處理。圖8係顯示在步行者終端1所進行的通訊方式選擇(圖6的ST103)、及在車載終端3所進行的通訊方式選擇(圖7的ST403)的順序的流程圖。Next, the process of selecting a communication method performed by the pedestrian terminal 1 and the vehicle-mounted terminal 3 of the first embodiment will be described. FIG. 8 is a flow chart showing the procedure of selecting a communication method (ST103 in FIG. 6 ) in the pedestrian terminal 1 and selecting a communication method in the vehicle-mounted terminal 3 (ST403 in FIG. 7 ).

如圖8(A)所示，在步行者終端1的通訊方式選擇部22中，首先，按照在無線LAN通訊部14是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST701)。在此，若自身裝置不在路側機5的通訊範圍內(ST701中為No)，選擇直接通訊(ST704)。As shown in FIG. 8(A), in the communication mode selection unit 22 of the pedestrian terminal 1, first, according to whether the wireless LAN communication unit 14 has received the beacon signal transmitted by the roadside device 5, it is determined whether the own device is Within the communication range of the roadside machine 5 (ST701). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST701), direct communication is selected (ST704).

另一方面，若自身裝置在路側機5的通訊範圍內(ST701中為Yes)，接著，由狀態檢測部12等取得自身裝置(自身步行者)的狀態資訊(ST702)。接著，根據自身步行者的狀態資訊，判定自身步行者是否為危險狀態(ST703)。On the other hand, if the self-device is within the communication range of the roadside device 5 (Yes in ST701), then the state detection unit 12 and the like acquire the state information of the self-device (self-pedestrian) (ST702). Next, based on the state information of the own pedestrian, it is determined whether the own pedestrian is in a dangerous state (ST703).

在此，若由步行者終端1的加速度感測器25的檢測結果，偵測到自身步行者突然開始跑(急加速)、或由方位感測器26的檢測結果，偵測到自身步行者突然變更方向(急回轉)時，判定為危險狀態。此外，若由加速度感測器25的檢測結果，偵測到突然朝下動作，判定為危險狀態。若自身步行者為危險狀態(ST703中為Yes)，選擇直接通訊(ST704)。另一方面，若步行者非為危險狀態(ST703中為No)，選擇間接通訊(ST705)。Here, if the detection result of the acceleration sensor 25 of the pedestrian terminal 1 detects that the own pedestrian suddenly starts to run (quick acceleration), or the detection result of the orientation sensor 26 detects the own pedestrian When the direction is suddenly changed (sharp turning), it is judged as a dangerous state. In addition, if a sudden downward movement is detected from the detection result of the acceleration sensor 25, it is determined to be a dangerous state. If the self-walker is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, if the pedestrian is not in a dangerous state (No in ST703), indirect communication is selected (ST705).

如圖8(B)所示，在車載終端3的通訊方式選擇部42中，首先，按照在無線LAN通訊部34是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST801)。在此，若自身裝置不在路側機5的通訊範圍內(ST801中為No)，選擇直接通訊(ST804)。As shown in FIG. 8(B), in the communication mode selection part 42 of the vehicle-mounted terminal 3, first, according to whether the wireless LAN communication part 34 has received the beacon signal transmitted by the roadside device 5, it is determined whether the own device is in Within the communication range of the roadside machine 5 (ST801). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST801), direct communication is selected (ST804).

另一方面，若自身裝置在路側機5的通訊範圍內(ST801中為Yes)，接著，由狀態檢測部32等取得自身裝置(自身車輛)的狀態資訊(ST802)。接著，根據自身車輛的狀態資訊，判定自身車輛是否為危險狀態(ST803)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST801), then the state detection unit 32 and the like acquire state information of the own device (own vehicle) (ST802). Next, based on the state information of the own vehicle, it is determined whether the own vehicle is in a dangerous state (ST803).

在此，若由車載終端3的加速度感測器45的檢測結果，偵測到自身車輛的急加速、或由方位感測器46的檢測結果，偵測到自身車輛的急回轉或蛇行時，判定為危險狀態。若自身車輛為危險狀態(ST803中為Yes)，選擇直接通訊(ST804)。另一方面，若自身車輛非為危險狀態(ST803中為No)，選擇間接通訊(ST805)。Here, if the detection result of the acceleration sensor 45 of the vehicle-mounted terminal 3 detects the rapid acceleration of the own vehicle, or the detection result of the orientation sensor 46 detects the sharp turn or snaking of the own vehicle, judged to be dangerous. If the own vehicle is in a dangerous state (Yes in ST803), direct communication is selected (ST804). On the other hand, if the own vehicle is not in a dangerous state (No in ST803), indirect communication is selected (ST805).

(第2實施形態) 　　接著，說明第2實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖9、圖10係顯示第2實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。(Second Embodiment) Next, a second embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. FIG. 9 and FIG. 10 are explanatory diagrams showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the second embodiment.

在第1實施形態中，係判定步行者或車輛是否為危險狀態，按照該判定結果，選擇通訊方式(直接通訊或間接通訊)，但是在本實施形態中，除了步行者或車輛是否為危險狀態的判定之外，判定步行者或車輛是否位於特定區域內，按照該判定結果，選擇通訊方式。亦即，若步行者或車輛不在危險性低的特定區域，係選擇直接通訊，若進入至特定區域，由狀態資訊，若自身裝置非為危險狀態，則由直接通訊切換成間接通訊。In the first embodiment, it is determined whether the pedestrian or the vehicle is in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the judgment result, but in this embodiment, whether the pedestrian or the vehicle is in a dangerous state In addition to the judgment, it is judged whether pedestrians or vehicles are located in a specific area, and the communication method is selected according to the judgment result. That is, if the pedestrian or vehicle is not in a specific area with low risk, it will choose direct communication. If it enters a specific area, it will switch from direct communication to indirect communication based on the status information if its own device is not in a dangerous state.

藉此，即使在特定區域內存在多數步行者終端1及車載終端3的情形下，若不在危險狀態，係進行間接通訊，因此可抑制直接通訊(步行者-車輛間通訊)的壅塞。In this way, even when there are many pedestrian terminals 1 and vehicle-mounted terminals 3 in a specific area, since indirect communication is performed unless they are in a dangerous state, congestion in direct communication (pedestrian-vehicle communication) can be suppressed.

在本實施形態中，將危險性相對較低的區域設為特定區域。例如，如圖9(A)所示，在以道路護攔或植樹帶等防護構造物而分離出步道與車道的道路中，即使為十字路口，亦危險性低。因此，在本實施形態中，將滿足如上所示之預定條件且危險性低的十字路口的周邊區域設為特定區域，若步行者或車輛進入至如上所示之十字路口的周邊區域內，由直接通訊切換成間接通訊。In this embodiment, a relatively low risk area is set as a specific area. For example, as shown in FIG. 9(A), in roads separated from footpaths and lanes by protective structures such as road barriers or tree planting belts, even if it is an intersection, the risk is low. Therefore, in this embodiment, the surrounding area of the crossroad that satisfies the predetermined conditions shown above and is low in risk is set as a specific area, and if pedestrians or vehicles enter the surrounding area of the intersection as shown above, the Direct communication is switched to indirect communication.

此外，在平交道的周邊，由於車輛在平交道暫時停止，因此車輛的移動速度慢，因此危險性低。因此，在本實施形態中，如圖9(B)所示，將平交道的周邊區域設為特定區域，若步行者或車輛進入至平交道的周邊區域內，由直接通訊切換成間接通訊。In addition, in the periphery of the level crossing, since the vehicle temporarily stops on the level crossing, the moving speed of the vehicle is slow, so the risk is low. Therefore, in this embodiment, as shown in FIG. 9(B), the surrounding area of the level crossing is set as a specific area. If pedestrians or vehicles enter the surrounding area of the level crossing, direct communication is switched to indirect communication.

此外，在公車站的周邊，係有欲乘上公車的人被誤認為危險性高的人(欲衝出或橫越馬路的人)之虞。因此，想乘上公車的人係將表示該情形的資訊，傳送至設置在公車站周邊的路側機5，被設置在公車站周邊的路側機5係識別其是否為欲乘上公車的人，僅將除了欲乘上公車的人之外之欲衝出或橫越馬路的人的步行者資訊傳送至周邊的車輛。如上所示，在公車站的周邊，係形成為透過路側機5的間接通訊，藉此可避免欲乘上公車的人被誤認為正在衝出或橫越馬路。因此，在本實施形態中，如圖10所示，將公車站的周邊區域設為特定區域，若進入至公車站的周邊區域內，步行者或車輛由直接通訊切換成間接通訊。其中，若存在停車在公車站附近的車輛，由路側機5對該停車車輛進行警告，藉此亦可避免公車無法停車在公車站的問題。In addition, around the bus stop, people who want to get on the bus may be mistaken for high-risk people (people who want to rush out or cross the road). Therefore, the people who want to get on the bus will transmit the information indicating the situation to the roadside machine 5 arranged around the bus stop, and the roadside machine 5 set around the bus stop will recognize whether it is a person who wants to get on the bus, Only the pedestrian information of the person who intends to rush out or cross the road other than the person who intends to get on the bus is transmitted to the surrounding vehicles. As shown above, in the periphery of the bus stop, the system is formed as an indirect communication through the roadside machine 5, thereby preventing people who want to get on the bus from being mistaken for rushing out or crossing the road. Therefore, in this embodiment, as shown in FIG. 10 , the surrounding area of the bus stop is set as a specific area. If the pedestrian or vehicle enters the surrounding area of the bus stop, the direct communication is switched to the indirect communication. Wherein, if there is a vehicle parked near the bus stop, the roadside machine 5 warns the parked vehicle, thereby also avoiding the problem that the bus cannot be parked at the bus stop.

接著，說明在第2實施形態之步行者終端1所進行的通訊方式選擇(圖6的ST103)的順序。圖11係顯示在步行者終端1所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST103 in FIG. 6 ) performed by the pedestrian terminal 1 of the second embodiment will be described. FIG. 11 is a flow chart showing the procedure for selecting a communication method in the pedestrian terminal 1. As shown in FIG.

在步行者終端1的通訊方式選擇部22中，首先，按照在無線LAN通訊部14是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST701)。在此，若自身裝置不在路側機5的通訊範圍內(ST701中為No)，選擇直接通訊(ST704)。In the communication mode selection section 22 of the pedestrian terminal 1, at first, according to whether the wireless LAN communication section 14 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 ( ST701). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST701), direct communication is selected (ST704).

另一方面，若自身裝置在路側機5的通訊範圍內(ST701中為Yes)，接著，由測位部11取得自身步行者的位置資訊(ST711)。接著，根據自身步行者的位置資訊、及被記憶在記憶部17的地圖資訊，判定自身步行者是否位於特定區域內(ST712)。在此，自身步行者若非位於特定區域(ST712中為No)，選擇直接通訊(ST704)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST701), then the positioning unit 11 acquires the position information of the own pedestrian (ST711). Next, it is determined whether the own pedestrian is located in a specific area based on the position information of the own pedestrian and the map information stored in the memory unit 17 (ST712). Here, if the own pedestrian is not located in the specific area (No in ST712), direct communication is selected (ST704).

另一方面，若自身步行者位於特定區域(ST712中為Yes)，接著，與第1實施形態同樣地，由狀態檢測部12等取得自身步行者的狀態資訊(ST702)。接著，根據自身步行者的狀態資訊，判定自身步行者是否為危險狀態(ST703)。On the other hand, if the own pedestrian is located in the specific area (Yes in ST712), then, similar to the first embodiment, the state detection unit 12 obtains the state information of the own pedestrian (ST702). Next, based on the state information of the own pedestrian, it is determined whether the own pedestrian is in a dangerous state (ST703).

在此，若自身步行者為危險狀態(ST703中為Yes)，選擇直接通訊(ST704)。另一方面，若步行者非為危險狀態(ST703中為No)，則選擇間接通訊(ST705)。Here, if the own pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, if the pedestrian is not in a dangerous state (No in ST703), indirect communication is selected (ST705).

其中，在圖11中係顯示在步行者終端1的通訊方式選擇部22所進行的處理的順序，但是在車載終端3的通訊方式選擇部42，亦以與此同樣的順序，進行通訊方式選擇的處理。11 shows the sequence of processing performed by the communication method selection unit 22 of the pedestrian terminal 1, but the communication method selection unit 42 of the vehicle-mounted terminal 3 also selects the communication method in the same procedure. processing.

(第3實施形態) 　　接著，說明第3實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖12係顯示第3實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。(Third Embodiment) Next, a third embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. Fig. 12 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the third embodiment.

在第2實施形態中，若步行者或車輛位於特定區域內，選擇間接通訊，但是在本實施形態中，若步行者或車輛位於特定區域內，而且，步行者或車輛的危險性降低的特定條件成立時，在位於特定區域內的步行者終端1及車載終端3選擇間接通訊。尤其在本實施形態中，將特定區域設為平交道的周邊區域，按照截路機是否為許可通行狀態作為特定條件，選擇通訊方式。In the second embodiment, if pedestrians or vehicles are located in a specific area, indirect communication is selected, but in this embodiment, if pedestrians or vehicles are located in a specific area, and the specific communication method that reduces the risk of pedestrians or vehicles When the condition is satisfied, the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the specific area select indirect communication. Especially in this embodiment, the specific area is set as the peripheral area of the level crossing, and the communication method is selected according to whether the road cutter is in the state of permitting traffic as a specific condition.

具體而言，如圖12(A)所示，即使步行者或車輛位於特定區域內，若截路機為許可通行狀態(截路機升起的狀態)，步行者終端1及車載終端3係選擇直接通訊。另一方面，如圖12(B)所示，若截路機形成禁止通行狀態(截路機下降的狀態)，位於平交道的周邊區域內的步行者終端1及車載終端3係由直接通訊切換成間接通訊。Specifically, as shown in FIG. 12(A), even if pedestrians or vehicles are located in a specific area, if the road cutter is in the state of permitting passage (the state of the road cutter raised), the pedestrian terminal 1 and the vehicle-mounted terminal 3 are connected to each other. Select Direct Communication. On the other hand, as shown in Figure 12 (B), if the road cutter forms a state of prohibiting traffic (the state of the road cutter descending), the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the level crossing are directly communicated. Switch to indirect communication.

藉此，若截路機為禁止通行狀態，由於車輛在平交道暫時停止，因此車輛的移動速度慢，平交道的周邊區域由於危險性降低，因此即使將位於平交道的周邊區域內的終端裝置形成為間接通訊，亦可避免安全性降低。In this way, if the road cutter is in the prohibited state, the vehicle will temporarily stop on the level crossing, so the moving speed of the vehicle will be slow, and the surrounding area of the level crossing will be less dangerous, so even if the terminal device located in the surrounding area of the level crossing is The formation of indirect communication can also avoid the reduction of security.

