JP2017126213A - Intersection state check system, imaging device, on-vehicle device, intersection state check program and intersection state check method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To present a user with a display fitting an environment of an own vehicle using various information at intersections to be acquired from an imaging device.SOLUTION: An imaging device includes: an imaging unit 11 that photographs a moving body on a road at an intersection; a moving body detection/tracking unit 15 that detects the photographed moving body; a distance measurement unit 14 that measures a relative distance of the detected moving body; and a transmission unit 13 that transmits information about an intersection state from the detected moving body and measurement result to an on-vehicle device. The on-vehicle device includes: a reception unit 21 that receives the information about the intersection state; a map data storage unit 26; an own vehicle location acquisition unit 22 that acquires information including an own vehicle location and azimuth for which the own vehicle heads; an analysis unit 23 that analyses the intersection state on the basis of the received information, own vehicle information and map data; an information generation unit 24 that generates information having the intersection state visualized based on an analysis result; and a display unit 25 that displays the generated information.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an intersection situation confirmation system, an imaging device, an in-vehicle device, an intersection situation confirmation program, and an intersection situation confirmation method.

  Intersections often have poor visibility and are prone to traffic accidents. Therefore, effective measures are required.

  FIG. 1A is a plan view showing an example of an intersection with no signal and poor visibility. From the vehicle C1 that is about to enter the intersection from the non-priority road R2, blind spots B1 and B2 occur due to obstacles H1 and H2 such as left and right buildings, and whether or not pedestrians, bicycles, and vehicles are on the priority road R1 do not know. If the driver thinks “I will not come” and enters the intersection, an accident will occur. On the other hand, if you become too cautious and put your head out little by little to check the safety, the following vehicle will wait, leading to the occurrence of traffic jams. In order to avoid this, currently, as shown in FIG. 1B, road reflecting mirrors (curve mirrors) M are installed at intersections with poor visibility.

  However, the road reflector M does not cover all the blind spots from the driver, and some blind spots B1 'and B2' remain. Cannot be prevented.

  Therefore, a system has been proposed in which an imaging device (camera) is provided at an intersection, the image is wirelessly transmitted to a car around the intersection, and displayed on a display device such as a car navigation device or a head-up display (HUD) in the vehicle. (See Patent Documents 1 and 2). FIG. 2A shows a state where an imaging device is provided at a part of the intersection, and FIG. 2B shows an example of a display screen in the own vehicle. FIG. 3A shows a state in which a video camera and an antenna are provided on each of four roads connected to the intersection, and FIG. 3B shows an example of a display screen in the own vehicle.

  The conventional method described above displays the shot image as it is in the car, so it is hard to grasp the sense of distance and perspective compared to the actual eye, and either the own vehicle or the other vehicle is closer to the intersection. It was unclear whether there was. Therefore, it is not always easy to make a decision for preventing an accident based on the displayed video. In addition, since the data size for transmitting video is large, there is a problem that it is difficult to secure a communication band and processing performance.

  The present invention has been proposed in view of the above-described conventional problems, and the object of the present invention is to use the various information at the intersection acquired from the imaging device without using the image as it is, and use it in the environment of the own vehicle. To provide the user with a combined display.

  In order to solve the above problems, in the present invention, an imaging device that images a moving object on a road connected to an intersection and transmits information about the intersection situation to the surroundings, and receives information about the intersection situation from the imaging device. An intersection status confirmation system including an in-vehicle device for visualizing an intersection status, wherein the imaging device detects an imaging unit that performs imaging, a detection unit that detects a moving object imaged by the imaging unit, and detection by the detection unit A measurement unit that measures the relative position of the moving object from the imaging apparatus with respect to the moving object, and information related to the intersection state from the measurement result of the moving object detected by the detection unit and the measurement unit to the in-vehicle device The vehicle-mounted device receives the information on the intersection situation transmitted from the imaging device, and the map data for indicating the intersection situation. A storage unit that stores data, a host vehicle information acquisition unit that acquires information including the position of the host vehicle and the direction in which the host vehicle travels, and information on the intersection situation received by the receiver and the host vehicle information acquisition unit An analysis unit that analyzes an intersection situation based on the acquired information and the map data, an information generation unit that generates information that visualizes an intersection situation based on an analysis result of the analysis unit, and an information generation unit A display unit for displaying the information.

