JP2020160617A - Travel route link generation device and travel route link generation method - Google Patents

Abstract

To generate an environment where traffic information such as a road congestion can be provided, by generating a travel road link of a vehicle traveling in a predetermined area.SOLUTION: A travel route link generation device 1 generates a travel route link to identify a section of a travel route of a vehicle traveling in a public facility. The device includes: a detection section 301 and an on-vehicle camera 3 for detecting division point signs to be directly or indirectly displayed on a travel route; a link generation section 304 for dividing a travel route for each division point sign based on division point signs to be detected by the detection section 301, so as to generate a link between division point signs; and a travel route link generation section 305 for generating a travel route link obtained by dividing a travel route in a public facility for each division point sign by connecting multiple links generated by the link generation section 304. The detection section 301 detects a division point sign to be arranged at a place where a travel route is divided.SELECTED DRAWING: Figure 1

Description

The present invention relates to a travel path link creation device and a travel path link creation method for creating a travel path link that specifies a section of a travel path on which a vehicle travels.

VICS (registered trademark) is known as a technique for providing traffic information such as road congestion to a driver (see, for example, Patent Document 1). VICS (registered trademark) aggregates traffic information (VICS (registered trademark) information) for each road link that identifies a road section or point, and the aggregated VICS (registered trademark) information is used for narrow-area communication or FM multiplexing using beacons. It is provided to the driver by wide area communication such as broadcasting.

Japanese Unexamined Patent Publication No. 2010-191614

By the way, in the above-mentioned VICS (registered trademark), road links are created only on major roads. For example, traffic information in a predetermined area such as a parking lot of a public facility can be obtained from VICS (registered trademark). Can't get. On the other hand, conventionally, it has been desired to acquire traffic information about a predetermined area such as a parking lot of a public facility, and in order to acquire the traffic information, a travel path link of a vehicle traveling in such a predetermined area is required. It is necessary to create an environment where traffic information can be provided.

The track link creating device according to one aspect of the present invention is a track link creating device that creates a track link that specifies a section of a vehicle's track in a predetermined area. The road link creating device divides the road for each sign based on the sign detected by the sign detection unit and the sign detection unit that detects the sign displayed directly or indirectly on the road, and between the signs. A road link creation unit that connects a link creation unit that creates a link and a plurality of links created by the link creation unit, and creates a road link diagram that divides the road in a predetermined area for each link. And. Then, the sign detection unit detects a sign provided at a place where the traveling path is divided.

Another aspect of the present invention, the traveling path link creating method, is a traveling path link creating method for creating a traveling path link that specifies a section of a traveling path of a vehicle traveling in a predetermined area. The road link creation method includes a sign detection step in which the sign detection unit detects a sign directly or indirectly displayed on the road, and a road link creation unit based on the sign detected by the sign detection step. The link creation process that separates each sign and creates a link between the signs, and the track link creation section connects multiple links created in the link creation process to link the track in a predetermined area. It is provided with a track link creation process for creating a track link diagram divided for each. Then, in the sign detection step, a sign provided at a place where the traveling path is divided is detected.

According to the present invention, it is possible to create a travel path link of a vehicle traveling in a predetermined area and provide an environment in which traffic information such as a traffic jam in the predetermined area can be provided.

The block diagram which shows the main part structure of the traveling path link making apparatus which concerns on embodiment of this invention. A schematic configuration diagram of a parking lot of a public facility for creating a track link diagram using the track link creation device according to the present embodiment. The schematic diagram which shows an example of the road markings provided at the place where a driving road is divided in the parking lot of a public facility. The schematic diagram which shows another example of the road marking provided at the place where a driving path is divided in the parking lot of a public facility. The schematic diagram which shows an example of the signboard signboard provided in the place where a driving path is divided in the parking lot of a public facility. Schematic diagram showing another example of a signboard provided at a place where a driving path is divided in a parking lot of a public facility. Schematic diagram showing another example of a signboard provided at a place where a driving path is divided in a parking lot of a public facility. It is a figure explaining the state which the break point mark is detected by the sign detection part of the traveling path link making apparatus shown in FIG. The figure explaining the state which a link is made by the link making part of the traveling path link making device shown in FIG. FIG. 5 is a diagram illustrating a state in which a travel path link is created by the travel path link creation unit of the travel path link creation device shown in FIG. 1. FIG. 5 is a flowchart showing an example of a travel path link creation process executed by the calculation unit of the travel path link creation device of FIG.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 6. In the road link creating device and the road link creating method according to the embodiment of the present invention, a vehicle travels in the parking lot in order to obtain an environment in which traffic information such as traffic congestion in a predetermined area can be obtained. It is used to create a road link that identifies a section of the road. The predetermined area is, for example, a parking lot of a public facility such as a large shopping mall, a service area, or a parking area.

In general, VICS (registered trademark), which provides traffic information such as road congestion to drivers, detects vehicles traveling on each road link that specifies a section or point of the road, and collects the detection result. This is a system in which a center (VICS (registered trademark) center) collects traffic information (VICS (registered trademark) information) and provides it to a terminal such as a car navigation device. However, with the above-mentioned VICS (registered trademark), only VICS (registered trademark) information can be created only for the main roads on which road links are created, and the range of target roads to which traffic information is provided is narrow. There is.