此外，在本實施形態中，路側機5由控制截路機的平交道控制裝置7，取得截路機的動作資訊，將該截路機的動作資訊附加在訊息而由路側機5傳送至步行者終端1或車載終端3，藉此，步行者終端1或車載終端3取得截路機的動作資訊。In addition, in this embodiment, the roadside machine 5 obtains the action information of the road cutter from the level crossing control device 7 that controls the road cutter, and adds the action information of the road cutter to the message, which is sent to the pedestrian by the roadside machine 5. The pedestrian terminal 1 or the vehicle-mounted terminal 3, whereby the pedestrian terminal 1 or the vehicle-mounted terminal 3 obtains the action information of the road cutter.

接著，說明在第3實施形態之步行者終端1所進行的通訊方式選擇(圖6的ST103)的順序。圖13係顯示在步行者終端1所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST103 in FIG. 6 ) performed by the pedestrian terminal 1 of the third embodiment will be described. FIG. 13 is a flow chart showing the procedure for selecting a communication method in the pedestrian terminal 1. As shown in FIG.

在步行者終端1的通訊方式選擇部22中，首先，按照是否在無線LAN通訊部14已接收到由路側機5被傳送的信標訊號，來判定自身裝置是否為路側機5的通訊範圍內(ST701)。在此，若自身裝置非為路側機5的通訊範圍內(ST701中為No)，選擇直接通訊(ST704)。In the communication mode selection part 22 of the pedestrian terminal 1, first, according to whether the beacon signal transmitted by the roadside device 5 has been received in the wireless LAN communication part 14, it is determined whether the own device is within the communication range of the roadside device 5 (ST701). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST701), direct communication is selected (ST704).

另一方面，若自身裝置在路側機5的通訊範圍內(ST701中為Yes)，接著，由測位部11取得自身步行者的位置資訊(ST711)。接著，根據自身步行者的位置資訊、及被記憶在記憶部17的地圖資訊，判定自身步行者是否位於平交道的周邊區域內(ST721)。在此，若自身步行者非位於平交道的周邊區域內(ST721中為No)，選擇直接通訊(ST704)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST701), then the positioning unit 11 acquires the position information of the own pedestrian (ST711). Next, based on the position information of the own pedestrian and the map information stored in the memory unit 17, it is determined whether the own pedestrian is located in the surrounding area of the level crossing (ST721). Here, if the own pedestrian is not located in the surrounding area of the level crossing (No in ST721), direct communication is selected (ST704).

另一方面，若自身裝置位於平交道的周邊區域內(ST721中為Yes)，接著，由平交道控制裝置7取得截路機的動作資訊(ST722)。On the other hand, if the own device is located in the surrounding area of the level crossing (Yes in ST721), then the level crossing control device 7 acquires the operation information of the road cutter (ST722).

接著，根據截路機的動作資訊，判定截路機是否為禁止通行狀態(ST723)。在此，若截路機非為禁止通行狀態，亦即截路機為許可通行狀態(ST723中為No)，選擇直接通訊(ST704)。Then, according to the action information of the road cutter, it is determined whether the road cutter is in the state of prohibiting traffic (ST723). Here, if the road interceptor is not in the state of prohibiting traffic, that is, the road interceptor is in the state of permitting traffic (No in ST723), select direct communication (ST704).

另一方面，若截路機為禁止通行狀態(ST723中為Yes)，接著，與第1實施形態同樣地，由狀態檢測部32等取得自身步行者的狀態資訊(ST702)。接著，根據自身步行者的狀態資訊，判定自身步行者是否為危險狀態(ST703)。On the other hand, if the road cutter is in the prohibited state (Yes in ST723), then, similar to the first embodiment, the state detection unit 32 obtains the state information of the own pedestrian (ST702). Next, based on the state information of the own pedestrian, it is determined whether the own pedestrian is in a dangerous state (ST703).

在此，若自身步行者為危險狀態(ST703中為Yes)，選擇直接通訊(ST704)。另一方面，若自身步行者非為危險狀態(ST703中為No)，選擇間接通訊(ST705)。Here, if the own pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, if the self-walker is not in a dangerous state (No in ST703), indirect communication is selected (ST705).

其中，在圖13中係顯示在步行者終端1的通訊方式選擇部22所進行的處理的順序，但是在車載終端3的通訊方式選擇部42，亦以與此同樣的順序，進行通訊方式選擇的處理。Wherein, in Fig. 13, the sequence of processing performed by the communication method selection section 22 of the pedestrian terminal 1 is shown, but the communication method selection section 42 of the vehicle-mounted terminal 3 also selects the communication method in the same procedure. processing.

(第4實施形態) 　　接著，說明第4實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖14係顯示第4實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。(Fourth Embodiment) Next, a fourth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. FIG. 14 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fourth embodiment.

在第3實施形態中，若步行者或車輛位於危險性低的平交道的周邊區域，而且截路機為禁止通行狀態，在位於平交道的周邊區域內的步行者終端1及車載終端3選擇間接通訊，但是在本實施形態中，若特定車輛接近停車場，在位於停車場周邊的特定區域內的步行者終端1及車載終端3選擇間接通訊。尤其在本實施形態中，係將特定車輛設為公車(路線公車)，且將停車場設為公車站來進行說明。In the third embodiment, if pedestrians or vehicles are located in the surrounding area of a low-risk level crossing, and the road cutter is in a prohibited state, the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the level crossing are selected. Indirect communication, but in this embodiment, if a specific vehicle approaches the parking lot, the pedestrian terminal 1 and the vehicle-mounted terminal 3 in a specific area around the parking lot select indirect communication. In particular, in the present embodiment, the specific vehicle will be described as a bus (route bus) and the parking lot will be described as a bus stop.

具體而言，如圖14(A)所示，若公車離公車站不在預定距離以內，在位於公車站的周邊區域內的步行者終端1及車載終端3，係選擇直接通訊。另一方面，如圖14(B)所示，若公車接近至離公車站為預定距離以內時，在位於公車站的周邊區域內的步行者終端1及車載終端3，係由直接通訊切換成間接通訊。其中，若公車從公車站發車而離公車站為遠離預定距離以上時，即恢復成直接通訊。Specifically, as shown in FIG. 14(A), if the bus is not within a predetermined distance from the bus stop, the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the bus stop select direct communication. On the other hand, as shown in Figure 14 (B), if the bus approaches to within a predetermined distance from the bus stop, the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the bus stop switch from direct communication to indirect communication. Wherein, if the bus departs from the bus station and is away from the bus station for more than a predetermined distance, the direct communication is restored.

其中，公車的車載終端3係常時以直接通訊傳送訊息。Among them, the vehicle-mounted terminal 3 of the bus always transmits messages by direct communication.

藉此，使公車的車載終端3的直接通訊優先，限制位於公車站的周邊區域內的步行者終端1及車載終端3的直接通訊，藉此可抑制直接通訊的壅塞，並且可迅速且確實地對公車站周邊的步行者或車輛駕駛人通知公車的接近。尤其，藉由對停車在公車站的周邊區域的車輛駕駛人通知公車的接近，可以使車輛由公車站的周邊區域迅速移動的方式進行導引。In this way, the direct communication of the vehicle-mounted terminal 3 on the bus is given priority, and the direct communication between the pedestrian terminal 1 and the vehicle-mounted terminal 3 located in the surrounding area of the bus stop is limited, thereby suppressing the congestion of the direct communication, and quickly and reliably We notify pedestrians or vehicle drivers around bus stop of approach of bus. In particular, by notifying the driver of the vehicle parked in the surrounding area of the bus stop that the bus is approaching, the vehicle can be guided so that the vehicle can move quickly from the surrounding area of the bus stop.

此外，在本實施形態中，係將表示自身車輛為公車的資訊作為屬性資訊而附加在訊息進行送訊。藉此，可辨識接近公車站的車輛是否為公車。In addition, in this embodiment, information indicating that the own vehicle is a bus is added to the message as attribute information and transmitted. Thereby, it can be identified whether the vehicle approaching the bus stop is a bus.

接著，說明在第4實施形態之車載終端3所進行的通訊方式選擇(圖7的ST401)的順序。圖15係顯示在車載終端3所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST401 in FIG. 7) performed by the vehicle-mounted terminal 3 of the fourth embodiment will be described. FIG. 15 is a flow chart showing the procedure for selecting a communication method performed by the vehicle-mounted terminal 3 .

在車載終端3的通訊方式選擇部42中，首先，按照在無線LAN通訊部34是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST801)。在此，若自身裝置不在路側機5的通訊範圍內(ST801中為No)，選擇直接通訊(ST804)。In the communication mode selection section 42 of the vehicle-mounted terminal 3, at first, according to whether the wireless LAN communication section 34 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 (ST801 ). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST801), direct communication is selected (ST804).

另一方面，若自身裝置在路側機5的通訊範圍內(ST801中為Yes)，接著，由測位部31取得自身車輛的位置資訊(ST811)。接著，根據自身車輛的位置資訊、及被記憶在記憶部37的地圖資訊，判定自身車輛是否位於公車站的周邊區域內(ST812)。在此，若自身車輛不位於公車站的周邊區域內(ST812中為No)，選擇直接通訊(ST804)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST801), then the location information of the own vehicle is acquired by the positioning unit 31 (ST811). Next, it is determined whether the own vehicle is located in the surrounding area of the bus stop based on the position information of the own vehicle and the map information stored in the memory unit 37 (ST812). Here, if the own vehicle is not located in the surrounding area of the bus stop (No in ST812), direct communication is selected (ST804).

另一方面，若自身車輛位於公車站的周邊區域內(ST812中為Yes)，接著，取得所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊(ST813)。接著，根據屬性資訊及位置資訊、及被記憶在記憶部37的地圖資訊，判定公車是否已接近至離公車站為預定距離以內(ST814)。在此，若公車未接近至離公車站為預定距離以內(ST814中為No)，選擇直接通訊(ST804)。On the other hand, if the own vehicle is located in the surrounding area of the bus stop (Yes in ST812), then the attribute information and position information of other vehicles included in the received message are acquired (ST813). Next, it is determined whether the bus has approached within a predetermined distance from the bus stop based on the attribute information, position information, and map information stored in the memory unit 37 (ST814). Here, if the bus does not approach within a predetermined distance from the bus stop (No in ST814), direct communication is selected (ST804).

另一方面，若公車已接近至離公車站為預定距離以內(ST814中為Yes)，接著，與第1實施形態同樣地，由狀態檢測部32等取得自身車輛的狀態資訊(ST802)。接著，根據自身車輛的狀態資訊，判定自身車輛是否為危險狀態(ST803)。On the other hand, if the bus has approached within the predetermined distance from the bus stop (Yes in ST814), then, as in the first embodiment, the status information of the own vehicle is acquired by the status detection unit 32 and the like (ST802). Next, based on the state information of the own vehicle, it is determined whether the own vehicle is in a dangerous state (ST803).

在此，若自身車輛為危險狀態(ST803中為Yes)，選擇直接通訊(ST804)。另一方面，若自身車輛非為危險狀態(ST803中為No)，選擇間接通訊(ST805)。Here, if the own vehicle is in a dangerous state (Yes in ST803), direct communication is selected (ST804). On the other hand, if the own vehicle is not in a dangerous state (No in ST803), indirect communication is selected (ST805).

其中，在圖15中係顯示在車載終端3的通訊方式選擇部42所進行的處理的順序，但是在步行者終端1的通訊方式選擇部22，亦以與此同樣的順序，進行通訊方式選擇的處理。15 shows the sequence of processing performed by the communication method selection section 42 of the vehicle-mounted terminal 3, but the communication method selection section 22 of the pedestrian terminal 1 also selects the communication method in the same procedure. processing.

此外，在本實施形態中，係將公車(路線公車)設為特定車輛，但是亦可將其他共乘汽車，例如計程車設為特定車輛。此時，計程車搭乘處即成為特定車輛的停車場(上下車處)。In addition, in this embodiment, a bus (route bus) is used as a specific vehicle, but other shared cars such as taxis may be used as a specific vehicle. In this case, the taxi stand becomes a parking lot (a pick-up and drop-off place) for specific vehicles.

此外，在本實施形態中，係根據公車的位置資訊、及包含公車站的位置資訊的地圖資訊，判定公車是否已接近至離公車站為預定距離以內，但是亦可在位於公車站的周邊區域的步行者終端1或車載終端3中，公車進入至步行者-車輛間通訊的通訊範圍內，而可接收由公車的車載終端3被傳送的訊息，藉此判定公車為已接近至離公車站為預定距離以內者。In addition, in this embodiment, it is determined whether the bus is within a predetermined distance from the bus stop based on the location information of the bus and the map information including the location information of the bus stop, but it may also be located in the surrounding area of the bus stop In the pedestrian terminal 1 or the vehicle-mounted terminal 3, the bus enters the communication range of the pedestrian-vehicle communication, and can receive the message transmitted by the vehicle-mounted terminal 3 of the bus, thereby judging that the bus is close to the bus stop within a predetermined distance.

(第5實施形態) 　　接著，說明第5實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖16係顯示第5實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。(Fifth Embodiment) Next, a fifth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. Fig. 16 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fifth embodiment.

在第1實施形態中，係判定步行者是否為危險狀態，按照該判定結果，選擇通訊方式(直接通訊或間接通訊)，但是在本實施形態中，除了步行者是否為危險狀態的判定之外，判定存在於周邊的其他步行者終端1是否已正在進行直接通訊，按照該判定結果，選擇通訊方式。亦即，若其他步行者終端1已正在進行直接通訊，係選擇間接通訊，若不存在已正在進行直接通訊的其他步行者終端1，係選擇直接通訊。In the first embodiment, it is determined whether the pedestrian is in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the judgment result, but in this embodiment, in addition to the judgment of whether the pedestrian is in a dangerous state , it is determined whether other pedestrian terminals 1 existing in the surrounding area are already performing direct communication, and a communication method is selected according to the determination result. That is, if other pedestrian terminals 1 are already communicating directly, the indirect communication is selected, and if there are no other pedestrian terminals 1 already communicating directly, the direct communication is selected.

藉此，使先開始直接通訊的步行者終端1優先，而限制其他步行者終端1的直接通訊，藉此可抑制直接通訊的壅塞。Thereby, priority is given to the pedestrian terminal 1 which started the direct communication first, and the direct communication of other pedestrian terminals 1 is restricted, thereby suppressing the congestion of the direct communication.

此外，在本實施形態中，根據由其他步行者終端1被傳送的訊息，判定其他步行者終端1是否已正在進行直接通訊。當由步行者終端1以直接通訊對車載終端3傳送訊息時，由於訊息以廣播被送訊，因此存在於周邊的其他步行者終端1係可接收訊息。In addition, in this embodiment, based on the message transmitted from the other pedestrian terminal 1, it is determined whether or not other pedestrian terminal 1 is already performing direct communication. When the pedestrian terminal 1 transmits a message to the vehicle-mounted terminal 3 by direct communication, since the message is sent by broadcast, other pedestrian terminals 1 existing around can receive the message.

