JP2023067985A - Information processing device, control method, program and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing device capable of suitably grasping the degree of submergence or the like in the case that the submergence or the like occurs in a road.

SOLUTION: A system controller 20 of a navigation device 1 detects a representative boundary position Pr between a water surface area Aw submerged on a road and a road area Ar on the road other than the water surface area Aw on the basis of a camera image Ic outputted by a camera 2. Then, the system controller 20 calculates water depth Dwc by referring to altitude information included in road shape data of map data 32 on the basis of a latitude and a longitude of the representative boundary position Pr.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2023,JPO&INPIT

Description

TECHNICAL FIELD The present invention relates to technology for appropriately grasping road conditions.

2. Description of the Related Art Conventionally, there has been known a technology for recognizing road conditions based on images output by cameras installed in vehicles. For example, Patent Literature 1 discloses a technique for detecting a road surface state by image processing using a visible light camera image.

JP-A-2002-157676

Depending on the shape of the road, heavy rain may partially submerge it and restrict traffic. According to the technique of Patent Document 1, while it is possible to detect whether or not the road on which the vehicle is traveling is wet, it does not disclose anything about detecting flooding as described above.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems described above, and provides an information processing apparatus capable of suitably grasping the degree of flooding when roads are flooded. The main purpose is to provide

According to a first aspect of the present invention, there is provided an information processing device, which is based on an output result of an imaging device or a sensor, and detects a first range on a road that is flooded or covered with snow and a second range that is different from the first range. It is characterized by comprising detection means for detecting a boundary position, and obtaining means for obtaining the depth of flooding or snow cover in the first range based on the boundary position.

According to an eighth aspect of the invention, there is provided a control method executed by an information processing device, in which a first range that is flooded or covered with snow on the road is different from the first range based on the output result of the imaging device or the sensor. The method is characterized by comprising a detection step of detecting a boundary position with a second range, and an obtaining step of obtaining the depth of flooding or snow cover in the first range based on the boundary position.

The invention according to claim 9 is a program executed by a computer, and based on the output result of the imaging device or the sensor, a first range that is flooded or covered with snow on the road and a second range that is different from the first range and detecting means for detecting a boundary position between and and acquiring means for acquiring the depth of flooding or snow cover in the first range based on the boundary position.

1 is a schematic configuration of a flood warning system according to an embodiment; 1 shows a schematic configuration of a navigation device; 4 is a flowchart showing an overview of flood warning processing; 4 is a flow chart showing a procedure of boundary detection processing; 4 shows a camera image in which a road area and a water surface area have been detected; 4 is a flowchart showing a procedure of water depth calculation processing; FIG. 2 shows a cross-sectional view of a flooded area with data points based on road geometry data; 4 shows a first display example of the display when a submerged portion is detected; FIG. 10 shows a second display example of the display when a submerged portion is detected; FIG. FIG. 11 shows a third display example of the display when a submerged portion is detected; FIG. FIG. 11 shows a fourth display example of the display when a submerged portion is detected; FIG. It is a schematic configuration of a flood warning system according to a modification.

According to a preferred embodiment of the present invention, the information processing device divides the road between a first range that is flooded or covered with snow and a second range that is different from the first range, based on the output result of the imaging device or the sensor. It is characterized by comprising detection means for detecting a boundary position, and obtaining means for obtaining the depth of flooding or snow cover in the first range based on the boundary position.

The information processing apparatus includes detection means and acquisition means. The detection means detects a boundary position between a first range that is flooded or covered with snow on the road and a second range different from the first range, based on the output result of the imaging device or the sensor. The acquiring means acquires the depth of flooding or snow cover in the first range based on the boundary position detected by the detecting means. According to this aspect, the information processing device can preferably grasp the degree of flooding or snowfall when there is a flooded or snow-covered portion on the road.