On the other hand, it is desired to acquire traffic information such as traffic congestion even in the above-mentioned predetermined area, for example, the parking lot of the above-mentioned public facility. However, road links (runway links in the case of parking lots, etc.) are not created in parking lots and the like of these public facilities, and an environment in which VICS (registered trademark) information is created is not prepared. Therefore, if a road link that specifies the section of the road of a vehicle traveling in a parking lot of such a public facility is created, it will be possible to acquire traffic information such as VICS (registered trademark) information in the future. It is possible that Further, in a parking lot of a public facility such as a large shopping mall, it is difficult to identify a driving path (lane) when, for example, an automatic traveling vehicle (automatic driving mode or the like) is used to create a driving path link.

Therefore, the travel path link creating device according to the present embodiment detects a sign directly or indirectly displayed on a travel path on which a vehicle such as a parking lot of a public facility such as a large shopping mall or the like travels in a predetermined area. Then, the road is divided based on the detected sign. Then, a link is created between the separated signs, and the created multiple links are connected to create a travel path link in which the travel path is divided for each link.

That is, a travel path link is created by using a sign provided in a predetermined area such as a parking lot of a public facility as a node and a travel path section between the signs as a link. The node means information representing a node in expressing a traveling road network such as an intersection where traveling roads intersect, and a link means information representing a traveling road section between nodes. As a result, it is possible to create an environment in which traffic information such as traffic congestion on the road can be provided within a predetermined area of a parking lot in a public facility. Further, even when a driving road link is created by an automatic driving vehicle (automatic driving mode or the like), the driving road link can be easily created. In order to realize such an operation satisfactorily, the present embodiment constitutes the following traveling path link creating device and traveling path link creating method. In the following, a parking lot of a public facility will be used as a predetermined area.

FIG. 1 is a block diagram showing a configuration of a main part of the traveling path link creating device 1 according to the present embodiment. The travel path link creating device 1 according to the present embodiment is provided, for example, on an in-vehicle terminal (not shown) mounted on a vehicle 2 (see FIG. 4A or the like described later). Although a single track link creating device 1 is shown in FIG. 1, the functions of the track link creating device shown in FIG. 1 may be distributed to a plurality of devices. For example, it is provided with a server device mainly having a traveling road link creation function and an imaging means having an imaging function for imaging a traveling road, the server device is provided in a business entity engaged in a traveling road link creating business, and the imaging means is provided in a vehicle. It may be configured to be mounted on an in-vehicle camera 3 (see FIG. 4A or the like described later). In this case, the server device can be configured by using the virtual server function on the cloud.

As shown in FIG. 1, the track link creating device 1 and the business entity terminal 4 of an entity engaged in the track link creating business are connected to a communication network 5 such as a wireless communication network, an Internet network, and a telephone line network. Will be done. Although one travel path link creating device 1 is shown in FIG. 1 for convenience, a plurality of travel path link creating devices can be connected to the business entity terminal 4.

The track link creating device 1 includes a communication unit 10, an input / output unit 20, a calculation unit 30, a storage unit 40, an image pickup unit 50 that forms a part of a sign detection unit, and a sensor group 60. In the present embodiment, the imaging unit 50 is composed of an in-vehicle camera 3 (see FIG. 4A and the like described later) mounted on the vehicle 2.

The communication unit 10 is configured to be capable of wireless communication with the business entity terminal 4 via the communication network 5. The communication unit 10 receives the travel path link creation command signal from the business entity terminal 4 together with the parking lot ID that identifies the parking lot of the public facility that creates the travel path link. Further, when the communication unit 10 creates the travel path link, the communication unit 10 transmits the travel path link information created together with the parking lot ID to the business entity terminal 4.

The input / output unit 20 includes, for example, a keyboard, a mouse, a monitor, a touch panel, and the like. When the parking lot ID is transmitted via the communication unit 10, the driver of the vehicle 2 inputs the parking lot ID via the input / output unit 20. When you enter the parking lot ID, the map data of the parking lot is displayed. The map data of the parking lot is displayed on the input / output unit 20. When the vehicle 2 is an autonomous driving vehicle, the parking lot ID transmitted via the communication unit 10 is automatically input to the input / output unit 20, and the map data is displayed on the input / output unit 20.

The calculation unit 30 has a CPU, and is used for a signal input via the input / output unit 20, a signal received from the outside of the travel path link creating device 1 via the communication unit 10, and data stored in the storage unit 40. Based on this, a predetermined process is executed, and a control signal is output to the input / output unit 20 and the storage unit 40. By this process in the calculation unit 30, for example, the driver of the vehicle 2 can issue a command for creating a travel path link and confirm the completion of creation via the input / output unit 20 (monitor or the like).

The calculation unit 30 creates a signal input via the input / output unit 20, an image input via the vehicle-mounted camera 3, position information input via the sensor group 60, and a travel path link via the communication unit 10. A predetermined process is executed based on the signal received from the outside of the device 1 and the data stored in the storage unit 40, and the control signal is output to the input / output unit 20 and the storage unit 40. By this process in the calculation unit 30, a travel path link such as a parking lot is created. The functional configuration of the calculation unit 30 that creates the travel path link will be described later.

