Patent ID: 12260752

PREFERRED MODE FOR CARRYING OUT THE INVENTION

Hereinafter, a communication system according to an embodiment is described with reference to the drawings. Note that in each drawing used in the following description of embodiments, the scale of each component is appropriately changed in some cases. Each drawing used in the following description of embodiments shows the configuration with some components being omitted for the sake of description. In each drawing and this specification, the same symbols denote similar elements.

FIG.1shows an example of an overview of the communication system1according to the embodiment. The communication system1includes, for example, a server apparatus100, terminator apparatuses200, terminator apparatuses300, roadside units400, priority vehicles500, vehicles600, traffic lights700, road display apparatuses800and terminal apparatuses900. Typically, each item is implemented as a plurality of entities such that the terminator apparatuses200, terminator apparatuses300, roadside units400, priority vehicles500, vehicles600, traffic lights700, road display apparatuses800and terminal apparatuses900. The server apparatus100may be arranged around the terminator apparatus200or the terminator apparatus300. The server apparatus100may have a configuration of edge computing or other in which a plurality of entities are arranged in a distributed manner.

When the priority vehicle500passes an intersection or the like installed with the roadside unit400, the communication system1prioritizes communications by the priority vehicle500via the roadside unit400over those by another vehicle600and the like. The communication system1notifies the vehicle600, pedestrians and the like around the roadside unit400that the priority vehicle500passes the intersection.

For example, the server apparatus100, the terminator apparatus200, the terminator apparatus300, the roadside unit400and the priority vehicle500are connected to a communication network NW1. The communication network NW1 includes the terminator apparatus200, the terminator apparatus300, a communication network NW2 and a line L. Typically, the communication network NW1 is a communication network that includes the Internet. Typically, the communication network NW1 includes a WAN (wide area network) communication network, such as the communication network NW2. The communication network NW2 is, for example, an MPLS (Multiprotocol Label Switching) network. The server apparatus100, the terminator apparatus200and the priority vehicle500are connected to the communication network NW2. The communication network NW1 may be a communication network that includes a private network, such as an intranet. The communication network NW1 may be a communication network that includes a LAN (local area network). The communication network NW1 includes, for example, a wireless line or a wired line. Parts of or the entire communication network NW1 is, for example, a priority-controllable communication network, such as a PON (passive optical network) access system using a PON. Note that the line L is described later. For example, the terminator apparatus200, the terminator apparatus300, the roadside unit400and network equipment in the communication network NW2 are priority-controllable equipment.

FIG.2is a block diagram showing an example of a main part configuration of the server apparatus100. The server apparatus100performs control and the like for the roadside unit400and the like. The server apparatus100includes, for example, a processor101, a ROM (read-only memory)102, a RAM (random-access memory)103, an auxiliary storage device104and a communication I/F (interface)105. A bus106and the like connect these components to each other.

The processor101corresponds to a central part of a computer that performs processes, such as computation and control, required for operations of the server apparatus100. The processor101may be, for example, a CPU (central processing unit), an MPU (micro processing unit), an SoC (system on a chip), a DSP (digital signal processor), a GPU (graphics processing unit), a VPU (vision processing unit), an ASIC (application specific integrated circuit), a PLD (programmable logic device), an FPGA (field-programmable gate array) or the like. Alternatively, the processor101may be a combination of multiplicity among them. The processor101controls each component to achieve various functions of the server apparatus100, based on programs, such as firmware, system software and application software, stored in the ROM102, the auxiliary storage device104or the like. The processor101executes processes described later, based on the programs. Note that some or all of the programs may be implemented in a circuit of the processor101.

The ROM102and the RAM103correspond to a main storage device of the computer centered on the processor101. The ROM102is a nonvolatile memory exclusively used for data reading. The ROM102stores, for example, the firmware or the like among the programs. The ROM102stores data and the like that the processor101uses when performing various processes. The RAM103is a memory used to write and read data. The RAM103is used as a work area and the like storing data that the processor101temporarily uses when performing various processes. Typically, the RAM103is a volatile memory.

The auxiliary storage device104corresponds to an auxiliary storage device of the computer centered on the processor101. The auxiliary storage device104is, for example, an EEPROM (electric erasable programmable read-only memory), an HDD (hard disk drive) or a flash memory. The auxiliary storage device104stores, for example, the system software, the application software and the like among the programs described above. The auxiliary storage device104stores data that the processor101uses when performing various processes, data generated by processes by the processor101, various setting values and the like. The auxiliary storage device104stores position information on each roadside unit400.

The communication I/F105is an interface for allowing the server apparatus100to communicate via the communication network NW1 or the like.

The bus106includes a control bus, an address bus and a data bus and transfers signals transmitted and received between the components of the server apparatus100.

The terminator apparatus200and the terminator apparatus300are connected by the line L. The line L is, for example, a communication line, such as an optical fiber. Typically, a plurality of terminator apparatuses300are connected to a single terminator apparatus200.

FIG.3is a block diagram showing an example of a main part configuration of the terminator apparatus200. The terminator apparatus200is, for example, an OLT (optical line terminal). The terminator apparatus200connects the line L and the communication network NW2 to each other. The terminator apparatus200includes, for example, a processor201, a ROM202, a RAM203, an auxiliary storage device204, a first communication I/F205and a second communication I/F206. A bus207and the like connect these components to each other.

The processor201is a central part of a computer that performs processes, such as computation and control, required for operations of the terminator apparatus200and performs various computations and processes. The processor201is, for example, a CPU, an MPU, an SoC a DSP, a GPU, an ASIC a PLD, an FPGA or the like. Alternatively, the processor201may be a combination of multiplicity among them. The processor201controls each component to achieve various functions of the terminator apparatus200, based on programs, such as firmware, system software and application software, stored in the ROM202, the auxiliary storage device204or the like. The processor201executes processes described later, based on the programs. Note that some or all of the programs may be implemented in a circuit of the processor201.

The ROM202and the RAM203are a main storage device of a computer centered on the processor201. The ROM202is a nonvolatile memory exclusively used for data reading. The ROM202stores, for example, the firmware or the like among the programs. The ROM202stores data and the like that the processor201uses when performing various processes. The RAM203is a memory used to write and read data. The RAM203is used as a work area and the like storing data that the processor201temporarily uses when performing various processes. Typically, the RAM203is a volatile memory.