此外，由進行直接通訊的步行者終端1，將表示為直接通訊的通訊方式資訊附加在訊息來進行送訊，藉此，其他步行者終端1係可辨識其為以直接通訊被送訊的訊息。In addition, the pedestrian terminal 1 performing the direct communication adds the communication method information indicating the direct communication to the message and transmits it, so that other pedestrian terminals 1 can recognize it as a message transmitted by the direct communication .

接著，說明在第5實施形態之步行者終端1所進行的通訊方式選擇(圖6的ST103)的順序。圖17係顯示在步行者終端1所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST103 in FIG. 6 ) performed by the pedestrian terminal 1 of the fifth embodiment will be described. FIG. 17 is a flow chart showing the procedure for selecting a communication method in the pedestrian terminal 1. As shown in FIG.

在步行者終端1的通訊方式選擇部22中，首先，按照在無線LAN通訊部34是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST701)。在此，若自身裝置不在路側機5的通訊範圍內(ST701中為No)，選擇直接通訊(ST704)。In the communication mode selection part 22 of the pedestrian terminal 1, at first, according to whether the beacon signal transmitted by the roadside device 5 has been received in the wireless LAN communication part 34, it is determined whether the own device is within the communication range of the roadside device 5 ( ST701). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST701), direct communication is selected (ST704).

另一方面，若自身裝置在路側機5的通訊範圍內(ST701中為Yes)，接著，取得在預定時間內所接收到的訊息所包含的通訊方式資訊(ST731)。接著，根據通訊方式資訊，判定是否在預定時間內已接收到由其他步行者終端1以直接通訊被傳送的訊息(ST732)。在此，若在預定時間內未接收到以直接通訊被傳送的訊息(ST732中為No)，係選擇直接通訊(ST704)。On the other hand, if the self-device is within the communication range of the roadside device 5 (Yes in ST701), then the communication method information included in the message received within a predetermined time is acquired (ST731). Next, based on the communication method information, it is determined whether a message transmitted by direct communication from another pedestrian terminal 1 has been received within a predetermined time (ST732). Here, if no message transmitted by direct communication is received within a predetermined time (No in ST732), direct communication is selected (ST704).

另一方面，若在預定時間內接收到以直接通訊被傳送的訊息(ST732中為Yes)，接著，由狀態檢測部32等取得自身步行者的狀態資訊(ST702)。接著，根據自身步行者的狀態資訊，判定自身步行者是否為危險狀態(ST703)。On the other hand, if a message transmitted by direct communication is received within a predetermined time period (Yes in ST732), then the status information of the own pedestrian is acquired by the status detection unit 32 and the like (ST702). Next, based on the state information of the own pedestrian, it is determined whether the own pedestrian is in a dangerous state (ST703).

在此，若自身步行者為危險狀態(ST703中為Yes)，選擇直接通訊(ST704)。另一方面，若自身步行者非為危險狀態(ST703中為No)，選擇間接通訊(ST705)。Here, if the own pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, if the self-walker is not in a dangerous state (No in ST703), indirect communication is selected (ST705).

其中，在本實施形態中，若步行者終端1在預定時間內接收到來自進行直接通訊的其他步行者終端1的訊息，選擇間接通訊，但是亦可從發現進行直接通訊的其他步行者終端1之後至經過預定時間為止，繼續間接通訊，若經過預定時間，則解除限制直接通訊的狀態而恢復成直接通訊。Among them, in this embodiment, if the pedestrian terminal 1 receives a message from other pedestrian terminals 1 performing direct communication within a predetermined time, select indirect communication, but it can also be found from other pedestrian terminals 1 performing direct communication. Thereafter, the indirect communication is continued until the predetermined time elapses, and when the predetermined time elapses, the state of restricting the direct communication is released and the direct communication is resumed.

此外，若進行直接通訊的步行者終端1將指示在預定時間不進行直接通訊的通訊方式指示資訊附加在訊息來進行送訊，且其他步行者終端1接收包含該通訊方式指示資訊的訊息時，該步行者終端1亦可在預定時間不進行直接通訊。In addition, if the pedestrian terminal 1 that performs direct communication attaches the communication method instruction information indicating that direct communication will not be performed at a predetermined time to the message and transmits the message, and other pedestrian terminals 1 receive the message including the communication method instruction information, The pedestrian terminal 1 may also not perform direct communication at a predetermined time.

此外，在圖17中係顯示在步行者終端1的通訊方式選擇部22所進行的處理的順序，但是在車載終端3的通訊方式選擇部42，亦以與此同樣的順序，進行通訊方式選擇的處理。In addition, in FIG. 17 , the sequence of processing performed by the communication method selection unit 22 of the pedestrian terminal 1 is shown, but the communication method selection unit 42 of the vehicle-mounted terminal 3 also selects the communication method in the same procedure. processing.

(第6實施形態) 　　接著，說明第6實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖18係顯示第6實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。(Sixth Embodiment) Next, a sixth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. Fig. 18 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the sixth embodiment.

在第1實施形態中，判定步行者或車輛是否為危險狀態，按照該判定結果，選擇通訊方式(直接通訊或間接通訊)，但是在本實施形態中，除了步行者或車輛是否為危險狀態的判定之外，判定在自身裝置的預定距離以內是否存在特定車輛，按照該判定結果，選擇通訊方式。亦即，若在自身裝置的預定距離以內發現特定車輛，由直接通訊切換成間接通訊，若自身裝置的預定距離以內的特定車輛不在，則恢復成直接通訊。In the first embodiment, it is determined whether a pedestrian or a vehicle is in a dangerous state, and a communication method (direct communication or indirect communication) is selected according to the judgment result. In addition to the judgment, it is judged whether there is a specific vehicle within a predetermined distance from the own device, and a communication method is selected according to the judgment result. That is, if a specific vehicle is found within the predetermined distance of the own device, the direct communication is switched to indirect communication, and if the specific vehicle within the predetermined distance of the own device is not present, the direct communication is restored.

其中，特定車輛係常時以直接通訊傳送訊息。Among them, the specific vehicle system often transmits messages by direct communication.

藉此，使被裝載在特定車輛的車載終端3的直接通訊優先，限制存在於特定車輛的周邊的步行者終端1或車載終端3的直接通訊，藉此可抑制直接通訊的壅塞，並且可迅速且確實地對周邊的步行者或車輛駕駛人通知特定車輛的存在。In this way, the direct communication of the vehicle-mounted terminal 3 mounted on a specific vehicle is given priority, and the direct communication of the pedestrian terminal 1 or the vehicle-mounted terminal 3 existing around the specific vehicle is restricted, thereby suppressing the congestion of the direct communication and quickly Moreover, the existence of a specific vehicle is surely notified to surrounding pedestrians or vehicle drivers.

尤其，在本實施形態中，係將救護車或消防車等緊急車輛設為特定車輛。此外，在本實施形態中，緊急車輛的車載終端3係常時以直接通訊傳送訊息。此外，緊急車輛的車載終端3係將表示為緊急車輛的屬性資訊附加在訊息來進行送訊。藉此，步行者終端1可識別為緊急車輛。此外，在本實施形態中，根據由緊急車輛的車載終端3所接收到的訊息所包含的緊急車輛的位置資訊、及自身步行者的位置資訊，算出緊急車輛與自身裝置的距離，判定在自身裝置的預定距離以內是否存在特定車輛。其中，步行者終端1係若自身步行者為危險行動多的人物，若事前警告不要進行衝出等即可。此外，預定距離亦可依步行者而異。In particular, in this embodiment, emergency vehicles such as ambulances and fire trucks are used as specific vehicles. In addition, in this embodiment, the vehicle-mounted terminal 3 of the emergency vehicle always transmits messages by direct communication. Furthermore, the vehicle-mounted terminal 3 of the emergency vehicle transmits the message by attaching the attribute information indicating the emergency vehicle to the message. Thereby, the pedestrian terminal 1 can be recognized as an emergency vehicle. In addition, in this embodiment, the distance between the emergency vehicle and the own device is calculated based on the position information of the emergency vehicle included in the message received by the vehicle-mounted terminal 3 of the emergency vehicle and the position information of the pedestrians of the emergency vehicle, and the distance between the emergency vehicle and the own device is determined, and the distance between the emergency vehicle and the own device is determined. Whether a particular vehicle is within a predetermined distance of the device. Among them, if the pedestrian terminal 1 is a person with a lot of dangerous actions, it is only necessary to warn in advance not to rush out. In addition, the predetermined distance may also vary from walker to walker.

接著，說明在第6實施形態之步行者終端1所進行的通訊方式選擇(圖6的ST103)的順序。圖19係顯示在步行者終端1所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST103 in FIG. 6 ) performed by the pedestrian terminal 1 according to the sixth embodiment will be described. FIG. 19 is a flow chart showing the procedure for selecting a communication method in the pedestrian terminal 1. As shown in FIG.

在步行者終端1的通訊方式選擇部22中，首先，按照在無線LAN通訊部14是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST701)。在此，若自身裝置不在路側機5的通訊範圍內(ST701中為No)，選擇直接通訊(ST704)。In the communication mode selection section 22 of the pedestrian terminal 1, at first, according to whether the wireless LAN communication section 14 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 ( ST701). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST701), direct communication is selected (ST704).

另一方面，若自身裝置在路側機5的通訊範圍內(ST701中為Yes)，接著，取得由車載終端3所接收到的訊息所包含的位置資訊及屬性資訊(ST741)。接著，根據車載終端3的位置資訊及屬性資訊，判定在自身步行者的預定距離以內是否存在緊急車輛(ST742)。在此，若在自身步行者的預定距離以內不存在緊急車輛(ST742中為No)，選擇直接通訊(ST704)。On the other hand, if the self-device is within the communication range of the roadside device 5 (Yes in ST701), then the location information and attribute information contained in the message received by the vehicle-mounted terminal 3 are acquired (ST741). Next, based on the position information and attribute information of the vehicle-mounted terminal 3, it is determined whether there is an emergency vehicle within a predetermined distance of the own pedestrian (ST742). Here, if there is no emergency vehicle within the predetermined distance of the own pedestrian (No in ST742), direct communication is selected (ST704).

另一方面，若在自身步行者的預定距離以內存在緊急車輛(ST742中為Yes)，接著，由狀態檢測部12等取得自身步行者的狀態資訊(ST702)。接著，根據自身步行者的狀態資訊，判定自身步行者是否為危險狀態(ST703)。On the other hand, if there is an emergency vehicle within a predetermined distance from the own pedestrian (Yes in ST742), then the state detection unit 12 obtains the state information of the own pedestrian (ST702). Next, based on the state information of the own pedestrian, it is determined whether the own pedestrian is in a dangerous state (ST703).

在此，若自身步行者為危險狀態(ST703中為Yes)，選擇直接通訊(ST704)。另一方面，若步行者非為危險狀態(ST703中為No)，選擇間接通訊(ST705)。Here, if the own pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, if the pedestrian is not in a dangerous state (No in ST703), indirect communication is selected (ST705).

其中，在圖19中係顯示在步行者終端1的通訊方式選擇部22所進行的處理的順序，但是在車載終端3的通訊方式選擇部42，亦以與此同樣的順序，進行通訊方式選擇的處理。19 shows the sequence of processing performed by the communication method selection section 22 of the pedestrian terminal 1, but the communication method selection section 42 of the vehicle-mounted terminal 3 also selects the communication method in the same procedure. processing.

此外，在本實施形態中，根據緊急車輛的位置資訊與自身裝置的位置資訊，判定在自身裝置的預定距離以內是否存在緊急車輛，但是亦可在步行者終端1或車載終端3中，緊急車輛進入至步行者-車輛間通訊的通訊範圍內，而可接收由緊急車輛的車載終端3被傳送的訊息，藉此判定為在自身裝置的預定距離以內存在緊急車輛者。In addition, in this embodiment, it is determined whether there is an emergency vehicle within a predetermined distance from the own device based on the position information of the emergency vehicle and the position information of the own device. A person who enters the communication range of the pedestrian-vehicle communication and can receive a message transmitted from the vehicle-mounted terminal 3 of the emergency vehicle, thereby judging that there is an emergency vehicle within a predetermined distance from the own device.

此外，在本實施形態中，若在自身裝置的預定距離以內存在特定車輛，選擇間接通訊，若自身裝置的預定距離以內的特定車輛不在，則恢復成直接通訊，但是亦可從發現緊急車輛至經過預定時間為止，繼續間接通訊，若經過預定時間，則解除限制直接通訊的狀態而恢復成直接通訊。In addition, in this embodiment, if there is a specific vehicle within a predetermined distance of the own device, indirect communication is selected, and if the specific vehicle within the predetermined distance of the own device is not present, direct communication is restored, but it is also possible to communicate from the discovery of an emergency vehicle to The indirect communication is continued until the predetermined time elapses, and when the predetermined time elapses, the state of restricting the direct communication is released and the direct communication is resumed.

此外，亦可緊急車輛的車載終端3在訊息附加指示在預定時間不進行直接通訊的通訊方式指示資訊來進行送訊，若步行者終端1或其他車載終端3接收包含該通訊方式指示資訊的訊息時，該步行者終端1或其他車載終端3在預定時間不會進行直接通訊。In addition, the vehicle-mounted terminal 3 of the emergency vehicle can also send the communication method instruction information indicating that direct communication will not be performed within a predetermined time in the message. If the pedestrian terminal 1 or other vehicle-mounted terminals 3 receive the message including the communication method instruction information , the pedestrian terminal 1 or other vehicle-mounted terminals 3 will not perform direct communication within a predetermined time.

此外，亦可若緊急車輛接近至自身裝置的預定距離以內時，選擇間接通訊，若緊急車輛通過自身裝置的近旁，則恢復成直接通訊。In addition, if the emergency vehicle approaches within the predetermined distance of the self-device, indirect communication may be selected, and if the emergency vehicle passes near the self-device, the direct communication may be restored.

(第7實施形態) 　　接著，說明第7實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖20係顯示第7實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。圖21係顯示優先度表格的登錄內容的說明圖。(Seventh Embodiment) Next, a seventh embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. Fig. 20 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the seventh embodiment. FIG. 21 is an explanatory diagram showing the registration contents of the priority table.

在前述之實施形態中，判定步行者或車輛是否為危險狀態，按照該判定結果，選擇通訊方式(直接通訊或間接通訊)，但是在本實施形態中，除了步行者或車輛是否為危險狀態的判定之外，根據存在於自身裝置的周邊的移動體的類別(步行者、腳踏車、高齡者用車、汽車、摩托車等)，選擇通訊方式。亦即，按照在自身裝置的周邊存在步行者、或在自身裝置的周邊存在什麼類別的車輛，相對選擇通訊方式。In the foregoing embodiments, it is determined whether pedestrians or vehicles are in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the judgment result. In addition to the judgment, the communication method is selected according to the type of mobile objects (pedestrians, bicycles, vehicles for the elderly, automobiles, motorcycles, etc.) that exist around the self-device. That is, the communication method is relatively selected according to whether pedestrians exist around the own device or what type of vehicles exist around the own device.