In one aspect of the information processing apparatus, the information processing apparatus further includes storage means for storing position information and altitude information of the road, and the acquisition means obtains a first altitude of the boundary position based on the boundary position. Altitude information acquisition means for acquiring altitude information and second altitude information that is the altitude of the point with the lowest altitude in the first range; Based on the first altitude information and the second altitude information, the and depth calculation means for calculating the depth. According to this aspect, the information processing device obtains the first altitude information indicating the altitude of the flooded surface or the snow covered surface and the second altitude information indicating the altitude of the deepest part of the flooded or snowed surface, and accurately determines the depth of the flooded or snowed surface. can be calculated to

In another aspect of the information processing apparatus, the detection means calculates relative coordinates of the boundary position represented by a coordinate system within a detection range of the imaging device or sensor based on the output result, and The altitude information acquiring means acquires the first altitude information based on absolute coordinates obtained by converting the relative coordinates into the same coordinate system as the road position information. According to this aspect, the information processing device can refer to the altitude information stored in the storage unit based on the absolute coordinates of the boundary position detected by the imaging device or the sensor, and can preferably acquire the first altitude information.

In another aspect of the information processing device, the information processing device outputs information restricting traffic in the first range from at least one of display means and audio output means when the depth is equal to or greater than a predetermined value. It further comprises output control means for controlling. According to this aspect, the information processing device can appropriately restrict passage when there is a flooded or snow-covered portion that is impassable or unsafe to pass.

In another aspect of the information processing apparatus, when outputting to the display means, the output control means cuts the road including the first range along the road to display a cross-sectional image including the flooded or snow covered portion. Display on the display means. Also in this aspect, the information processing device can allow the observer to preferably grasp the condition of the road that is flooded or covered with snow.

In another aspect of the information processing apparatus, the output control means, when outputting to the display means, displays an image that is displayed in different display modes according to the depth in the area of flooded or covered snow in the image output by the imaging device. are superimposed and displayed on the display means. According to this aspect, the information processing device can allow the observer to preferably grasp the distribution of the depth of flooding or snow cover.

In another aspect of the information processing apparatus, the image of the road including the first range captured by the imaging device is displayed on the display means side by side with the image of the road before the formation of the first range. This aspect enables the information processing device to compare the road conditions before and after the occurrence of flooding or snow cover, and allows the observer to more intuitively grasp the aspect of flooding or snow cover.

According to another preferred embodiment of the present invention, there is provided a control method executed by an information processing device, in which a first range flooded or covered with snow on a road and the first A detection step of detecting a boundary position between the range and a second range different from the range, and an obtaining step of obtaining the depth of flooding or snow cover in the first range based on the boundary position. By executing this control method, the information processing apparatus can appropriately grasp the degree of flooding or snow when there is a portion of the road that is flooded or covered with snow.

In still another embodiment of the present invention, a computer-executed program, which is based on an output result of an imaging device or a sensor, a first range of flooded or snow-covered roads and a different range from the first range. The computer is caused to function as detection means for detecting a boundary position between the two ranges and acquisition means for acquiring the depth of flooding or snow cover in the first range based on the boundary position. By executing this program, the computer can preferably grasp the degree of flooding or snow cover when there is a flooded or snow covered part on the road. Preferably, this program is stored in a storage medium.

Preferred embodiments of the present invention will be described below with reference to the drawings.

[Configuration of flood warning system]
FIG. 1 is a schematic configuration of a flood warning system according to this embodiment. The flood warning system is a system that detects a flooded portion formed on a road (also called a “flooded portion WC”) and issues a warning, and includes a navigation device 1 and a camera 2 .

A navigation device 1 moves with the vehicle and is electrically connected to a camera 2 directed forward of the vehicle. Then, the navigation device 1 determines whether or not there is a submerged portion WC and calculates the water depth of the submergence (also referred to as a "water depth Dwc") based on the image received from the camera 2 (also referred to as a "camera image Ic"). . In calculating the water depth Dwc, the navigation device 1, as shown in FIG. is calculated as the water depth Dwc. Then, the navigation device 1 performs warning display for the submerged area WC according to the calculated water depth Dwc.

[Configuration of navigation device]
FIG. 2 shows a schematic configuration of a navigation device 1 to which the display device of the present invention is applied.

As shown in FIG. 2, the navigation device 1 comprises an autonomous positioning device 10, a GPS receiver 18, a system controller 20, a data storage unit 31, a communication device 38, a display unit 40, an audio output unit 50 and an input device 60.