The auxiliary storage device204is an auxiliary storage device of the computer centered on the processor201. The auxiliary storage device204is, for example, an EEPROM, an HDD, a flash memory or the like. The auxiliary storage device204stores, for example, the system software, the application software and the like among the programs described above. The auxiliary storage device204stores data that the processor201uses when performing various processes, data generated by processes by the processor201, various setting values and the like.

The first communication I/F205is an interface for allowing the terminator apparatus200to communicate via the communication network NW2 or the like. The second communication I/F206is an interface for allowing the terminator apparatus200to communicate via the line L or the like. The terminator apparatus200connects the line L and the communication network NW2 to each other by the first communication I/F205and the second communication I/F206.

The bus207includes a control bus, an address bus and a data bus and transfers signals transmitted and received between the components of the terminator apparatus200.

The terminator apparatus300is, for example, an ONU (optical network unit). The terminator apparatus300connects the line L and the roadside unit400to each other. The communication system1includes, for example, one terminator apparatus300for one roadside unit400. The communication system1includes, for example, one terminator apparatus300for a plurality of roadside units400in some cases.

FIG.3is a block diagram showing an example of a main part configuration of the roadside unit400. The roadside unit400is also called an RSU (road side unit) or the like. The roadside unit400is an apparatus installed around a road or on the road. The roadside unit400is installed at, for example, an intersection or the like. The roadside unit400provides a V2X communication service, such as V2I and V2N, by communicating with the priority vehicle500, the vehicle600, etc. The roadside unit400has a function of controlling the traffic light700, the road display apparatus800and the like. The roadside unit400includes, for example, a processor401, a ROM402, a RAM403, an auxiliary storage device404, a first communication I/F405, a second communication I/F406, a control I/F407and a GNSS antenna408. A bus409and the like connect these components to each other.

The processor401corresponds to a central part of a computer that performs processes, such as computation and control, required for operations of the roadside unit400. The processor401is, for example, a CPU, an MPU, an SoC a DSP, a GPU, a VPU, an ASIC a PLD, an FPGA or the like. Alternatively, the processor401may be a combination of multiplicity among them. The processor401controls each component to achieve various functions of the roadside unit400, based on programs, such as firmware, system software and application software, stored in the ROM402, the auxiliary storage device404or the like. The processor401executes processes described later, based on the programs. Note that some or all of the programs may be implemented in a circuit of the processor401.

The ROM402and the RAM403correspond to a main storage device of the computer centered on the processor401. The ROM402is a nonvolatile memory exclusively used for data reading. The ROM402stores, for example, the firmware or the like among the programs described above. The ROM402stores data and the like that the processor401uses when performing various processes. The RAM403is a memory used to write and read data. The RAM403is used as a work area and the like storing data that the processor401temporarily uses when performing various processes. Typically, the RAM403is a volatile memory.

The auxiliary storage device404corresponds to an auxiliary storage device of the computer centered on the processor401. The auxiliary storage device404is, for example, an EEPROM, an HDD, a flash memory or the like. The auxiliary storage device404stores, for example, the system software, the application software and the like among the programs described above. The auxiliary storage device404stores data that the processor401uses when performing various processes, data generated by processes by the processor401, various setting values and the like.

The first communication I/F405is an interface for allowing the roadside unit400to communicate via the communication network NW1. The roadside unit400is connected to and communicates with the terminator apparatus300via the first communication I/F405. Accordingly, the roadside unit400is connected to the communication network NW2 via the first communication I/F405, the terminator apparatus300, the line L and the terminator apparatus200. The roadside unit400may be connected to the communication network NW2 without the terminator apparatus300. In this case, for example, the roadside unit400is connected to the communication network NW2 by wireless communication using 4G (fourth generation), 5G (fifth generation) or the like without the terminator apparatus300.

The second communication I/F406is an interface for allowing the roadside unit400to perform V2X communications with apparatuses around the roadside unit400. The roadside unit400communicates with the priority vehicle500, the vehicle600, the terminal apparatus900and the like via the second communication I/F406.

The control I/F407is an interface for allowing the roadside unit400to communicate with each of the apparatuses, such as the traffic light700and the road display apparatus800. The roadside unit400controls each apparatus via the control I/F407. Note that communications via the control I/F407may be wired communications or wireless communications.

The GNSS antenna408receives a GNSS signal and the like. The GNSS signal is transmitted from navigation satellites or the like that constitute a GNSS, such as a GPS (Global Positioning System) or a quasi-zenith satellite system. The processor401acquires position information on the roadside unit400, based on the GNSS signal or the like. The processor401then instructs the first communication I/F405to transmit the position information to the server apparatus100. Upon receipt of the instruction for transmission, the first communication I/F405transmits the position information to the server apparatus100. The transmitted position information is received by the communication I/F105of the server apparatus100. The processor101of the server apparatus100stores the received position information in the auxiliary storage device104. The processor401also performs time adjustment using the GNSS signal. Alternatively, the processor401may perform time adjustment by another method, such as use of an NTP (network time protocol).

The bus409includes a control bus, an address bus and a data bus and transfers signals transmitted and received between the components of the roadside unit400.

FIG.5is a block diagram showing an example of a main part configuration of the priority vehicle500. The priority vehicle500is, for example, any of emergency vehicles (emergency automobiles), such as an ambulance (ambulance automobile), a fire engine (automobile for extinguishing fire) and a police car, a VIP (very important person) vehicle that accommodates important people, a premium service vehicle where communications for business or entertainment use are prioritized and other vehicles prioritized in terms of communications for various use cases, over the other vehicles. The priority vehicle500includes, for example, a vehicle-mounted apparatus510.

The vehicle-mounted apparatus510has, for example, a function of using car navigation, ITS (intelligent transportation system), V2X communications, etc. The vehicle-mounted apparatus510includes, for example, a processor511, a ROM512, a RAM513, an auxiliary storage device514, a first communication I/F515, a second communication I/F516, a display device517, a speaker518and a GNSS antenna519. A bus520and the like connect these components.

The processor511corresponds to a central part of a computer that performs processes, such as computation and control, required for operations of the priority vehicle500. The processor511is, for example, a CPU, an MPU, an SoC a DSP, a GPU, an ASIC a PLD, an FPGA or the like. Alternatively, the processor511may be a combination of multiplicity among them. The processor511controls each component to achieve various functions of the priority vehicle500, based on programs, such as firmware, system software and application software, stored in the ROM512, the auxiliary storage device514or the like. The processor511executes processes described later, based on the programs. Note that some or all of the programs may be implemented in a circuit of the processor511.