尤其在本實施形態中，係預先按每個移動體的類別，設定直接通訊的優先度，在車載終端3中，將自身車輛的優先度、與存在於自身車輛的周邊的步行者及其他車輛的優先度進行比較，來選擇自身裝置的通訊方式。具體而言，若有比自己為優先度高的終端，選擇間接通訊，若有比自己為優先度低的終端，則選擇直接通訊。In particular, in this embodiment, the priority of direct communication is set in advance for each type of mobile body, and the vehicle-mounted terminal 3 compares the priority of the own vehicle with pedestrians and other vehicles existing around the own vehicle. The priority of the device is compared to select the communication method of the own device. Specifically, if there is a terminal with a higher priority than itself, select indirect communication, and if there is a terminal with a lower priority than yourself, select direct communication.

在此，若移動速度快，危險性高。此外，若移動速度快，在短時間通過路側機5的通訊區域，因此以間接通訊傳送訊息的機會少，不太有切換成間接通訊的優點。因此，在本實施形態中，移動速度愈快，優先度設定愈高，在移動速度快的終端中，係選擇直接通訊，在移動速度慢的終端，則選擇間接通訊。Here, if the moving speed is fast, the danger is high. In addition, if the moving speed is fast, it will pass through the communication area of the roadside machine 5 in a short time, so there are few opportunities to transmit messages by indirect communication, and there is not much advantage of switching to indirect communication. Therefore, in this embodiment, the faster the moving speed is, the higher the priority setting is. For a terminal with a fast moving speed, direct communication is selected, and for a terminal with a slow moving speed, indirect communication is selected.

具體而言，在車載終端3的通訊方式選擇部42中，根據圖21所示之優先度表格、及自身裝置及存在於周邊的步行者終端1及車載終端3的屬性資訊，選擇通訊方式。其中，優先度表格係被記憶在記憶部37。此外，藉由在訊息附加屬性資訊來進行送訊，在車載終端3中，可判別在自身裝置的周邊是否存在步行者，此外，在自身裝置的周邊存在什麼類別的車輛。Specifically, in the communication method selection unit 42 of the vehicle-mounted terminal 3, a communication method is selected based on the priority table shown in FIG. Among them, the priority table is stored in the memory unit 37 . In addition, by adding attribute information to the message and sending the message, the vehicle-mounted terminal 3 can determine whether there are pedestrians around the own device, and what kind of vehicles exist around the own device.

在優先度表格係登錄有對應終端屬性(步行者、腳踏車、高齡者用車、汽車、摩托車)的優先度，根據優先度表格，由自身裝置的終端屬性，取得自身裝置的優先度，由存在於周邊的步行者終端1及車載終端3的終端屬性，取得步行者終端1及車載終端3的優先度。將自身車輛的優先度、與存在於自身車輛的周邊的其他車輛的優先度相比較，選擇自身裝置的通訊方式。The priority of the corresponding terminal attribute (pedestrian, bicycle, car for the elderly, automobile, motorcycle) is registered in the priority table system, and the priority of the own device is obtained from the terminal attribute of the own device according to the priority table, and is obtained by The terminal attribute of the pedestrian terminal 1 and the vehicle-mounted terminal 3 existing in the surrounding area acquires the priority of the pedestrian terminal 1 and the vehicle-mounted terminal 3 . The communication method of the own device is selected by comparing the priority of the own vehicle with the priorities of other vehicles existing around the own vehicle.

在此，汽車或摩托車等高速車輛係優先度最高。因此，在高速車輛的車載終端3中，係常時選擇直接通訊。Here, high-speed vehicles such as automobiles and motorcycles have the highest priority. Therefore, in the vehicle-mounted terminal 3 of the high-speed vehicle, direct communication is always selected.

另一方面，高齡者用車或腳踏車等低速車輛係優先度高於步行者，且低於高速車輛。因此，在低速車輛的車載終端3中，若在周邊存在步行者，係形成為直接通訊。此外，若在周邊不存在步行者，而且，在周邊存在汽車或摩托車等高速車輛時，係選擇間接通訊，若成為危險狀態，則選擇直接通訊。On the other hand, low-speed vehicles such as cars and bicycles for the elderly have higher priority than pedestrians and lower priority than high-speed vehicles. Therefore, in the vehicle-mounted terminal 3 of a low-speed vehicle, if there are pedestrians in the surroundings, the system is configured to communicate directly. In addition, if there are no pedestrians in the surrounding area, and if there are high-speed vehicles such as automobiles or motorcycles in the surrounding area, indirect communication is selected, and if it becomes dangerous, direct communication is selected.

其中，步行者係優先度最低。因此，在步行者終端1中，在平常狀態下係常時形成為間接通訊，若成為危險狀態，則選擇直接通訊。Among them, the Pacers have the lowest priority. Therefore, in the pedestrian terminal 1, the indirect communication is always established in a normal state, and the direct communication is selected in a dangerous state.

例如，如圖20(A)所示，若有步行者，在步行者終端1中係選擇間接通訊，在腳踏車或高齡者用車或摩托車或汽車的車載終端3中，係選擇直接通訊。另一方面，如圖20(B)所示，若無步行者，在腳踏車或高齡者用車的車載終端3中，係選擇間接通訊，在摩托車或汽車的車載終端3中，則選擇直接通訊。For example, as shown in FIG. 20(A), if there is a pedestrian, the pedestrian terminal 1 selects indirect communication, and in the vehicle-mounted terminal 3 of a bicycle or an elderly person's car or a motorcycle or an automobile, selects direct communication. On the other hand, as shown in FIG. 20(B), if there are no pedestrians, in the vehicle-mounted terminal 3 of a bicycle or a car for the elderly, the indirect communication is selected, and in the vehicle-mounted terminal 3 of a motorcycle or a car, the direct communication is selected. communication.

如上所示，在本實施形態中，使移動速度快而危險性高的車輛的車載終端3的直接通訊優先，而限制其他車載終端3或步行者終端1的直接通訊，藉此可抑制直接通訊的壅塞，並且可迅速且確實地對周邊的步行者或車輛駕駛人通知移動速度快而危險性高的車輛的存在。As described above, in this embodiment, priority is given to direct communication with vehicle-mounted terminals 3 of fast-moving and highly dangerous vehicles, and direct communication with other vehicle-mounted terminals 3 or pedestrian terminals 1 is restricted, thereby suppressing direct communication. congestion, and can quickly and reliably notify the surrounding pedestrians or vehicle drivers of the presence of fast-moving and highly dangerous vehicles.

其中，有步行者終端1的持有人乘坐在腳踏車或高齡者用車的情形。此時，若將表示正在乘坐在腳踏車或高齡者用車的資訊作為屬性資訊而附加在訊息來進行送訊即可。接著，在步行者終端1中，若在周邊存在步行者，形成為直接通訊，若在周邊不存在步行者，而存在摩托車或汽車等高速車輛時，則形成為間接通訊。Among them, there is a case where the owner of the pedestrian terminal 1 rides on a bicycle or a car for the elderly. In this case, it is only necessary to add information indicating that the person is riding a bicycle or a car for the elderly as attribute information to the message and transmit it. Next, in the pedestrian terminal 1, if there are pedestrians in the surrounding area, direct communication is established, and if there are no pedestrians in the surrounding area but high-speed vehicles such as motorcycles and automobiles exist, indirect communication is established.

接著，說明在第7實施形態之車載終端3所進行的通訊方式選擇(圖7的ST401)的順序。圖22係顯示在車載終端3所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST401 in FIG. 7 ) performed by the vehicle-mounted terminal 3 of the seventh embodiment will be described. FIG. 22 is a flow chart showing the procedure for selecting a communication method in the vehicle-mounted terminal 3 .

在車載終端3的通訊方式選擇部42中，首先，按照在無線LAN通訊部34是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST801)。在此，若自身裝置不在路側機5的通訊範圍內(ST801中為No)，選擇直接通訊(ST804)。In the communication mode selection section 42 of the vehicle-mounted terminal 3, at first, according to whether the wireless LAN communication section 34 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 (ST801 ). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST801), direct communication is selected (ST804).

另一方面，若自身裝置在路側機5的通訊範圍內(ST801中為Yes)，接著，取得被記憶在記憶部37的自身車輛的車輛屬性資訊(ST821)。接著，根據自身車輛的車輛屬性資訊，判定自身車輛是否為汽車或摩托車等高速車輛(ST822)。在此，若自身車輛為高速車輛(ST822中為Yes)，選擇直接通訊(ST804)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST801), then the vehicle attribute information of the own vehicle stored in the memory unit 37 is acquired (ST821). Next, based on the vehicle attribute information of the own vehicle, it is determined whether the own vehicle is a high-speed vehicle such as an automobile or a motorcycle (ST822). Here, if the own vehicle is a high-speed vehicle (Yes in ST822), direct communication is selected (ST804).

另一方面，若自身車輛非為高速車輛，亦即為高齡者用車或腳踏車等低速車輛時(ST822中為No)，接著，取得由步行者終端1或其他車載終端3所接收到的訊息所包含的屬性資訊(ST823)。接著，判定在自身車輛的周邊是否存在步行者(ST824)。在此，若在自身車輛的周邊存在步行者(ST824中為Yes)，選擇直接通訊(ST804)。On the other hand, if the self-vehicle is not a high-speed vehicle, that is, a low-speed vehicle such as a car for the elderly or a bicycle (No in ST822), then obtain the message received by the pedestrian terminal 1 or other vehicle-mounted terminal 3 Included attribute information (ST823). Next, it is determined whether or not there are pedestrians around the own vehicle (ST824). Here, if there are pedestrians around the own vehicle (Yes in ST824), direct communication is selected (ST804).

另一方面，若在自身車輛的周邊不存在步行者(ST824中為No)，接著，由狀態檢測部32等取得自身車輛的狀態資訊(ST802)。接著，根據自身車輛的狀態資訊，判定自身車輛是否為危險狀態(ST803)。On the other hand, if there are no pedestrians around the own vehicle (No in ST824), then the state detection unit 32 and the like acquire state information of the own vehicle (ST802). Next, based on the state information of the own vehicle, it is determined whether the own vehicle is in a dangerous state (ST803).

在此，若自身車輛為危險狀態(ST803中為Yes)，選擇直接通訊(ST804)。另一方面，若自身車輛非為危險狀態(ST803中為No)，選擇間接通訊(ST805)。Here, if the own vehicle is in a dangerous state (Yes in ST803), direct communication is selected (ST804). On the other hand, if the own vehicle is not in a dangerous state (No in ST803), indirect communication is selected (ST805).

其中，在步行者終端1中，係與圖8(A)所示之例同樣地，在通訊方式選擇部22中，若為危險狀態，選擇直接通訊，若非為危險狀態，則選擇間接通訊。Wherein, in the pedestrian terminal 1, in the same manner as the example shown in FIG. 8(A), in the communication method selection unit 22, if it is in a dangerous state, direct communication is selected, and if it is not in a dangerous state, indirect communication is selected.

(第8實施形態) 　　接著，說明第8實施形態。其中，在此未特別提及之處係與前述實施形態相同。(Eighth Embodiment) Next, an eighth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment.

在前述之實施形態中，步行者終端1或車載終端3個別選擇自身裝置的通訊方式(直接通訊或間接通訊)，但是在本實施形態中，路側機5管理存在於周邊的步行者終端1或車載終端3的通訊方式。亦即，路側機5由步行者終端1或車載終端3收集選擇通訊方式所需的裝置資訊，決定步行者終端1或車載終端3的通訊方式，對步行者終端1或車載終端3通知所決定出的通訊方式，在步行者終端1或車載終端3中，以路側機5所決定的通訊方式來使訊息傳送。In the above-mentioned embodiment, the pedestrian terminal 1 or the vehicle-mounted terminal 3 individually selects the communication method (direct communication or indirect communication) of its own device, but in this embodiment, the roadside device 5 manages the pedestrian terminal 1 or The communication method of the vehicle-mounted terminal 3 . That is, the roadside device 5 collects the device information required for selecting the communication method by the pedestrian terminal 1 or the vehicle terminal 3, determines the communication method of the pedestrian terminal 1 or the vehicle terminal 3, and notifies the pedestrian terminal 1 or the vehicle terminal 3 of the decision. In the pedestrian terminal 1 or the vehicle-mounted terminal 3, the communication method determined by the roadside device 5 is used to transmit the message.

接著，說明第8實施形態之路側機5的概略構成。圖23係顯示路側機5的概略構成的區塊圖。Next, a schematic configuration of the roadside device 5 according to the eighth embodiment will be described. FIG. 23 is a block diagram showing a schematic configuration of the roadside device 5 .

路側機5係與第1實施形態(參照圖5)同樣地，具備有：無線LAN通訊部51、控制部52、及記憶部53。The roadside device 5 includes a wireless LAN communication unit 51 , a control unit 52 , and a memory unit 53 as in the first embodiment (see FIG. 5 ).

無線LAN通訊部51係藉由WiFi(註冊商標)等無線LAN通訊，接收由步行者終端1或車載終端3被傳送的訊息，此外，將所接收到的訊息以廣播傳送至步行者終端1或車載終端3。其中，步行者終端1或車載終端3係傳送通訊方式的選擇所需的狀態資訊，亦即，包含狀態檢測部12、32的檢測結果、位置資訊及屬性資訊的訊息。The wireless LAN communication part 51 receives the message transmitted by the pedestrian terminal 1 or the vehicle terminal 3 through wireless LAN communication such as WiFi (registered trademark), and also broadcasts the received message to the pedestrian terminal 1 or the vehicle terminal 3. Vehicle terminal 3. Wherein, the pedestrian terminal 1 or the vehicle-mounted terminal 3 transmits the state information required for the selection of the communication method, that is, the information including the detection results of the state detection parts 12, 32, position information and attribute information.

記憶部53係記憶在構成控制部52的處理器被執行的程式等。此外，記憶部53係記憶由步行者終端1或車載終端3所接收到的訊息所包含的狀態資訊。The storage unit 53 stores programs and the like executed by the processor constituting the control unit 52 . In addition, the memory unit 53 memorizes the state information contained in the message received by the pedestrian terminal 1 or the vehicle terminal 3 .

控制部52係具備有：訊息控制部61、及通訊方式選擇部62。The control unit 52 includes a message control unit 61 and a communication method selection unit 62 .

通訊方式選擇部62係由記憶部53取得周邊的步行者及車輛的狀態資訊，根據該狀態資訊、及被記憶在記憶部53的地圖資訊，判定周邊的步行者及車輛是否為危險狀態，按照該判定結果，選擇通訊方式。The communication method selection part 62 obtains the state information of the pedestrians and vehicles in the surrounding area from the memory part 53, and determines whether the pedestrians and vehicles in the surrounding area are in a dangerous state according to the state information and the map information stored in the memory part 53. As a result of this judgment, select the communication method.

