Vehicular communication apparatus, and vehicle control system and traffic system using the vehicular communication apparatus

Patent metadata

Field	Value
Publication number	US-11210954-B2
Application number	US-201916458525-A
Country	US
Kind code	B2
Filing date	Jul 1, 2019
Priority date	Sep 27, 2018
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

A vehicular communication apparatus is configured to be mounted on a movable body and to receive movement data related to movements of other movable bodies. The apparatus includes an acquiring unit, a memory, and a data managing unit. The acquiring unit is configured to acquire the movement data on the other movable bodies. The memory is configured to store and record therein the movement data acquired by the acquiring unit. The data managing unit is configured to manage the record of the movement data in the memory. The data managing unit is configured to acquire a virtual speed of each movable body that is obtained from the movement data recorded in the memory, and invalidate or delete the movement data recorded in the memory on a movable-body by movable-body basis, in accordance with the acquired virtual speed of each movable body.

First claim

The invention claimed is:

1. A vehicular communication apparatus configured to be mounted on a host vehicle, the vehicular communication apparatus comprising:
a controller configured to:
acquire movement data related to movements of other movable bodies;
store and record the movement data related to the movements of the other movable bodies in a memory;
manage the record of the movement data in the memory;
acquire a virtual speed of each movable body of the other movable bodies, wherein the virtual speed is obtained from the movement data recorded in the memory;
determine a possibility of intersection of a movable body of the other movable bodies with a course of the host vehicle based on the acquired virtual speed of the movable body;
classify the movement data in the memory based on the determination and a degree of intersection between courses of the other movable bodies, wherein
the movement data of the movable body having the possibility of intersection with the course of the host vehicle is excluded from the classification of the movement data;

invalidate or delete the movement data recorded in the memory on a movable-body by movable-body basis, wherein
the movement data that is invalidated or deleted is of a set of movable bodies of the other movable bodies,
each movable body of the set of movable bodies has a low possibility of intersection between the courses of the other movable bodies,
the movement data in the memory is invalidated or deleted when an amount of the movement data in the memory exceeds a predetermined amount, and
the movement data in the memory is invalidated or deleted in accordance with the classification of the movement data; and
control the host vehicle based on the invalidation or the deletion of the movement data from the memory.

2. The vehicular communication apparatus according to claim 1 , wherein the controller is further configured to
predict movement of each movable body of the other movable bodies on the movable-body by movable-body basis, using a maximum speed of each type of each movable body of the other movable bodies,
determine whether a course of each movable of the other movable bodies intersects with the course of the host vehicle, and
invalidate or delete the movement data on the other movable bodies whose courses are determined not to intersect with the course of the host vehicle, on the movable-body by movable-body basis.

3. The vehicular communication apparatus according to claim 1 , wherein the controller is further configured to invalidate or delete the movement data recorded in the memory on the movable-body by movable-body basis, in accordance with a cycle of the acquisition of the movement data on the other movable bodies.

4. A vehicle control system comprising:
the vehicular communication apparatus according to claim 1 ; and
a vehicle control apparatus configured to control the host vehicle using the movement data recorded in the memory of the vehicular communication apparatus.

5. A traffic system comprising:
the vehicular communication apparatus according to claim 1 ; and
a server apparatus configured to transmit and receive the movement data related to the movements of the other movable bodies to and from the vehicular communication apparatus.

6. A vehicular communication apparatus configured to be mounted on a host vehicle, the vehicular communication apparatus comprising:
a controller configured to:
acquire movement data related to movements of other movable bodies;
store and record the movement data related to the movements of the other movable bodies in a memory;
manage the record of the movement data in the memory; and
transmit the movement data recorded in the memory to the other movable bodies, wherein
the controller is further configured to:
determine a possibility of intersection of a movable body of the other movable bodies with a course of the host vehicle based on the movement data of the movable body;
determine whether courses of the other movable bodies intersect with each other;
classify the movement data in the memory based on the determination of the possibility of intersection of the movable body with the host vehicle and a degree of intersection between the courses of the other movable bodies, wherein
the movement data of the movable body having the possibility of intersection with the course of the host vehicle is excluded from the classification of the movement data;

invalidate or delete the movement data, stored in the memory, on the other movable bodies, wherein
the movement data is invalidated or deleted for a set of movable bodies of the other movable bodies whose courses are determined not to intersect,
the movement data is invalidated or deleted on a movable-body by movable-body basis,
the movement data in the memory is invalidated or deleted in accordance with the classification of the movement data, and
the movement data in the memory is invalidated or deleted when an amount of the movement data in the memory exceeds a predetermined amount;

not invalidate or delete the movement data, stored in the memory, on the other movable bodies whose courses are determined to intersect;
control the host vehicle based on the invalidation or the deletion of the movement data from the memory; and
transmit, to the other movable bodies, the movement data which is in the memory based on the invalidation or the deletion of the movement data.

7. The vehicular communication apparatus according to claim 6 , wherein the controller is further configured to invalidate or delete the movement data recorded in the memory on the movable-body by movable-body basis, in accordance with a cycle of the acquisition of the movement data on the other movable bodies.

8. A vehicle control system comprising:
the vehicular communication apparatus according to claim 6 ; and
a vehicle control apparatus configured to control the host vehicle using the movement data recorded in the memory of the vehicular communication apparatus.

9. A traffic system comprising:
the vehicular communication apparatus according to claim 6 ; and
a server apparatus configured to transmit and receive the movement data related to the movements of the other movable bodies to and from the vehicular communication apparatus.

10. A vehicular communication apparatus configured to be mounted on a first movable body, the vehicular communication apparatus comprising:
circuitry configured to
acquire movement data related to movements of other movable bodies different from the first movable body;
store and record the acquired movement data related to the movements of the other movable bodies in a memory;
manage the record of the movement data in the memory,
acquire a virtual speed of each movable body of the other movable bodies, wherein the virtual speed is obtained from the recorded movement data;
determine a possibility of intersection of a second movable body of the other movable bodies with a course of the first movable body based on the acquired virtual speed of the second movable body;
classify the movement data in the memory based on the determination and a degree of intersection between courses of the other movable bodies, wherein
the movement data of the second movable body having the possibility of intersection with the course of the first movable body is excluded from the classification of the movement data;

invalidate or delete the recorded movement data on a movable-body by movable-body basis, wherein
the movement data that is invalidated or deleted is of a set of movable bodies of the other movable bodies,
each movable body of the set of movable bodies has a low possibility of intersection between the courses of

Assignees

• Subaru Corp

Inventors

• Miyakawa Haruyo
• Choi Hyoungwook
• Ikeda Satoru

Classifications

• G08G1/0116

  from roadside infrastructure, e.g. beacons · CPC title

• H04W4/40

  for vehicles, e.g. vehicle-to-pedestrians [V2P] · CPC title

• G08G1/0112

  from the vehicle, e.g. floating car data [FCD] · CPC title

• G08G1/162

  event-triggered · CPC title

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title