JP2017045427A - Travel path accessory detection device and method for detecting travel path accessory and travel path - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide more precise traffic information.SOLUTION: A travel path accessory detection device has a column area detection part, a code reading part, a distance estimation part and an output data generation part. The column area detection part detects a column area which is an area of a column part of an accessory on a travel path from an image picked up by an imaging part for imaging a vicinity of a travel path along which a vehicle travels on the basis of a pixel of the picked-up image. The code reading part reads a code composed of at least two kinds of densities given to the column area in the picked-up image to acquire code information binarizing the code. The distance estimation part estimates distance information indicating a distance from the vehicle to the accessory on the basis of the pixel of the picked-up image, a pixel of code information given to the column area in the picked-up image and an angular field of the imaging part. The output data generation part generates output data on the basis of accessory related information which is information related to the accessory indicated by the code information and the estimated distance information.SELECTED DRAWING: Figure 5

Description

  Embodiments described herein relate generally to a travel path accessory detection device, a travel path accessory, and a travel path detection method.

  Road road accessories such as road signs, road mirrors, street lights, etc. are important for ensuring safety for vehicles traveling on roads such as roads and tracks. For this reason, conventionally, a detection device for detecting a traveling road accessory based on a captured image around the traveling road accessory is known.

Japanese Patent No. 4394476 Japanese Patent No. 3006471

  In such a travel route accessory detection device, it is desired to detect a travel route accessory with high accuracy and to provide more advanced traffic information using information on distance.

  The travel path attachment detection device of the embodiment includes a pillar region detection unit, a code reading unit, a distance estimation unit, and an output data generation unit. The column area detection unit detects a column area, which is an area of the column part of the accessory of the traveling path, from the captured image captured by the imaging unit that captures the periphery of the traveling path on which the vehicle travels. To do. The code reading unit reads a code composed of at least two kinds of shades attached to the pillar region in the captured image, and obtains code information obtained by binarizing the code. The distance estimation unit estimates distance information indicating a distance from the vehicle to the accessory based on the pixel of the captured image, the pixel of the code information attached to the column area in the captured image, and the angle of view of the imaging unit. To do. The output data generation unit generates output data based on the accessory-related information that is information related to the accessory indicated by the code information and the estimated distance information.

FIG. 1 is a configuration diagram of a travel path accessory detection system according to the first embodiment. FIG. 2 is a schematic diagram illustrating a state of a barcode attached to a pillar in the first embodiment. FIG. 3 is a diagram illustrating an example of correspondence between the code information and the accessory-related information according to the first embodiment. FIG. 4 is a diagram illustrating an example of assigning a direction to code information in the first embodiment. FIG. 5 is a block diagram illustrating a functional configuration of the traveling path attachment detection device according to the first embodiment. FIG. 6 is a diagram illustrating an example in which an imaging camera is installed outside the vehicle. FIG. 7 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the first embodiment. FIG. 8 is a diagram illustrating an example of a captured image in the first embodiment. FIG. 9 is a flowchart illustrating an example of the procedure of the column area detection process according to the first embodiment. FIG. 10 is a diagram illustrating an example for explaining the edge enhancement processing according to the first embodiment. FIG. 11 is a diagram illustrating an example of a pixel extraction result of edge features according to the first embodiment. FIG. 12 is a diagram for explaining the vertical accumulation processing according to the first embodiment. FIG. 13 is a flowchart illustrating an example of the procedure of the barcode reading process according to the first embodiment. FIG. 14 is a diagram for explaining an example of a barcode reading process. FIG. 15 is a diagram illustrating an example of a travel path accessory in a captured image in the first embodiment. FIG. 16 is a diagram for explaining distance estimation according to the first embodiment. FIG. 17 is a diagram illustrating a display example of output data according to the first embodiment. FIG. 18 is a diagram illustrating a display example of output data according to the first embodiment. FIG. 19 is a diagram illustrating a display example of output data according to the first embodiment. FIG. 20 is a diagram illustrating the relationship between the traveling direction of the vehicle and the traveling path accessories in the first embodiment. FIG. 21 is a block diagram illustrating a functional configuration of the travel path attachment detection device according to the second embodiment. FIG. 22 is a diagram illustrating an example of a management DB according to the second embodiment. FIG. 23 is a diagram illustrating an example of generation of an accessory management number by the management number generation unit of the second embodiment. FIG. 24 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the second embodiment. FIG. 25 is a block diagram illustrating a functional configuration of the traveling path attachment detection device according to the third embodiment. FIG. 26 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the third embodiment. FIG. 27 is a diagram illustrating a display example of output data according to the third embodiment. FIG. 28 is a block diagram illustrating a functional configuration of the travel path appendage detection device according to the fourth embodiment. FIG. 29 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the fourth embodiment. FIG. 30 is a diagram illustrating a display example of output data according to the fourth embodiment. FIG. 31 is a block diagram illustrating a functional configuration of a travel path attachment detection device according to a modification of the fourth embodiment. FIG. 32 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to a modification of the fourth embodiment. FIG. 33 is a diagram illustrating a display example of output data according to a modification of the fourth embodiment. FIG. 34 is a block diagram of a functional configuration of the travel path accessory detection apparatus according to the fifth embodiment. FIG. 35 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the fifth embodiment. FIG. 36 is a diagram illustrating a display example of output data according to the fifth embodiment. FIG. 37 is a diagram illustrating an example of a column of a traveling path attachment according to the sixth embodiment. FIG. 38 is a diagram illustrating an example of a barcode attached to the travel path according to the seventh embodiment. FIG. 39 is a diagram illustrating an example of a captured image in the seventh embodiment. FIG. 40 is a block diagram illustrating a functional configuration of the travel path appendage detection device according to the seventh embodiment. FIG. 41 is a diagram illustrating an example of a combination of the first code and the second code in the seventh embodiment. FIG. 42 is a block diagram of a functional configuration of the travel path appendage detection device according to the eighth embodiment. FIG. 43 is a diagram illustrating an example of an appearance of a tram that is a vehicle according to the eighth embodiment. FIG. 44 is a diagram illustrating an example of an image captured by the imaging camera according to the eighth embodiment. FIG. 45 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the eighth embodiment. FIG. 46 is a diagram illustrating a display example of data displayed in the control system in the eighth embodiment. FIG. 47 is a diagram illustrating an example of a configuration of a traveling path attachment according to a modification.

(Embodiment 1)
The travel path accessory detection device of the present embodiment will be described by taking as an example one mounted on an automobile traveling on a road as a vehicle. Roadway accessories (hereinafter sometimes simply referred to as “accessories”) include roads as roadways or road signs installed around roads, and more specifically, traffic signs, For example, a distance sign indicating the distance from the starting point of the road.

  FIG. 1 is a configuration diagram of a travel path accessory detection system according to the first embodiment. As shown in FIG. 1, the travel path accessory detection system of this embodiment includes a travel path accessory 110 and a travel path accessory detection device 100 that detects the travel path accessory 110.

  The traveling path attachment 110 is a facility or a work necessary for maintaining the structure of a traveling path such as a road, ensuring safe and smooth traffic on the traveling path, and managing the traveling path. Examples of such traveling road accessories 110 include road signs and distance signs, but are not limited thereto.

  As shown in FIG. 1, the traveling road attachment 110 includes a sign 101, a pillar 102 that supports the sign 101, and a barcode 103 attached to the pillar 102. The bar code 103 is attached to the pillar 102 at a height h1 or higher from the ground surface. The height h1 is a height of a position that is not hidden when a person raises his hand (for example, 3.0 m). By pasting the barcode at such a height h1, it is possible to prevent the barcode 103 from being concealed by a person or from being concealed by mischief.