訊息控制部61若在無線LAN通訊部51接收由步行者終端1或車載終端3被傳送的訊息，將該訊息由無線LAN通訊部51傳送至步行者終端1或車載終端3。此外，訊息控制部61係對步行者終端1或車載終端3傳送包含指示以在通訊方式選擇部62所選擇出的通訊方式傳送訊息的通訊方式指示資訊的訊息。The message control unit 61 transmits the message from the wireless LAN communication unit 51 to the pedestrian terminal 1 or the vehicle terminal 3 when the wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the vehicle terminal 3 . In addition, the message control unit 61 transmits a message including communication method instruction information instructing to transmit a message by the communication method selected by the communication method selection unit 62 to the pedestrian terminal 1 or the vehicle-mounted terminal 3 .

在步行者終端1及車載終端3中，若由路側機5接收包含通訊方式指示資訊的訊息，根據通訊方式指示資訊，以所被指示的通訊方式傳送訊息。亦即，步行者終端1及車載終端3係若由路側機5被指示出直接通訊，藉由步行者-車輛間通訊部，將訊息傳送至周邊的步行者終端1及車載終端3，若被指示出間接通訊，則藉由無線LAN通訊部，將訊息傳送至路側機5。In the pedestrian terminal 1 and the vehicle-mounted terminal 3, if the roadside unit 5 receives a message including the communication mode indication information, the message is transmitted by the indicated communication mode according to the communication mode indication information. That is, if the pedestrian terminal 1 and the vehicle-mounted terminal 3 are instructed to communicate directly by the roadside device 5, the information is transmitted to the surrounding pedestrian terminals 1 and the vehicle-mounted terminal 3 through the pedestrian-vehicle communication unit. If indirect communication is indicated, the information is sent to the roadside machine 5 through the wireless LAN communication unit.

其中，在本實施形態中，係在路側機5進行在第1實施形態中在步行者終端1或車載終端3進行之根據狀態資訊的通訊方式選擇的處理，但是亦可在路側機5進行在其他實施形態中在步行者終端1或車載終端3進行的通訊方式選擇的處理。尤其，在路側機5進行通訊方式選擇的處理的構成係如第2、第3、第4實施形態般，適於管理存在於特定區域(平交道的周邊區域或公車站的周邊區域)內的步行者終端1或車載終端3的通訊方式的情形。Wherein, in the present embodiment, the process of selecting the communication mode based on the status information performed in the pedestrian terminal 1 or the vehicle terminal 3 in the first embodiment is performed in the roadside device 5, but it may also be performed in the roadside device 5. In other embodiments, the process of selecting a communication method is performed by the pedestrian terminal 1 or the vehicle-mounted terminal 3 . In particular, the structure of the process of selecting the communication method at the roadside machine 5 is suitable for managing traffic in a specific area (the surrounding area of a level crossing or the surrounding area of a bus stop) as in the second, third, and fourth embodiments. The situation of the communication method of the pedestrian terminal 1 or the vehicle-mounted terminal 3 .

此外，亦可在步行者終端1或車載終端3進行如上所示之通訊方式選擇的處理的一部分。例如，亦可根據位置資訊的判定在路側機5進行，根據狀態檢測部12、32的檢測結果的判定係在步行者終端1或車載終端3進行。In addition, a part of the above-described communication method selection process may be performed in the pedestrian terminal 1 or the vehicle-mounted terminal 3 . For example, the determination based on the position information may be performed by the roadside device 5 , and the determination based on the detection results of the state detection units 12 and 32 may be performed by the pedestrian terminal 1 or the vehicle terminal 3 .

(第9實施形態) 　　接著，說明第9實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖24係顯示第9實施形態之步行者終端1及車載終端3中的訊息的收送訊狀況的說明圖。(Ninth Embodiment) Next, a ninth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. Fig. 24 is an explanatory diagram showing the status of sending and receiving messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the ninth embodiment.

在前述之實施形態中，在步行者終端1中，根據關於自身裝置的狀態的裝置資訊，判定步行者是否為危險狀態，按照該判定結果，選擇直接通訊與間接通訊的任一方的通訊方式，以其一方通訊方式傳送訊息，但是若在直接通訊發生通訊錯誤，有以間接通訊，訊息較快到達車載終端3的情形。因此，在本實施形態中，若預定條件成立，選擇直接通訊及間接通訊之雙方的通訊方式，以直接通訊及間接通訊之雙方的通訊方式，將訊息傳送至周邊的車載終端3。In the above-mentioned embodiment, in the pedestrian terminal 1, it is determined whether the pedestrian is in a dangerous state based on the device information about the state of the own device, and according to the determination result, a communication method of either direct communication or indirect communication is selected, The message is transmitted by one of the communication methods, but if a communication error occurs in the direct communication, there is a situation in which the message reaches the vehicle-mounted terminal 3 faster by the indirect communication. Therefore, in this embodiment, if the predetermined condition is satisfied, the communication methods of both direct communication and indirect communication are selected, and the information is transmitted to the surrounding vehicle-mounted terminals 3 by using the communication methods of both direct communication and indirect communication.

尤其在本實施形態中，在步行者終端1中，自身步行者是否為危險狀態的判定之前，判定自身步行者是否為特定人物，若自身步行者為特定人物，則無關於自身步行者是否為危險狀態，選擇直接通訊及間接通訊之雙方的通訊方式。Especially in this embodiment, in the pedestrian terminal 1, before the determination of whether the pedestrian is dangerous, it is determined whether the pedestrian is a specific person. If the pedestrian is a specific person, it does not matter whether the pedestrian is a person. Dangerous state, select the communication method of both parties of direct communication and indirect communication.

此時，在周邊的車載終端3中，由步行者終端1，以直接通訊及間接通訊之雙方的通訊方式接收訊息，但是將以任何通訊方式先正常接收到的訊息使用作為收訊結果，按照先正常接收到的訊息，進行衝撞判定。其中，亦可將以直接通訊及間接通訊的各通訊方式所接收到的訊息合成。At this time, in the surrounding vehicle-mounted terminals 3, the pedestrian terminal 1 receives the message by both the direct communication and the indirect communication, but the message normally received first by any communication method is used as the receiving result, according to First, the message received normally will be judged for collision. Among them, the messages received by various communication methods of direct communication and indirect communication can also be synthesized.

在此，在步行者終端1中，關於自身步行者是否為特定人物的資訊作為關於自身步行者的屬性的裝置資訊而預先被記憶在記憶部17。此時，例如，將自身步行者已採取危險行動，作為危險行動履歷而蓄積在記憶部17，且根據該危險行動履歷，若自身步行者在過去已採取眾多危險行動時，具體而言，若在過去的預定期間內已採取危險行動的次數為預定次數以上時，若將自身步行者設定為特定人物即可。此外，若以有失智症或其他宿疾等理由，由本人或家族等保護者有監護的請求時，亦可將自身步行者設定為特定人物。此時，本人或家族等保護者以步行者終端1進行特定人物的登錄操作即可。Here, in the pedestrian terminal 1 , information on whether the own pedestrian is a specific person is stored in the memory unit 17 in advance as device information on attributes of the own pedestrian. At this time, for example, the dangerous action taken by the self-walker is stored in the memory unit 17 as a dangerous action history, and based on the dangerous action history, if the self-walker has taken many dangerous actions in the past, specifically, if When the number of times dangerous actions have been taken in the past predetermined period is more than the predetermined number, it is only necessary to set the self-walker as a specific person. In addition, if there is a request for guardianship by the protector such as the person or family due to reasons such as dementia or other serious diseases, it is also possible to set the walker as a specific person. In this case, the guardian such as the person himself or his family may perform a registration operation of a specific person using the pedestrian terminal 1 .

此外，若平交道的截路機已降下，卻位於平交道內時，步行者終端1亦可將自身步行者設定為特定人物。此時，被認為高齡者等因在橫越平交道中感到身體不舒服等理由，在平交道內變得無法行動，而截路機已降下。如上所示之情形非常危險，因此必須緊急對列車通知在平交道內有人，因此使用直接通訊與間接通訊之雙方乃為有效。截路機是否已降下的資訊若設為由監視設在截路機的路側機或截路機的攝影機等接收即可。或者，亦可由從設在列車的車載終端所接收的列車的位置資訊，若與自身步行者的距離接近，將自身步行者設定為特定人物。In addition, if the road interceptor of the level crossing has been lowered but is located in the level crossing, the pedestrian terminal 1 can also set its own pedestrian as a specific person. At this time, it is considered that elderly people and the like feel unwell while crossing the level crossing and are unable to move inside the level crossing, and the road cutter has been lowered. The situation shown above is very dangerous, so it is necessary to urgently inform the train that there are people in the level crossing, so both parties using direct communication and indirect communication are effective. The information of whether the road cutter has been lowered can be received by monitoring the roadside unit installed on the road cutter or the camera of the road cutter. Alternatively, based on the position information of the train received from the vehicle-mounted terminal installed on the train, if the distance to the own pedestrian is close, the own pedestrian can be set as a specific person.

其中，在許可使用直接通訊與間接通訊之雙方的特定人物，以廣義的步行者而言，亦可包含：腳踏車、輪椅、電動輪椅、高齡者用車、農機等。Among them, specific persons on both sides of the permission to use direct communication and indirect communication, in a broad sense of pedestrians, may also include: bicycles, wheelchairs, electric wheelchairs, vehicles for the elderly, agricultural machinery, etc.

接著，說明由第9實施形態之步行者終端1被傳送的訊息。圖25係顯示由步行者終端1所被送訊的訊息的內容的說明圖。Next, the message transmitted from the pedestrian terminal 1 of the ninth embodiment will be described. FIG. 25 is an explanatory diagram showing the content of the message transmitted from the pedestrian terminal 1. As shown in FIG.

在步行者終端1的訊息控制部21中，按照ITS通訊的訊息的格式，生成步行者-車輛間通訊的訊息。在該訊息係有：儲存預定資訊的共通區域；及使用者可儲存任意資訊的自由區域(擴張區域)。在共通區域係儲存有步行者ID(步行者終端1的終端ID)、自身裝置的位置資訊(經度及緯度)等預定資訊。在自由區域係儲存有表示自身步行者是否為特定人物的資訊(特定人物資訊)，作為自身步行者的屬性資訊。該特定人物資訊係若自身步行者為特定人物，係成為「1」，若自身步行者非為特定人物，則成為「0」。其中，以其他屬性資訊而言，亦可將持杖等資訊儲存在自由區域。In the message control unit 21 of the pedestrian terminal 1, the message of the pedestrian-vehicle communication is generated according to the format of the message of the ITS communication. In the message system there are: a common area for storing predetermined information; and a free area (extended area) for the user to store arbitrary information. Predetermined information such as pedestrian ID (terminal ID of pedestrian terminal 1 ), positional information (longitude and latitude) of own device is stored in the common area. Information indicating whether the own walker is a specific person (specific person information) is stored in the free area as attribute information of the own walker. The specific person information becomes "1" if the self-walker is a specific person, and becomes "0" if the self-walker is not a specific person. Among them, in terms of other attribute information, information such as holding a staff can also be stored in the free area.

藉由該訊息，可對周邊的車載終端3通知特定人物的存在。藉此，在車載終端3進行對駕駛人喚起注意，藉此供駕駛人注意特定人物。With this information, the presence of a specific person can be notified to the surrounding vehicle-mounted terminals 3 . In this way, the driver's attention is drawn to the vehicle-mounted terminal 3, thereby allowing the driver to pay attention to a specific person.

接著，說明在第9實施形態之步行者終端1所進行的通訊方式選擇(圖6的ST103)的順序。圖26係顯示在步行者終端1所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST103 in FIG. 6 ) performed by the pedestrian terminal 1 of the ninth embodiment will be described. FIG. 26 is a flow chart showing the procedure for selecting a communication method in the pedestrian terminal 1. As shown in FIG.

在步行者終端1的通訊方式選擇部22中，首先，按照在無線LAN通訊部14是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST701)。在此，若自身裝置不在路側機5的通訊範圍內(ST701中為No)，選擇直接通訊(ST704)。In the communication mode selection section 22 of the pedestrian terminal 1, at first, according to whether the wireless LAN communication section 14 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 ( ST701). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST701), direct communication is selected (ST704).

另一方面，若自身裝置在路側機5的通訊範圍內(ST701中為Yes)，接著，判定自身步行者是否為特定人物(ST751)。在此，若自身步行者為特定人物(ST751中為Yes)，選擇直接通訊及間接通訊之雙方(ST752)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST701), then it is determined whether the own pedestrian is a specific person (ST751). Here, if the self-walker is a specific person (Yes in ST751), both of direct communication and indirect communication are selected (ST752).

另一方面，若自身步行者非為特定人物(ST751中為No)，接著，由狀態檢測部12等取得自身步行者的狀態資訊(ST702)。接著，根據自身步行者的狀態資訊，判定自身步行者是否為危險狀態(ST703)。On the other hand, if the self-walker is not a specific person (No in ST751), then the state detection unit 12 and the like acquire the state information of the self-walker (ST702). Next, based on the state information of the own pedestrian, it is determined whether the own pedestrian is in a dangerous state (ST703).

在此，若自身步行者為危險狀態(ST703中為Yes)，選擇直接通訊(ST704)。另一方面，若步行者非為危險狀態(ST703中為No)，則選擇間接通訊(ST705)。Here, if the own pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, if the pedestrian is not in a dangerous state (No in ST703), indirect communication is selected (ST705).

(第10實施形態) 　　接著，說明第10實施形態。其中，在此未特別提及之處係與前述實施形態相同。圖27係顯示在第10實施形態之步行者終端1及車載終端3中的訊息的收送訊狀況的說明圖。(Tenth Embodiment) Next, a tenth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment. Fig. 27 is an explanatory diagram showing the status of sending and receiving messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the tenth embodiment.

在第9實施形態中，係在步行者終端1中，若預定條件成立，具體而言，若自身步行者為特定人物，以直接通訊及間接通訊之雙方的通訊方式，將訊息傳送至周邊的車載終端3，但是在本實施形態中，係在車載終端3中，若預定條件成立，以直接通訊及間接通訊之雙方的通訊方式，將訊息傳送至周邊的步行者終端1或車載終端3。尤其在本實施形態中，在車載終端3中，若自身車輛為緊急車輛(救護車或消防車等)等特定車輛，以直接通訊及間接通訊之雙方的通訊方式傳送訊息。In the ninth embodiment, if the predetermined condition is met in the pedestrian terminal 1, specifically, if the pedestrian is a specific person, the message is transmitted to the surrounding by means of both direct communication and indirect communication. The vehicle-mounted terminal 3, however, in this embodiment, if the predetermined condition is met in the vehicle-mounted terminal 3, the message is transmitted to the surrounding pedestrian terminal 1 or vehicle-mounted terminal 3 by means of both direct communication and indirect communication. Especially in this embodiment, in the vehicle-mounted terminal 3, if the own vehicle is a specific vehicle such as an emergency vehicle (ambulance, fire engine, etc.), the message is transmitted by both direct communication and indirect communication.