The storage unit 40 has a volatile or non-volatile memory (not shown). The storage unit 40 stores various programs executed by the calculation unit 30 and various data. The storage unit 40 has a map database 401 and a marker database 402 as functional configurations of the memory.

The map database 401 stores map data (map information) of parking lots and the like of public facilities used for creating a road link. FIG. 2 is a schematic configuration diagram of map data of a parking lot of a public facility for which a track link is created by using the track link creation device 1 according to the present embodiment. In the map data, in addition to information such as the position and shape of public facilities, information on the position and shape of parking lots of public facilities, for example, as shown in FIG. 2, information such as a travel path (lane) 100 and a cabin 101, etc. included. Further, for example, when the map data is created based on the aerial photograph, the road markings displayed on the traveling road are included as in the map data shown in FIG.

Further, for example, when the public facility has a parking lot composed of a plurality of floors, the map database 401 stores the map information of the parking lot for each floor. The map data can also be acquired from the outside via the communication unit 10.

The sign database 402 stores a plurality of road signs used to create a road link. Road signs include guide signs that provide the driver with information such as the direction and distance to the destination, regulatory signs that restrict the passage of vehicles 2 and pedestrians, and road signs 100 and roadsides. There are warning signs that warn the driver of certain points to be careful of when driving, instruction signs that give instructions on necessary points for traffic, and auxiliary signs.

Further, as road signs, there are a road surface sign 110 directly displayed on the road 100 and a signboard 120 indirectly displaying information on the road 100. The road marking 110 means a coating provided on the road surface for organizing, guiding, and regulating traffic, and means a so-called road marking. The signboard signboard 120 means a signboard for organizing, guiding, and regulating traffic, and means a so-called signboard display. Signs 120 include those installed on the ground (see, for example, FIG. 4A below), those suspended from the ceiling (for example, see FIG. 4B below), and those attached to pillars (see, eg, FIG. 4C below). ) Etc. can be mentioned.

In the present embodiment, the sign database 402 stores a break point sign database 4021, which is a road surface sign and a sign sign provided at a place where a traveling road is divided. The road markings and sign signs provided at the locations where the traveling roads are divided are road markings and sign signs that can be so-called nodes. FIG. 3A is a schematic view showing an example of a road marking provided at a place where a traveling road is divided in a parking lot of a public facility, and FIG. 3B is a schematic diagram showing another example of the road marking shown in FIG. 3A. Is. FIG. 4A is a schematic view showing an example of a signboard sign provided at a location where a traveling path is divided, and FIGS. 4B and 4C are schematic views showing another example of the signboard sign shown in FIG. 4A.

As shown in FIG. 3A, the sign database 402 stores, for example, a regulation sign such as prohibition of vehicle entry or temporary stop as a break point sign 130 as a road surface sign provided at a place where the traveling road is divided. Further, as shown in FIG. 3B, the sign database 402 is a road surface sign provided at a place where a traveling road is divided, for example, a warning sign such as a cross shape, a T shape, an inverted L shape, or a regulation indicated by an arrow. The sign or the like is stored as a break point sign 130.

Further, the sign database 402 stores, for example, a regulation sign such as a vehicle entry prohibition or a stop sign as a break point sign 130 as a sign sign provided at a place where the travel path is divided, as shown in FIGS. 4A and 4B. Further, as a signboard sign, the sign database 402 stores, for example, a display indicating the number of floors of the parking lot, alphanumeric characters indicating an area (block), and the like as shown in FIG. 4C.

The in-vehicle camera 3 (imaging unit 50) is a camera having an imaging element such as a CCD or CMOS, and can image the front of the vehicle 2. Based on the image data in front of the vehicle captured by the in-vehicle camera 3, for example, a sign located in front of the vehicle can be detected. Although one in-vehicle camera 3 is shown in FIGS. 4A to 4C, the in-vehicle camera 3 may be provided in front of the vehicle and in the rear of the vehicle, respectively.

The sensor group 60 includes various sensors for detecting the vehicle state. As an example, the sensor group 60 includes a GPS sensor 601 that receives a signal from a GPS satellite and detects the position of the vehicle 2. In the present embodiment, the GPS sensor 601 constitutes a position information acquisition unit.

Although not shown, a vehicle speed sensor that detects the speed of the vehicle 2, an acceleration sensor that detects the acceleration acting on the vehicle 2, a gyro sensor that detects the angular speed, a mileage sensor that detects the mileage, and a remaining fuel amount are detected. The sensor group 60 also includes a residual fuel detection sensor, a residual battery capacity detection sensor for detecting the remaining battery capacity, a door open / close sensor for detecting the opening / closing of the door, and the like.

The calculation unit 30 has a detection unit 301, a distance measurement unit 302, a position information calculation unit 303, a link creation unit 304, and a travel path link creation, which form a part of the sign detection unit, as a functional configuration carried by the processor. It has a part 305 and.