  The travel path appendage detection device 100 reads the barcode 103 of the travel path appendage 110 and provides advanced traffic information. Details of the traveling path attachment detection device 100 will be described later.

  FIG. 2 is a schematic diagram illustrating the state of the barcode 103 attached to the pillar 102 in the first embodiment. As shown in FIG. 2, the barcode 103 of the present embodiment is configured as a code composed of at least two types of shading. That is, the bar code 103 is a code having a high density, in other words, a ring-shaped code having a reflection intensity smaller than a predetermined intensity, and a code having a light density and a light intensity, in other words, a ring-shaped code having a reflection intensity greater than a predetermined intensity. It is configured to be concentrically attached to the pillar 102 while changing the width and interval.

  In the present embodiment, for a ring-shaped cord having a reflection intensity higher than a predetermined intensity, if the reflection intensity of the pillar 102 is large, the ring-shaped cord is used as it is, and only the ring-shaped cord having a reflection intensity lower than the predetermined intensity is pasted. The barcode 103 may be configured. By attaching each code of the bar code 103 concentrically to the column 102, the traveling path appendage detection device 100 can read the code from all directions of 360 degrees around the column 102.

  Further, as shown in FIG. 2, the barcode 103 has a width w1 of each code and a length w2 of the entire area of the barcode 103 that can be read from a distance.

  The bar code 103 may be made of a material that can be easily read at night by a fluorescent reflection component or a luminescent paint. Furthermore, a material that absorbs each code of the bar code 103 only with infrared light can be used. In this case, information cannot be confirmed visually during the day, but additional information can be run without compromising aesthetics by using a combination of infrared illumination and a sensitive camera in the infrared region at night. Can be printed or affixed to road accessories.

  The code information indicated by the barcode 103 can be arbitrarily determined. For example, a code with a high density of the barcode 103 is equivalent to a binary number “1”, and a code with a low density is equivalent to a binary number “0”, so that the barcode 103 indicates multiple-digit binary code information. Can be configured. Then, accessory-related information is assigned in advance to the code information. The accessory-related information is information related to the traveling road accessory, and includes, for example, the type of the accessory, the distance from the starting point of the traveling road, the direction, and the like, but is not limited thereto.

  As the code information of the barcode 103 of the traveling path accessory, information allocation is performed in consideration of the limitation of the data amount and the reading from any direction.

  FIG. 3 is a diagram illustrating an example of correspondence between the code information and the accessory-related information according to the first embodiment. In the example of FIG. 3, 12-bit code information is shown. The type of the accessory is shown as the accessory-related information. In the example of FIG. 3, “distance indicator” is assigned to the code information “0 to 1000” as the accessory type. “Traffic sign” is assigned to the code information “1001 to 2000” as the type of accessory. In the code information “3001 to 4000”, an “other” indicator is assigned as an accessory type. The individual information of each indicator is assigned to the code information value of each indicator range. The code information can include information indicating the direction.

  FIG. 4 is a diagram illustrating an example of assigning a direction to code information in the first embodiment. In the example of FIG. 4, values are assigned in each direction, such as “0” to the north, “1” to the northeast, and “2” to the east. For example, traffic signs with code information “1001 to 2000” have meaning only in a specific direction of a road such as a road such as “one-way” or “no entry”. Assign direction to information. For example, the direction can be assigned such as 2 bits from the lowest order of the code information, but is not limited to this.

Next, the traveling path attachment detection device 100 of this embodiment will be described.
FIG. 5 is a block diagram illustrating a functional configuration of the travel path accessory detection apparatus 100 according to the first embodiment. As illustrated in FIG. 5, the travel path attachment detection device 100 according to the first embodiment includes an imaging camera 401, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and an output data generation unit 404. And a display unit 405.

The imaging camera 401 is installed outside or inside the vehicle, captures an area around a traveling road (road) ahead of the traveling vehicle at regular time intervals, and outputs a captured image.
FIG. 6 is a diagram illustrating an example in which the imaging camera 401 is installed outside the vehicle. In FIG. 6, θ is the angle of view of the imaging camera 401. As shown in FIG. 6, the imaging camera 401 of the present embodiment sets a field of view 501 in the front direction of the vehicle and images the traveling road accessory. The imaging camera 401 is an example of an imaging unit. Note that the imaging camera 401 may be one installed for collision safety image processing.

  The column area detection unit 402 inputs a captured image around the traveling road imaged by the imaging camera 401, and travels along a pair of vertical lines based on pixels constituting the captured image from the input captured image. It is detected as a column area of road accessories. Specifically, the pillar region detection unit 402 performs edge enhancement on the captured image, extracts edge features from the edge-enhanced pixels, and accumulates the extracted pixels in the vertical direction of the captured image. A column part composed of a pair of lines is detected as a column region, and the coordinate range of the column region is output.

  The code reading unit 403 detects and reads a barcode from the pillar area detected by the pillar area detection unit 402 in the captured image captured by the imaging camera 401, binarizes the read code, and outputs code information. To do.

  The distance estimation unit 406 determines the current vehicle position based on the pixel of the captured image captured by the imaging camera 401, the barcode pixel attached to the column area in the captured image, and the angle of view of the imaging camera 401. To calculate (estimate) distance information indicating the distance from the installation position of the traveling road appendage included in the captured image.

  The output data generation unit 404 converts the code information obtained by the code reading unit 403 into attachment-related information indicated by the code information. Then, the output data generation unit 404 generates output data from the accessory-related information and the distance information calculated by the distance estimation unit 406. The output data generation unit 404 performs control to display the generated output data on the display unit 405. The display unit 405 is a display device such as a monitor inside the vehicle, and displays the output data generated by the output data generation unit 404. In addition, you may comprise the traveling road accessory detection apparatus 100 so that the output data produced | generated by the output data production | generation part 404 may output a traffic control center etc. by the road-to-vehicle communication part etc. which are not shown in figure.

Next, the travel path accessory detection process of the present embodiment configured as described above will be described in detail.
FIG. 7 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the first embodiment. Here, the process of the flowchart shown in FIG. 7 is executed at predetermined time intervals such as every several seconds.

First, the imaging camera 401 images the surroundings in front of the vehicle and outputs a captured image.
FIG. 8 is a diagram illustrating an example of a captured image in the first embodiment. As shown in FIG. 8, the imaging camera 401 images the front including the periphery of the vehicle. In the captured image, as shown in FIG. 8, an area including the barcode attached to the column of the traveling road attachment appears.

  Next, the column area detection unit 402 inputs a captured image from the imaging camera 401 (S11), and performs a column area detection process on the captured image (S12).

Details of the column area detection processing in S12 will be described.
FIG. 9 is a flowchart illustrating an example of the procedure of the column area detection process according to the first embodiment. The pillar region detection unit 402 performs edge enhancement processing on the captured image (S31). Specifically, the pillar region detection unit 402 obtains a difference between neighboring pixels for each pixel of the captured image.

  FIG. 10 is a diagram illustrating an example for explaining the edge enhancement processing according to the first embodiment. For example, as illustrated in FIG. 10, the pillar region detection unit 402 obtains the sum of the pixel value obtained by multiplying the surrounding eight pixels by the weight “−1” and the pixel value obtained by multiplying the center pixel by the weight “1”. Thus, a pixel having a luminance peak in the central visual field can be emphasized.

  Next, the pillar region detection unit 402 performs edge feature pixel extraction processing from the edge-enhanced captured image (S32). Specifically, the pillar region detection unit 402 extracts pixels of edge features as binary images with a certain threshold value for the edge-enhanced pixels.

  FIG. 11 is a diagram illustrating an example of a pixel extraction result of edge features according to the first embodiment. In FIG. 11, black lines indicate extracted pixels. As shown in the example of FIG. 11, not only the traveling road accessories 901 but also pixels such as road edges 903 are extracted as extracted pixels.