The ROM512and the RAM513correspond to a main storage device of the computer centered on the processor511. The ROM512is a nonvolatile memory exclusively used for data reading. The ROM512stores, for example, the firmware or the like among the programs. The ROM512stores data and the like that the processor511uses when performing various processes. The RAM513is a memory used to write and read data. The RAM513is used as a work area and the like storing data that the processor511temporarily uses when performing various processes. Typically, the RAM513is a volatile memory.

The auxiliary storage device514corresponds to an auxiliary storage device of the computer centered on the processor511. The auxiliary storage device514is, for example, an EEPROM, an HDD, a flash memory or the like. The auxiliary storage device514stores, for example, the system software, the application software and the like among the programs described above. The auxiliary storage device514stores data that the processor511uses when performing various processes, data generated by processes by the processor511, various setting values and the like.

The first communication I/F515is an interface for allowing the priority vehicle500to communicate via the communication network NW2 or the like. The priority vehicle500is connected to the communication network NW2 by 4G, 5G or other wireless communication, for example.

The second communication I/F516is an interface for allowing the priority vehicle500to communicate with the roadside unit400and the like by V2X communications or the like. The priority vehicle500is connected to the communication network NW1 via the roadside unit400.

The display device517displays a screen for notifying various types of information to an operator of the priority vehicle500. The display device517is a display, for example, a liquid crystal display, an organic EL (electro-luminescence) display or the like. The speaker518outputs an input sound signal as acoustic waves.

The GNSS antenna519receives a GNSS signal and the like. The processor511acquires position information on the vehicle-mounted apparatus510, based on the GNSS signal or the like.

The bus520includes a control bus, an address bus and a data bus and transfers signals transmitted and received between the components of the vehicle-mounted apparatus510.

FIG.6is a block diagram showing an example of a main part configuration of the vehicle600. The vehicle600is, for example, a vehicle other than the priority vehicle. Even the priority vehicle serves as a vehicle600except in situations where it should be prioritized, such as during emergency traveling. The vehicle600includes, for example, a vehicle-mounted apparatus610.

The vehicle-mounted apparatus610has, for example, a function of using car navigation, ITS and V2X communications, etc. The vehicle-mounted apparatus610includes, for example, a processor611, a ROM612, a RAM613, an auxiliary storage device614, a communication I/F615, a display device616and a speaker617. A bus618and the like connect these components to each other.

The processor611corresponds to a central part of a computer that performs processes, such as computation and control, required for operations of the vehicle-mounted apparatus610. The processor611is, for example, a CPU, an MPU, an SoC a DSP, a GPU, an ASIC a PLD, an FPGA or the like. Alternatively, the processor611may be a combination of multiplicity among them. The processor611controls each component to achieve various functions of the vehicle-mounted apparatus610, based on programs, such as firmware, system software and application software, stored in the ROM612, the auxiliary storage device614or the like. The processor611executes processes described later, based on the programs. Note that some or all of the programs may be implemented in a circuit of the processor611.

The ROM612and the RAM613correspond to a main storage device of the computer centered on the processor611. The ROM612is a nonvolatile memory exclusively used for data reading. The ROM612stores, for example, the firmware or the like among the programs. The ROM612stores data and the like that the processor611uses when performing various processes. The RAM613is a memory used to write and read data. The RAM613is used as a work area and the like storing data that the processor611temporarily uses when performing various processes. Typically, the RAM613is a volatile memory.

The auxiliary storage device614corresponds to an auxiliary storage device of the computer centered on the processor611. The auxiliary storage device614is, for example, an EEPROM, an HDD, a flash memory or the like. The auxiliary storage device614stores, for example, the system software, the application software and the like among the programs described above. The auxiliary storage device614stores data that the processor611uses when performing various processes, data generated by processes by the processor611, various setting values and the like.

The communication I/F615is an interface for allowing the vehicle600to communicate with the roadside unit400by V2X communications or the like. The vehicle600is connected to the communication network NW1 via the roadside unit400.

The display device616displays a screen for notifying various types of information to an operator of the vehicle600. The display device616is a display, for example, a liquid crystal display, an organic EL display or the like. The speaker617outputs an input sound signal as acoustic waves.

The bus618includes a control bus, an address bus and a data bus and transfers signals transmitted and received between the components of the vehicle-mounted apparatus610.

The traffic light700is a traffic light for traffic control at an intersection of roads or the like, for example.

The road display apparatus800is an apparatus that displays information and the like about road traffic, such as traffic jam information, on a display, such as a liquid crystal display or an LED (light-emitting diode) display.

FIG.7is a block diagram showing an example of a main part configuration of the terminal apparatus900. The terminal apparatus900is an apparatus carried by a pedestrian or the like, for example. The terminal apparatus900is, for example, a mobile phone, such as a smartphone, a note PC (personal computer), a tablet device or the like. The terminal apparatus900includes, for example, a processor901, a ROM902, a RAM903, an auxiliary storage device904, a communication I/F905, a touchscreen906, a speaker907and a vibrator908. A bus909and the like connect these components.

The processor901corresponds to a central part of a computer that performs processes, such as computation and control, required for operations of the terminal apparatus900. The processor901is, for example, a CPU, an MPU, an SoC a DSP, a GPU, an ASIC a PLD, an FPGA or the like. Alternatively, the processor901may be a combination of multiplicity among them. The processor901controls each component to achieve various functions of the terminal apparatus900, based on programs, such as firmware, system software and application software, stored in the ROM902, the auxiliary storage device904or the like. The processor901executes processes described later, based on the programs. Note that some or all of the programs may be implemented in a circuit of the processor901.

The ROM902and the RAM903correspond to a main storage device of the computer centered on the processor901. The ROM902is a nonvolatile memory exclusively used for data reading. The ROM902stores, for example, the firmware or the like among the programs. The ROM902stores data and the like that the processor901uses when performing various processes. The RAM903is a memory used to write and read data. The RAM903is used as a work area and the like storing data that the processor901temporarily uses when performing various processes. Typically, the RAM903is a volatile memory.

The auxiliary storage device904corresponds to an auxiliary storage device of the computer centered on the processor901. The auxiliary storage device904is, for example, an EEPROM, an HDD, a flash memory or the like. The auxiliary storage device904stores, for example, the system software, the application software and the like among the programs described above. The auxiliary storage device904stores data that the processor901uses when performing various processes, data generated by processes by the processor901, various setting values and the like.