The detection unit 301 detects a sign directly or indirectly displayed on the travel path 100. In the present embodiment, the detection unit 301 detects the sign from the image captured by the vehicle-mounted camera 3. Specifically, the detection unit 301 detects the break point sign (road sign) 130 from the image captured by the vehicle-mounted camera 3 by using the break point sign database 4021 stored in the storage unit 40. The detection unit 301 detects the delimiter point marker 130 from the image captured by the in-vehicle camera 3 by using a general image processing technique. For example, the detection unit 301 binarizes the image captured by the vehicle-mounted camera 3 to extract a road sign from the image, and identifies the break point sign 130 from the image from the signs stored in the break point sign database 4021.

FIG. 5A is a diagram illustrating a state in which the break point sign 130 is detected by the detection unit 301 of the travel path link creating device 1 shown in FIG. As shown in FIG. 5, in the present embodiment, when the detection unit 301 detects the break point sign 130, the detection unit 301 assigns a node number to the break point sign 130. The break point sign 130 is sequentially assigned a node number along the traveling direction (traveling direction) of the vehicle 2. That is, the node numbers of the break point signs 130 are assigned in the order in which the vehicles travel. Node numbers n1 to n10 are assigned to the delimiter mark 130 shown in FIG. 5A.

As shown in FIG. 5A, when the vehicle 2 enters from the entrance, the detection unit 301 first detects a regulation sign such as a stop sign at the entrance as a break point sign 130 and assigns a node number n1. Next, the detection unit 301 detects the regulation sign or the like indicated by the arrow in front of the break point sign 130 of the node number n1 as the break point sign 130, and assigns the node number n2. Next, the detection unit 301 detects the regulation sign or the like indicated by the arrow in front of the break point sign 130 of the node number n2 as the break point sign 130, and assigns the node number n3.

Next, the detection unit 301 is a regulation sign indicated by an arrow in front of the traveling path 100 extending to the side of the break point sign 130 of the node number n3 at the break point sign 130 of the node number n3 which is the first right turn place. Etc. are detected as the delimiter point indicator 130, and the node number n4 is assigned. Next, the detection unit 301 detects the regulation sign or the like indicated by the arrow in the traveling direction of the vehicle 2 as the delimiter point sign 130, and assigns the node number n5.

Next, since the detection unit 301 has not yet exited (the road link has not been created), the regulation sign indicated by the arrow at the end of the right turn at the delimiter point sign 130 of the node number n5 and the node number n2. Etc. are detected as the delimiter point indicator 130, and the node number n6 is assigned. Next, the detection unit 301 detects the regulation sign or the like indicated by the arrow at the end of turning right at the break point sign 130 of the node number n2 as the break point sign 130, and assigns the node number n7.

Next, since the detection unit 301 has not yet exited (the travel path link has not been created), the arrow at the end of the node number n6 that turns right at the delimiter point indicator 130 of the node number n7, the node number n5, and the node number n2. The regulation sign or the like indicated by is detected as a break point sign 130, and a node number n8 is assigned. Next, the detection unit 301 detects the regulation sign or the like indicated by the arrow at the end of turning right at the break point sign 130 of the node number n8 as the break point sign 130, and assigns the node number n9. Next, the detection unit 301 detects the regulation sign or the like indicated by the arrow at the end of turning right at the break point sign 130 of the node number n9 as the break point sign 130, assigns the node number n10, and ends the detection.

After detecting the road sign, the detection unit 301 detects a display indicating the number of floors of the parking lot, alphanumeric characters indicating an area (block), etc., and when it detects that the floor or area has changed, resets the node number. , Again, a node number is assigned to each break point indicator 130. In this way, the detection unit 301 detects the break point indicator 130 for each floor or area and assigns a node number. The method of detecting the break point sign 130 is the same for each floor.

The distance measuring unit 302 measures the distance between the break point indicator 130 detected by the detecting unit 301 and the in-vehicle camera 3. For example, when the break point sign 130 having the node number n1 is detected at the entrance, the distance measuring unit 302 measures the distance between the break point sign 130 having the node number n1 and the vehicle-mounted camera 3. Similarly, the distance to the vehicle-mounted camera 3 is measured when the delimiter mark 130 of each node number n1 to n10 is detected.

In the present embodiment, the distance measuring unit 302 measures the distance between the dividing point marker 130 and the vehicle-mounted camera 3 from the image captured by the vehicle-mounted camera 3 by using a general image processing technique. For example, the distance can be measured by trigonometry using a twin-lens camera. Further, for example, the pitch of the fluorescent lamps arranged in the parking lot can be measured, and the distance between the dividing point sign 130 and the in-vehicle camera 3 can be measured from the measured pitch and the number of fluorescent lamps.

The position information calculation unit 303 calculates the position information of the break point indicator 130 detected by the detection unit 301. The position information calculation unit 303 calculates the position information of the break point marker 130 from the distance between the break point indicator 130 measured by the distance measurement unit 302 and the vehicle-mounted camera 3 and the position information of the vehicle-mounted camera 3 received by the GPS sensor 601. To do. The description of the calculation of the position information of the break point indicator 130 will be omitted here. The calculated position information of the break point indicator 130 is stored in the storage unit 40.

The link creation unit 304 divides the travel path 100 based on the break point sign 130 detected by the detection unit 301 and whose position information is calculated by the position information calculation unit 303, and creates a link 140 between the break point signs 130. In the present embodiment, the link creation unit 304 creates the link 140 by dividing the travel path 100 for each of the break point signs 130 scattered in the traveling direction of the vehicle 2.