  In the present invention, it is possible to provide the user with a display that matches the environment of the vehicle using various information at the intersection acquired from the imaging device without using the video as it is.

It is a top view which shows the example of an intersection with a bad view. It is a schematic diagram of the conventional intersection situation recognition system. It is a schematic diagram of the conventional traffic condition display system. It is a figure which shows the example of arrangement | positioning of each apparatus in the intersection condition confirmation system concerning one Embodiment of this invention. It is a figure which shows the software structural example of an imaging device and a vehicle-mounted apparatus. It is a figure which shows the hardware structural example of an imaging device. It is a figure which shows the hardware structural example of a vehicle-mounted apparatus. It is a flowchart which shows the process example of embodiment. It is a figure which shows the example of intersection situation data. It is a flowchart which shows the example of a process of intersection status notification information generation. It is a figure which shows the example of a display screen with respect to the own vehicle which drive | works a non-priority road. It is a figure which shows the example of a display screen cooperated with the car navigation with respect to the own vehicle which drive | works a non-priority road. It is a flowchart which shows the process example for provision of the alerting information to a succeeding vehicle. It is a figure which shows the example of a display screen containing the alerting information to a succeeding vehicle. It is a figure which shows the example of a display screen containing the jumping out caution information with respect to the own vehicle which runs on a priority road. It is a figure which shows the example of a display screen containing the display information without danger with respect to the own vehicle which drive | works a priority road. It is a figure which shows the example of a display screen containing the display information without a camera.

  Hereinafter, preferred embodiments of the present invention will be described.

<Configuration>
FIG. 4 is a diagram illustrating an arrangement example of each device in the intersection situation confirmation system according to the embodiment of the present invention. In FIG. 4, the intersection of the priority road R1 and the non-priority road R2 has obstacles H1 to H4 such as buildings at the four corners, and a sign G1, such as a temporary stop, is entered at the intrusion portion of the non-priority road R2 into the priority road R1, G2 is provided. The sign G2 includes the own vehicle C1, and other vehicles C2 and C3 are traveling on the priority road R1, and a pedestrian M1 exists. The own vehicle C1 is about to enter the intersection from the non-priority road R2, and there are obstacles H1 and H3. In addition, an example of an intersection is shown to the last, and it cannot be overemphasized that it can apply also to other forms (T-shaped road, five-way road, etc.).

  At such an intersection, the imaging device 1 is provided at a predetermined height by a column or the like. The imaging device 1 may be capable of simultaneously imaging all directions of the intersection with an omnidirectional camera, or may be capable of imaging all directions of the intersection with a plurality of cameras. In addition, at least the host vehicle C1 is equipped with an in-vehicle device 2 so that information can be received from the imaging device 1 by wireless communication using light, radio waves, or the like.

  FIG. 5 is a diagram illustrating a software configuration example of the imaging device 1 and the in-vehicle device 2. In FIG. 5, the imaging device 1 includes an imaging unit 11, an image processing unit 12, a transmission unit 13, a distance measurement unit 14, a moving object detection / tracking unit 15, an installation position 16, a moving object recognition unit 17, an intersection situation integration unit 18, and a moving object. And a feature amount 19.

  The imaging unit 11 has a function of controlling camera hardware and acquiring captured images. The camera hardware includes a lens and an image sensor. The camera hardware can be configured with one camera by using two fisheye lenses, or can be configured with a plurality of cameras. An infrared camera may be used for night photography.

  The image processing unit 12 has a function of subjecting the video signal from the imaging unit 11 to color correction processing and conversion processing to an omnidirectional image format (an equirectangular projection). In addition, a fog removal function for removing noise due to fog may be added to the image processing unit 12 in preparation for bad weather such as rain or snow.

  The transmission unit 13 has a function of wirelessly transmitting an intersection situation to a vehicle entering the intersection.