The self-supporting positioning device 10 has an acceleration sensor 11 , an angular velocity sensor 12 and a distance sensor 13 . The acceleration sensor 11 is composed of, for example, a piezoelectric element, detects acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor 12 is, for example, a vibrating gyro, detects the angular velocity of the vehicle when the vehicle changes direction, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse, which is a pulse signal generated as the wheels of the vehicle rotate.

The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.

The system controller 20 includes an interface 21, a CPU 22, a ROM 23 and a RAM 24, and controls the navigation device 1 as a whole. In this embodiment, the system controller 20 performs flood warning processing, which will be described later. The system controller 20 is an example of the "detection means", "acquisition means", "elevation information acquisition means", "depth calculation means", and "output control means" in the present invention and a computer that executes the program in the present invention. .

The interface 21 performs interface operations with the acceleration sensor 11 , the angular velocity sensor 12 , the distance sensor 13 and the GPS receiver 18 . From these, the vehicle speed pulse, acceleration data, relative direction data, angular velocity data, GPS positioning data, absolute direction data, etc. are input to the system controller 20 . The CPU 22 controls the system controller 20 as a whole. The ROM 23 has a non-illustrated non-volatile memory or the like storing a control program or the like for controlling the system controller 20 . The RAM 24 readablely stores various data such as route data set in advance by the user through the input device 60 and provides a working area for the CPU 22 .

The system controller 20 , data storage unit 31 , display unit 40 , audio output unit 50 and input device 60 are interconnected via bus line 30 .

The data storage unit 31 is configured by, for example, a storage medium such as an HDD, and stores various data used for navigation processing such as map data 32 . The map data 32 includes road data represented by links corresponding to roads and nodes corresponding to connecting portions (intersections) of roads, facility information about each facility, and the like. The road data includes road shape data relating to the shape of each road, and the road shape data includes, for example, altitude information indicating altitudes at predetermined intervals on the road. The data storage unit 31 is an example of "storage means" in the present invention.

The communication device 38 receives road traffic information and other information delivered from a VICS (registered trademark, Vehicle Information Communication System) center. Under the control of the system controller 20, the communication device 38 may receive information (for example, road shape data, etc.) to be stored in the data storage unit 31 as the map data 32 from a server that can communicate via a communication network. good.

The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20 . Specifically, the system controller 20 reads map data from the data storage unit 31 . The display unit 40 displays an image based on the map data read from the data storage unit 31 by the system controller 20 on a display screen such as a display. In this embodiment, the display unit 40 displays the camera image Ic obtained from the camera 2, and superimposes an image for assisting driving on the camera image Ic. The display unit 40 consists of a graphic controller 41 for controlling the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30, and a memory such as a VRAM (Video RAM) to display immediately displayable image information. Buffer memory 42 for temporary storage, display control unit 43 for controlling display 44 such as liquid crystal or CRT (Cathode Ray Tube) based on image data output from graphic controller 41, and display 44. . The display 44 is, for example, a liquid crystal display device or the like having a diagonal size of about 5 to 10 inches, and is mounted near the front panel in the vehicle. The display 44 is an example of "display means" in the present invention.

The audio output unit 50, under the control of the system controller 20, is a D/A converter 51 that performs D/A conversion of audio digital data sent from the RAM 24 or the like via the bus line 30, and an output from the D/A converter 51. and a speaker 53 for converting the amplified audio analog signal into audio and outputting it to the inside of the vehicle. The speaker 53 is an example of "audio output means" in the present invention.

The input device 60 is composed of keys, switches, buttons, a remote control, a voice input device, etc. for inputting various commands and data. The input device 60 is arranged around the front panel and the display 44 of the main body of the in-vehicle electronic system installed in the vehicle. Moreover, when the display 44 is of a touch panel type, the touch panel provided on the display screen of the display 44 also functions as the input device 60 .

[Flood warning process]
Next, the flood warning process executed by the system controller 20 will be described.

(1) Processing overview
FIG. 3 is a flow chart showing an overview of flood warning processing in this embodiment. The system controller 20 repeatedly executes the flowchart shown in FIG.