此時，在周邊的步行者終端1或車載終端3中，由特定車輛的車載終端3，以直接通訊及間接通訊之雙方的通訊方式，接收訊息，但是將以任何通訊方式先正常接收到的訊息，使用作為收訊結果，按照先正常接收到的訊息，進行衝撞判定。其中，亦可將以直接通訊及間接通訊的各通訊方式所接收到的訊息進行合成。At this time, in the surrounding pedestrian terminals 1 or vehicle-mounted terminals 3, the vehicle-mounted terminal 3 of a specific vehicle will receive the message through both direct communication and indirect communication. The message is used as the result of receiving the message, and the collision judgment is performed according to the message received normally first. Among them, it is also possible to synthesize the messages received by various communication methods of direct communication and indirect communication.

在此，在車載終端3中，關於自身車輛是否為特定車輛的資訊被預先記憶在記憶部37，作為關於自身車輛的屬性的裝置資訊。Here, in the vehicle-mounted terminal 3 , information on whether or not the own vehicle is a specific vehicle is stored in the memory unit 37 in advance as device information on attributes of the own vehicle.

接著，說明由第10實施形態之車載終端3所被送訊的訊息。圖28係顯示由車載終端3所被送訊的訊息的內容的說明圖。Next, the messages transmitted from the vehicle-mounted terminal 3 of the tenth embodiment will be described. FIG. 28 is an explanatory diagram showing the content of the message transmitted from the vehicle-mounted terminal 3. As shown in FIG.

在車載終端3的訊息控制部41中，係按照ITS通訊的訊息的格式，生成步行者-車輛間通訊的訊息。在該訊息係有：儲存預定資訊的共通區域；及使用者可儲存任意資訊的自由區域(擴張區域)。在共通區域係儲存有車輛ID(車載終端3的終端ID)、自身裝置的位置資訊(經度及緯度)等預定資訊。在自由區域係儲存有表示自身車輛是否為特定車輛(緊急車輛)的資訊(特定車輛資訊)，作為自身車輛的屬性資訊。該特定車輛資訊係若自身車輛為特定車輛(緊急車輛)時，係成為「1」，若自身車輛非為特定車輛時，則成為「0」。In the message control unit 41 of the in-vehicle terminal 3, the message of the pedestrian-vehicle communication is generated according to the format of the message of the ITS communication. In the message system there are: a common area for storing predetermined information; and a free area (extended area) for the user to store arbitrary information. Predetermined information such as vehicle ID (terminal ID of the vehicle-mounted terminal 3 ), positional information (longitude and latitude) of the own device is stored in the common area. Information indicating whether the own vehicle is a specific vehicle (emergency vehicle) (specific vehicle information) is stored in the free area as attribute information of the own vehicle. The specific vehicle information becomes "1" when the own vehicle is a specific vehicle (emergency vehicle), and becomes "0" when the own vehicle is not a specific vehicle.

藉由該訊息，可對周邊的步行者終端1或車載終端3通知緊急車輛將通行。藉此，在步行者終端1進行對步行者喚起注意，藉此步行者會注意緊急車輛，此外，在車載終端3進行對駕駛人喚起注意，藉此駕駛人以不會妨礙緊急車輛通行的方式駕駛車輛。With this information, it is possible to notify the surrounding pedestrian terminals 1 or vehicle-mounted terminals 3 that an emergency vehicle will pass. Thereby, pedestrian terminal 1 is used to call attention to pedestrians so that pedestrians will pay attention to emergency vehicles. In addition, vehicle-mounted terminal 3 is used to call attention to drivers so that drivers will not hinder the passage of emergency vehicles. drive the vehicle.

接著，說明在第10實施形態之車載終端3所進行的通訊方式選擇(圖7的ST401)的順序。圖29係顯示在車載終端3所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST401 in FIG. 7) performed by the vehicle-mounted terminal 3 of the tenth embodiment will be described. FIG. 29 is a flow chart showing the procedure of communication method selection performed by the vehicle-mounted terminal 3 .

在車載終端3的通訊方式選擇部42中，首先，按照在無線LAN通訊部34是否已接收到由路側機5被傳送的信標訊號，判定自身裝置是否在路側機5的通訊範圍內(ST801)。在此，若自身裝置不在路側機5的通訊範圍內(ST801中為No)，選擇直接通訊(ST804)。In the communication mode selection section 42 of the vehicle-mounted terminal 3, at first, according to whether the wireless LAN communication section 34 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 (ST801 ). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST801), direct communication is selected (ST804).

另一方面，若自身裝置在路側機5的通訊範圍內(ST801中為Yes)，接著，判定自身車輛是否為特定車輛(ST831)。在此，若自身車輛為特定車輛(ST831中為Yes)，選擇直接通訊及間接通訊之雙方(ST832)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST801), then it is determined whether the own vehicle is a specific vehicle (ST831). Here, if the own vehicle is a specific vehicle (Yes in ST831), both of direct communication and indirect communication are selected (ST832).

另一方面，若自身車輛非為特定車輛(ST831中為No)，接著，由狀態檢測部32等取得自身車輛的狀態資訊(ST802)。接著，根據自身車輛的狀態資訊，判定自身車輛是否為危險狀態(ST803)。On the other hand, if the own vehicle is not a specific vehicle (No in ST831), then the state detection unit 32 and the like acquire state information of the own vehicle (ST802). Next, based on the state information of the own vehicle, it is determined whether the own vehicle is in a dangerous state (ST803).

在此，若自身車輛為危險狀態(ST803中為Yes)，選擇直接通訊(ST804)。另一方面，若自身車輛非為危險狀態(ST803中為No)，選擇間接通訊(ST805)。Here, if the own vehicle is in a dangerous state (Yes in ST803), direct communication is selected (ST804). On the other hand, if the own vehicle is not in a dangerous state (No in ST803), indirect communication is selected (ST805).

(第11實施形態) 　　接著，說明第11實施形態。其中，在此未特別提及之處係與前述實施形態相同。(Eleventh Embodiment) Next, an eleventh embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment.

在第10實施形態中，在車載終端3中，若自身車輛為緊急車輛(救護車或消防車等)等特定車輛，以直接通訊及間接通訊之雙方的通訊方式，傳送訊息，但是在本實施形態中，係僅在具有關於自身車輛(緊急車輛)為緊急性高的狀態的屬性的裝置資訊的情形下，以直接通訊及間接通訊之雙方的通訊方式，傳送訊息。In the tenth embodiment, in the vehicle-mounted terminal 3, if the self-vehicle is a specific vehicle such as an emergency vehicle (ambulance or fire truck, etc.), a message is transmitted by both direct communication and indirect communication, but in this embodiment In the form, only in the case of the device information having the attribute that the self-vehicle (emergency vehicle) is in a state of high urgency, the message is transmitted by both the direct communication and the indirect communication.

在此，緊急車輛為緊急性高的狀態係指例如救護車為了攸關生死的患者的急救而緊急行駛的情形、或消防車朝向火災現場緊急行駛的情形、巡邏車追捕犯人的情形等。Here, the state of high urgency of an emergency vehicle means, for example, a situation where an ambulance runs urgently to rescue a life-threatening patient, a fire truck rushes toward a fire scene, or a patrol car chases a prisoner.

此外，自身車輛是否為緊急性高的狀態的判定係根據自身裝置所設定之關於緊急性的資訊來進行。此時，例如緊急車輛的隊員等在出動時，若在車載終端3進行關於緊急性的資訊的輸入操作即可。此外，亦可在車載終端3中，根據緊急車輛的警報器聲音，偵測緊急性高的狀態。此時，若按照緊急性的高低來變更警報器聲音即可。此外，亦可接收出動請求，在送回對該請求的響應的時點，判斷為緊急性高。此外，亦可在緊急車輛裝載與消防救急指令系統進行通訊的通訊裝置，由該通訊裝置，車載終端3取得關於緊急性的資訊。亦可將自身車輛是否為緊急性高的狀態的資訊，作為關於自身車輛的屬性的裝置資訊而記憶在記憶部37，根據該裝置資訊，以直接通訊及間接通訊之雙方的通訊方式傳送訊息。In addition, the determination of whether the self-vehicle is in a state of high urgency is performed based on the information on urgency set in the self-vehicle. In this case, for example, members of an emergency vehicle may input emergency information on the in-vehicle terminal 3 when dispatching. In addition, the in-vehicle terminal 3 can also detect a state of high urgency from the siren sound of an emergency vehicle. In this case, it is sufficient to change the sound of the siren according to the level of urgency. In addition, a dispatch request may be received, and when a response to the request is sent back, it may be determined that the urgency is high. In addition, a communication device for communicating with the fire emergency command system may be mounted on the emergency vehicle, and the vehicle-mounted terminal 3 may obtain emergency information from the communication device. Information on whether the self-vehicle is in a state of high urgency may be stored in the memory unit 37 as device information on the attributes of the own vehicle, and a message may be transmitted by both direct communication and indirect communication based on the device information.

接著，說明由第11實施形態之車載終端3所被送訊的訊息。圖30係顯示由車載終端3所被送訊的訊息的內容的說明圖。Next, the messages transmitted from the vehicle-mounted terminal 3 of the eleventh embodiment will be described. FIG. 30 is an explanatory diagram showing the content of the message transmitted from the vehicle-mounted terminal 3. As shown in FIG.

在本實施形態中，與第10實施形態同樣地，在步行者-車輛間通訊的訊息的自由區域儲存有表示自身車輛是否為特定車輛(緊急車輛)的資訊(特定車輛資訊)，作為自身車輛的屬性資訊，但是，除此之外，儲存有表示緊急車輛是否為緊急性高的狀態的資訊(緊急狀態資訊)。該緊急狀態資訊係若緊急性高，成為「1」，若緊急性低，則成為「0」。In this embodiment, as in the tenth embodiment, information (specific vehicle information) indicating whether the own vehicle is a specific vehicle (emergency vehicle) is stored in the free area of the message of the pedestrian-vehicle communication as the own vehicle. However, in addition to this, information indicating whether the emergency vehicle is in a state of high urgency (emergency state information) is stored. This urgency information becomes "1" if the urgency is high, and becomes "0" if the urgency is low.

除了藉由該訊息，除了緊急車輛通行之外，可對周邊的步行者終端1或車載終端3通知該緊急車輛為緊急性高的狀態。In addition to the passage of the emergency vehicle by this message, it is possible to notify the surrounding pedestrian terminal 1 or vehicle-mounted terminal 3 that the emergency vehicle is in a state of high urgency.

接著，說明在第11實施形態之車載終端3所進行的通訊方式選擇(圖7的ST401)的順序。圖31係顯示在車載終端3所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST401 in FIG. 7) performed by the vehicle-mounted terminal 3 of the eleventh embodiment will be described. FIG. 31 is a flow chart showing the procedure for selecting a communication method in the vehicle-mounted terminal 3 .

在車載終端3的通訊方式選擇部42中，首先，按照是否在無線LAN通訊部34已接收到由路側機5被傳送的信標訊號，來判定自身裝置是否在路側機5的通訊範圍內(ST801)。在此，若自身裝置不在路側機5的通訊範圍內(ST801中為No)，選擇直接通訊(ST804)。In the communication mode selection section 42 of the vehicle-mounted terminal 3, at first, according to whether the wireless LAN communication section 34 has received the beacon signal transmitted by the roadside machine 5, it is determined whether the own device is within the communication range of the roadside machine 5 ( ST801). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST801), direct communication is selected (ST804).

另一方面，若自身裝置在路側機5的通訊範圍內(ST801中為Yes)，接著，判定自身車輛是否為特定車輛(ST831)。在此，若自身車輛為特定車輛(ST831中為Yes)，接著，判定自身車輛是否為緊急性高的狀態(ST841)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST801), then it is determined whether the own vehicle is a specific vehicle (ST831). Here, if the own vehicle is a specific vehicle (Yes in ST831), then it is determined whether the own vehicle is in a state of high urgency (ST841).

在此，若自身車輛為緊急性高的狀態(ST841中為Yes)，選擇直接通訊及間接通訊之雙方(ST832)。Here, if the self-vehicle is in a state of high urgency (Yes in ST841), both of direct communication and indirect communication are selected (ST832).

另一方面，若自身車輛為緊急性低的狀態(ST841中為No)、或自身車輛非為特定車輛(ST831中為No)，接著，由狀態檢測部32等取得自身車輛的狀態資訊(ST802)。接著，根據自身車輛的狀態資訊，判定自身車輛是否為危險狀態(ST803)。On the other hand, if the self-vehicle is in a state of low urgency (No in ST841), or the self-vehicle is not a specific vehicle (No in ST831), then the state detection unit 32 and the like acquire the state information of the own vehicle (ST802 ). Next, based on the state information of the own vehicle, it is determined whether the own vehicle is in a dangerous state (ST803).

在此，若自身車輛為危險狀態(ST803中為Yes)，選擇直接通訊(ST804)。另一方面，若自身車輛非為危險狀態(ST803中為No)，選擇間接通訊(ST805)。Here, if the own vehicle is in a dangerous state (Yes in ST803), direct communication is selected (ST804). On the other hand, if the own vehicle is not in a dangerous state (No in ST803), indirect communication is selected (ST805).

(第12實施形態) 　　接著，說明第12實施形態。其中，在此未特別提及之處係與前述實施形態相同。(Twelfth Embodiment) Next, a twelfth embodiment will be described. Among them, the points not particularly mentioned here are the same as the aforementioned embodiment.

在第11實施形態中，若自身車輛為緊急車輛(救護車或消防車等)等特定車輛，而且自身車輛為緊急性高的狀態時，以直接通訊及間接通訊之雙方的通訊方式傳送訊息，但是在本實施形態中，若自身車輛為特定車輛，而且在自身車輛的周邊步行者多時，僅有特定車輛，以直接通訊及間接通訊之雙方的通訊方式傳送訊息，步行者則僅以直接通訊及間接通訊的任一單方的通訊方式來傳送訊息。In the eleventh embodiment, if the self-vehicle is a specific vehicle such as an emergency vehicle (ambulance, fire engine, etc.), and the self-vehicle is in a state of high emergency, the message is transmitted by both the direct communication and the indirect communication, However, in this embodiment, if the self-vehicle is a specific vehicle, and there are many pedestrians around the self-vehicle, only the specific vehicle will send messages by means of both direct communication and indirect communication, and the pedestrians will only use direct communication. Communication and indirect communication of any unilateral means of communication to send messages.

在繁華街道等步行者多的場所，車輛駕駛人因注意步行者，因此察覺步行者衝出等危險行動的可能性高，因此對駕駛人喚起注意的緊急性低。此外，由於由複數步行者終端1被同時傳送步行者-車輛間通訊的訊息的可能性高，因此容易發生步行者-車輛間通訊的壅塞。因此，僅在自身車輛的周邊步行者多的情形下，以直接通訊及間接通訊之雙方的通訊方式傳送訊息，藉此可抑制步行者-車輛間通訊的壅塞，並且對周邊的步行者或車輛駕駛人早期通知緊急車輛等特定車輛通行的情形。In places where there are many pedestrians such as a busy street, the driver of the vehicle pays attention to the pedestrians, so there is a high possibility of detecting dangerous actions such as rushing out of the pedestrians, so the urgency of calling the driver's attention is low. In addition, since a plurality of pedestrian terminals 1 are likely to simultaneously transmit pedestrian-vehicle communication messages, pedestrian-vehicle communication congestion tends to occur. Therefore, only when there are many pedestrians around the self-vehicle, the communication method of both the direct communication and the indirect communication can be used to transmit the message, thereby suppressing the congestion of the pedestrian-vehicle communication, and the surrounding pedestrians or vehicles The driver notifies the situation of the passage of specific vehicles such as emergency vehicles in advance.