  The distance measuring unit 14 has a function of measuring the distance of the moving object shown in the video imaged by the imaging unit 11. The distance measurement unit 14 may be combined using a stereo camera, millimeter wave, laser, infrared ray, ultrasonic wave, or the like.

  The moving object detection / tracking unit 15 detects a moving object from the video imaged by the imaging unit 11 based on a background difference, a difference from the previous image, and the like, and tracks the movement of the feature points on the image (optical flow) to thereby detect the moving object. It has a function to track.

  The installation position 16 is information on the installation position of the imaging apparatus 1. The installation position 16 may be recorded in advance, or may be configured to be automatically set at a predetermined timing by a GPS sensor.

  The moving object recognition unit 17 has a function of identifying whether the moving object is a vehicle (color / size) or a pedestrian / bicycle.

  The intersection situation integration unit 18 calculates and integrates all moving objects (limited to detectable objects) existing in the area centering on the intersection, and their positions / velocities from the moving object identification result and distance information. have.

  The moving object feature value 19 is information of a feature value (moving object type (vehicle / pedestrian / bicycle / other), color, size) for identifying the moving object. The moving object feature 19 is used in the identification process by the moving object recognition unit 17.

  On the other hand, the in-vehicle device 2 includes a reception unit 21, a vehicle position acquisition unit 22, an analysis unit 23, an information generation unit 24, a display unit 25, map data 26, and a navigation unit 27.

  The receiving unit 21 has a function of receiving information related to the intersection situation transmitted from the imaging device 1 by radio.

  The own vehicle position acquisition unit 22 has a function of acquiring information indicating which position the host vehicle is traveling in which direction. The position of the vehicle and the direction of travel can be acquired by a GPS sensor or a geomagnetic sensor (compass). As the GPS sensor or the geomagnetic sensor, one provided in the in-vehicle device 2 may be used, or a detection signal may be acquired from a GPS sensor or a geomagnetic sensor provided in another device (such as a car navigation device). .

  The analysis unit 23 has a function of analyzing the intersection situation based on the information on the intersection situation received from the imaging device 1 by the reception unit 21, the information obtained by the own vehicle position obtaining unit 22, and the map data 26. Yes. The analysis includes a function of interpreting information on the own vehicle among the information on the intersection situation received from the imaging device 1. The identification of the own vehicle can be performed based on position matching determination (matching determination considering an error), but the direction of travel and other types may be used for determination. Other analyzes include whether the road on which the vehicle is traveling is a priority road or non-priority road, whether there is a danger from the non-priority road, what type of approaching vehicle is, and whether the vehicle height is Whether or not it is above a threshold.

  The information generation unit 24 has a function of generating information that visualizes the intersection situation based on the analysis result of the analysis unit 23. For example, the situation of the intersection is converted into an around view display format (a method of displaying as a video image as if looking down from above the vehicle), and various alert messages are generated and superimposed.

  The display unit 25 has a function of displaying the information generated by the information generation unit 24. For example, the intersection situation is displayed in an around view, and various alert messages are superimposed and displayed. The map data 26 is map information for displaying the intersection situation. The navigation unit 27 has a function of performing car navigation.

  In FIG. 5, it is assumed that the in-vehicle device 2 is integrated with the car navigation device, but is configured as a device that generates intersection situation notification information separately from the car navigation device, and the intersection situation notification information is displayed on the car navigation device. You may make it synthesize | combine. In this case, the display unit 25 and the map data 26 may be provided exclusively, or those provided in the car navigation device can be used.

  FIG. 6 is a diagram illustrating a hardware configuration example of the imaging apparatus 1. 6, an imaging apparatus 1 includes a CPU (Central Processing Unit) 102, a ROM (Read Only Memory) 103, a RAM (Random Access Memory) 104, an HDD (Hard Disk Drive) / HDD, which are connected to each other via a bus 101. An SSD (Solid State Drive) 105, a connection I / F (Interface) 106, and a communication I / F 108 are provided. A camera 107 is connected to the connection I / F 106.