The communication I/F905is an interface for allowing the terminal apparatus900to communicate via the communication network NW1 or the like. The terminal apparatus is connected to the communication network NW1 via the roadside unit400, for example.

The touchscreen906includes, for example, a display, such as a liquid crystal display or an organic EL display, and a pointing device through touch input, which are stacked together. The display included in the touchscreen906has a function as a display device that displays a screen for notifying various types of information to an operator of the terminal apparatus900. The touchscreen906also functions as an input device that accepts a touch operation by the operator.

The speaker907outputs an input sound signal as acoustic waves. The vibrator908operates to thereby vibrate the terminal apparatus900.

The bus909includes a control bus, an address bus and a data bus and transfers signals transmitted and received between the components of the terminal apparatus900.

Hereinafter, the operation of the communication system1according to the embodiment is described based onFIGS.8to12and the like. Note that the details of the processes in the following description of operations is an example. Various processes that can acquire a similar result can be appropriately used.FIG.8is a flowchart showing an example of processes by the processor511of the vehicle-mounted apparatus510. The processor511executes processes inFIG.8, based on the program stored in the ROM512, the auxiliary storage device514or the like, for example.FIG.9is a flowchart showing an example of processes by the processor101of the server apparatus100. The processor101executes processes inFIG.9, based on the program stored in the ROM102, the auxiliary storage device104or the like, for example.FIG.10is a flowchart showing an example of processes by the processor401of the roadside unit400. The processor401executes processes inFIG.10, based on the program stored in the ROM402, the auxiliary storage device404or the like, for example.FIG.11is a flowchart showing an example of processes by the processor611of the vehicle-mounted apparatus610. The processor611executes processes inFIG.11, based on the program stored in the ROM612, the auxiliary storage device614or the like, for example.FIG.12is a flowchart showing an example of processes by the processor901of the terminal apparatus900. The processor901executes processes inFIG.12, based on the program stored in the ROM902, the auxiliary storage device904or the like, for example.FIG.13is a flowchart showing an example of processes by the processor201of the terminator apparatus200. The processor201executes processes inFIG.13, based on the program stored in the ROM202, the auxiliary storage device204or the like, for example.

In step ST11ofFIG.8, the processor511of the vehicle-mounted apparatus510determines whether to start emergency traveling or not. For example, in response to an operation for starting emergency traveling performed for the priority vehicle500, the processor511determines to start the emergency traveling. Alternatively, the processor511determines to start emergency traveling, based on information transmitted from a facility, such as a fire station, that issues an instruction to the priority vehicle500. If the processor511does not determine to start emergency traveling, the processor511determines No in step ST11and repeats step ST11. On the other hand, if the processor511determines to start emergency traveling, the processor511determines Yes in step ST11and proceeds the processing to step ST12.

In step ST12, the processor511acquires a travel route that is a scheduled route for travel from the start position of emergency traveling to a destination. For example, the processor511acquires the travel route by determining the travel route by a method similar to publicly known car navigation or the like. For example, the processor511determines the travel route so as to reduce the time period required from the start position of emergency traveling to arrival at the destination. For example, the processor511adopts the route minimizing the time period as the travel route. For example, the processor511determines, as the travel route, the route that reduces the time period and passes through a road installed with the roadside unit400capable of executing priority control and emergency notification. For example, if there is a route passing through roads installed with the roadside units400more times than the route with the minimum time period among routes with a time period in a range that is predetermined time period longer than the minimum time period, the processor511determines, as the travel route, the route passing through roads installed with the roadside units400more times. Note that the priority control and emergency notification are described later. The processor511may periodically re-acquire the travel route depending on the latest current position of the priority vehicle500. Alternatively, the processor511may acquire the travel route determined by the server apparatus100.

In step ST13, the processor511instructs the first communication I/F515to transmit a start notification to the server apparatus100. The start notification is information on notification about start of emergency traveling to the server apparatus100. The start notification includes information indicating the start position and the destination of the emergency traveling and identification information for identifying the priority vehicle500. The start position of emergency traveling is the current position of the priority vehicle500, for example. The start notification may include information indicating the travel route acquired in step ST12. Upon receipt of the instruction for transmission, the first communication I/F515transmits the start notification to the server apparatus100. The transmitted start notification is received by the communication I/F105of the server apparatus100. Alternatively, the facility, such as a fire station, that issues an instruction to the priority vehicle500may transmit the start notification to the server apparatus100.

In step ST14, the processor511determines whether to finish emergency traveling or not. For example, the processor511determines to finish the emergency traveling in response to arrival of the priority vehicle500at the destination. Alternatively, in response to an operation for finishing emergency traveling performed for the priority vehicle500, the processor511determines to finish the emergency traveling. Alternatively, the processor511determines to finish the emergency traveling, based on information transmitted from the facility that issues an instruction to the priority vehicle500. If the processor511does not determine to finish the emergency traveling, the processor511determines No in step ST14and repeats the process of step ST14. On the other hand, if the processor511determines to finish the emergency traveling, the processor511determines Yes in step ST14and returns the processing to step ST11.

On the other hand, in step ST21ofFIG.9, the processor101of the server apparatus100waits for reception of the start notification by the communication I/F105. Upon receipt of the start notification, the processor101determines Yes in step ST21and proceeds the processing to step ST22.

In step ST22, the processor101acquires the travel route of the priority vehicle500from the start position to the destination. For example, the processor101acquires the travel route by a method similar to that of the vehicle-mounted apparatus510. Alternatively, the processor101may acquire, from the priority vehicle500, the travel route determined by the processor511of the vehicle-mounted apparatus510or the like. The travel route in this case is included in the start notification, for example. Note that the processor101may periodically acquire again the travel route depending on the latest current position of the priority vehicle500. The processor101acquires the current position of the priority vehicle500from the vehicle-mounted apparatus510, for example. The vehicle-mounted apparatus510acquires the own position by GNSS or the like. Alternatively, the processor101acquires the current position of the priority vehicle500from the roadside unit400or the like. The roadside unit400can detect that the priority vehicle500approaches. Accordingly, the roadside unit400can identify the position of the priority vehicle500.

In step ST23, the processor101identifies the place where the roadside unit400is installed where the priority vehicle500passes through when this vehicle travels on the travel route, based on the travel route and the position of each roadside unit400. Note that the place where the roadside unit400is installed is hereinafter called “roadside unit installation place”. The processor101acquires the roadside unit installation place from the auxiliary storage device104, for example. The roadside unit installation place is a place as indicated by the following (1) to (4).