在此，在自身車輛的周邊步行者多與否的判定，若根據存在於周邊的步行者終端1的數量來進行即可。具體而言，對所接收到的訊息的送訊源的步行者終端1的數量進行計數，若步行者終端1的數量成為預定值以上，判定在自身車輛的周邊步行者多即可。此外，亦可根據地圖資訊，若自身車輛位於繁華街道等步行者多的特定區域，判定在自身車輛的周邊步行者多。亦可將在自身車輛的周邊是否步行者多的資訊，作為自身車輛的裝置資訊而記憶在記憶部37，根據該裝置資訊，以直接通訊及間接通訊之雙方的通訊方式傳送訊息。Here, the determination of whether there are many pedestrians around the own vehicle may be based on the number of pedestrian terminals 1 existing around. Specifically, the number of pedestrian terminals 1 that are the transmission source of the received message is counted, and if the number of pedestrian terminals 1 exceeds a predetermined value, it may be determined that there are many pedestrians around the own vehicle. In addition, based on the map information, if the own vehicle is located in a specific area with many pedestrians such as a busy street, it can be determined that there are many pedestrians around the own vehicle. Information about whether there are many pedestrians around the own vehicle may be stored in the memory unit 37 as device information of the own vehicle, and a message may be transmitted by both direct communication and indirect communication based on the device information.

接著，說明在第12實施形態之車載終端3所進行的通訊方式選擇(圖7的ST401)的順序。圖32係顯示在車載終端3所進行的通訊方式選擇的順序的流程圖。Next, the procedure of communication method selection (ST401 in FIG. 7) performed by the vehicle-mounted terminal 3 of the twelfth embodiment will be described. FIG. 32 is a flow chart showing the procedure of communication method selection performed on the vehicle-mounted terminal 3 .

在車載終端3的通訊方式選擇部42中，首先，按照在無線LAN通訊部34是否已接收到由路側機5被傳送的信標訊號，來判定自身裝置是否在路側機5的通訊範圍內(ST801)。在此，若自身裝置不在路側機5的通訊範圍內(ST801中為No)，選擇直接通訊(ST804)。In the communication mode selection part 42 of the vehicle-mounted terminal 3, at first, according to whether the beacon signal transmitted by the roadside device 5 has been received in the wireless LAN communication part 34, determine whether the own device is within the communication range of the roadside device 5 ( ST801). Here, if the own device is not within the communication range of the roadside machine 5 (No in ST801), direct communication is selected (ST804).

另一方面，若自身裝置在路側機5的通訊範圍內(ST801中為Yes)，接著，判定自身車輛是否為特定車輛(ST831)。在此，若自身車輛為特定車輛(ST831中為Yes)，接著，判定在自身車輛的周邊是否步行者多(ST851)。On the other hand, if the own device is within the communication range of the roadside device 5 (Yes in ST801), then it is determined whether the own vehicle is a specific vehicle (ST831). Here, if the own vehicle is a specific vehicle (Yes in ST831), then it is determined whether there are many pedestrians around the own vehicle (ST851).

在此，若在自身車輛的周邊步行者多(ST851中為Yes)，選擇直接通訊及間接通訊之雙方(ST832)。Here, if there are many pedestrians around the own vehicle (Yes in ST851), both of direct communication and indirect communication are selected (ST832).

另一方面，若在自身車輛的周邊步行者少(ST851中為No)、或自身車輛非為特定車輛時(ST831中為No)，接著，由狀態檢測部32等取得自身車輛的狀態資訊(ST802)。接著，根據自身車輛的狀態資訊，判定自身車輛是否為危險狀態(ST803)。On the other hand, if there are few pedestrians around the own vehicle (No in ST851), or the own vehicle is not a specific vehicle (No in ST831), then the state detection unit 32 and the like acquire the state information of the own vehicle ( ST802). Next, based on the state information of the own vehicle, it is determined whether the own vehicle is in a dangerous state (ST803).

在此，若自身車輛為危險狀態(ST803中為Yes)，選擇直接通訊(ST804)。另一方面，若自身車輛非為危險狀態(ST803中為No)，選擇間接通訊(ST805)。Here, if the own vehicle is in a dangerous state (Yes in ST803), direct communication is selected (ST804). On the other hand, if the own vehicle is not in a dangerous state (No in ST803), indirect communication is selected (ST805).

其中，在第9實施形態至第12實施形態中，若預定條件成立，亦即，若步行者為特定人物、或車輛為特定車輛，選擇直接通訊與間接通訊之雙方的通訊方式，但是除了前述條件之外，亦可若通訊流量為預定值以下，許可選擇直接通訊與間接通訊之雙方的通訊方式。此時，在路側機5中，若監視通訊流量，對步行者終端1及車載終端3通知該通訊流量即可。Among them, in the ninth embodiment to the twelfth embodiment, if the predetermined condition is established, that is, if the pedestrian is a specific person, or the vehicle is a specific vehicle, the communication methods of both direct communication and indirect communication are selected, but in addition to the aforementioned In addition to the conditions, if the communication traffic is below the predetermined value, it is allowed to choose the communication method of both direct communication and indirect communication. At this time, if the roadside device 5 monitors the communication flow, it only needs to notify the pedestrian terminal 1 and the vehicle terminal 3 of the communication flow.

此外，在第9實施形態至第12實施形態中，若預定條件成立，選擇直接通訊及間接通訊之雙方的通訊方式，若預定條件不成立，則按照是否為危險狀態，選擇直接通訊與間接通訊的任一方通訊方式，但是若預定條件不成立，亦可無關於是否為危險狀態，來選擇預定的通訊方式，例如間接通訊。In addition, in the ninth embodiment to the twelfth embodiment, if the predetermined condition is satisfied, the communication method of both direct communication and indirect communication is selected, and if the predetermined condition is not satisfied, the direct communication and the indirect communication are selected according to whether the predetermined condition is dangerous. Either communication method, but if the predetermined condition is not established, the predetermined communication method, such as indirect communication, can also be selected irrespective of whether it is in a dangerous state.

此外，在第9實施形態至第12實施形態中，係由步行者終端1或車載終端3個別進行選擇直接通訊與間接通訊的任一方或雙方的通訊方式的處理，但是亦可與第8實施形態同樣地，由路側機5進行選擇直接通訊與間接通訊的任一方或雙方的通訊方式的處理。In addition, in the ninth embodiment to the twelfth embodiment, the pedestrian terminal 1 or the vehicle-mounted terminal 3 individually performs the process of selecting either or both of the direct communication and the indirect communication, but it can also be used with the eighth embodiment. In the same manner, the roadside machine 5 performs the process of selecting either or both of the direct communication and the indirect communication.

如以上所示，說明實施形態，作為本申請案中所揭示的技術的例示。但是，本揭示中的技術亦可適用在進行變更、置換、附加、省略等的實施形態，而非限定於此。此外，亦可將在上述實施形態中所說明的各構成要素加以組合，而形成為新的實施形態。As described above, the embodiment will be described as an illustration of the technology disclosed in the present application. However, the technology in the present disclosure can be applied also to embodiments in which changes, substitutions, additions, omissions, etc. are performed, and is not limited thereto. Moreover, it is also possible to form a new embodiment by combining each component demonstrated in the said embodiment.

例如，在前述之實施形態中，係在透過路側機的間接通訊採用無線LAN的通訊方式，但是在該間接通訊所採用的通訊方式並非為限定於無線LAN者，亦可以例如在5G(第5世代移動通訊系統)中所採用之利用高SHF帶或EHF帶等高頻帶的通訊方式，進行間接通訊。For example, in the above-mentioned embodiment, the indirect communication through the roadside machine adopts the wireless LAN communication method, but the communication method used in the indirect communication is not limited to the wireless LAN, and it can also be used in 5G (Article 5) Generation Mobile Communication System) uses the communication method of high frequency band such as high SHF band or EHF band to carry out indirect communication.

此外，在第8實施形態以外的實施形態中，進行直接通訊或進行間接通訊的選擇係由終端裝置按照自身步行者或自身車輛的狀態來自發性選擇，但是亦可由路側機選定進行直接通訊的終端裝置。此時，終端裝置係對路側機通知自身裝置的位置資訊或狀態資訊、或直接通訊的要求等，路側機係若決定許可進行直接通訊的終端裝置，且對終端裝置通知許可或不許可即可。 [產業上可利用性]In addition, in embodiments other than the eighth embodiment, the selection of direct communication or indirect communication is spontaneously selected by the terminal device according to the state of its own pedestrian or its own vehicle, but it can also be selected by the roadside device for direct communication. terminal device. At this time, the terminal device is to notify the roadside device of its location information or status information, or the request for direct communication. If the roadside device is a terminal device that decides to allow direct communication, it is sufficient to notify the terminal device of permission or disapproval. . [industrial availability]

本發明之終端裝置、路側裝置、通訊系統、及通訊方法係有用於作為藉由從在終端裝置間的步行者-車輛間通訊(直接通訊)、與透過路側裝置的間接通訊的2個通訊方式之中，選擇適當的通訊方式，藉此具有可一邊抑制步行者-車輛間通訊的壅塞，一邊對周邊的步行者或車輛駕駛人迅速且確實地通知步行者或車輛的存在的效果，將包含自身裝置的位置資訊的訊息以步行者-車輛間通訊傳送至其他終端裝置的終端裝置、被設置在道路而與終端裝置進行通訊的路側裝置、具備終端裝置及路側裝置的通訊系統、及由終端裝置將訊息以步行者-車輛間通訊傳送至其他終端裝置的通訊方法等。The terminal device, the roadside device, the communication system, and the communication method of the present invention are used as two communication methods through pedestrian-to-vehicle communication (direct communication) between the terminal devices and indirect communication through the roadside device Among them, choosing an appropriate communication method will have the effect of quickly and surely notifying pedestrians or vehicle drivers of the presence of pedestrians or vehicles while suppressing pedestrian-vehicle communication congestion. A terminal device that transmits the position information of its own device to other terminal devices through pedestrian-to-vehicle communication, a roadside device that is installed on a road and communicates with a terminal device, a communication system that includes a terminal device and a roadside device, and a terminal device that communicates with a terminal device A communication method in which the device transmits information to other terminal devices through pedestrian-to-vehicle communication.

1‧‧‧步行者終端(終端裝置)2‧‧‧攜帶式資訊終端3‧‧‧車載終端(終端裝置)4‧‧‧汽車導航裝置5‧‧‧路側機(路側裝置)7‧‧‧平交道控制裝置11‧‧‧測位部12‧‧‧狀態檢測部13‧‧‧步行者-車輛間通訊部(第1通訊部)14‧‧‧無線LAN通訊部(第2通訊部)15‧‧‧輸出入部16‧‧‧控制部17‧‧‧記憶部21‧‧‧訊息控制部22‧‧‧通訊方式選擇部23‧‧‧衝撞判定部24‧‧‧注意喚起控制部25‧‧‧加速度感測器26‧‧‧方位感測器31‧‧‧測位部32‧‧‧狀態檢測部33‧‧‧步行者-車輛間通訊部(第1通訊部)34‧‧‧無線LAN通訊部(第2通訊部)35‧‧‧輸出入部36‧‧‧控制部37‧‧‧記憶部41‧‧‧訊息控制部42‧‧‧通訊方式選擇部43‧‧‧衝撞判定部44‧‧‧注意喚起控制部45‧‧‧加速度感測器46‧‧‧方位感測器51‧‧‧通訊部52‧‧‧控制部53‧‧‧記憶部61‧‧‧訊息控制部62‧‧‧通訊方式選擇部1‧‧‧pedestrian terminal (terminal device) 2‧‧‧portable information terminal 3‧‧‧vehicle terminal (terminal device)4‧‧‧car navigation device5‧‧‧roadside machine (roadside device)7‧‧‧ Level crossing control device 11‧‧‧Positioning unit 12‧‧‧Status detection unit 13‧Pedestrian-vehicle communication unit (first communication unit) 14‧‧Wireless LAN communication unit (second communication unit) 15‧ ‧‧I/O unit 16‧‧‧control unit 17‧‧‧memory unit 21‧‧‧information control unit 22‧‧‧communication mode selection unit 23‧‧‧collision judgment unit 24‧‧‧attention call control unit 25‧‧‧ Acceleration sensor 26‧‧‧Orientation sensor 31‧‧‧Positioning unit 32‧‧‧Status detection unit 33‧‧‧Pedestrian-vehicle communication unit (first communication unit) 34‧‧‧Wireless LAN communication unit (Second Communication Unit) 35‧‧‧I/O Unit 36‧‧‧Control Unit 37‧‧‧Memory Unit 41‧‧‧Message Control Unit 42‧‧‧Communication Mode Selection Unit 43‧‧‧Collision Judgment Unit 44‧‧‧ Attention arousal control unit 45‧‧‧acceleration sensor 46‧‧‧orientation sensor 51‧‧‧communication unit 52‧‧‧control unit 53‧‧‧memory unit 61‧‧‧message control unit 62‧‧‧communication Mode selection department