FIG. 5B is a diagram illustrating a state in which the link 140 is created by the link creating unit 304 of the traveling path link creating device 1 shown in FIG. As shown in FIG. 5B, the link creating unit 304 first divides the travel path 100 between the dividing point sign 130 having the node number n1 and the dividing point sign 130 having the node number n2, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n2 and the break point sign 130 having the node number n3, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n3 and the break point sign 130 having the node number n4, and creates the link 140.

Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n4 and the break point sign 130 having the node number n5, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n5 and the break point sign 130 having the node number n2, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n3 and the break point sign 130 having the node number n6, and creates the link 140.

Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n6 and the break point sign 130 having the node number n7, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n7 and the break point sign 130 having the node number n4, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n6 and the break point sign 130 having the node number n8, and creates the link 140.

Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n8 and the break point sign 130 having the node number n9, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n9 and the break point sign 130 having the node number n7, and creates the link 140. Next, the link creation unit 304 divides the travel path 100 between the break point sign 130 having the node number n5 and the break point sign 130 having the node number n10, and creates the link 140.

The travel path link creation unit 305 connects the plurality of links 140 created by the link creation unit 304 to create a travel path link 150 in which the travel path 100 in the public facility is divided by the division point sign 130.

The track link creation unit 305 plots the break point sign 130 detected by the detection unit 301 on the map data (for example, see FIG. 2) corresponding to the track link 150 to be created. Then, the link 140 corresponding to the position recognized as the travel path 100 in the map data is extracted. That is, the link created in the portion other than the travel path 100 is excluded, and the link created in the portion recognized as the travel path 100 is extracted.

The corresponding map data is extracted from the map database 401 by inputting the parking lot ID via the input / output unit 20, and is displayed on the input / output unit 20 (monitor or the like). When the vehicle 2 is an autonomous driving vehicle, the above-mentioned processing may be automatically performed by the traveling road link creating unit 305 triggered by the link being created by the link creating unit 304.

Then, the travel path link creation unit 305 creates a travel path link by connecting a plurality of links 140 corresponding to the positions recognized as the travel path 100 in the map data. In the present embodiment, the travel path link creation unit 305 creates a travel path link by connecting a plurality of links 140 created by the link creation unit 304 along the traveling direction of the vehicle 2.

FIG. 5C is a diagram illustrating a state in which the travel path link 150 is created by the travel path link creation unit 305 of the travel path link creation device 1 shown in FIG. As shown in FIG. 5C, the track link creation unit 305 first sets the link 140 between the break point sign 130 of the node number n1 and the break point sign 130 of the node number n2 as the link number 1. Then, the link 140 between the delimiter point indicator 130 of the node number n2 and the delimiter point indicator 130 of the node number n3 is set as the link number 2, and the link 140 of the link number 1 and the link 140 of the link number 2 are connected.

Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n3 and the break point sign 130 of the node number n4 as the link number 3, and links 140 of the link number 2 and the link number 3 Connect with link 140. Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n4 and the break point sign 130 of the node number n5 as the link number 4, and sets the link 140 of the link number 3 and the link number 4 as the link number 4. Connect with link 140.

Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n5 and the break point sign 130 of the node number n2 as the link number 5, and sets the link number 4, the link number 5, and the link number 1. And the link 140 of the link number 2 is connected. Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n3 and the break point sign 130 of the node number n6 as the link number 6, and sets the link number 2, the link number 3, and the link number 6. Connect with the link 140 of.

Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n6 and the break point sign 130 of the node number n7 as the link number 7, and sets the link 140 as the link number 6 and the link number 7. Connect. Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n7 and the break point sign 130 of the node number n4 as the link number 8, and sets the link number 7, the link number 3, and the link number 8. Connect with the link 140 of.

Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n6 and the break point sign 130 of the node number n8 as the link number 9, and sets the link number 6, the link number 7, and the link number 9. Connect with the link 140 of. Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n8 and the break point sign 130 of the node number n9 as the link number 10, and sets the link 140 as the link number 9 and the link number 10. Connect.

Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n9 and the break point sign 130 of the node number n7 as the link number 11, and sets the link number 10, the link number 11, and the link number 7. And the link 140 of the link number 8. Next, the track link creation unit 305 sets the link 140 between the break point sign 130 of the node number n5 and the break point sign 130 of the node number n10 as the link number 12, and sets the link number 4, the link number 5, and the link number 12. Connect with the link 140 of.

At this time, the travel path link creation unit 305 creates a travel path link including the position information of the break point sign 130 calculated by the position information calculation unit 303. That is, in the present embodiment, the travel path link created by the travel path link creation unit 305 includes a node number, a link number, and position information.

The business entity terminal 4 is composed of a personal computer operated by a business entity engaged in a road link creation business, a mobile wireless terminal represented by a smartphone, and the like. The business entity terminal 4 has a communication unit, an input / output unit, a calculation unit, and a storage unit.

The communication unit is configured to enable wireless communication with the travel path link creating device 1 via the communication network 5. The communication unit transmits a travel path link creation command signal to the travel path link creation device 1 together with the parking lot ID of the public facility that creates the travel path link diagram.