  The CPU 102 performs overall control of the operation of the imaging apparatus 1 by executing a program stored in the ROM 103 or the HDD / SSD 105 or the like using the RAM 104 as a work area. The communication I / F 108 is an interface for communicating with the in-vehicle device 2 by wireless communication. The functions of the imaging apparatus 1 illustrated in FIG. 5 are realized by executing a predetermined program in the CPU 102. The program may be acquired via a recording medium, may be acquired via a network, or may be embedded in a ROM.

  FIG. 7 is a diagram illustrating a hardware configuration example of the in-vehicle device 2. In FIG. 7, the in-vehicle device 2 includes a CPU 202, a ROM 203, a RAM 204, a HDD / SSD 205, a connection I / F 206, a GPS 208, and a communication I / F 209 that are connected to each other via a bus 201. A display 207 with a touch panel or the like is connected to the connection I / F 206.

  The CPU 202 centrally controls the operation of the in-vehicle device 2 by executing a program stored in the ROM 203 or the HDD / SSD 205 or the like using the RAM 204 as a work area. The communication I / F 209 is an interface for performing communication with the imaging apparatus 1 by wireless communication. The functions of the in-vehicle device 2 illustrated in FIG. 5 are realized by executing a predetermined program in the CPU 202. The program may be acquired via a recording medium, may be acquired via a network, or may be embedded in a ROM.

<Operation>
FIG. 8 is a flowchart showing a processing example of the above embodiment, and is an overall flow of the intersection situation confirmation system. The imaging device 1 transmits information related to the intersection situation, and the in-vehicle device 2 receives information related to the intersection situation from the imaging device 1, but basically operates in parallel.

  In FIG. 8, in the image pickup apparatus 1, first, an image of an intersection is picked up by the image pickup unit 11 (step S101), and the image processing unit 12 performs image processing for preprocessing and conversion to an omnidirectional image (step S102). The moving object detection / tracking unit 15 performs moving object detection / tracking processing (step S103).

  If there is no moving object (No in step S104), the subsequent processing is not performed, and processing from repeated imaging (step S101) to moving object detection / tracking (step S103) is performed.

  If there is a moving object (Yes in step S104), it is determined whether or not the moving object detection / tracking unit 15 is tracking (step S105). If not tracking (No in step S105), the moving object recognition unit 17 Recognize and track (step S106). By this moving object recognition, the type, color, and size of the moving object are determined. The type means a vehicle (passenger car, light vehicle, truck, etc.), pedestrian, bicycle, or the like. The type recognition uses feature information for identifying the moving object held as the moving object feature value 19 and determines whether or not those feature values are included in the moving object image. This is done by specifying the type to be performed.

  Since the moving object recognition (step S106) needs to be performed only once at the time of detection, the moving object being tracked (Yes in step S105) is not performed.

  If tracking is in progress (Yes in step S105) and new moving object recognition (step S106) is completed, the distance measurement unit 14 measures the distance to the moving object (step S107).

  Next, the position / velocity / direction of the moving object is calculated from the previously measured time and distance by the intersection situation integration unit 18 (step S108) and integrated as intersection situation data (step S109).

  Next, it is determined whether the position / velocity / direction has been calculated for all the detected moving objects (step S110). If all the moving objects have not been calculated (No in step S110), the determination during tracking (step S105) is performed. Repeat the process.

  When the calculation is completed for all moving objects (Yes in step S110), the intersection situation data corresponding to the information related to the intersection situation is transmitted to the in-vehicle device 2 (step S111).

  FIG. 9 is a diagram showing an example of the intersection situation data, and is shown in an XML (eXtensible Markup Language) format. However, the format of the information is not limited as long as predetermined information can be transmitted. In FIG. 9, the intersection status data includes an installation position (longitude, latitude, height, etc.) of the imaging apparatus 1 that transmitted the intersection status data and a moving object list (moving object id, type, color, size, longitude for each moving object). , Latitude, height, speed, direction, etc.). The installation position is already known when the imaging apparatus 1 is installed, and is based on information stored in the installation position 16. The moving object list includes the type, color, and size of the moving object obtained by the moving object recognizing unit 17, and the longitude, latitude, height obtained from the relative position from the imaging device 1 to each moving object obtained by the distance measuring unit 14, and the movement of the moving object. Based on vector (speed and direction). The movement vector holds the previous measurement position and time, and can be obtained from the difference between the current measurement position and time.