圖1係第1實施形態之通訊系統的全體構成圖。 　　圖2係顯示在第1實施形態之步行者終端1及車載終端3的訊息送訊狀況的說明圖。 　　圖3係顯示第1實施形態之步行者終端1的概略構成的區塊圖。 　　圖4係顯示第1實施形態之車載終端3的概略構成的區塊圖。 　　圖5係顯示第1實施形態之路側機5的概略構成的區塊圖。 　　圖6係顯示第1實施形態之步行者終端1傳送訊息時的的步行者終端1、車載終端3及路側機5的動作順序的流程圖。 　　圖7係顯示第1實施形態之車載終端3傳送訊息時的步行者終端1、車載終端3及路側機5的動作順序的流程圖。 　　圖8係顯示在第1實施形態之步行者終端1及車載終端3所進行的通訊方式選擇的順序的流程圖。 　　圖9係顯示第2實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖10係顯示第2實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖11係顯示在第2實施形態之步行者終端1所進行的通訊方式選擇的順序的流程圖。 　　圖12係顯示第3實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖13係顯示在第3實施形態之步行者終端1所進行的通訊方式選擇的順序的流程圖。 　　圖14係顯示第4實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖15係顯示在第4實施形態之車載終端3所進行的通訊方式選擇的順序的流程圖。 　　圖16係顯示第5實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖17係顯示在第5實施形態之步行者終端1所進行的通訊方式選擇的順序的流程圖。 　　圖18係顯示第6實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖19係顯示在第6實施形態之步行者終端1所進行的通訊方式選擇的順序的流程圖。 　　圖20係顯示第7實施形態之步行者終端1及車載終端3中的訊息的送訊狀況的說明圖。 　　圖21係顯示第7實施形態之優先度表格的登錄內容的說明圖。 　　圖22係顯示在第7實施形態之車載終端3所進行的通訊方式選擇的順序的流程圖。 　　圖23係顯示第8實施形態之路側機5的概略構成的區塊圖。 　　圖24係顯示第9實施形態之步行者終端1及車載終端3中的訊息的收送訊狀況的說明圖。 　　圖25係顯示由第9實施形態之步行者終端1所被送訊的訊息的內容的說明圖。 　　圖26係顯示在第9實施形態之步行者終端1所進行的通訊方式選擇的順序的流程圖。 　　圖27係顯示第10實施形態之步行者終端1及車載終端3中的訊息的收送訊狀況的說明圖。 　　圖28係顯示由第10實施形態之車載終端3所被送訊的訊息的內容的說明圖。 　　圖29係顯示在第10實施形態之車載終端3所進行的通訊方式選擇的順序的流程圖。 　　圖30係顯示由第11實施形態之車載終端3所被送訊的訊息的內容的說明圖。 　　圖31係顯示在第11實施形態之車載終端3所進行的通訊方式選擇的順序的流程圖。 　　圖32係顯示在第12實施形態之車載終端3所進行的通訊方式選擇的順序的流程圖。Fig. 1 is an overall configuration diagram of a communication system according to a first embodiment. FIG. 2 is an explanatory diagram showing the message transmission status of the pedestrian terminal 1 and the vehicle-mounted terminal 3 in the first embodiment. Fig. 3 is a block diagram showing a schematic configuration of the pedestrian terminal 1 according to the first embodiment. Fig. 4 is a block diagram showing a schematic configuration of the vehicle-mounted terminal 3 of the first embodiment. Fig. 5 is a block diagram showing a schematic configuration of the roadside machine 5 according to the first embodiment. Fig. 6 is a flowchart showing the operation sequence of the pedestrian terminal 1, vehicle-mounted terminal 3, and roadside device 5 when the pedestrian terminal 1 according to the first embodiment transmits a message. Fig. 7 is a flow chart showing the operation sequence of the pedestrian terminal 1, the vehicle terminal 3, and the roadside device 5 when the vehicle terminal 3 according to the first embodiment transmits a message. FIG. 8 is a flow chart showing the procedure of communication method selection performed by the pedestrian terminal 1 and the vehicle-mounted terminal 3 in the first embodiment. FIG. 9 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the second embodiment. FIG. 10 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the second embodiment. Fig. 11 is a flow chart showing the procedure of communication method selection performed by the pedestrian terminal 1 of the second embodiment. FIG. 12 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the third embodiment. Fig. 13 is a flow chart showing the procedure of communication method selection performed by the pedestrian terminal 1 of the third embodiment. FIG. 14 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fourth embodiment. Fig. 15 is a flow chart showing the procedure of communication method selection performed by the vehicle-mounted terminal 3 of the fourth embodiment. FIG. 16 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the fifth embodiment. Fig. 17 is a flow chart showing the procedure of communication method selection performed by the pedestrian terminal 1 of the fifth embodiment. Fig. 18 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the sixth embodiment. Fig. 19 is a flow chart showing the procedure of communication method selection performed by the pedestrian terminal 1 of the sixth embodiment. FIG. 20 is an explanatory diagram showing the transmission status of messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the seventh embodiment. Fig. 21 is an explanatory diagram showing the registration contents of the priority table of the seventh embodiment. Fig. 22 is a flow chart showing the procedure of communication method selection performed by the vehicle-mounted terminal 3 of the seventh embodiment. Fig. 23 is a block diagram showing a schematic configuration of the roadside machine 5 according to the eighth embodiment. FIG. 24 is an explanatory diagram showing the status of sending and receiving messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the ninth embodiment. Fig. 25 is an explanatory diagram showing the content of the message transmitted from the pedestrian terminal 1 of the ninth embodiment. Fig. 26 is a flow chart showing the procedure of communication method selection performed by the pedestrian terminal 1 of the ninth embodiment. Fig. 27 is an explanatory diagram showing the status of sending and receiving messages in the pedestrian terminal 1 and the vehicle-mounted terminal 3 according to the tenth embodiment. Fig. 28 is an explanatory diagram showing the content of the message transmitted from the vehicle-mounted terminal 3 of the tenth embodiment. Fig. 29 is a flow chart showing the procedure of communication method selection performed by the vehicle-mounted terminal 3 of the tenth embodiment. Fig. 30 is an explanatory diagram showing the content of the message transmitted from the vehicle-mounted terminal 3 of the eleventh embodiment. Fig. 31 is a flow chart showing the procedure of communication method selection performed by the vehicle-mounted terminal 3 of the eleventh embodiment. Fig. 32 is a flow chart showing the procedure of communication method selection performed by the vehicle-mounted terminal 3 of the twelfth embodiment.

1‧‧‧步行者終端(終端裝置) 1‧‧‧Pedestrian terminal (terminal device)

2‧‧‧攜帶式資訊終端 2‧‧‧Portable information terminal

3‧‧‧車載終端(終端裝置) 3‧‧‧Vehicle terminal (terminal device)

5‧‧‧路側機(路側裝置) 5‧‧‧Roadside machine (roadside device)

11‧‧‧測位部 11‧‧‧positioning department

12‧‧‧狀態檢測部 12‧‧‧Status detection unit

13‧‧‧步行者-車輛間通訊部(第1通訊部) 13‧‧‧Pedestrian-Vehicle Communication Department (1st Communication Department)

14‧‧‧無線LAN通訊部(第2通訊部) 14‧‧‧Wireless LAN Communication Department (Second Communication Department)

15‧‧‧輸出入部 15‧‧‧I/O

16‧‧‧控制部 16‧‧‧Control Department

17‧‧‧記憶部 17‧‧‧memory department

21‧‧‧訊息控制部 21‧‧‧Information Control Department

22‧‧‧通訊方式選擇部 22‧‧‧Communication Mode Selection Department

23‧‧‧衝撞判定部 23‧‧‧Collision Judgment Department

24‧‧‧注意喚起控制部 24‧‧‧Attention Arousal Control Department

25‧‧‧加速度感測器 25‧‧‧Acceleration sensor

26‧‧‧方位感測器 26‧‧‧Orientation sensor

Claims (5)

一種終端裝置，其係將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的終端裝置，其特徵為：具備有：第1通訊部，其係在與前述其他終端裝置之間，進行藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊；第2通訊部，其係在與前述其他終端裝置之間，進行藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊；及控制部，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇前述直接通訊與前述間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置，前述控制部係根據自身裝置的位置資訊與地圖資訊，判定自身裝置是否位於特定區域內，若自身裝置位於作為前述特定區域的特定車輛的停車場的周邊區域內時，根據由前述其他終端裝置所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊與地圖資訊，判定前述特定車輛是否已接近至離前述停車場為預定距離以內，按照該判定結果，選擇通訊方式。 A terminal device that transmits information including position information of its own device to other terminal devices through pedestrian-to-vehicle communication, and is characterized in that it has: a first communication unit, which is connected to the above-mentioned other Between the terminal devices, direct communication is performed through the aforementioned pedestrian-to-vehicle communication belonging to the first communication method; the second communication part is to perform communication with the aforementioned other terminal devices through the The indirect communication of the second communication method of the roadside device; and the control unit, which selects either or both of the aforementioned direct communication and the aforementioned indirect communication based on device information about at least one of the status and attributes of its own device method, using the selected communication method, to transmit the aforementioned message to the aforementioned other terminal devices, and the aforementioned control unit determines whether its own device is located in a specific area based on the location information and map information of its own device. When within the surrounding area of the parking lot of the specific vehicle, according to the attribute information, location information and map information of other vehicles contained in the message received by the other terminal device, it is determined whether the specific vehicle is close to the predetermined distance from the parking lot Within the distance, select the communication method according to the judgment result. 一種路側裝置，其係被設置在道路，與終端裝置進行通訊的路側裝置，其特徵為：具備有：通訊部，其係中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊；及控制部，其係由前述終端裝置收集關於前述終端裝置的狀態及屬性的至少任一者的裝置資訊，根據該裝置資訊，選擇藉由前述終端裝置間所為之直接通訊、與透過自身裝置的間接通訊的任一方或雙方的通訊方式，將包含關於所選擇出的通訊方式的資訊的訊息，由前述通訊部傳送至前述終端裝置，前述控制部係根據自身裝置的位置資訊與地圖資訊，判定自身裝置是否位於特定區域內，若自身裝置位於作為前述特定區域的特定車輛的停車場的周邊區域內時，根據由前述其他終端裝置所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊與地圖資訊，判定前述特定車輛是否已接近至離前述停車場為預定距離以內，按照該判定結果，選擇通訊方式。 A roadside device, which is installed on a road and communicates with a terminal device, is characterized in that: it has: a communication unit, which relays the sending and receiving of messages including positional information between the aforementioned terminal devices communication; and a control unit, which collects device information about at least any one of the status and attributes of the aforementioned terminal device from the aforementioned terminal device, and selects between direct communication between the aforementioned terminal devices and through itself according to the device information. The communication method of either party or both parties in the indirect communication of the device will send a message containing information about the selected communication method to the aforementioned terminal device from the aforementioned communication unit, and the aforementioned control unit is based on the position information and map information of its own device , determine whether the self-device is located in a specific area, if the self-device is located in the surrounding area of the parking lot of a specific vehicle as the aforementioned specific area, according to the attribute information and location of other vehicles contained in the message received by the aforementioned other terminal device information and map information to determine whether the aforementioned specific vehicle has approached within a predetermined distance from the aforementioned parking lot, and select a communication method according to the determination result. 一種通訊系統，其係具備有：將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的終端裝置；及被設置在道路，與前述終端裝置進行通訊的路側裝置的通訊系統，其特徵為：前述終端裝置係具備有： 第1通訊部，其係在與前述其他終端裝置之間，進行藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊；第2通訊部，其係在與前述其他終端裝置之間，進行藉由透過設置在道路的路側裝置的第2通訊方式所為之間接通訊；及控制部，其係根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇前述直接通訊與前述間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置，前述控制部係根據自身裝置的位置資訊與地圖資訊，判定自身裝置是否位於特定區域內，若自身裝置位於作為前述特定區域的特定車輛的停車場的周邊區域內時，根據由前述其他終端裝置所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊與地圖資訊，判定前述特定車輛是否已接近至離前述停車場為預定距離以內，按照該判定結果，選擇通訊方式。 A communication system comprising: a terminal device that transmits information including position information of its own device to other terminal devices through pedestrian-vehicle communication; and a roadside device that is installed on a road and communicates with the terminal device The communication system is characterized in that: the aforementioned terminal device is equipped with: The first communication part, which performs direct communication with the aforementioned other terminal devices through the aforementioned pedestrian-vehicle communication belonging to the first communication method; the second communication part, which communicates with the aforementioned other terminal devices performing indirect communication through the second communication mode of the roadside device installed on the road; and the control unit selects the aforementioned direct communication based on device information about at least any one of the status and attributes of its own device The communication method with any one or both parties of the aforementioned indirect communication uses the selected communication method to transmit the aforementioned message to the aforementioned other terminal devices, and the aforementioned control unit determines whether its own device is located in a specific In the area, if the self-device is located in the surrounding area of the parking lot of a specific vehicle as the aforementioned specific area, according to the attribute information, location information and map information of other vehicles contained in the message received by the aforementioned other terminal device The communication method is selected according to the judgment result whether the specific vehicle has approached within a predetermined distance from the aforementioned parking lot. 一種通訊方法，其係由終端裝置，將包含自身裝置的位置資訊的訊息，以步行者-車輛間通訊傳送至其他終端裝置的通訊方法，其特徵為：根據關於自身裝置的狀態及屬性的至少任一者的裝置資訊，選擇藉由屬於第1通訊方式的前述步行者-車輛間通訊所為之直接通訊、與藉由透過設置在道路的路側裝置的 第2通訊方式所為之間接通訊的任一方或雙方的通訊方式，以所選擇的通訊方式，將前述訊息傳送至前述其他終端裝置，根據自身裝置的位置資訊與地圖資訊，判定自身裝置是否位於特定區域內，若自身裝置位於作為前述特定區域的特定車輛的停車場的周邊區域內時，根據由前述其他終端裝置所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊與地圖資訊，判定前述特定車輛是否已接近至離前述停車場為預定距離以內，按照該判定結果，選擇通訊方式。 A communication method, which is a communication method in which a terminal device transmits a message including position information of its own device to other terminal devices through pedestrian-vehicle communication, and is characterized in that: according to at least For the device information of any one, select the direct communication through the aforementioned pedestrian-vehicle communication belonging to the first communication method, or through the roadside device installed on the road. The second communication method is the communication method of either party or both parties of the indirect communication, using the selected communication method, to transmit the aforementioned message to the aforementioned other terminal device, and determine whether the own device is located in a specific location according to the location information and map information of the own device. In the area, if the self-device is located in the surrounding area of the parking lot of a specific vehicle as the aforementioned specific area, according to the attribute information, location information and map information of other vehicles contained in the message received by the aforementioned other terminal device The communication method is selected according to the judgment result whether the specific vehicle has approached within a predetermined distance from the aforementioned parking lot. 一種通訊方法，其係被設置在道路，與終端裝置進行通訊的路側裝置的通訊方法，其特徵為：中繼在前述終端裝置間所進行之包含位置資訊的訊息的收送訊，根據由前述終端裝置所收集到的關於前述終端裝置的狀態及屬性的至少任一者的裝置資訊，選擇藉由前述終端裝置間所為之直接通訊、與透過自身裝置的間接通訊的任一方或雙方的通訊方式，將包含關於所選擇出的通訊方式的資訊的訊息傳送至前述終端裝置，根據自身裝置的位置資訊與地圖資訊，判定自身裝置是否位於特定區域內，若自身裝置位於作為前述特定區域 的特定車輛的停車場的周邊區域內時，根據由前述其他終端裝置所接收到的訊息所包含的其他車輛的屬性資訊及位置資訊與地圖資訊，判定前述特定車輛是否已接近至離前述停車場為預定距離以內，按照該判定結果，選擇通訊方式。A communication method, which is a communication method of a roadside device installed on a road and communicates with a terminal device, characterized in that: relaying the sending and receiving of a message including position information between the aforementioned terminal devices, based on the aforementioned The terminal device collects device information about at least any one of the status and attributes of the aforementioned terminal devices, and selects the communication method of either or both of the direct communication between the aforementioned terminal devices and the indirect communication through its own device , sending a message including information about the selected communication method to the aforementioned terminal device, and judging whether the own device is located in a specific area according to the location information and map information of the own device, if the own device is located in the aforementioned specific area When within the surrounding area of the parking lot of the specific vehicle, according to the attribute information, location information and map information of other vehicles contained in the message received by the other terminal device, it is determined whether the specific vehicle is close to the predetermined distance from the parking lot Within the distance, select the communication method according to the judgment result.
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