First, the system controller 20 determines the presence or absence of the submerged portion WC on the camera image Ic. ) is executed (step S101). In this embodiment, the system controller 20 calculates the latitude and longitude of the representative point of the water surface boundary Bwc as boundary absolute coordinates. Details of the boundary position detection process will be described later with reference to FIGS. 4 and 5. FIG.

Next, the system controller 20 determines whether or not the submerged portion WC is detected in the boundary position detection process of step S101 (step S102). Then, when the system controller 20 determines that the submerged portion WC could not be detected (step S102; No), the process proceeds to step S105.

On the other hand, when the system controller 20 determines that the submerged portion WC has been detected (step S102; Yes), it executes water depth calculation processing for calculating the water depth Dwc (step S103). In the water depth calculation process, the system controller 20 extracts the altitude information corresponding to the boundary value absolute coordinates calculated in step S101 and the altitude information corresponding to the deepest part Lwc from the altitude information of the road shape data included in the map data 32. By doing so, the water depth Dwc is calculated. The altitude information corresponding to the boundary value absolute coordinates is an example of "first altitude information" in the present invention, and the altitude information corresponding to the deepest portion Lwc is an example of "second altitude information" in the present invention. Details of the water depth calculation process will be described later with reference to FIGS.

After that, the system controller 20 performs display according to the calculated water depth Dwc (step S104). In this case, for example, the system controller 20 displays the camera image Ic on the display 44, and displays an image indicating the water depth Dwc of the submerged area WC displayed in the camera image Ic and whether or not the submerged area WC is passable. It is displayed superimposed on the image Ic. A display example of step S104 will be described in detail in the section "(4) Display example".

Next, the system controller 20 determines whether or not there is a stop command for the display process or the like (step S105). Then, when the system controller 20 detects the stop command (step S105; Yes), the process of the flowchart ends. On the other hand, when the system controller 20 does not detect a stop command (step S105; No), the process returns to step S101 again.

(2) Boundary position detection processing
FIG. 4 is a flow chart showing the procedure of the boundary position detection process executed in step S101 of FIG.

First, the system controller 20 acquires the camera image Ic from the camera 2 (step S201). Next, the system controller 20 extracts an area forming a road (also referred to as a "road area Ar") from the acquired camera image Ic based on known image recognition processing (step S202). Further, the system controller 20 extracts an area forming the water surface (also referred to as "water surface area Aw") from the camera image Ic based on known image recognition processing (step S203). In this case, the system controller 20, for example, takes into account that the reflectance is high in the water surface area Aw, and the reflectance is relatively high, and more than a predetermined number of pixels formed in the range where it is estimated that the road exists is extracted as the water surface area Aw.

Next, the system controller 20 determines whether or not the water surface area Aw has been extracted from the camera image Ic (step S204). When the system controller 20 can extract the water surface area Aw from the camera image Ic (step S204; Yes), the process proceeds to step S205. On the other hand, if the water surface area Aw could not be extracted (step S204; No), the system controller 20 determines that the submerged portion WC could not be detected, and terminates the processing of the flowchart.

Next, the system controller 20 calculates the two-dimensional relative coordinates in the camera image Ic of the representative point of the boundary between the road area Ar and the water surface area Aw (also referred to as "representative boundary point Pr") (step S205). ). In this case, for example, the system controller 20 specifies the virtual centerline of the road area Ar along the road division lines, etc., and the coordinates in the camera image Ic of the intersection of the specified centerline and the water surface area are Obtained as relative coordinates of the representative boundary point Pr. A specific example of step S205 will be described in detail with reference to FIG. The above-described relative coordinates of the representative boundary point Pr are an example of "relative coordinates of the boundary position" in the present invention.

Then, the system controller 20 acquires the current position information based on the output of the GPS receiver 18 and the like and information on the direction of travel of the vehicle based on the output of the self-supporting positioning device 10 and the like (step S206). After that, the system controller 20 calculates boundary absolute coordinates, which are the latitude and longitude corresponding to the representative boundary point Pr, based on the current position information and the traveling direction information acquired in step S206 (step S207). For example, the system controller 20 pre-stores a map or formula that associates the relative coordinates in the camera image Ic with the difference in latitude and longitude with respect to the current position for each traveling direction of the vehicle, and refers to the map or formula. Then, the difference in latitude and longitude from the current position is specified and added to the latitude and longitude indicated by the current position information to calculate the boundary absolute coordinates.