The input / output unit includes, for example, a keyboard, a mouse, a monitor, a touch panel, and the like. The business entity inputs the parking lot ID and the driving path link creation command via the input / output unit.

The calculation unit has a CPU and performs predetermined processing based on a signal input via the input / output unit, a signal received from the outside of the business entity terminal 4 via the communication unit, and data stored in the storage unit. It executes and outputs control signals to the communication unit, input / output unit, and storage unit, respectively. By this processing in the calculation unit, the business entity can instruct the creation of the travel path link and confirm the created travel path link diagram via the input / output unit (monitor or the like).

The storage unit has a volatile or non-volatile memory (not shown). Various programs and various data executed by the arithmetic unit are stored in the storage unit.

FIG. 6 is a flowchart showing an example of a travel path link creation process executed by the calculation unit 30 of the travel path link creation device 1 of FIG. The process shown in this flowchart is started when, for example, the track link creating device 1 receives a signal instructing a track link creation request from an entity engaged in the track link creation business, and the track link is created. Will be executed.

First, in step S10, the break point marker 130 directly or indirectly indicated on the travel path is detected by the process of the detection unit 301 (sign detection step). Next, the distance between the break point indicator 130 detected by the detection unit 301 and the vehicle-mounted camera 3 is measured by the process of the distance measurement unit 302 (distance acquisition step). Next, the position information of the in-vehicle camera 3 is acquired by using the GPS sensor 601 (position information acquisition step).

Next, the position information of the break point indicator 130 is calculated based on the distance measured by the distance measurement unit 302 and the position information received by the GPS sensor 601 by the process of the position information calculation unit 303 (position information calculation step). ). Next, by processing in the link creation unit 304, the traveling path 100 is divided for each division point sign 130 based on the division point sign 130 detected by the detection unit 301, and a link is created between the division point signs 130 (link creation). Process).

Next, by the process of the travel path link creation unit 305, the plurality of links 140 created by the link creation unit 304 are connected to each other, and the travel path 100 in the public facility is divided by the dividing point sign 130. To create. In the present embodiment, the break point sign 130 detected by the detection unit 301 is plotted on the map data corresponding to the created travel path link, and a plurality of links 140 corresponding to the positions recognized as the travel path 100 in the map data are formed. Connect to create a road link.

According to this embodiment, the following actions and effects can be obtained.
(1) A road link creating device 1 that creates a road link that specifies a section of a road 100 of a vehicle 2 traveling in a public facility, and is a division that is directly or indirectly displayed on the road 100. Based on the detection unit 301 and the vehicle-mounted camera 3 that detect the point sign 130 and the break point sign 130 detected by the detection unit 301, the travel path 100 is divided for each break point sign 130, and a link 140 is provided between the break point signs 130. A travel path link that connects the link creation unit 304 to be created and a plurality of links 140 created by the link creation unit 304 to create a travel path link that divides the travel path in a public facility by a division point sign 130. The detection unit 301 includes a creation unit 305 and detects a break point sign 130 provided at a place where the travel path 100 is divided.

With this configuration, for example, in a parking lot or the like in a public facility where VICS (registered trademark) information is not created, it is possible to easily create an environment in which traffic information such as traffic congestion can be provided. By creating a road link that specifies a section of the road of a vehicle traveling in such a public facility, it is possible to contribute to the acquisition of traffic information such as VICS (registered trademark) information in the future.

(2) A motion detection unit that detects the motion of the vehicle and an intersection determination unit that determines an intersection of the travel path based on the motion of the vehicle detected by the motion detection unit are further provided, and the travel path link creation unit is provided. The link created by the link creation unit is divided based on the intersection determined by the intersection determination unit, and the travel route is divided into a sign and each intersection to create a travel route link. Thereby, for example, it is possible to create a travel path link in which the travel path is divided by a sign and an intersection. As a result, it is possible to easily create an environment in which traffic information such as traffic congestion can be provided in a parking lot or the like in a public facility where VICS (registered trademark) information is not created, and VICS (registered trademark) information or the like can be provided. It can contribute to the acquisition of traffic information.

(3) A position information calculation unit 303 for acquiring the position information of the break point sign 130 detected by the detection unit 301 is further provided, and the travel path link creation unit 305 includes the break point sign 130 acquired by the position information calculation unit 303. Create a road link that includes the location information of. Thereby, for example, the break point sign 130 detected by the detection unit 301 has the position information, so that a more accurate travel path link in the public facility can be created.

(4) A distance measuring unit 302 for measuring the distance between the dividing point indicator 130 detected by the detecting unit 301 and the detecting unit 301, and a GPS sensor 601 for receiving the position information of the detecting unit 301 are further provided, and the position information calculation is performed. The unit 303 calculates the position information of the dividing point indicator 130 based on the distance measured by the distance measuring unit 302 and the position information received by the GPS sensor 601. Thereby, for example, the break point sign 130 detected by the detection unit 301 has the position information, so that a more accurate travel path link in the public facility can be created.