  Returning to FIG. 8, in the in-vehicle device 2, first, the vehicle position acquisition unit 22 acquires (detects) which position the vehicle is traveling in which direction (step S <b> 201). The own vehicle position acquisition unit 22 may use a function dedicated to this system, but may use an existing car navigation system. Once you know your vehicle position and direction of travel, you can determine the intersection you will enter.

  When the intersection state data from the imaging device 1 is received by the reception unit 21 (step S202), the analysis unit 23 and the information generation unit 24 perform intersection state notification information generation processing (step S203). Details of the process of generating the intersection situation notification information will be described later.

  After generating the intersection situation notification information, the display unit 25 updates the display with the generated information (step S204), and the above processing is repeated.

  FIG. 10 is a flowchart showing a processing example of intersection state notification information generation (step S203 in FIG. 8). In FIG. 10, first, the analysis unit 23 checks whether the information acquired by the vehicle position acquisition unit 22 exists in the position information of the moving object list of the intersection situation data received from the imaging device 1 (step S211). That is, the closest thing to the position information (latitude / longitude) acquired by the vehicle position acquisition unit 22 is searched (matched) from the moving object list of the intersection situation data. Note that the positional information detected by a sensor such as GPS includes an error and does not completely match even if the target is the same. Therefore, the matching is determined with a width so as to allow the error.

  If the position information matches, the analysis unit 23 determines that the intersection is the same intersection, and determines whether the currently running road is a priority road or a non-priority road from the map data 26 (step S212).

  If the road is a non-priority road, the information generation unit 24 generates approaching vehicle information (step S213). The approaching vehicle information may include pedestrian information. If a route to the destination is displayed by car navigation, approaching vehicle information related to the route is generated. That is, information other than information on a vehicle that exists on the route or approaches the route is excluded.

  FIG. 11 is a diagram showing an example of a display screen for the vehicle running on the non-priority road. FIG. 11A shows an intersection that will enter from now on in an around view display, and the vehicle C1 is indicated by a triangle. In this example, two vehicles from the right side of the intersection (other vehicles C2, C3) and one pedestrian (pedestrian M1) approaching from the left are shown by a figure such as a rectangle or a circle. ing. By looking at the intersection from an overhead view display, the positional relationship between the vehicle and the intersection of the other vehicle can be understood. For this reason, it can be easily determined whether or not to wait for the passage of the other vehicles C2 and C3. In the example shown in the figure, the other vehicles C2 and C3 running on the priority road R1 and the own vehicle C1 on the non-priority road R2 are at the same distance from the intersection and the speed of the own vehicle C1 is fast. It will be determined to wait for the passage of the other vehicles C2, C3.

  In the figure, notifications of speed and attention of pedestrians, other vehicles / following vehicles are given in the form of pop-up messages. As a result, the degree of attention can be determined more accurately. Note that the approaching vehicle information display start position may be a predetermined distance before the intersection, and this distance may be set in advance by the user.

  FIG. 11B shows that the own vehicle C1 is clearly closer to the intersection than the other vehicle C2, and that the other vehicle C2 is also at a low speed. It will be judged to enter.

  FIG. 12 is a diagram showing an example of a display screen linked with the car navigation for the own vehicle running on the non-priority road, and FIGS. 12A and 12B are the same as FIGS. 11A and 11B. If the route of the vehicle is added by navigation, it can be displayed only on information related to the route, so that safety can be confirmed more comfortably. That is, when making a left turn, it is only necessary to know the state of the vehicle entering from the right, so that it is not necessary to display detailed information about the vehicle entering from the left. In addition, the display is almost the same between the case of interlocking with the car navigation and the case of not interlocking with the car navigation, so that it can be used without a sense of discomfort.