FIG. 5 shows the camera image Ic in which the road area Ar and the water surface area Aw are detected. In the example of FIG. 5, the system controller 20 extracts the road area Ar in step S202 of FIG. 4, and extracts the water surface area Aw in step S203, based on known image recognition processing for the camera image Ic. After that, the system controller 20 assumes that the center line of the road area Ar is on the lane marking (white line), and the relative coordinates in the camera image Ic of the intersection of the lane marking and the water surface area Aw are calculated relative to the representative boundary point Pr. Extract as coordinates. After that, the system controller 20 calculates the coordinates representing the relative coordinates of the representative boundary point Pr in terms of latitude and longitude as boundary absolute coordinates, based on the current position information and the information on the traveling direction of the vehicle.

The water surface area Aw is an example of the "first range" in the present invention, and the road area Ar is an example of the "second range" in the present invention. Also, the representative boundary point Pr is an example of the "boundary position" in the present invention, and the boundary absolute coordinates are an example of the "absolute coordinate" in the present invention.

(3) Water depth calculation processing
FIG. 6 is a flow chart showing the procedure of water depth calculation processing.

First, the system controller 20 refers to the road shape data indicating the elevation for each latitude and longitude included in the map data 32, and calculates the elevation corresponding to the boundary absolute coordinates represented by the latitude and longitude calculated in the boundary position detection process. "H1" is calculated (step S301). In this case, for example, the system controller 20 calculates the altitude corresponding to the boundary absolute coordinates by appropriately interpolating the altitudes of the latitude and longitude between the points whose altitudes are registered based on known interpolation processing such as linear interpolation. . In another example, the system controller 20 determines, as the altitude H1, the altitude corresponding to the latitude and longitude closest to the boundary absolute coordinates among the latitudes and longitudes registered in the road shape data. In this case, in order to avoid underestimation of the water depth Dwc, the system controller 20 preferably determines the highest altitude among a predetermined number (for example, four) of altitudes closest to the boundary absolute coordinates as the altitude H1. good.

Next, the system controller 20 calculates the latitude and longitude within the water surface area Aw extracted in step S203 of FIG. 4 in the same manner as the boundary absolute coordinates of the representative boundary points. Then, the system controller 20 extracts each altitude corresponding to the latitude and longitude within the water surface area Aw from the road shape data, thereby calculating the altitude "H2" of the deepest portion Lwc (step S302). In this case, for example, the system controller 20 calculates the lowest altitude as the altitude H2 among the altitudes corresponding to the latitude and longitude in the water surface area Aw extracted from the road shape data. In another example, the system controller 20 calculates a curve or curved surface based on three-dimensional coordinate points (also referred to as “data points”) indicating latitude, longitude and altitude in the water surface area Aw extracted from the road shape data, The minimum value of altitude on the curve or curved surface may be calculated as the altitude H2.

Then, the system controller 20 calculates the water depth Dwc based on the altitude H1 calculated in step S301 and the altitude H2 calculated in step S302 (step S303). Specifically, the system controller 20 calculates the water depth Dwc by subtracting the altitude H2 from the altitude H1.

FIG. 7 shows a cross-sectional view of the flooded area WC demonstrating the above data points based on the road geometry data. In the example of FIG. 7, data points P1 to P6 near the flooded area WC are shown. In this case, the system controller 20 calculates the altitude H1 at the representative boundary point Pr to be calculated in step S301 of FIG. Determined by altitude. In another example, the system controller 20 virtually obtains an interpolation line connecting two data points P1 and P2 closest to the boundary absolute coordinates, and defines the altitude at the boundary absolute coordinates determined by the interpolation line as the altitude H1. may

Similarly, the system controller 20 determines the altitude H2 at the deepest portion Lwc to be calculated in step S302 of FIG. Set at the indicated altitude. In this way, the system controller 20 can obtain the altitudes H1 and H2 based on the altitude information registered in the road shape data of the map data 32, and can suitably calculate the water depth Dwc.

(4) Display example
Next, specific display examples (first to fourth display examples) on the display 44 will be described with reference to FIGS. 8 to 11. FIG.