(1) A point or range preliminarily defined as a place installed with the roadside unit400. For example, the point or the range is preliminarily defined based on the installation position of the roadside unit400and is typically a road or the like around the position installed with the roadside unit400.
(2) A range where the distance from the roadside unit400is within a predetermined distance.
(3) A range where the reception intensity of communication between the priority vehicle500and the roadside unit400is equal to or higher than a predetermined intensity.
(4) A range allowing the priority vehicle500and the roadside unit400to communicate with each other.
In step ST23, the processor101acquires an estimated time when the priority vehicle500passes through each roadside unit installation place (hereinafter called “estimated time of passage”). For example, the processor101acquires the estimated time of passage by determining the estimated time of passage based on the travel route acquired in step ST22. For example, the processor101determines the estimated time of passage using the distance (distance along the route) from the priority vehicle500to each roadside unit installation place or that to the roadside unit400installed at each roadside unit installation place, the average speed of the priority vehicle500, the congestion state on the travel route and the like. The processor101may determine the estimated time of passage using machine learning, AI (artificial intelligence) or the like. For example, the processor101performs machine learning using travel history data on past emergency traveling of the priority vehicle500and determines the estimated time of passage by determining a required travel time period from the departure point to each roadside unit installation place or each roadside unit400, based on the result of the machine learning. Note that the processor101may periodically acquire again the estimated time of passage depending on the latest current position of the priority vehicle500. Note that the processor511of the vehicle-mounted apparatus510may determine the estimated time of passage. In this case, the processor101of the server apparatus100acquires the estimated time of passage from the vehicle-mounted apparatus510.

In step ST24, the processor101determines whether to issue an instruction for starting the priority control or not. The processor101determines, for each roadside unit400, whether the time has been a predetermined time period T1 before the estimated time of passage (hereinafter called “priority control start time”) or not. If the priority control start time has come for any roadside unit400, the processor101determines to issue an instruction for starting priority control. On the other hand, if the priority control start time didn't come for all roadside unit400, the processor101does not determine to issue an instruction for starting priority control. If the processor101does not determine to issue an instruction for starting priority control, the processor101determines No in step ST24and proceeds the processing to step ST25. Note that the time period T1 is an example of the first predetermined time period.

In step ST25, the processor101determines whether to issue an instruction for finishing the priority control or not. The processor101determines, for each roadside unit400, whether the time has been a predetermined time period T2 after the estimated time of passage (hereinafter called “priority control finish time”) or not. If the priority control finish time has come for any roadside unit400, the processor101determines to issue an instruction for finishing the priority control. On the other hand, if the priority control finish time didn't come for all roadside unit400, the processor101does not determine to issue an instruction for finishing the priority control. If the processor101does not determine to issue an instruction for finishing priority control, the processor101determines No in step ST25and proceeds the processing to step ST26. Note that the predetermined time period T2 is an example of the second predetermined time period.

In step ST26, the processor101determines whether the priority vehicle500has arrived at the destination or not. For example, based on the position information on the priority vehicle500, the processor101determines whether this vehicle has arrived at the destination or not. Alternatively, upon receipt of information indicating the arrival at the destination from the priority vehicle500, the processor101determines that the priority vehicle500has arrived at the destination. If the priority vehicle500has not arrived at the destination yet, the processor101determines No in step ST26and returns the processing to step ST24. Thus, the processor101comes into a standby state of repeating steps ST24to ST26until the processor101determines to issue an instruction for starting priority control, to issue an instruction for finishing the priority control or the priority vehicle500arrives at the destination.

If the processor101determines to issue an instruction for starting priority control in the standby state in steps ST24to ST26, the processor101determines Yes in step ST24and proceeds the processing to step ST27. In step ST27, the processor101generates first priority information and second priority information. The first priority information is information indicating an instruction for starting priority control and emergency notification. The second priority information is information indicating an instruction for starting priority control. Note that the second priority information includes at least one selected from a terminator apparatus ID (identifier) of the terminator apparatus300connected to the roadside unit400of which the priority control start time has come and an LLID of the line L used by the priority vehicle500for communications. The terminator apparatus ID is identification information uniquely assigned to a corresponding terminator apparatus300. The LLID is identification information uniquely assigned to a corresponding to each of multiple lines included in the line L. Here, the plurality of lines included in the line L are virtual lines, for example. Each terminator apparatus300includes one or more LLIDs. The terminator apparatus300communicates with the terminator apparatus200using a different line for each LLID among LLIDs that the terminator apparatus300has. For example, the terminator apparatus300uses a line with a first LLID for communications with the priority vehicle500and uses a line with a second LLID for the other communications.

The priority control is control that prioritizes the communications with the priority vehicle500over the other communications, by QoS (quality of service) or the like. The other communications include, for example, transmission and reception of traffic information and entertainment information by the vehicle600. Communications that are priority control targets are some or all of those on a communication path between the server apparatus100and the priority vehicle500. The communications that are priority control targets are, for example, at least any of a wireless communication between the second communication I/F406of the roadside unit400and each apparatus, a communication using the line L between the terminator apparatus300and the terminator apparatus200, a communication between the terminator apparatus200and the server apparatus100and a wireless communication between the priority vehicle500and the network NW2. When the processor101targets the wireless communication between the second communication I/F406of the roadside unit400and each apparatus for the priority control, the processor101instructs the roadside unit400to perform priority control, for example. When the processor101targets the communication using the line L for the priority control, the processor101instructs the terminator apparatus200to perform priority control, for example. When the processor101targets the communication between the terminator apparatus200and the server apparatus100for the priority control target, the processor101instructs the network equipment on the path from the terminator apparatus200to the server apparatus100to perform priority control. The network equipment is, for example, equipment in the network NW2. The network equipment is, for example, a router. The instructed network equipment prioritizes the communication with the priority vehicle500. When the processor101targets the communication between the terminator apparatus200and the server apparatus100for the priority control target, the processor101prioritizes the communication with the priority vehicle500by controlling the communication I/F105. When the processor101targets the wireless communication between the priority vehicle500and the network NW2 for the priority control target, the processor101instructs an access point or a base station of the wireless communication to perform priority control, for example. The instructed access point, base station or the like prioritizes the communication with the priority vehicle500. Emergency notification is notification to neighboring entities about passage of the priority vehicle500through an intersection or the like.