  The column area detection unit 402 sets the field of view while moving the small area 902 shown in FIG. 11 on the image of the pixel extraction result of the edge feature, and performs vertical accumulation processing (S33).

  FIG. 12 is a diagram for explaining the vertical accumulation processing according to the first embodiment. As illustrated in FIG. 12, the pillar region detection unit 402 sets a field of view 1001 while moving a small region with respect to the captured image of the pixel extraction result of the edge feature, and accumulates extracted pixels in the vertical direction with respect to the field of view 1001. One-dimensional accumulated data 1002 is collected. Thereby, the pillar area detection unit 402 detects the pair of lines P1 and P2.

  Next, the pillar area detection unit 402 determines a pillar area for the accumulated data 1002 obtained in S33 (S34). Specifically, the column area detection unit 402 has an accumulated value equal to or greater than a certain threshold Thr for the pair of lines P1 and P2 of the accumulated data 1002, and the interval w between P1 and P2 is a predetermined range. If it is within the range, the pair of lines P1 and P2 are determined as the column area, and the coordinate range is output as the range of the column area of the traveling road attachment. Here, the output coordinate range is indicated by the upper left coordinate and the lower right coordinate of the rectangular pillar region.

  Note that the method of detecting the column area by the column area detection unit 402 is not limited to this. For example, a pillar template may be prepared in advance, and the pillar area detection unit 402 may be configured to detect a pillar area using a matching method with a captured image of a pixel extraction result of an edge feature.

Returning to FIG. 7, when the column area detection process is completed, the code reading unit 403 performs the barcode reading process (S13).
FIG. 13 is a flowchart illustrating an example of the procedure of the barcode reading process according to the first embodiment.
FIG. 14 is a diagram for explaining an example of a barcode reading process. FIG. 14A shows an example of a column area including a barcode. FIG. 14B shows an example of a barcode extracted from the column area. FIG. 14C shows an example of one-dimensional data generated from a barcode.

  First, the code reading unit 403 inputs the column area detected by the column area detection unit 402, performs threshold processing on the grayscale image data in the column area, and extracts a barcode (S51). Specifically, the code reading unit 403 sets “1” for a portion that is greater than or equal to a predetermined threshold and “0” for a portion that is less than the threshold for the grayscale image data in the column area shown in FIG. As shown in FIG. 14B, the grayscale image data is converted into binary image data, and a luminance value below a certain level is extracted to extract a barcode portion from the column area.

  Next, the code reading unit 403 performs data projection processing (S52). Specifically, the code reading unit 403 accumulates the black pixels of the binarized data extracted in S51 in the horizontal direction, and generates one-dimensional data as illustrated in FIG. This process for generating one-dimensional data is called data projection processing, and the one-dimensional data is called projection data. FIG. 14C shows that the number of black pixels increases as the position is on the right side.

  Next, the code reading unit 403 measures the entire width of the extracted pixel with respect to the projection data (S53). Specifically, the code reading unit 403 measures the total width pwT, which is the length of the uppermost position and the lowermost position in FIG. 14C, of the extracted pixels as the number of pixels.

  Next, the code reading unit 403 performs individual width measurement processing for measuring each individual width from pw1 to pw11 corresponding to the individual pattern of the barcode portion (FIG. 14B) in the projection data as the number of pixels. Perform (S54). Then, the code reading unit 403 uses the projection data pattern shown in FIG. 14C to convert it into code information that is binarized data (S55). The code reading unit 403 outputs the code information generated in this way. The code reading unit 403 outputs the total width pwT of the projection data (barcode) obtained in S53 and the number of pixels of the individual widths pw1 to pw11 obtained in S54.

  Returning to FIG. 7, when the barcode reading process is completed, the distance estimation unit 406 uses the total width pwT of the projection data or the number of pixels of the individual widths pw1 to pw11 to attach the travel path from the current position of the vehicle. The distance to the object is estimated (S14).

  FIG. 15 is a diagram illustrating an example of a travel path accessory in a captured image in the first embodiment. When the image data is collected under the shooting conditions shown in FIG. 15, as shown in the example of FIG. 15, the travel path appendage 1301 close to the vehicle is large and the travel path appendage 1302 far from the vehicle is small. The distance estimation unit 406 uses this property to estimate the distance from the barcode width.

  FIG. 16 is a diagram for explaining distance estimation according to the first embodiment. As shown in FIG. 16, it is assumed that the imaging camera 401 captures, with the number of pixels p2, a barcode attached to a travel path accessory installed at a distance L with an angle of view θ. In FIG. 16, p1 corresponds to the number of pixels in the entire field of view of the camera image at the distance L. For example, when imaging is performed using the imaging camera 401 having 1280 × 720 pixels, p1 is 720 pixels. Assuming that the angle of view θ is 30 degrees and the distance L is 25 m, 720 pixels of p1 corresponds to 25 m * tan (30 °) = 14 m. If the total length w2 of the barcode is set to 1 m, p2 corresponds to about 52 pixels. If the width of white or black is set to 2 pixels, the width or interval of the barcode assuming reading up to a point of 25 m is about 38 mm. Therefore, by setting the width or interval of the bar code to about 38 mm, the vehicle can read the bar code 25 m ahead. Therefore, the distance estimation unit 406 can estimate the distance L to the traveling road appendage from the angle of view of the imaging camera 401, the number of pixels of the entire visual field, and the number of pixels of the barcode.

  Returning to FIG. 7, when the distance is estimated, the output data generation unit 404 inputs code information from the code reading unit 403, and inputs distance information from the distance estimation unit 406, and at least the accessory-related information is obtained. To generate output data (S15). The output data generation unit 404 displays the generated output data on the display unit 405 (S16).

  The processing from S11 to S16 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

17 to 19 are diagrams illustrating display examples of output data according to the first embodiment.
FIG. 17 is a display example when a speed limit sign is detected as an attachment to the traveling road. In this example, the output data generation unit 404 generates and displays output data including the distance estimated from the pixel of the barcode and the speed limit speed based on the accessory-related information read from the barcode. Thus, oversight of the sign by the driver can be reduced.

  FIG. 18 is a display example when a traffic sign prohibiting entry is detected as an attachment to the traveling road. In this example, the output data generation unit 404 generates the direction and the traveling direction as the output data as the accessory-related information read from the barcode, so that reverse driving by the driver can be prevented.

  FIG. 19 is a display example when a distance sign is detected as a traveling road attachment. In this example, the output data generation unit 404, for example, the distance from the road starting point as the appendix related information of the distance sign discretely placed every 100 m, the distance estimated by the distance estimation unit 406, The distance from the road starting point at the current position of the vehicle obtained by subtracting the estimated distance from the distance as the object related information is generated as output data and displayed on the display unit 405. For this reason, it is possible to display a precise distance.

  In addition, since the travel path accessory detection process is executed at predetermined time intervals such as every few seconds, for example, when the vehicle approaches the travel path accessory every time it is executed, the distance display in FIGS. It will change.

  FIG. 20 is a diagram illustrating the relationship between the traveling direction of the vehicle and the traveling path accessories in the first embodiment. As shown in FIGS. 1 and 2, the barcode attached to the traveling path accessory of the present embodiment is attached as a concentric belt. For this reason, the travel path accessory detection apparatus 100 of this embodiment can read a barcode even if the distance between the travel path accessory and the vehicle and the traveling direction are different. In the example of FIG. 20, when the traveling road appendage is approached from the visual field 1402 to the visual field 1403 of the imaging camera 401 of the vehicle traveling from the top to the bottom of the road, there is a portion where the barcode of the traveling road appendage column 1401 can be seen. Although it changes from 1404 to 1405, the traveling path accessory detection apparatus 100 can read barcode information in any visual field. Also, the barcode information can be read from both the field of view 1406 and field of view 1407 of the vehicle in the opposite lane traveling on the right road from bottom to top.