(5) The travel road link creation unit 305 plots the break point sign 130 detected by the detection unit 301 on the map data corresponding to the travel road link to be created, and corresponds to the position recognized as the travel road 100 in the map data. A track link is created by connecting a plurality of links 140. As a result, for example, it is possible to create a track link based on the map data corresponding to the track link to be created, and it is possible to create a more accurate track link in a public facility.

(6) The detection unit 301 is provided on the vehicle 2 moving on the travel path 100, and the link creation unit 304 divides the travel path 100 for each of the break point signs 130 scattered in the traveling direction of the vehicle 2. Create 140. As a result, for example, the detection unit 301 can detect the break point sign 130 while moving the traveling path 100 in the traveling direction of the vehicle 2, so that the position of the break point sign 130 can be easily detected. It is possible to create accurate road links within public facilities.

(7) The travel path link creation unit 305 creates a travel path link by connecting a plurality of links 140 created by the link creation unit 304 along the traveling direction of the vehicle 2. For example, a traveling link is created by assigning a number to each break point sign 130 that is a break point of each link 140. Thereby, for example, a travel path link including direction information can be created. As a result, for example, it becomes possible to include entry / exit information such as an entry route or an exit route in the travel path link.

(8) The break point sign 130 includes a road surface sign 110 directly displayed on the runway 100 and a signboard sign 120 indirectly displaying information on the runway 100. Thereby, for example, a travel path link can be easily and accurately created.

(9) The detection unit 301 has an in-vehicle camera 3 capable of photographing the break point sign 130. As a result, for example, the break point sign 130 directly or indirectly marked on the travel path 100 is imaged by the vehicle-mounted camera 3, and the acquired image is detected by the detection unit 301 to separate the break point sign 130. The point sign 130 can be easily and accurately detected.

(10) The detection unit 301 can detect a sign that identifies each floor in a public facility, the link creation unit 304 creates a link for each floor, and the travel path link creation unit 305 creates a travel path for each floor. Create a link. Thereby, for example, even when the public facility has parking lots on a plurality of floors, it is possible to create a travel path link for each floor.

(11) A travel path link creation method for creating a track link that specifies a section of the track 100 of a vehicle 2 traveling in a public facility, wherein the detection unit 301 directly or indirectly connects to the track 100. The sign detection step for detecting the indicated break point sign 130 and the link creation unit 304 divide the travel path 100 for each break point sign 130 based on the break point sign 130 detected by the sign detection step, and the break point sign 130. The link creation process for creating the link 140 and the track link creation unit 305 connect the plurality of links 140 created in the link creation process, and divide the track 100 in the public facility for each link 140. In the sign detection step, the break point sign 130 provided at the place where the runway 100 is divided is detected.

With this configuration, for example, in a parking lot or the like in a public facility where VICS (registered trademark) information is not created, it is possible to easily create an environment in which traffic information such as traffic congestion can be provided. By creating a road link that specifies a section of the road of a vehicle traveling in such a public facility, it is possible to contribute to the acquisition of traffic information such as VICS (registered trademark) information in the future.

(12) In the track link creation step, a track link is created by connecting all of the plurality of links 140 created in the link creation step. Thereby, for example, a traveling link diagram can be efficiently created.

In the above embodiment, the vehicle-mounted camera 3 (imaging unit 50) that captures the sign and the detection unit 301 that detects the sign from the captured image are used as the sign detecting unit, but the present invention is not limited thereto. The sign detection unit may be able to detect the sign, for example, a rider or the like that measures the scattered light for laser irradiation to measure the contour of the target and detects the sign (for example, a sign sign) based on the contour or the like. , The outline or unevenness of the target may be scanned to detect the sign.

In the above embodiment, the vehicle-mounted camera 3 fixed to the front of the vehicle has been used as the imaging unit 50 forming a part of the sign detection unit, but the present invention is not limited thereto. The imaging unit 50 may be a plurality of cameras installed in the public facility, such as a surveillance camera or a security camera installed in a parking lot of the public facility, and is an in-vehicle camera fixed to the rear of the vehicle. You may.

In the above embodiment, the road markings (road markings) that are marked and displayed directly on the road have been described, but the present invention is not limited thereto. The sign may be a sign sign indirectly marked on the travel path, for example, a sign sign arranged on the side of the travel path, a sign sign arranged above the corresponding travel path, or the like.

In the above embodiment, the travel path link creation device 1 including a calculation unit 30 having a detection unit 301, a distance measurement unit 302, a position information calculation unit 303, a link creation unit 304, and a travel path link creation unit 305. However, the present invention is not limited to this. The track link creating device may have a configuration including a sign detection unit, a link creating section, and a calculation unit having a track link creating section.

Further, the travel path link creating device further includes an operation detection unit that detects the motion of the vehicle and an intersection determination unit that determines an intersection of the travel path based on the motion of the vehicle detected by the motion detection unit. It may be a configuration. In this case, the travel path link creation unit divides the link created by the link creation unit based on the intersection determined by the intersection determination unit, thereby dividing the travel path into each sign and each intersection. Can be created.

For example, the motion detection unit first detects the lighting information of the indicator light of the vehicle by using an electronic control unit (ECU) or the like that controls the driver support system (ADA), and the indicator light is turned on using this. The traveling locus information of the vehicle during the period is acquired from the position information detected by the GPS sensor.