After generation of the first priority information, the processor101instructs the communication I/F105to transmit the first priority information to the roadside unit400of which the priority control start time has come. Upon receipt of the instruction for transmission, the communication I/F105transmits the first priority information to the roadside unit400. The transmitted first priority information is received by the first communication I/F405of the roadside unit400. After generation of the second priority information, the processor101instructs the communication I/F105to transmit the second priority information to the terminator apparatus200on the communication path to the roadside unit400of which the priority control start time has come. Upon receipt of the instruction for transmission, the communication I/F105transmits the second priority information to the terminator apparatus200. The transmitted second priority information is received by the first communication I/F205of the terminator apparatus200. After generation of the second priority information, the processor101instructs the communication I/F105to transmit the second priority information to a piece of network equipment to which the processor101intends to apply priority control among pieces of network equipment on the communication path to the roadside unit400of which the priority control start time has come. Upon receipt of the instruction for transmission, the communication I/F105transmits the second priority information to this piece of network equipment. The network equipment having received the second priority information starts the priority control. After the process of ST27, the processor101returns the processing to step ST24. The processor101performs the process of step ST27to cooperate with the communication I/F105and serve as an example of a controller that when the priority vehicle500passes through the place where road side unit400is installed, the controller issues an instructs for executing priority control to the roadside unit.

If the processor101determines to issue an instruction for finishing the priority control in the standby state in steps ST24to ST26, the processor101determines Yes in step ST25and proceeds the processing to step ST28. In step ST28, the processor101generates first finish information and second finish information. The first finish information is information indicating an instruction for finishing priority control and emergency notification. The second finish information is information indicating an instruction for finishing the priority control. Note that the second finish information includes the terminator apparatus ID of the terminator apparatus300connected to the roadside unit400of which the priority control finish time has come.

After generation of the first finish information, the processor101instructs the communication I/F105to transmit the first finish information to the roadside unit400of which the priority control finish has come. Upon receipt of the instruction for transmission, the communication I/F105transmits the first finish information to the roadside unit400. The transmitted first finish information is received by the first communication I/F405of the roadside unit400. After generation of the second finish information, the processor101instructs the communication I/F105to transmit the second finish information to the terminator apparatus200on the communication path to the roadside unit400of which the priority control finish time has come. Upon receipt of the instruction for transmission, the communication I/F105transmits the second finish information to the terminator apparatus200. The transmitted second finish information is received by the first communication I/F205of the terminator apparatus200. After generation of the second finish information, the processor101instructs the communication I/F105to transmit the second finish information to the piece of network equipment for which the processor101intends to finish the priority control among pieces of network equipment on the communication path to the roadside unit400of which the priority control finish time has come. Upon receipt of the instruction for transmission, the communication I/F105transmits the second finish information to this piece of network equipment. The network equipment having received the second finish information finishes the priority control. After the process of ST28, the processor101returns the processing to step ST24.

When the priority vehicle500arrives at the destination in the standby state in steps ST24to ST26, the processor101determines Yes in step ST26and returns the processing to step ST21.

On the other hand, in step ST31ofFIG.10, the processor401of the roadside unit400waits for reception of the first priority information by the communication I/F105. Upon receipt of the first priority information, the processor401determines Yes in step ST31and proceeds the processing to step ST32.

In step ST32, the processor401starts the priority control. That is, the processor401controls the communication with the priority vehicle500in a prioritized manner. For example, the processor401prioritizes the communication with the priority vehicle500by applying band limitation or delaying or stopping communications other than the communication with the priority vehicle500. Alternatively, the processor401prioritizes the communication with the priority vehicle500by limiting the amount of network resources usable by the communications other than the communication with the priority vehicle500, through network slicing or the like. Note that the processor401discriminates whether the communication is the communication with the priority vehicle500or a communication other than that with the priority vehicle500, by information for identification, such as an identifier, included in a communication packet, for example. Alternatively, the processor401may discriminate the communication with the priority vehicle500from communications other than the communication with the priority vehicle500, by discriminating channels (frequencies) for the communication with the priority vehicle500and communications other than the communication with the priority vehicle500. Note that the communication with the priority vehicle500is an example of the first communication. The communication other than that with the priority vehicle500is an example of the second communication.

In step ST33, the processor401instructs the second communication I/F406to transmit emergency notification information to the neighboring vehicle-mounted apparatus610, terminal apparatus900and the like. Here, “neighboring” indicates a range allowing wireless communications with the roadside unit400, for example. The emergency notification information is information for notification about passage of the priority vehicle500through an intersection or the like. The emergency notification information includes, for example, information indicating the position of the priority vehicle500. Upon receipt of the instruction for transmission, the second communication I/F406transmits the emergency notification information to the neighboring vehicle-mounted apparatus610and terminal apparatus900. The transmitted emergency notification information is received by the communication I/F615of the vehicle-mounted apparatus610and the communication I/F905of the terminal apparatus900.

On the other hand, in step ST41ofFIG.11, the processor611of the vehicle-mounted apparatus610waits for reception of the emergency notification information by the communication I/F615. Upon receipt of the emergency notification information, the processor611determines Yes in step ST41and proceeds the processing to step ST42.

In step ST42, the processor611notifies a person in the vehicle600, such as a driver of the vehicle600, that the priority vehicle500is approaching. For example, the processor611controls the display device616to display a screen indicating the fact that the priority vehicle500is approaching such as “An ambulance is approaching from a place xx meters away” or “An emergency vehicle is approaching”. Note that characters are a type of image. The processor611controls the speaker617to output a sound indicating that the priority vehicle500is approaching. The processor611may have a configuration that outputs the sound while displaying the image.

In step ST43, the processor611may control the drive system of the vehicle600depending on the situation, decelerate, stop the vehicle600or pull over the vehicle600on the end of the road. After the process of ST43, the processor611returns the processing to step ST41.

On the other hand, in step ST51ofFIG.12, the processor901of the terminal apparatus900waits for reception of the emergency notification information by the communication I/F905. Upon receipt of the emergency notification information, the processor901determines Yes in step ST51and proceeds the processing to step ST52.

In step ST52, the processor901notifies a person carrying the terminal apparatus900that the priority vehicle500is approaching. For example, the processor901controls the touchscreen906to display an image indicating the fact that the priority vehicle500is approaching such as “An ambulance is approaching from a place xx meters away” or “An emergency vehicle is approaching”. The processor901controls the speaker907to output a sound indicating that the priority vehicle500is approaching. The processor901vibrates the vibrator908. After the process of ST52, the processor901returns the processing to step ST51.