  As described above, in the travel path accessory detection apparatus 100 according to the present embodiment, the barcode attached to the column of the travel path appendage is read from the captured image to obtain the appendage related information of the travel path appendage, The distance to the accessory is estimated, and output data is generated and displayed using the accessory-related information and the distance. For this reason, according to the present embodiment, the accessory-related information and the distance can be acquired with high accuracy, and more advanced traffic information can be provided.

(Embodiment 2)
In the second embodiment, accessory-related information is managed using vehicle position information in addition to code information.
FIG. 21 is a block diagram illustrating a functional configuration of the travel path accessory detection apparatus 2000 according to the second embodiment. As illustrated in FIG. 21, the travel path attachment detection device 2000 according to the second embodiment includes an imaging camera 401, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and a position information collection unit 2004. A management number generation unit 2005, a management database 2006 (hereinafter referred to as “management DB 2006”), an output data generation unit 404, and a display unit 405. Here, the imaging camera 401, the column area detection unit 402, the code reading unit 403, the distance estimation unit 406, and the display unit 405 are the same as those in the first embodiment. As in this embodiment, the traveling road accessory detection device 2000 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). Also good.

  The position information collection unit 2004 acquires latitude, longitude, altitude, and the like as position information indicating the position of the vehicle. The position information collection unit 2004 is, for example, a general global position measurement system (GPS), and latitude, longitude, and altitude are output from the GPS.

  The management DB 2006 is a database in which an accessory management number is associated with a type of a traveling road accessory as accessory-related information. The management DB 2006 is stored in a storage medium such as a hard disk or a memory.

  The accessory management number is a number that includes a part of position information (latitude, longitude) of the place where the traveling road appendage is installed and barcode information attached to the traveling road appendage. In the present embodiment, the accessory management number is a number obtained by combining the upper four digits of the latitude and longitude as the position information of the place where the traveling road accessory is installed and the numerical value of the code information. However, the present invention is not limited to this. The attachment management number is an example of management information.

  FIG. 22 is a diagram illustrating an example of the management DB 2006 according to the second embodiment. As shown in FIG. 22, the management DB 2006 includes an attachment management number in which the upper 4 digits of the latitude and longitude of the place where the traveling path appendix is installed and the numerical value of the code information are combined, and the traveling The types of road accessories are associated with each other.

  The management number generation unit 2005 generates an accessory management number based on the current position information of the vehicle acquired by the position information collection unit 2004 and the code information of the code read by the code reading unit 403. The management number generation unit 2005 is an example of a management information generation unit.

  FIG. 23 is a diagram illustrating an example of generation of an attachment management number by the management number generation unit 2005 according to the second embodiment. As shown in FIG. 23, the management number generation unit 2005 combines the upper 4 digits of latitude and longitude acquired by the location information collection unit 2004 and the code information, as shown on the right side of the arrow. An attachment management number is generated.

  Since there is a limit to the amount of bar code code information affixed to the traveling road appendages, there are cases where a large amount of appendix-related information cannot be handled by the code information alone. In the present embodiment, in addition to the code information, a management number using up to the upper 4 digits of the position information is registered in the management DB 2006. For example, in the example of the distance indicator 105 km post shown in FIG. 22 and FIG. 23, two kinds of attachment management numbers are assigned to the same traveling road attachment, but multiple numbers are grasped by four digits of latitude or longitude. If there is a possibility that it will be done, it will be managed with multiple annex control numbers. As a result, the unique number increases, so that it is possible to manage a large number of traveling road accessories even when the amount of code information that can be affixed to the traveling road accessories is limited. As a result, it becomes possible to provide information by generating and displaying output data as shown in FIGS. 17 to 19 described in the first embodiment. Further, by using a part of the information of the upper 4 digits of the position information as the management number, the vehicle can be applied to a traveling road accessory within a certain range from the current position.

  The output data generation unit 404 collates the management number generated by the management number generation unit 2005 with the accessory management number registered in the management DB 2006, and the corresponding accessory management information is estimated by the distance estimation unit 406. Output data is generated based on the distance information.

Next, the travel path accessory detection process of the present embodiment configured as described above will be described in detail.
FIG. 24 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the second embodiment. Here, the process of the flowchart shown in FIG. 24 is executed at predetermined time intervals such as every several seconds, for example.

  Processing from the input of the captured image to the distance estimation (S11 to S14) is performed in the same manner as in the first embodiment.

  When the distance is estimated, the position information collection unit 2004 acquires the current position information (latitude, longitude) of the vehicle (S71). The management number generation unit 2005 generates an accessory management number as described above from the position information acquired in S71 and the code information read in S13 (S72).

  The output data generation unit 404 collates the management number generated in S72 with the accessory management number registered in the management DB 2006 (S73). As a result of the collation, the output data generation unit 404 generates output data based on the matching accessory management information and the distance information estimated in S14 (S15). The output data generation unit 404 displays the output data on the display unit 405 (S16).

  The processing from S11 to S16 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

  As described above, in the present embodiment, the corresponding accessory-related information is registered in the management DB 2006 using the management number that uses the upper 4 digits of the position information in addition to the code information. In addition to being effective, it is possible to individually manage the traveling road accessories together with the position information, and to provide advanced traffic information.

(Embodiment 3)
In the third embodiment, a traveling road accessory is selected from one or a plurality of traveling road accessories around the current position of the vehicle, based on the read barcode code information.

  FIG. 25 is a block diagram illustrating a functional configuration of a travel path accessory detection apparatus 2200 according to the third embodiment. As illustrated in FIG. 25, the travel path attachment detection device 2200 according to the third embodiment includes an imaging camera 401, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and a position information collection unit 2004. And a map information acquisition unit 2205, a data selection unit 2206, an output data generation unit 404, and a display unit 405. Here, the imaging camera 401, the column area detection unit 402, the code reading unit 403, the distance estimation unit 406, the position information collection unit 2004, and the display unit 405 are the same as those in the second embodiment. Similarly, in this embodiment, the traveling road accessory detection device 2200 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). May be.

  The map information acquisition unit 2205 acquires map information around the vehicle and information on one or a plurality of traveling road accessories based on the current position information of the vehicle acquired by the position information collection unit 2004. The map information acquisition unit 2205 acquires map information from, for example, a navigation system or network mounted on the vehicle.

  The data selection unit 2206 includes information on one or more traveling road accessories acquired by the map information acquisition unit 2205 based on the map information acquired by the map information acquisition unit 2205 and the position information acquired by the position information collection unit 2004. Based on the code information read by the code reading unit 403, the travel path accessory is selected.

  Since there are many roadside accessories such as road signs around a certain point, there is a case where information to be actually notified to the driver is unknown. For such a situation, in this embodiment, the map information acquisition unit 2205 acquires one or a plurality of driving path accessory candidates together with the map information, and the data selection unit 2206 selects from these candidates, The travel path accessory of the code information read by the code reading unit 403 is selected.

  The output data generation unit 404 generates output data based on the accessory-related information related to the road route accessory selected by the data selection unit 2206 and the distance information estimated by the distance estimation unit 406, and the display unit 405 To display.

Next, the travel path accessory detection process of the present embodiment configured as described above will be described in detail.
FIG. 26 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the third embodiment. Here, the process of the flowchart shown in FIG. 26 is executed at predetermined time intervals such as every several seconds.

  Processing (S11 to S14, S71) from input of a captured image to acquisition of position information is performed in the same manner as in the second embodiment.