FIGS. 8A and 8B are first display examples of the display 44 when the submerged portion WC is detected. In the examples of FIGS. 8A and 8B, the system controller 20 superimposes the camera image Ic acquired from the camera 2 and displays warning images 8A and 8B that warn of the detected flooded area WC.

In the examples of FIGS. 8A and 8B, the system controller 20 pre-stores first and second thresholds for the water depth Dwc, and according to the result of comparison between the water depth Dwc and the first and second thresholds, Warning images 8A and 8B with different contents are displayed. Here, the first threshold is a threshold (for example, 3 cm) for determining whether slow driving is necessary to pass through the detected submerged area WC, and the second threshold is a threshold for passing through the detected submerged area WC. A threshold value (for example, 30 cm) for the water depth Dwc for determining whether or not it is possible.

Specifically, in the example of FIG. 8A, the system controller 20 determines that the calculated water depth Dwc (here, 15 cm) is greater than the first threshold value and less than the second threshold value. is necessary. Therefore, in this case, the system controller 20 superimposes the detected water depth Dwc and a warning image 8A indicating that the vehicle should be driven slowly on the camera image Ic. The system controller 20 superimposes the warning image 8A on the road area Ar adjacent to the water surface area Aw on the vehicle side so that the driver can see the warning image 8A in the same manner as the road marking.

On the other hand, in the example of FIG. 8B, the system controller 20 determines that the vehicle cannot pass through the flooded area WC because the calculated water depth Dwc (here, 50 cm) is greater than the second threshold. Therefore, in this case, the system controller 20 displays the detected water depth Dwc and a warning image 8B indicating that the road is closed, superimposed on the camera image Ic.

As described above, according to the examples of FIGS. 8A and 8B, the system controller 20 can appropriately notify whether or not the submerged area WC is passable according to the detected water depth Dwc of the submerged area WC. can. In the examples of FIGS. 8A and 8B, the system controller 20 uses the first and second threshold values, but instead of this, when the water depth Dwc is less than the second threshold value, the vehicle slows down. It may be determined that driving is necessary, and that vehicles cannot pass when the water depth Dwc is equal to or greater than the second threshold. That is, the system controller 20 may determine the display content of the warning image using only one threshold.

FIG. 9 shows a second display example of the display 44 when the submerged portion WC is detected. In the example of FIG. 9, the system controller 20 superimposes on the camera image Ic acquired from the camera 2 a warning image 8C indicating a warning against the detected flooded area WC, and color-coded images 9A and 9B corresponding to the water depth Dwc. I am letting

In the example of FIG. 9, the system controller 20 sets first and second thresholds, for example, in the same manner as in the examples of FIGS. A color-coded image 9A of a predetermined color (eg, yellow) is superimposed on the water surface region Aw where the water depth Dwc is equal to or greater than the second threshold, and a color-coded image 9A of a color (eg, orange) that is more conspicuous than the color-coded image 9A is superimposed on the water surface region Aw where the water depth Dwc is equal to or greater than the second threshold value. 9B is superimposed and displayed. Then, the system controller 20 displays a warning image 8c indicating that passage is prohibited and the detected water depth Dwc in association with the color-coded image 9B. According to this aspect, the system controller 20 can clearly show the depth distribution of the submerged area WC to the driver and suitably notify the driver of whether or not the submerged area WC is passable.

FIG. 10 shows a third display example of the display 44 when the submerged portion WC is detected. In the example of FIG. 10, the system controller 20 graphically displays the cross-sectional view of the road on which the vehicle is traveling and the submerged area WC detected on the road along the traveling direction of the vehicle with reference to the road shape data. Further, in the example of FIG. 10, the system controller 20 compares the detected water depth Dwc with the first and second threshold values in the same manner as in the first and second display examples, and the water depth Dwc (here, 50 cm) is the first value. 2 It is judged that it is more than threshold. Therefore, in this case, the system controller 20 displays a warning image 8D indicating that passage through the submerged area WC displayed in cross section is prohibited and the calculated water depth Dwc. The image displayed by the display 44 in the third display example is an example of the "cross-sectional image" in the present invention.