On the other hand, in step ST34ofFIG.10, the processor401of the roadside unit400controls the traffic light700to allow the priority vehicle500to easily pass. For example, the processor401brings all the traffic lights700at the intersections installed with the roadside units400or around the roadside units400into a lighting state that means stop. The lighting state that means stop is a state where red light is on, for example. Alternatively, the processor401brings only the traffic lights700in the traveling direction of the priority vehicle500among the traffic lights700at the intersections installed with the roadside units400or around the roadside units400into a lighting state that means traveling and brings the other traffic lights700into the lighting state that means stop. Note that the lighting state that means traveling is a state where blue (green) light is on, for example.

In step ST35, the processor401controls the road display apparatus800to display an image indicating that the priority vehicle500is approaching.

In step ST36, the processor401waits for reception of the first finish information by the first communication I/F405. Upon receipt of the first finish information, the processor401determines Yes in step ST36and proceeds the processing to step ST37.

In step ST37, the processor401finishes the priority control and the emergency notification. That is, the processor401finishes the priority control started in step ST32. The processor401finishes the control performed in steps ST34and ST35and returns the operations of the traffic lights700and the road display apparatus800to normal operations. After the process of ST37, the processor401returns the processing to step ST31.

On the other hand, in step ST61ofFIG.13, the processor201of the terminator apparatus200determines whether the second priority information has been received by the first communication I/F205or not. If the second priority information has not been received yet, the processor201determines No in step ST61and proceeds the processing to step ST62.

In step ST62, the processor201determines whether the second finish information has been received by the first communication I/F205or not. If the second finish information has not been received yet, the processor201determines No in step ST62and returns the processing to step ST61. Thus, the processor201comes into a standby state of repeating steps ST61and ST62until the second priority information or the second finish information is received.

When the second priority information is received in the standby state in steps ST61and ST62, the processor201determines Yes in step ST61and proceeds the processing to step ST63.

In step ST63, the processor201starts priority control that targets the line with the same LLID as the LLID included in second start information (hereinafter called “priority target line”). That is, the processor201prioritizes the communication with the priority vehicle500by prioritizing the communication on the priority target line. For example, the processor201prioritizes the priority target line by applying band limitation or delaying or stopping communications using the line L other than the priority target line. Alternatively, the processor201prioritizes the communication on the priority target line by limiting the amount of network resources usable by the communications other than the communication on the priority target line, through network slicing or the like. Note that when the processor201, in a state of priority control targeting a line with a specific LLID, receives the second start information targeting a line with another LLID, the processor201adopts both the lines with the LLIDs as priority control targets. This similarly applies to a case of prioritizing three or more lines. In step ST63, the processor201starts priority control targeting the terminator apparatus300having the same terminator apparatus ID as the terminator apparatus ID included in the second start information or the terminator apparatus300having the LLID included in the second start information. Note that “the terminator apparatus300having the same terminator apparatus ID as the terminator apparatus ID included in the second start information or the terminator apparatus300having the LLID included in the second start information” is hereinafter called “priority target terminator apparatus”. That is, the processor201prioritizes the communication with the priority vehicle500by prioritizing the communication with the priority target terminator apparatus. For example, the processor201prioritizes the communication with the priority target terminator apparatus by applying band limitation or delaying or stopping communications with terminator apparatuses300other than the priority target terminator apparatus. Alternatively, the processor201prioritizes the communication with the priority target terminator apparatus by limiting the amount of network resources usable by the communications other than the communication with the priority target terminator apparatus, through network slicing. Note that when the processor201, in a state of priority control targeting a specific terminator apparatus300, receives the second start information targeting another terminator apparatus300, the processor201adopts both the terminator apparatuses300as priority control targets. This similarly applies to a case of prioritizing three or more apparatuses. After the process of ST63, the processor201returns the processing to step ST61.

When the second finish information is received in the standby state in steps ST61and ST62, the processor201determines Yes in step ST62and proceeds the processing to step ST64. In step ST64, the processor201finishes priority control targeting the terminator apparatus300having the same terminator apparatus ID as the terminator apparatus ID included in the second finish information. After the process of ST64, the processor201returns the processing to step ST61.

When the priority vehicle500passes through the roadside unit installation place, the communication system1in the embodiment prioritizes the communication with the priority vehicle500. Accordingly, the communication system1can provide the priority vehicle500with a stable communication service resistant to causing congestion. The priority vehicle500can transmit and receive information having a high urgency, using such stable communication. The communication system1prioritizes the communication with the priority vehicle500, which can provide the priority vehicle500with a communication service at a high speed in comparison with a case without prioritizing.

The communication system1in the embodiment transmits the emergency notification indicating that the priority vehicle500is approaching, to the vehicle-mounted apparatus610of the vehicle600, the terminal apparatus900and the like. Accordingly, a person in the vehicle600and a person carrying the terminal apparatus900can know that the priority vehicle500is approaching even if he or she does not hear a siren of the priority vehicle500. Accordingly, the priority vehicle500is not required to sound the siren.

The communication system1in the embodiment identifies the roadside unit400where the priority vehicle passes, from the travel route of the priority vehicle500and the position of the roadside unit400. Accordingly, before the priority vehicle500approaches, the communication system1in the embodiment can notify each roadside unit400that the priority vehicle500will pass through the intersection or the like.

According to the communication system1in the embodiment, the server apparatus100issues an instruction for starting priority control at a time obtained by subtracting the time period T1 from the estimated time at which the priority vehicle500passes through the roadside unit installation place. Accordingly, the communication system1can start the priority control at appropriate timing.

According to the communication system1in the embodiment, the server apparatus100issues an instruction for finishing the priority control at a time obtained by adding the time period T2 to the estimated time at which the priority vehicle500passes through the roadside unit installation place. Accordingly, the communication system1can finish the priority control at appropriate timing.

The communication system1in the embodiment acquires the estimated time again, which can perform the priority control, based on the latest position of the priority vehicle500.

When the priority vehicle500passes through the roadside unit installation place, the communication system1in the embodiment controls the traffic light700. Accordingly, the communication system1in the embodiment allows the priority vehicle500to easily pass.

The communication system1in the embodiment sets the communication channel used by the priority vehicle500and the communication channel used by another vehicle to channels different from each other. Such a configuration can easily prioritize the communication with the priority vehicle500.