  When the position information is acquired, the map information acquisition unit 2205 acquires map information around the vehicle based on the position information (S81). The map information acquisition unit 2205 further acquires information on one or a plurality of travel path accessories around the vehicle as travel path accessory candidates (S82).

  Next, the data selection unit 2206 selects a roadside accessory based on the code information read by the code reading unit 403 from one or more candidates for the roadway accessory acquired by the map information acquisition unit 2205. (S83).

  Next, the output data generation unit generates output data including the accessory-related information related to the roadway accessory selected in S83 and the distance information estimated in S14 (S15), and displays it on the display unit 405. (S16).

  The processing from S11 to S16 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

  FIG. 27 is a diagram illustrating a display example of output data according to the third embodiment. As shown in FIG. 27, the output data includes map information 2304 including the position of the vehicle indicated by the arrow, distance information 2305 estimated by the distance estimation unit 406, a plurality of travel route accessory candidates 2301, and a data selection unit. A travel path accessory 2302 selected in 2206 based on the code information is displayed. The travel route attachment 2303 selected by the data selection unit 2206 is also displayed in the map information 2304. As a result, the driver can efficiently grasp the traffic signs to be noted at the present time. The output data is not limited to the example of FIG. Real information obtained from surrounding image information and virtual information typified by map information can be matched with each other by using a travel route accessory, and thus map information can be effectively used.

  As described above, in the present embodiment, since the travel path accessory is selected and displayed from the one or a plurality of travel path appendages around the current position of the vehicle according to the barcode information of the read barcode, It is possible to efficiently grasp traffic signs that should be noted at the present time. That is, according to the present embodiment, it is possible to accurately acquire the information on the road route accessory and the distance information, and by selecting from the candidates for the road route accessory included in the map information, It is possible to match the surrounding situation and provide more advanced traffic information.

(Embodiment 4)
In the fourth embodiment, the position information of the vehicle is corrected based on the estimated distance information, and the current actual position of the vehicle is specified.
FIG. 28 is a block diagram illustrating a functional configuration of a travel path accessory detection apparatus 2400 according to the fourth embodiment. As illustrated in FIG. 28, the travel path attachment detection device 2400 according to the fourth embodiment includes an imaging camera 401, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and a position information collection unit 2004. A map information acquisition unit 2205, a position correction unit 2406, an output data generation unit 404, and a display unit 405. Here, the imaging camera 401, the column area detection unit 402, the code reading unit 403, the distance estimation unit 406, the position information collection unit 2004, the map information acquisition unit 2205, and the display unit 405 are the same as those in the third embodiment. Similarly, in this embodiment, the traveling road accessory detection device 2400 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). May be.

  The position correction unit 2406 corrects the position information acquired by the position information collection unit 2004 based on the distance information estimated by the distance estimation unit 406. Specifically, the position correction unit 2406, for example, when the vehicle is traveling in a valley of a building and the position information collection unit 2004 has difficulty acquiring position information at the present time, for example, the position information acquired last time. The position information is corrected by adding the latitude and longitude based on the estimated distance information to (latitude, longitude) or low-accuracy position information (latitude, longitude) to obtain the actual current position information of the vehicle. .

  The output data generation unit 404 generates output data based on the accessory-related information, the distance information estimated by the distance estimation unit 406, and the position information corrected by the position correction unit 2406, and displays it on the display unit 405. indicate.

Next, the travel path accessory detection process of the present embodiment configured as described above will be described in detail.
FIG. 29 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the fourth embodiment. Here, the process of the flowchart shown in FIG. 29 is executed at predetermined time intervals such as every several seconds, for example. Processing from the input of the captured image to the acquisition of the map information (S11 to S14, S71, S81) is performed in the same manner as in the third embodiment.

  When the map information is acquired, the position correction unit 2406 corrects the position information acquired in S71 based on the distance information estimated in S14 (S91).

  Next, the output data generation unit 404 generates output data including the accessory-related information, the distance information estimated in S14, and the position information corrected in S91 (S15), and displays it on the display unit 405. (S16).

  The processing from S11 to S16 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

  FIG. 30 is a diagram illustrating a display example of output data according to the fourth embodiment. In the present embodiment, as shown in the example of FIG. 30, data output from the position information corrected by the position correction unit 2406 is displayed and information is provided to the driver. In FIG. 25, the travel path appendage 2501 of the code information read by the code reading unit 403, the travel path appendage installation positions 2502 and 2506 obtained from the appendix related information, and the distance information 2503 estimated by the distance estimation unit 406. As shown by reference numeral 2505, even if the operation of the position information collection unit 2004 is temporarily disabled and the position information cannot be acquired, the current position 2507 of the vehicle is determined based on the position information corrected to the map information 2504. Can be displayed.

  As described above, in the present embodiment, even when the position accuracy of the position information collecting unit 2004 is insufficient or when the position information collecting unit 2004 does not operate in the valley of the building, the previous distance information is estimated based on the estimated distance information to the traveling road attachment. Since the current actual position of the vehicle can be specified by correcting the position information, it is possible to provide highly accurate and advanced traffic information.

(Modification of Embodiment 4)
In this modification, the distance information estimated from the barcode of the roadway attachment and the distance from the road starting point of the distance sign obtained from the attachment-related information of the roadway attachment are integrated, and the current vehicle The distance from the road starting point at the position is obtained to identify the current position of the vehicle.

  FIG. 31 is a block diagram illustrating a functional configuration of a travel path accessory detection apparatus 2600 according to a modification of the fourth embodiment. As illustrated in FIG. 31, the travel path accessory detection device 2600 according to the modification of the fourth embodiment includes an imaging camera 401, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and position information. It mainly includes a collection unit 2004, a distance integration unit 2605, an output data generation unit 404, and a display unit 405. Here, the imaging camera 401, the column area detection unit 402, the code reading unit 403, the distance estimation unit 406, the position information collection unit 2004, and the display unit 405 are the same as those in the second embodiment. Similarly, in this embodiment, the traveling road accessory detection device 2600 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). May be.

  The distance integration unit 2605 is based on the position information acquired by the position information collection unit 2004, the distance information estimated by the distance estimation unit 406, and the information related to the distance of the accessory-related information, and the travel route at the current position of the vehicle The distance from the starting point of is calculated. Here, the information related to the distance of the accessory-related information is a distance from the starting point of the traveling road when the traveling road accessory is a distance sign, and the distance integration unit 2605 obtains from the accessory-related information corresponding to the code information. To do. Specifically, the distance integration unit 2605 subtracts the distance of the distance information estimated by the distance estimation unit 406 from the distance from the travel path starting point obtained from the accessory-related information of the distance sign, The distance is obtained from the starting point of the travel path at the position.

  For example, from the code information read by the code reading unit 403, when the traveling road accessory is a distance sign, the distance of the distance sign indicated by the accessory-related information and the distance information estimated by the distance estimation unit 406 If the position cannot be detected, the position information output from the position information collection unit 2004 is used to calculate the difference distance from the past data.

  The output data generation unit 404 generates output data based on the accessory-related information, the distance information estimated by the distance estimation unit 406, and the distance from the starting point of the travel path calculated by the distance integration unit 2605. .

Next, a detailed description will be given of the traveling path accessory detection processing of the present modification configured as described above.
FIG. 32 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to a modification of the fourth embodiment. Here, the process of the flowchart shown in FIG. 32 is executed at predetermined time intervals such as every several seconds, for example.

  Processing (S11 to S14, S71) from input of a captured image to acquisition of position information is performed in the same manner as in the second embodiment.

  When the position information is acquired, the distance integration unit 2605 calculates the distance from the travel path starting point at the current position of the vehicle as described above (S1001).