FIG. 11 shows a fourth display example of the display 44 when the submerged portion WC is detected. In the example of FIG. 11, the system controller 20 forms a left screen 7A in which a warning image 8C and color-coded images 9A and 9B are superimposed on the camera image Ic in the same manner as in the second display example, and a submerged portion WC. A two-screen display is performed with the camera image Ic displayed on the left screen 7A before moving and the right screen 7B displaying an image photographed from substantially the same position.

In this case, the system controller 20 displays the left screen 7A in the same manner as in the second display example described with reference to FIG. received from a server device that does not In this case, the system controller 20, for example, transmits the vehicle position information and traveling direction information based on the outputs of the self-supporting positioning device 10 and the GPS receiver 18 to the server device, thereby determining the position and traveling direction indicated by the vehicle position information. A captured image associated with the direction indicated by the direction information is received from the server device. In this case, each vehicle including the vehicle equipped with the navigation device 1, for example, associates the camera image Ic when the submerged portion WC is not detected with the current position information and the traveling direction information and transmits it to the server device. Thus, the server device generates and updates a database of photographed images associated with the position and traveling direction of the vehicle at the time of photographing. In the example of FIG. 11, the system controller 20 causes the left screen 7A to display an image based on the second display example. An image may be displayed.

As described above, the system controller 20 of the navigation device 1 according to the present embodiment, based on the camera image Ic output by the camera 2, detects the flooded water surface area Aw on the road and the road other than the water surface area Aw. A representative boundary position Pr with the road area Ar is detected. Then, the system controller 20 calculates the water depth Dwc by referring to the altitude information included in the road shape data of the map data 32 based on the latitude and longitude of the representative boundary position Pr. As a result, the navigation device 1 can appropriately grasp the degree of flooding and perform an appropriate warning display when there is a flooded portion WC on the road.

[Modification]
Each modification of the embodiment will be described below. In addition, each of these modifications may be combined and applied to the above embodiment.

(Modification 1)
A server device that communicates with the navigation device 1 via a network may execute the boundary position detection processing, water depth calculation processing, and the like, which are executed by the navigation device 1 in the embodiment.

FIG. 12 shows the configuration of a flood warning system according to a modification. In the example of FIG. 12, the flood warning system has a navigation device 1, a camera 2, and a server device 3 having map data 32A including road shape data.

In the configuration example of FIG. 12 , the navigation device 1 has the camera image Ic acquired from the camera 2 and the output of the self-positioning device 10 and the GPS receiver 18 or the vehicle position information generated based on the output at predetermined intervals. and information on the direction of travel are transmitted to the server device 3 . In this case, the server device 3 performs the boundary position detection processing shown in FIG. 4 based on the received camera image Ic, vehicle position information, and traveling direction information. A water depth calculation process is further executed. When the server device 3 calculates the water depth Dwc in the water depth calculation process, the server device 3 provides the information of the calculated water depth Dwc and the information necessary for the navigation device 1 to perform the warning display for the submerged area WC shown in FIGS. Information is sent to the navigation device 1 . In this case, based on the information received from the server device 3, the navigation device 1 performs the displays shown in FIGS. 8 to 11 and the like.

Here, the server device 3 determines whether or not slow driving in the submerged area WC is necessary and whether or not passage is possible by comparing the above-described first and second threshold values with the water depth Dwc. You may transmit the image which superimposed the image etc. to the navigation apparatus 1. FIG. In this case, the navigation device 1 causes the display 44 to display the image received from the server device 3 .

Further, the server device 3 may store the information of the water depth Dwc and the position information of the submerged area WC calculated in the water depth calculation process in the storage unit, and may transmit the information to the navigation devices of other vehicles. In this case, the navigation device that has received the information about the flooded area WC from the server device 3, for example, performs a process of setting a guidance route that does not pass through the road on which the flooded area WC is formed, or performs a process of setting a guidance route that does not pass through the road on which the flooded area WC is formed. You may display the position and the water depth Dwc which are carried out.