The embodiment described above can be modified as described below. In the embodiment described above, the processor401of the roadside unit400starts the priority control and the emergency notification upon receipt of the first priority information. However, the processor401may start the priority control and the emergency notification if a predetermined condition is satisfied after receipt of the first priority information. In this case, the processor101of the server apparatus100transmits the first priority information to the roadside unit400before the priority control start time. The first priority information includes the estimated time of passage about the roadside unit400that is the transmission destination of the first priority information, for example. Note that the processor101may transmit the first priority information to a plurality of roadside units400at one time. The processor101may regenerate the first priority information in response to acquiring again the travel route or the estimated time of passage and transmit again the regenerated first priority information to the roadside unit400to which the previous first priority information has already been transmitted. The processor401of the roadside unit400performs the processes, based on the latest first priority information. On the other hand, the processor401of the roadside unit400having received the first priority information determines whether to start the priority control and the emergency notification after step ST31. For example, if the current time is on or after a time before the predetermined time period T1 from the estimated time of passage, the processor401determines to start the priority control and the emergency notification. Alternatively, the processor401determines to start the priority control and the emergency notification, in response to the priority vehicle500approaching the roadside unit400. For example, the processor401assumes that the priority vehicle500approaches when the reception intensity of the communication between the roadside unit400and the priority vehicle500becomes a predetermined intensity P1 or higher. The processor401repeats the determination process of whether to start the priority control and the emergency notification until determination to start the priority control and the emergency notification. If the processor401determines to start the priority control and the emergency notification, the processing proceeds to step ST32. Such a configuration allows the roadside unit400to start the priority control at appropriate timing.

When the priority vehicle500approaches the roadside unit400, the processor401of the roadside unit400may transmit, to the server apparatus100, information indicating that the priority vehicle500approaches the roadside unit400. Upon receipt of the information, the processor101of the server apparatus100may then transmit the first priority information and the second priority information.

The processor101of the server apparatus100may determine that the priority vehicle500approaches the roadside unit400by acquiring the position information on the priority vehicle500. For example, when the distance between the position of the priority vehicle500and the installation position of the roadside unit400becomes within a predetermined distance D1, the processor401assumes that the priority vehicle500approaches. If the processor101of the server apparatus100determines that the priority vehicle500approaches the roadside unit400, the processor101transmits the first priority information and the second priority information. The distance D1 is an example of the first predetermined distance.

In the embodiment described above, the processor401of the roadside unit400finishes the priority control and the emergency notification upon receipt of the first finish information. However, the processor401may finish the priority control and the emergency notification if another condition is satisfied. For example, if the current time is on or after a time after the predetermined time period T2 from the estimated time of passage, the processor401determines to finish the priority control and the emergency notification. For example, the processor401finishes the priority control and the emergency notification in response to completion of passage of the priority vehicle500through the roadside unit installation place installed with the roadside unit400that includes this processor401. For example, the processor401assumes that the priority vehicle500has passed through the roadside unit installation place when the reception intensity of the communication between the roadside unit400and the priority vehicle500becomes a predetermined intensity P2 or lower. Such a configuration allows the roadside unit400to finish the priority control at appropriate timing.

If the priority vehicle500has passed through the roadside unit installation place installed with the roadside unit400, the processor401of the roadside unit400may transmit, to the server apparatus100, information indicating that the priority vehicle500has passed. Upon receipt of the information, the processor101of the server apparatus100may then transmit the first finish information and the second finish information.

The processor101of the server apparatus100may determine that the priority vehicle500has passed through the roadside unit installation place installed with the roadside unit400, by acquiring the position information on the priority vehicle500. For example, when the distance between the position of the priority vehicle500and the installation position of the roadside unit400becomes equal to or larger than a predetermined distance D2, the processor401assumes that the priority vehicle500has passed. If the processor101of the server apparatus100determines that the priority vehicle500has passed, the processor101transmits the first finish information and the second finish information. The distance D2 is an example of the second predetermined distance.

When the priority vehicle500approaches the roadside unit400, the processor401of the roadside unit400may transmit, to the server apparatus100, information indicating that the priority vehicle500approaches the roadside unit400. Upon receipt of the information, the processor101of the server apparatus100may then transmit the first priority information and the second priority information.

In the embodiment described above, the processor301of the terminator apparatus300finishes the priority control upon receipt of the second finish information. However, the processor301may finish the priority control if another condition is satisfied. For example, if the current time is on or after a time after the predetermined time period T2 from the estimated time of passage of the priority target terminator apparatus, the processor301finishes the priority control targeting the priority target terminator apparatus.

When the priority vehicle500passes on a route other than the travel route, the communication system1may acquire the travel route again. In this case, the processor101of the server apparatus100acquires the travel route and performs the processes of steps ST23to ST28, based on the travel route. Note that if there is a roadside unit400through which passage was scheduled on the travel route before the travel route is acquired again but through which passage is not scheduled on the travel route after the travel route is acquired again, the processor101may transmit stop information to this roadside unit400via the communication I/F105. The stop information is information indicating stop of the priority control and the emergency notification. During priority control, the processor401of the roadside unit400having received the stop information finishes the priority control. Before priority control is started, the processor401of the roadside unit400having received the stop information does not start the priority control.

The processor101, the processor401, the processor511, the processor611or the processor901may achieve some or all of the processes achieved by programs in the embodiments described above, through a hardware configuration of circuits.

The programs that achieve the processes in the embodiments are handed over in a state of being stored in each of apparatuses. However, each of the apparatuses may be handed over in a state where the programs are not stored. The programs may then be separately handed over and written in each of the apparatuses. Handing over of the programs at this time may be achieved by, for example, being stored in a removable storage medium or by download via a network, such as the Internet or a LAN.

The embodiments of the present invention are described above but are described as examples and do not limit the scope of the present invention. The embodiments of the present invention can be implemented in various embodiments in a range without departing from the gist of the present invention.

EXPLANATION OF REFERENCE NUMERALS

1Communication system100Server apparatus101,201,401,511,611,901Processor102,202,402,512,612,902ROM103,203,403,513,613,903RAM104,204,404,514,614,904Auxiliary storage device105,615,905Communication I/F106,207,409,520,618,909Bus200,300Terminator apparatus205,405,515First communication I/F206,406,516Second communication I/F400Roadside unit407Control I/F408,519GNSS antenna500Priority vehicle510,610Vehicle-mounted apparatus517,616Display device518,617,907Speaker600Vehicle700Traffic light800Road display apparatus900Terminal apparatus906Touchscreen908Vibrator