  Then, the output data generation unit 404 outputs the output data including the accessory-related information, the distance information estimated by the distance estimation unit 406, and the distance from the starting point of the traveling road at the current position of the vehicle calculated in S1001. It produces | generates (S15) and displays on the display part 405 (S16).

  The processing from S11 to S16 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

  FIG. 33 is a diagram illustrating a display example of output data according to a modification of the fourth embodiment. In the present modification, as shown in the example of FIG. 33, distance marker information 2701 and 2703 obtained from the accessory-related information corresponding to the code information output from the code reading unit 403, and the position information collecting unit 2004 are output. Position information 2702 and the distance 2704 from the road starting point at the current position of the vehicle calculated by the distance integration unit 2605 are displayed. For this reason, in this embodiment, when the code reading unit 403 does not detect a distance sign from the code information, when the positional accuracy of the positional information collection unit 2004 is insufficient, or when the positional information collection unit 2004 is in a valley of a building. Even when the vehicle does not operate, the current position of the vehicle from the road starting point can be specified. Therefore, according to this modification, the current position of the vehicle can be grasped more accurately by complementing the distance information estimated from the barcode of the captured image and the position information output from the position information collection unit 2004. More advanced traffic information.

(Embodiment 5)
In the fifth embodiment, the bar code is inspected by comparing the code information of the travel path accessory obtained from the bar code with the code information of the travel path accessory obtained from the position information.

  FIG. 34 is a block diagram illustrating a functional configuration of a travel path accessory detection apparatus 2800 according to the fifth embodiment. As shown in FIG. 34, a travel path accessory detection apparatus 2800 according to the fifth embodiment includes an imaging camera 401, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and a position information collection unit 2004. And an accessory information acquisition unit 2805, a collation unit 2806, a management DB 2006, an inspection unit 2807, an output data generation unit 404, and a display unit 405. Here, the imaging camera 401, the column area detection unit 402, the code reading unit 403, the distance estimation unit 406, the position information collection unit 2004, the management DB 2006, and the display unit 405 are the same as those in the second embodiment. Similarly, in this embodiment, the travel road accessory detection device 2800 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). May be.

  The accessory information acquisition unit 2805 acquires code information of a traveling road accessory around the position information based on the position information acquired by the position information collection unit 2004. Specifically, the accessory information acquisition unit 2805 is an 8-digit value obtained by combining the upper 4 digits of the latitude and longitude that are the acquired position information, and the accessory management number of the management DB 2006 (see FIG. 22). A search is performed to extract an accessory management number whose upper eight digits match, and a roadway accessory having code information corresponding to the lower four digits of the extracted accessory management number is selected.

  The collation unit 2806 collates the code information read by the code reading unit 403 with the code information of the traveling road accessory acquired by the accessory information acquisition unit 2805. The inspection unit 2807 inspects the traveling road accessories based on the collation result by the collation unit 2806. The inspection unit 2807 determines that the inspection result is successful (OK) when the two pieces of code information match, and determines that the inspection result is failure (NG) when they do not match.

  In addition to having the functions of the second embodiment, the output data generation unit 404 further generates inspection results as output data and displays them on the display unit 405.

Next, the travel path accessory detection process of the present embodiment configured as described above will be described in detail.
FIG. 35 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the fifth embodiment. Here, the process of the flowchart shown in FIG. 35 is executed at predetermined time intervals such as every several seconds, for example.

  Processing (S11 to S14, S71) from input of a captured image to acquisition of position information is performed in the same manner as in the second embodiment.

  When the position information is acquired, the accessory information acquisition unit 2805 acquires information on the traveling road accessories around the position information based on the position information acquired in S71 (S1011). Then, the collation unit 2806 collates the code information read by the code reading unit 403 with the code information of the traveling road accessory acquired by the accessory information acquisition unit 2805, and the inspection unit 2807 performs verification by the verification unit 2806. Based on the result, the traveling road accessories are inspected (S1012).

  Next, the output data generation unit 404 generates the inspection result (OK / NG) output data (S1013) and displays it on the display unit 405 (S16).

  The processing from S11 to S16 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

  FIG. 36 is a diagram illustrating a display example of output data according to the fifth embodiment. As shown in FIG. 36, in the output data of the present embodiment, inspection results are displayed corresponding to position information of latitude and longitude, code information, accessory management number, travel and accessory types.

  Thus, in the present embodiment, the barcode information is checked by checking the code information of the roadway accessory obtained from the barcode and the code information of the roadway accessory obtained from the position information. It is possible to check the traveling road accessories efficiently, and it is possible to take measures such as excluding the traveling road accessories of the code information that failed in the inspection.

(Embodiment 6)
Although the bar code is affixed concentrically on the circumference of the pillar portion in the traveling path appendages of the first to fifth embodiments, the traveling path appendage of the sixth embodiment has one on the circumference of the pillar section. A barcode is attached to the section.

Any one of Embodiments 1 to 5 and Embodiments 7 and 8 to be described later can be applied to the traveling path attachment detection device.
FIG. 37 is a diagram illustrating an example of a column of a traveling path attachment according to the sixth embodiment. As shown in FIG. 37, the travel path appendix of this embodiment has a bar code attached to the column so that a bar code partially different depending on the direction can be read. For example, the travel path accessory of the present embodiment is a travel path accessory installed toward an upward vehicle or the like, and barcodes including barcodes 3001 to 3003 are detected in the upward direction of the travel path. From the down direction, only barcodes without barcodes 3001 to 3003 (that is, barcodes 3005 to 3011) are detected.

  For this reason, it is possible not only to match the direction in which a function such as a sign is desired to be displayed, but also to express a different meaning depending on the direction of travel, such as prohibition of entry, by using a barcode attached to the road according to the direction of travel. it can. By detecting the direction of travel, it is possible to detect a reverse run that has recently become a problem on highways and general roads with a median, and warn the driver and traffic control center.

  Thus, in this embodiment, since the barcode is attached to a part of the circumference of the pillar portion of the traveling road appendage, it is possible to provide advanced traffic information according to the traveling direction of the vehicle.

  The bar code shown in FIG. 37 is an example, and the present invention is not limited to this. For example, by providing a barcode at every 90 degrees, different information can be provided for the four approach routes at the intersection.

(Embodiment 7)
In the seventh embodiment, the bar code widths (resolutions) of the traveling path accessories are attached with different widths.
FIG. 38 is a diagram illustrating an example of a barcode attached to the travel path according to the seventh embodiment. As shown in FIG. 38, in the traveling road attachment of this embodiment, a bar code composed of two types of widths w1 and w4 is attached to a column 3101.

The width w1 is the same as that in the first embodiment, and the width w4 is drawn as a fine width in the width w1.
FIG. 39 is a diagram illustrating an example of a captured image in the seventh embodiment. As shown in FIG. 39, in the present embodiment, the distant travel path accessory 3201 can read the outline information by the bar code having the width w1, and the travel path appendage 3202 approaching the vehicle is the detail by the bar code having the width w4. Information can be acquired. That is, when the resolution of the imaging camera 401 is low, the travel path attachment 3201 in FIG. 39 is in a state where a narrow white margin cannot be seen, and is detected as a barcode with a width w1. On the other hand, since the vehicle is approaching, the traveling road appendage 3202 in FIG. 39 is in a state where a narrow white margin can be seen and is detected as a bar code having a width w4.

  FIG. 40 is a block diagram illustrating a functional configuration of a travel path attachment detection device 3300 according to the seventh embodiment. As illustrated in FIG. 40, the travel path attachment detection device 3300 according to the seventh embodiment includes an imaging camera 401, a column area detection unit 402, a first code reading unit 3303, a second code reading unit 3304, and a distance. An estimation unit 406, an output data generation unit 404, and a display unit 405 are mainly provided. Here, the imaging camera 401, the column area detection unit 402, the distance estimation unit 406, and the display unit 405 are the same as those in the first embodiment. Similarly, in this embodiment, the traveling road accessory detection device 3300 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). May be.