  On the other hand, as approaching vehicle information, it is possible to add information corresponding to a case where the preceding vehicle is large and the succeeding vehicle is hidden, so that the succeeding vehicle cannot be determined. That is, in the case of a large truck or the like, there is a case where the subsequent vehicle is obscured by the preceding vehicle and cannot be detected by the fixed point camera. At this time, if nothing is displayed, the driver may determine that he / she can go after the large truck has passed, which may lead to an accident with the following vehicle. In order to avoid this, in cases where it is impossible to determine the presence or absence of a following vehicle, such as a large truck, a warning display shall be displayed.

  FIG. 13 is a flowchart showing an example of a process for providing alert information to the following vehicle, which is an example of a process added to the generation of approaching vehicle information (step S213 in FIG. 10). In FIG. 13, first, the analysis unit 23 determines the type of vehicle approaching the intersection (step S221). When the approaching vehicle is other than a light vehicle or a normal vehicle (such as a bus or truck), there is a possibility that a subsequent vehicle may be hidden behind it, so the information generating unit 24 generates warning information for the subsequent vehicle. The information is displayed on the display unit 25 (step S222). In FIG. 14, when a vehicle entering from the right of the intersection is large and the following vehicle is hidden, a pop-up message of “Caution! It shows the state. In addition, although the example in which the route display by the car navigation is performed is illustrated, the route display may not be performed.

  Returning to FIG. 13, if the approaching vehicle is a light vehicle or a normal vehicle, the analysis unit 23 determines whether the vehicle height is equal to or higher than a threshold value (step S <b> 223). If the height is greater than or equal to the threshold value, the alert information is generated (step S222). If not, the succeeding vehicle can be determined and the alert information is not generated. As the vehicle height, the “height” included in the object list of the intersection situation can be used, but the vehicle height may be estimated from the camera video separately.

  Returning to FIG. 10, when the road on which the vehicle is located is a priority road, the analysis unit 23 detects a danger from the non-priority road (step S214), and if the vehicle or bicycle thrusts from the non-priority road If there is a pedestrian or the like, the information generation unit 24 generates jump attention information from the non-priority road as dangerous (step S215). Regarding the determination of the danger from the non-priority road, it is determined that there is a moving object when there is a moving object that does not decelerate toward the intersection. The speed and distance determined as dangerous may be parameterized and adjusted at each intersection.

  FIG. 15 is a diagram showing an example of a display screen including pop-out caution information for the vehicle traveling on the priority road, and a pop-up message of “Jump-out caution” is displayed as the pop-out caution information for vehicles entering from the right of the intersection. It shows the state.

  Returning to FIG. 10, when there is no danger from the non-priority road, the information generation unit 24 confirms the display setting (step S216), and if the display setting is OFF, the display generation is not performed and the process ends. If the display setting is ON, no danger display information is generated (step S217). The display setting here is a prior setting by the user as to whether or not to display without danger from a non-priority road. FIG. 16 is a diagram showing an example of a display screen including no danger display information for the own vehicle traveling on the priority road, and shows a state where a “no danger” pop-up message is displayed on the right side of the intersection.

  Returning to FIG. 10, when the position information does not match, the analysis unit 23 determines that the camera is not installed, discards the intersection state data received from the imaging device 1 (step S218), and the information generation unit 24. Generates display information for cameras not installed (step S219). In other words, with this system installed, the driver may think that the vehicle information from the blind spot is always displayed, so if you enter an intersection where the imaging device 1 of this system is not installed, you will be alerted Like to do. FIG. 17 is a diagram showing an example of a display screen including display information indicating that no camera is installed, and shows a state where a pop-up message “No camera is installed at this intersection” is displayed.

<Summary>
As described above, according to the present embodiment, it is possible to provide the user with a display that matches the environment of the vehicle using various information at the intersection acquired from the imaging device without using the video as it is.

  The present invention has been described above by the preferred embodiments of the present invention. While the invention has been described with reference to specific embodiments, various modifications and changes may be made to these embodiments without departing from the broad spirit and scope of the invention as defined in the claims. Obviously you can. In other words, the present invention should not be construed as being limited by the details of the specific examples and the accompanying drawings.