In this way, even with the configuration example of this modified example, the navigation device 1 can suitably notify the driver of information regarding whether or not to drive slowly and whether or not the vehicle can pass when there is a submerged area WC. In this modified example, the server device 3 is an example of the "information processing device" in the present invention, and the CPU of the server device 3 is equivalent to the "detecting means", the "acquisition means", and the "altitude information acquisition means" in the present invention. , “depth calculation means” and a computer that executes the program in the present invention.

(Modification 2)
Based on the camera image Ic acquired from the camera 2, instead of detecting the flooded area WC, the navigation device 1 detects the output of an external sensor such as an infrared sensor or a laser range sensor (lidar) whose target range is the road in front of the vehicle. , the submerged portion WC may be detected. Even in this case, the navigation device 1 detects the road area Ar And the water surface area Aw is extracted, and the representative boundary point Pr is detected. In this way, the navigation device 1 can suitably detect the submerged area WC and calculate the water depth Dwc using the output of an external sensor other than the camera 2 .

(Modification 3)
The navigation device 1 may detect a snow-covered portion on the road instead of or in addition to detecting the flooded portion WC formed on the road.

In this case, the navigation device 1 executes the flowcharts of FIGS. 3, 4, and 6 in the same manner as in the embodiment to estimate the snow depth of the snow-covered portion, and adjust the depth of the snow cover according to the estimated snow depth. Displays warnings, etc. It should be noted that in step S203 of the flowchart in FIG. 4, the system controller 20 extracts the area of the snow-covered portion from the camera image Ic instead of extracting the water surface area AW from the camera image Ic. According to this modified example, the system controller 20 can detect a snow-covered portion of the road and suitably notify the driver of information regarding whether or not the road is passable.

(Modification 4)
The system controller 20 may perform audio output by the audio output unit 50 according to the water depth Dwc instead of or in addition to displaying the warning image or the like corresponding to the water depth Dwc superimposed on the camera image Ic.

In this case, for example, in the example of FIG. 8(A), the system controller 20, in place of or in addition to the display of the warning image 8A, indicates that the water depth Dwc of the flooded area WC ahead is 15 cm and that slowing down is indicated. Voice output to the effect that it is necessary. Further, in the example of FIG. 8(B), instead of displaying the warning image 8B or in addition to this, the system controller 20 indicates that the water depth Dwc of the flooded area WC in front is 50 cm and that passage is not possible. Output audio. Thus, according to this modified example, the navigation device 1 can also suitably notify the driver of information regarding whether or not to drive slowly and whether or not the vehicle can pass when there is a submerged area WC.

In addition, instead of superimposing a warning image or the like corresponding to the water depth Dwc on the display 44 and displaying the warning image or the like corresponding to the water depth Dwc on the display 44, the system controller 20 displays a warning image or the like corresponding to the water depth Dwc using a head-up display (not shown). may be superimposed on and displayed to the driver. In this case, for example, the navigation device 1 is electrically connected to a light source that emits light to the front window of the vehicle or a combiner provided in the interior of the vehicle, and controls the emission of the light source so that the light is emitted according to the water depth Dwc. A warning image or the like is displayed as a virtual image. With this aspect as well, the navigation device 1 can suitably notify the driver of information regarding whether or not to drive slowly and whether or not the vehicle can pass when there is a submerged area WC.

(Modification 5)
In the case where the navigation device 1 has an automatic driving function for automatically controlling the vehicle, the navigation device 1 detects the submerged part WC instead of outputting a warning when the submerged part WC is detected, and automatically detects the submerged part WC and the water depth Dwc. information may be used for automated driving. For example, when the water depth Dwc is greater than or equal to a first threshold and less than a second threshold, the navigation device 1 drives slowly through the detected flooded area WC, and when the water depth Dwc is greater than or equal to the second threshold, the vehicle is stopped. conduct.

REFERENCE SIGNS LIST 1 navigation device 2 camera 3 server device 10 self-supporting positioning device 12 GPS receiver 20 system controller 22 CPU
31 data storage unit 38 communication device 40 display unit 44 display 50 audio output unit 60 input device

Claims (1)

detection means for detecting a boundary position between a first range covered with water or snow on the road and a second range different from the first range, based on the output result of the imaging device or the sensor;
acquisition means for acquiring the depth of flooding or snow coverage in the first range based on the boundary position;
Information processing device.

Images