  The first code reading unit 3303 reads the first code composed of the shade code of the first width w1 attached to the pillar of the traveling road appendage, and the first code information obtained by binarizing the first code Acquires accessory-related information indicated by.

  The second code reading unit 3304 reads the second code composed of the light and dark code of the second width w4 (w4 <w1) attached to the pillar of the traveling path attachment, and binarizes the second code. The accessory-related information indicated by the second code information is acquired.

  The output data generation unit 404 outputs output data based on the accessory-related information by the first code reading unit 3303, the accessory-related information by the second code reading unit 3304, and the distance information estimated by the distance estimation unit 406. Is generated and displayed on the display unit 405.

  FIG. 41 is a diagram illustrating an example of a combination of the first code and the second code in the seventh embodiment. The output data generation unit 404 increases the amount of information by combining the two data as shown in the example of FIG. 41 with respect to the codes output from the first code reading unit 3303 and the second code reading unit 3304. It is possible to record or read individual accessory management numbers directly.

  The travel path accessory detection process according to the seventh embodiment is performed in the same procedure as in the first embodiment. However, even if the same detection process is repeated as the vehicle approaches the road attachment, the detected bar code is different from the first bar code and the second bar code, and the code information varies depending on the table shown in FIG. Will be output.

  As described above, in the present embodiment, bar codes having different widths (resolutions) are attached to the travel path accessories and detected, so that more advanced traffic information can be provided according to the traveling process of the vehicle.

(Embodiment 8)
In the first to seventh embodiments, the driving road is a road and the vehicle on which the vehicle is driving is described as an example. However, in the eighth embodiment, the driving road is a track and the vehicle is applied to a tram. Is.

  FIG. 42 is a block diagram illustrating a functional configuration of a travel path attachment detection device 3500 according to the eighth embodiment. As shown in FIG. 42, a travel path attachment detection device 3500 according to the eighth embodiment includes an imaging camera 3602, a column area detection unit 402, a code reading unit 403, a distance estimation unit 406, and a position information collection unit 2004. A position information calculation unit 3505, an output data generation unit 404, and a data transmission unit 3506. Here, the column area detection unit 402, the code reading unit 403, the distance estimation unit 406, and the position information collection unit 2004 are the same as those in the second embodiment. Similarly, in this embodiment, the travel road accessory detection device 3500 is configured so that the output data generated by the output data generation unit 404 is output to a traffic control center or the like by a road-to-vehicle communication unit (not shown). May be.

  FIG. 43 is a diagram illustrating an example of an appearance of a streetcar 3601 that is a vehicle according to the eighth embodiment. The function of the imaging camera 3602 is the same as that of the first embodiment. However, the imaging camera 3602 of this embodiment is provided in the traveling direction of the front portion of the tram 3601, as shown in FIG.

  FIG. 44 is a diagram illustrating an example of an image captured by the imaging camera 3602 according to the eighth embodiment. An image of the visual field 3603 is picked up by the image pickup camera 3602, and images as shown in the example of FIG. 44 are collected. Note that the imaging camera 3602 is not limited to this, and an imaging camera 3602 installed for collision safety image processing may be used.

  The captured image in FIG. 44 shows the state of the intersection of the streetcar 3601. As shown in FIG. 44, the location information (latitude, longitude) of the travel route appendage 3701 is affixed to the travel route appendage 3701 as a barcode.

  The position information calculation unit 3505 is the position in the appendix related information of the travel path appendix corresponding to the position information (latitude, longitude) acquired by the position information collecting unit 2004 and the code information acquired by the code reading unit 403. With reference to the information (latitude and longitude) and the distance information estimated by the distance estimation unit 406, the final position information of the vehicle is calculated. For example, in the case where a travel path appendage 3701 is detected, the position information calculation unit 3505 determines the position information (latitude, latitude, longitude) of the travel path appendage 3701 with respect to the position information (latitude, longitude). (Longitude) is given priority for output.

  In addition, when the reliability of the data estimated from the number of GPS satellites received by the position information collection unit 2004 is low, the position information obtained by calculating the difference with the distance information with respect to the position information (latitude, longitude) of the traveling road attachment The position information calculation unit 3505 may be configured to use (latitude, longitude).

  The output data generation unit 404 generates the final position information of the vehicle calculated by the position information calculation unit 3505 and the captured image as output data. The data transmission unit 3506 transmits the generated output data to the control system as an external device via the network. Here, the output data generation unit 404 can generate the final position information and the captured image as processed output data as well as the output data as it is.

Next, the travel path accessory detection process of the present embodiment configured as described above will be described in detail.
FIG. 45 is a flowchart illustrating an example of a procedure of travel path accessory detection processing according to the eighth embodiment. Here, the process of the flowchart shown in FIG. 45 is executed at predetermined time intervals such as every several seconds.

  Processing (S11 to S14, S71) from input of a captured image to acquisition of position information is performed in the same manner as in the second embodiment.

  When the position information is acquired, the position information calculation unit 3505 calculates the final position information of the vehicle (tram) based on the position information acquired in S71 and the distance information in S14 (S1051). Then, the output data generation unit 404 generates the final position information of the vehicle calculated in S1051 and the captured image as output data (S15). The data sending unit 3506 sends the output data to the control system via the network (S1052).

  The processing from S11 to S1052 is repeatedly executed until there is an instruction to end detection (S17, S17: No). If there is an instruction to end detection (S17: Yes), the process ends.

  The control system receives the output data and displays it on a display device or the like in the system based on the output data. FIG. 46 is a diagram illustrating a display example of data displayed in the control system in the eighth embodiment. The control system may display the received output data as it is, process it, or display it.

  In the display image shown in FIG. 46, the traveling road state display unit 3801 is shown as a rectangle in which the four positions of the current vehicle (tram) are filled based on the positional information received from the traveling road accessory detection device 3500. . Moreover, the captured image in the output data received from the traveling road accessory detection apparatus 3500 is displayed as shown on screens 3802, 3803, 3804, 3805, and the surrounding conditions of the vehicle (tram) at that time are confirmed. be able to. With such a control system, the position and situation of the vehicle (tram) are grasped, the signals C1 and C2 existing at the intersection are controlled, and the stops A1, A2, A3, A4, A5, B1, B2, B3 , B4, B5, and D1 can be grasped.

  As described above, in the present embodiment, the barcode attached to the column of the traveling road appendage is read from the captured image to obtain the accessory related information of the traveling road appendage, or the distance to the traveling road appendage is estimated. Output data is generated and sent to the control system. For this reason, according to the present embodiment, the accessory-related information and the distance can be acquired with high accuracy, and more advanced traffic information can be provided.