<Correspondence between Terms in Embodiment and Terms in Claims>
The imaging device 1 is an example of an “imaging device”. The in-vehicle device 2 is an example of an “in-vehicle device”. The imaging unit 11 is an example of an “imaging unit”. The moving object detection / tracking unit 15 and the moving object recognition unit 17 are examples of the “detection unit”. The distance measurement unit 14 is an example of a “measurement unit”. The transmission unit 13 is an example of a “transmission unit”. The receiving unit 21 is an example of a “receiving unit”. The map data 26 is an example of a “storage unit”. The own vehicle position acquisition unit 22 is an example of a “own vehicle information acquisition unit”. The analysis unit 23 is an example of an “analysis unit”. The information generation unit 24 is an example of an “information generation unit”. The display unit 25 is an example of a “display unit”.

DESCRIPTION OF SYMBOLS 1 Imaging device 11 Imaging part 12 Image processing part 13 Transmission part 14 Distance measurement part 15 Moving object detection and tracking part 16 Installation position 17 Moving object recognition part 18 Intersection condition integration part 19 Moving object feature-value 2 In-vehicle apparatus 21 Receiving part 22 Own vehicle position acquisition 23 Analyzing unit 24 Information generating unit 25 Display unit 26 Map data 27 Navigation unit C3 Other vehicle

JP 2010-55157 A WO2008 / 068888

Claims (19)