Next, the steering angle information of the steering of the vehicle while the above-mentioned indicator light is lit is detected by using an electronic control unit (ECU) or the like that controls the steering angle of the steering. Next, the brake operation information during or immediately before the lighting of the above-mentioned indicator lamp is detected by using an electronic control unit (ECU) or the like that controls the brake operation.

The intersection determination unit determines an intersection on the travel path based on the travel locus information of these vehicles, steering angle information of the steering wheel, and brake operation information.

The track link creation unit divides the link that crosses the intersection determined by the intersection determination unit at this intersection. As a result, it is possible to create a road link that divides the road in a public facility by a sign and an intersection. In consideration of the occurrence of an error in the position information detected by the GPS sensor, the division of the intersection by the road link creation unit is appropriately corrected by using the average value of the plurality of intersection determination data determined by the intersection determination unit. It is preferable to do so.

The above description is merely an example, and the present invention is not limited to the above-described embodiments as long as the features of the present invention are not impaired.

1 Road link creation device, 2 vehicles, 3 on-board cameras, 5 communication networks, 10 communication units, 20 input / output units, 30 calculation units, 40 storage units, 50 imaging units, 60 sensor groups, 301 detector units, 302 distance measurement Unit, 303 position information calculation unit, 303 link creation unit, 305 track link creation unit, 401 map database, 402 sign database, 601 GPS sensor

Claims (12)

It is a travel path link creation device that creates a travel path link that specifies a section of a travel path of a vehicle in a predetermined area.
A sign detection unit that detects signs that are directly or indirectly displayed on the road, and
A link creation unit that divides a travel path for each sign based on the sign detected by the sign detection unit and creates a link between the signs.
It is provided with a travel path link creation unit that connects a plurality of links created by the link creation unit and creates a travel path link that divides the travel path in the predetermined area for each sign.
The sign detection unit is a travel path link creating device characterized by detecting the sign provided at a location where the travel path is divided. In the traveling path link creating device according to claim 1,
A motion detection unit that detects the motion of the vehicle and an intersection determination unit that determines an intersection of the travel path based on the motion of the vehicle detected by the motion detection unit are further provided.
The runway link creation unit divides the link created by the link creation unit based on the intersection determined by the intersection determination unit, and divides the runway into each of the sign and the intersection. A road link creating device characterized by creating. In the traveling path link creating device according to claim 1 or 2.
Further, a position information calculation unit for calculating the position information of the sign detected by the sign detection unit is provided.
The traveling road link creating unit is a traveling road link creating device, characterized in that the traveling road link creating unit creates the traveling road link including the position information of the sign calculated by the position information calculation unit. In the traveling path link creating device according to claim 3.
A distance measuring unit that measures the distance between the sign and the sign detecting unit detected by the sign detecting unit, and a distance measuring unit.
A position information acquisition unit for acquiring the position information of the sign detection unit is further provided.
The travel path link is characterized in that the position information calculation unit calculates the position information of the sign based on the distance measured by the distance measurement unit and the position information acquired by the position information acquisition unit. Creation device. In the travel path link creating device according to any one of claims 1 to 4.
The travel road link creation unit plots the sign detected by the sign detection unit on the map data corresponding to the travel road link to be created, and a plurality of links corresponding to the positions recognized as the travel road in the map data. A track link creating device, characterized in that the track link is created by connecting the two. In the traveling path link creating device according to any one of claims 1 to 5.
The sign detection unit is provided on a vehicle moving on a traveling path.
The link creating unit is a traveling path link creating device characterized in that a traveling path is divided for each sign scattered in the traveling direction of the vehicle to create a link. In the traveling path link creating device according to claim 6.
The traveling road link creating unit is a traveling road link creating device characterized in that a plurality of links created by the link creating unit are connected along a traveling direction of a vehicle to create the traveling road link. In the traveling path link creating device according to any one of claims 1 to 7.
The road marking device includes a road surface sign directly displayed on the road and a sign sign indirectly displaying information on the road. In the traveling path link creating device according to any one of claims 1 to 8.
The sign detection unit is a travel path link creating device characterized by having an imaging means capable of capturing a sign. In the traveling path link creating device according to any one of claims 1 to 9.
The sign detection unit can detect a sign that identifies each floor in the predetermined area.
The link creation unit creates a link for each floor.
The track link creating unit is a track link creating device characterized in that a track link is created for each floor. It is a traveling road link creation method for creating a traveling road link that specifies a section of a traveling road of a vehicle traveling in the predetermined area.
A sign detection step in which the sign detection unit detects a sign directly or indirectly displayed on the road.
A link creation step in which the link creation unit divides the travel path for each sign based on the sign detected by the sign detection step and creates a link between the signs.
A travel path link creation process in which the travel path link creation unit connects a plurality of links created in the link creation process to create a travel path link that divides the travel path in the predetermined area for each link. With
The sign detection step is a method for creating a travel path link, which comprises detecting the sign provided at a location where the travel path is divided. In the method for creating a travel path link according to claim 11,
The traveling road link creating step is a traveling road link creating method, characterized in that the traveling road link is created by connecting all of a plurality of links created in the link creating step.

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