Vehicle-mounted communication device
The vehicle-mounted communication device includes: a reception unit which receives, from remote vehicles, remote-vehicle messages each including information about a remote-vehicle position; an ego-vehicle information acquisition unit which acquires, as information about an ego vehicle, ego-vehicle information including at least an ego-vehicle position, an ego-vehicle speed, and an ego-vehicle advancing direction; a message processing area determination unit which determines a message processing area on the basis of the ego-vehicle information; a message processing necessity determination unit which acquires the remote-vehicle messages from the reception unit, outputs, as a selected remote-vehicle message, a remote-vehicle message the remote-vehicle position of which is present within the message processing area, and discards a remote-vehicle message the remote-vehicle position of which is present outside the message processing area; and a message processing unit which performs processing on the selected remote-vehicle message outputted from the message processing necessity determination unit.
1 . A vehicle-mounted communication device comprising:
a receiver which receives, from remote vehicles, remote-vehicle messages each including information about a remote-vehicle position indicating a position of a corresponding one of the remote vehicles;
an ego-vehicle information acquisition circuitry which acquires, as information about an ego vehicle, ego-vehicle information including at least an ego-vehicle position, an ego-vehicle speed, and an ego-vehicle advancing direction;
a message processing area determination circuitry which determines a message processing area on the basis of the ego-vehicle information;
a message processing necessity determination circuitry which
acquires the remote-vehicle messages from the receiver,
outputs, as a selected remote-vehicle message, a remote-vehicle message the remote-vehicle position of which is present within the message processing area, and
discards a remote-vehicle message the remote-vehicle position of which is present outside the message processing area;
a message processing circuitry which performs processing on the selected remote-vehicle message outputted from the message processing necessity determination circuitry; and
a map information acquisition circuitry which acquires map information about a vicinity of the ego vehicle, wherein
the message processing area determination circuitry determines the message processing area on the basis of the ego-vehicle information and the map information, and
the message processing area determination circuitry sets, as the message processing area, a traveling road on which the ego vehicle is traveling and an intersecting road intersecting with the traveling road and excludes, from the message processing area, a road that does not intersect with the traveling road.
2 . The vehicle-mounted communication device according to claim 1 , wherein
the message processing area determination circuitry
causes a size of the message processing area at a portion thereof located on the ego-vehicle advancing direction side relative to the ego vehicle to be larger than a size of the message processing area at a portion thereof located on an opposite side to the ego-vehicle advancing direction side relative to the ego vehicle, and
causes a larger value of the ego-vehicle speed to lead to a larger difference between the size of the message processing area at the portion thereof located on the ego-vehicle advancing direction side relative to the ego vehicle and the size of the message processing area at the portion thereof located on the opposite side to the ego-vehicle advancing direction side relative to the ego vehicle.
3 . The vehicle-mounted communication device according to claim 1 , wherein
the ego-vehicle information acquisition circuitry acquires weight information which is information about a total vehicle weight, the number of occupants, or a load amount of the ego vehicle, and
the message processing area determination circuitry
causes a size of the message processing area at a portion thereof located on the ego-vehicle advancing direction side relative to the ego vehicle to be larger than a size of the message processing area at a portion thereof located on an opposite side to the ego-vehicle advancing direction side relative to the ego vehicle, and
causes a larger value of the weight information to lead to a larger difference between the size of the message processing area at the portion thereof located on the ego-vehicle advancing direction side relative to the ego vehicle and the size of the message processing area at the portion thereof located on the opposite side to the ego-vehicle advancing direction side relative to the ego vehicle.
4 . The vehicle-mounted communication device according to claim 1 , wherein
the ego-vehicle information acquisition circuitry acquires information about a state of a road surface on which the ego vehicle is traveling, and
the message processing area determination circuitry causes a size of an entirety of the message processing area obtained when the road surface is in a state of being covered with snow, wet, or unpaved to be larger than a size of an entirety of the message processing area obtained when the road surface is in a state of being dry and paved.
5 . The vehicle-mounted communication device according to claim 1 , wherein
the map information includes information about a congested area, and,
when the ego-vehicle position is outside the congested area, the message processing area determination circuitry sets, as the message processing area, a range excluding the congested area.
6 . The vehicle-mounted communication device according to claim 1 , wherein
the map information includes information about a congested area, and
the message processing area determination circuitry sets, as the message processing area, a range excluding a traveling road congested area and an intersecting road congested area, the traveling road congested area being the congested area as a range that is present on the traveling road and that is farther from the ego vehicle than a position away from the ego vehicle by a predetermined distance is, the intersecting road congested area being the congested area that is present on the intersecting road.