An intersection status confirmation system including an imaging device that captures moving objects on a road connected to an intersection and transmits information about the intersection status to the surroundings, and an in-vehicle device that receives information about the intersection status from the imaging device and visualizes the intersection status Because
The imaging device
An imaging unit for imaging;
A detection unit for detecting a moving object imaged by the imaging unit;
A measurement unit that measures a relative position of the moving object from the imaging device with respect to the moving object detected by the detection unit;
A transmission unit that transmits information on the intersection situation from the moving object detected by the detection unit and the result measured by the measurement unit, to the in-vehicle device;
Have
The in-vehicle device is
A receiving unit for receiving information on the intersection situation transmitted from the imaging device;
A storage unit for storing map data for indicating the intersection situation;
A vehicle information acquisition unit that acquires information including the position of the vehicle and the direction in which the vehicle travels;
An analysis unit for analyzing the intersection situation based on the information about the intersection situation received by the receiving unit, the information obtained by the own vehicle information obtaining unit, and the map data;
An information generation unit that generates information that visualizes an intersection situation based on the analysis result of the analysis unit;
A display unit for displaying information generated by the information generation unit;
An intersection status confirmation system characterized by comprising: The analysis unit
The information regarding the position of the own vehicle acquired by the own vehicle information acquisition unit and the information regarding the received situation of the intersection are compared to determine whether or not they are the same intersection. Intersection status confirmation system. The analysis unit
The intersection status confirmation system according to claim 2, wherein when it is determined that the intersections are not the same, the received information on the intersection status is discarded. The analysis unit
Determine whether the road on which your vehicle is traveling is a priority road,
If it is determined that it is a priority road, determine whether it is dangerous for moving objects from non-priority roads,
The information generator is
If there is a risk, generate information to pay attention to objects on non-priority road
4. If there is no danger, information indicating that there is no danger is generated based on a user setting, and the intersection status confirmation system according to any one of claims 1 to 3. The analysis unit
Determine whether the road on which your vehicle is traveling is a priority road,
The information generator is
The intersection state confirmation system according to any one of claims 1 to 3, wherein when the analysis unit determines that the road is a non-priority road, information on a moving body approaching from the priority road is generated. The detection unit uses feature amount information for identifying a moving object, and determines whether or not the feature amount is included in the image of the moving object, thereby identifying a type that matches the feature. The intersection status confirmation system according to any one of claims 1 to 5. When specifying the type of large vehicle for the vehicle approaching the detection unit,
The intersection status confirmation system according to claim 6, wherein the information generation unit generates information for alerting a subsequent vehicle. The intersection status confirmation system according to any one of claims 1 to 7, wherein the display unit displays a moving object as a graphic and displays information to be notified in a pop-up message format. The intersection according to any one of claims 1 to 8, wherein the information generation unit generates information about an approaching vehicle related to the route when a route is displayed by navigation. Status confirmation system. The information generation unit generates information indicating that the imaging device is not installed when the analysis unit determines that the information regarding the intersection situation received from the imaging device does not include information indicating the own vehicle. The intersection status confirmation system according to any one of claims 1 to 9, wherein The information generation unit generates information about an intersection determined by the analysis unit as being within a predetermined distance range preset or set by a user. The intersection status confirmation system according to one item. The intersection status confirmation system according to any one of claims 1 to 11, wherein the imaging unit is an omnidirectional camera, and images of angles in all directions are captured by a single camera. The intersection status confirmation system according to any one of claims 1 to 12, wherein the imaging unit is an infrared camera. The intersection status confirmation system according to any one of claims 1 to 13, wherein the imaging device has a function of removing noise caused by fog by image processing. An imaging device that images a moving object on a road connected to an intersection and transmits information about the intersection situation to the surroundings,
An imaging unit for imaging;
A detection unit for detecting a moving object imaged by the imaging unit;
A measurement unit that measures a relative position of the moving object from the imaging device with respect to the moving object detected by the detection unit;
An imaging apparatus comprising: a moving object detected by the detection unit; and a transmission unit that transmits information related to an intersection situation from a result measured by the measurement unit. An in-vehicle device that receives information on an intersection situation from an imaging device and visualizes the intersection situation,
A receiving unit for receiving information on the intersection situation transmitted from the imaging device;
A storage unit for storing map data for indicating the intersection situation;
A vehicle information acquisition unit that acquires information including the position of the vehicle and the direction in which the vehicle travels;
An analysis unit for analyzing the intersection situation based on the information about the intersection situation received by the receiving unit, the information obtained by the own vehicle information obtaining unit, and the map data;
An information generation unit that generates information that visualizes an intersection situation based on the analysis result of the analysis unit;
A display unit for displaying information generated by the information generation unit;
A vehicle-mounted device comprising: A computer that constitutes an imaging device that captures images of moving objects on a road connected to an intersection and transmits information about the situation of the intersection to the surroundings,
Imaging means for imaging,
Detecting means for detecting a moving object imaged by the imaging means;
Measuring means for measuring the relative position of the moving object from the imaging device with respect to the moving object detected by the detecting means;
An intersection status confirmation program that functions as a transmission unit that transmits information on an intersection situation from a moving object detected by the detection unit and a result measured by the measurement unit. A computer that constitutes an in-vehicle device that receives information about an intersection situation from an imaging device and visualizes the intersection situation,
Receiving means for receiving information on the intersection situation transmitted from the imaging device;
Storage means for storing map data for indicating the intersection situation;
Own vehicle information acquisition means for acquiring information including the position of the host vehicle and the direction in which the host vehicle travels,
Analyzing means for analyzing the intersection situation based on the information about the intersection situation received by the receiving means, the information obtained by the own vehicle information obtaining means, and the map data;
Generating means for generating information visualizing the intersection situation based on the analysis result of the analyzing means;
Display means for displaying information generated by the generating means;
Intersection situation confirmation program characterized by functioning as This is a method executed by an imaging device that captures moving objects on a road connected to an intersection and transmits information about the intersection situation to the surroundings, and an in-vehicle device that receives information about the intersection situation from the imaging device and visualizes the intersection situation. And
The imaging device is
Take an image,
Detecting moving images
Measure the relative position of the moving object from the imaging device with respect to the detected moving object,
Send information about the intersection situation from the detected moving object and the measured result to the in-vehicle device,
The in-vehicle device is
Receiving information about the intersection situation transmitted from the imaging device;
Obtain information including the location of the vehicle and the direction in which the vehicle is traveling,
Analyzing the situation of the intersection based on the information on the received situation of the intersection, the position of the acquired vehicle, the information on the direction in which the vehicle travels, and the map data,
Based on the analysis result, generate information that visualizes the intersection situation,
An intersection status confirmation method characterized by displaying the generated information.

Images