(Modification)
In Embodiments 1 to 8 described above, the roadway accessory has a single sign, but the present invention is not limited to this, and the roadway accessory may be configured to have a plurality of signs. Good.
FIG. 47 is a diagram illustrating an example of a configuration of a traveling path attachment according to a modification. As shown in FIG. 47, this traveling path accessory has two signs 4801 and 4802. Bars corresponding to the number of signs, such as a bar code 4803 for the sign 4801 and a bar code 4804 for the sign 4802, are affixed to the pillars of the roadway accessories. With such a configuration, it is possible to acquire ancillary related information of a plurality of signs from one traveling path accessory, and it is possible to provide more advanced traffic information.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

100 Travel Road Attachment Detection Device 110 Travel Road Attachment 401, 3602 Imaging Camera 402 Column Region Detection Unit 403 Code Reading Unit 404 Output Data Generation Unit 405 Display Unit 406 Distance Estimation Unit 2004 Position Information Collection Unit 2005 Management Number Generation Unit 2006 Management Database 2205 Map information acquisition unit 2206 Data selection unit 2406 Position correction unit 2605 Distance integration unit 2805 Attachment information acquisition unit 2806 Verification unit 2807 Inspection unit 3303 First code reading unit 3304 Second code reading unit 3505 Position information calculation unit

Claims (20)

A column area detection that detects a column area that is an area of a column portion of an accessory of the travel path based on pixels of the captured image from a captured image captured by an imaging unit that captures the periphery of the travel path on which the vehicle travels And
A code reading unit that reads code consisting of at least two kinds of shades attached to the pillar region in the captured image, and obtains code information obtained by binarizing the code;
Based on the pixel of the captured image, the pixel of the code information attached to the column area in the captured image, and the angle of view of the imaging unit, distance information indicating the distance from the vehicle to the accessory A distance estimation unit to estimate;
An output data generation unit that generates output data based on the accessory-related information that is information related to the accessory indicated by the code information and the estimated distance information;
A roadway attachment detection device comprising: A storage unit for storing a management database in which the location information of the place where the accessory is installed and the code information and the accessory related information are associated with each other;
A position information collection unit for acquiring position information indicating the position of the vehicle;
A management information generating unit that generates the management information based on the position information collected by the position information collecting unit and the code information of the code read by the code reading unit;
The output data generation unit compares the generated management information with the management information in the management database, and generates the output data based on the matching management information and the distance information.
The traveling path attachment detection device according to claim 1. A position information collection unit for acquiring position information indicating the position of the vehicle;
A map information acquisition unit that acquires map information around the vehicle based on the acquired position information and information of the one or more attachments;
A map selection unit, and a selection unit that selects the accessory based on the code information from the one or more accessories.
The output data generation unit generates output data based on the accessory-related information regarding the selected accessory and the estimated distance information.
The traveling path attachment detection device according to claim 1. A position information collection unit for acquiring position information indicating the position of the vehicle;
A position correction unit that corrects the acquired position information based on the estimated distance information, and
The output data generation unit generates output data based on the accessory-related information, the estimated distance information, and the corrected position information.
The traveling path attachment detection device according to claim 1. A position information collection unit for acquiring position information indicating the position of the vehicle;
A distance integration unit that calculates a distance from the starting point of the travel path at the current position of the vehicle, based on the acquired position information, the estimated distance information, and information on the distance of the accessory-related information; Further comprising
The output data generation unit generates output data based on the accessory-related information, the estimated distance information, and a distance from the starting point of the travel path.
The traveling path attachment detection device according to claim 1. A position information collection unit for acquiring position information indicating the position of the vehicle;
Based on the acquired position information, an accessory information acquisition unit that acquires information of the accessory around the position information;
A collation unit for collating the code information of the code read by the code reading unit with the information of the acquired accessory;
An inspection unit for inspecting the accessory based on the verification result;
The travel path attachment detection device according to any one of claims 1 to 5, further comprising: The code reader is
The first accessory-related information indicated by the first code information obtained by reading the first code composed of the first width and shade of the first width attached to the pillar region of the accessory and binarizing the first code. A first code information reading unit for acquiring
A second code information obtained by reading a second code composed of shades of a second width narrower than the first width attached to the pillar region of the appendix and binarizing the second code indicates A second code information reading unit for acquiring second accessory-related information,
The output data generation unit generates the output data based on the first accessory-related information, the second accessory-related information, and the estimated distance information.
The traveling path attachment detection device according to claim 1. A position information collection unit for acquiring position information indicating the position of the vehicle;
A position information calculation unit that calculates final position information based on the acquired position information and the estimated distance information; and
The output data generation unit generates the output data based on the accessory-related information and the final position information.
The traveling path attachment detection device according to claim 1.   A traveling road accessory, which is installed around the traveling road on which the vehicle travels, and is provided with a code comprising at least two kinds of shades on the circumferential surface of the pillar portion. The cord is attached concentrically on the circumferential surface of the pillar portion.
The traveling road attachment according to claim 9. The cord is attached to a part of the circumferential surface of the pillar portion,
The traveling road attachment according to claim 9. The code indicates attachment-related information related to the roadway attachment.
The traveling road attachment according to claim 9. An imaging step in which the imaging unit images the periphery of the travel path on which the vehicle travels;
A column area detection step for detecting a column area that is an area of a column portion of the accessory of the travel path based on pixels of the captured image from the captured image that has been captured;
A code reading step of reading a code composed of at least two kinds of shades attached to the pillar region in the captured image and obtaining code information obtained by binarizing the code;
Based on the pixel of the captured image, the pixel of the code information attached to the column area in the captured image, and the angle of view of the imaging unit, distance information indicating the distance from the vehicle to the accessory A distance estimation step to estimate;
An output data generating step for generating output data based on the accessory-related information that is information related to the accessory indicated by the code information and the estimated distance information;
A method for detecting an attachment to a traveling road. A position information collecting step for acquiring position information indicating the position of the vehicle;
A management information generating step for generating the management information based on the position information collected in the position information collecting step and the code information of the code read in the code reading step;
The output data generation step includes a management database in which the generated management information, the management information including the location information of the place where the accessory is installed, and the code information, and the accessory related information are associated with each other. Collating the management information of the management database stored in the storage unit for storing, and generating the output data based on the matching management information and the distance information;
The method for detecting a traveling road accessory according to claim 13. A position information collecting step for acquiring position information indicating the position of the vehicle;
A map information acquisition step of acquiring map information around the vehicle and information of the one or more accessories based on the acquired position information;
Further comprising: selecting the acquired map information; and selecting the accessory based on the code information from the one or more of the accessories.
The output data generation step generates output data based on the annex related information on the selected annex and the estimated distance information.
The method for detecting a traveling road accessory according to claim 13. A position information collecting step for acquiring position information indicating the position of the vehicle;
A position correcting step for correcting the acquired position information based on the estimated distance information,
The output data generation step generates output data based on the accessory-related information, the estimated distance information, and the corrected position information.
The method for detecting a traveling road accessory according to claim 13. A position information collecting step for acquiring position information indicating the position of the vehicle;
A distance integration step of calculating a distance from the starting point of the travel path at the current position of the vehicle based on the acquired position information, the estimated distance information, and information on the distance of the accessory-related information; Further including
The output data generation step generates output data based on the accessory-related information, the estimated distance information, and a distance from the starting point of the travel path.
The method for detecting a traveling road accessory according to claim 13. A position information collecting step for acquiring position information indicating the position of the vehicle;
Based on the acquired position information, an accessory information acquisition step of acquiring information of the accessory around the position information;
A collation step of collating the code information of the code read in the code reading step with the information of the acquired accessory;
An inspection step for inspecting the accessory based on the verification result;
The method for detecting a roadway accessory according to any one of claims 13 to 17, further comprising: The code reading step includes
The first accessory-related information indicated by the first code information obtained by reading the first code composed of the first width and shade of the first width attached to the pillar region of the accessory and binarizing the first code. A first code information reading step for obtaining
A second code information obtained by reading a second code composed of shades of a second width narrower than the first width attached to the pillar region of the appendix and binarizing the second code indicates A second code information reading step for obtaining second accessory-related information,
The output data generation step generates the output data based on the first accessory-related information, the second accessory-related information, and the estimated distance information.
The method for detecting a traveling road accessory according to claim 13. A position information collecting step for acquiring position information indicating the position of the vehicle;
A position information calculation step of calculating final position information based on the acquired position information and the estimated distance information;
The output data generation step generates the output data based on the accessory-related information and the final position information.
The method for detecting a traveling road accessory according to claim 13.

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