7 . The vehicle-mounted communication device according to claim 1 , wherein
the message processing area determination circuitry sets, as the message processing area, a range obtained by extending each of the traveling road and the intersecting road by a predetermined width.
8 . The vehicle-mounted communication device according to claim 2 , wherein
the ego-vehicle information acquisition circuitry acquires weight information which is information about a total vehicle weight, the number of occupants, or a load amount of the ego vehicle, and
the message processing area determination circuitry
causes a size of the message processing area at a portion thereof located on the ego-vehicle advancing direction side relative to the ego vehicle to be larger than a size of the message processing area at a portion thereof located on an opposite side to the ego-vehicle advancing direction side relative to the ego vehicle, and
causes a larger value of the weight information to lead to a larger difference between the size of the message processing area at the portion thereof located on the ego-vehicle advancing direction side relative to the ego vehicle and the size of the message processing area at the portion thereof located on the opposite side to the ego-vehicle advancing direction side relative to the ego vehicle.
9 . The vehicle-mounted communication device according to claim 2 , wherein
the ego-vehicle information acquisition circuitry acquires information about a state of a road surface on which the ego vehicle is traveling, and
the message processing area determination circuitry causes a size of an entirety of the message processing area obtained when the road surface is in a state of being covered with snow, wet, or unpaved to be larger than a size of an entirety of the message processing area obtained when the road surface is in a state of being dry and paved.
10 . The vehicle-mounted communication device according to claim 3 , wherein
the ego-vehicle information acquisition circuitry acquires information about a state of a road surface on which the ego vehicle is traveling, and
the message processing area determination circuitry causes a size of an entirety of the message processing area obtained when the road surface is in a state of being covered with snow, wet, or unpaved to be larger than a size of an entirety of the message processing area obtained when the road surface is in a state of being dry and paved.
11 . A vehicle-mounted communication device comprising:
a receiver which receives, from remote vehicles, remote-vehicle messages each including information about a remote-vehicle position indicating a position of a corresponding one of the remote vehicles;
an ego-vehicle information acquisition circuitry which acquires, as information about an ego vehicle, ego-vehicle information including at least an ego-vehicle position, an ego-vehicle speed, and an ego-vehicle advancing direction;
a message processing area determination circuitry which determines a message processing area on the basis of the ego-vehicle information;
a message processing necessity determination circuitry which
acquires the remote-vehicle messages from the receiver,
outputs, as a selected remote-vehicle message, a remote-vehicle message the remote-vehicle position of which is present within the message processing area, and
discards a remote-vehicle message the remote-vehicle position of which is present outside the message processing area;
a message processing circuitry which performs processing on the selected remote-vehicle message outputted from the message processing necessity determination circuitry; and
a map information acquisition circuitry which acquires map information about a vicinity of the ego vehicle, wherein
the message processing area determination circuitry determines the message processing area on the basis of the ego-vehicle information and the map information, and,
when the ego vehicle is traveling on an expressway, the message processing area determination circuitry sets, as the message processing area, the expressway and a connecting road connected to the expressway and excludes a general road from the message processing area.
12 . A vehicle-mounted communication device comprising:
a receiver which receives, from remote vehicles, remote-vehicle messages each including information about a remote-vehicle position indicating a position of a corresponding one of the remote vehicles;
an ego-vehicle information acquisition circuitry which acquires, as information about an ego vehicle, ego-vehicle information including at least an ego-vehicle position, an ego-vehicle speed, and an ego-vehicle advancing direction;
a message processing area determination circuitry which determines a message processing area on the basis of the ego-vehicle information;
a message processing necessity determination circuitry which
acquires the remote-vehicle messages from the receiver,
outputs, as a selected remote-vehicle message, a remote-vehicle message the remote-vehicle position of which is present within the message processing area, and
discards a remote-vehicle message the remote-vehicle position of which is present outside the message processing area;
a message processing circuitry which performs processing on the selected remote-vehicle message outputted from the message processing necessity determination circuitry; and
a map information acquisition circuitry which acquires map information about a vicinity of the ego vehicle, wherein
the message processing area determination circuitry determines the message processing area on the basis of the ego-vehicle information and the map information, and,
when a road on which the ego vehicle is traveling has a central reservation, the message processing area determination circuitry sets, as the message processing area, an advancing-direction lane for traveling in the ego-vehicle advancing direction on the road on which the ego vehicle is traveling and a connecting road intersecting with or connected to the advancing-direction lane and excludes, from the message processing area, an opposite lane relative to the road on which the ego vehicle is traveling.