JP7158947B2 - Dangerous Vehicle Information Collection Method, Dangerous Vehicle Information Collection System, Dangerous Vehicle Information Collection Program - Google Patents

Description

The present disclosure relates to a dangerous vehicle information collection technique for collecting dangerous vehicle information related to dangerous vehicles that are driven dangerously by drivers.

Conventionally, there is known a technique for supporting objective analysis of causes of traffic accidents (for example, Patent Literature 1). In the technique described in Patent Document 1, an accident vehicle and an accident-related vehicle are identified based on the accident occurrence time and accident location, operation history information of the identified accident vehicle and the accident-related vehicle is extracted, Based on the extracted operation history information, the driving conditions of the accident vehicle and the accident-related vehicle before the occurrence of the accident are identified. By comparing the driving conditions of the accident vehicle and the accident-related vehicle, the system is configured to support objective analysis of the cause of the accident.

JP 2017-182490 A

However, in the conventional technology described above, further improvement is required in that only the information when the accident occurs is handled.

A dangerous vehicle information collection method according to an aspect of the present disclosure includes:
A dangerous vehicle information collection method for use in a dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously, wherein a computer of the dangerous vehicle information collection system comprises:
Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, the other vehicle is identified using a surrounding detection unit that detects the surroundings of the vehicle,
accumulating the specified number of times of the specified other vehicle;
determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
When the other vehicle is determined to be the dangerous vehicle, the information of the other vehicle obtained from the detection result of the surrounding detection unit is stored as the dangerous vehicle information in the dangerous vehicle data storage unit.

According to the dangerous vehicle information collection technology of the present disclosure, it is possible to make further improvements in that only information when an accident occurs is handled.

1 is a block diagram schematically showing the configuration of a dangerous vehicle information collection system according to a first embodiment; FIG. FIG. 4 is a diagram schematically showing an example of a vehicle running state when an event is detected; It is a figure which shows an example of event information roughly. It is a figure which shows an example of specific vehicle information roughly. It is a figure which shows an example of dangerous vehicle information roughly. FIG. 10 is a diagram schematically showing another example of vehicle running conditions when an event is detected; FIG. 10 is a diagram schematically showing another example of vehicle running conditions when an event is detected; FIG. 10 is a diagram schematically showing another example of vehicle running conditions when an event is detected; 4 is a flowchart schematically showing the operation of the dangerous vehicle information collection system according to the first embodiment; FIG. 7 is a block diagram schematically showing the configuration of a dangerous vehicle information collection system according to a second embodiment; FIG. FIG. 4 is a diagram schematically showing an example of an integrated value that changes according to a travel route; It is a flowchart which shows roughly operation|movement of the dangerous vehicle information collection system which concerns on 2nd Embodiment. FIG. 11 is a block diagram schematically showing the configuration of a dangerous vehicle information collection system according to a third embodiment; FIG. Figure 3 schematically shows the same example as Figure 2 of the driving situation of a vehicle when an event is detected; FIG. 4 is a diagram schematically showing an example of an integrated value that changes according to the vehicle-to-vehicle distance;

(Circumstances leading to the invention of one aspect of the present disclosure)
First, the focus of one aspect of the present disclosure will be described. In recent years, there has been a problem of drivers who drive dangerously, such as leaning or squeezing, which may lead to accidents. However, the technique described in Patent Literature 1 handles only information when an accident occurs. On the other hand, the number of detection devices installed in vehicles for detecting the surrounding conditions of the vehicle is increasing, and the detection accuracy of these detection devices is also improving. Therefore, it is desirable to use such a detection device to identify a dangerous vehicle driven by a driver who drives dangerously before an accident occurs, and to collect information about the dangerous vehicle. Based on the above considerations, the inventors of the present disclosure have come up with the following aspects of the invention.

A dangerous vehicle information collection method according to a first aspect of the present disclosure includes:
A dangerous vehicle information collection method for use in a dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously, wherein a computer of the dangerous vehicle information collection system comprises:
Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, the other vehicle is identified using a surrounding detection unit that detects the surroundings of the vehicle,
accumulating the specified number of times of the specified other vehicle;
determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
When the other vehicle is determined to be the dangerous vehicle, the information of the other vehicle obtained from the detection result of the surrounding detection unit is stored as the dangerous vehicle information in the dangerous vehicle data storage unit.

A dangerous vehicle information collection system according to a second aspect of the present disclosure includes:
A dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously,
an event detection unit that detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to the driving conditions of the vehicle;
a specifying unit that specifies the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle when the event is detected;
an accumulating unit for accumulating the identified number of times of the identified other vehicle;
a determination unit that determines the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
a control unit that, when the other vehicle is determined to be the dangerous vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit as the dangerous vehicle information in a dangerous vehicle data storage unit;
is provided.

A dangerous vehicle information collection program according to a third aspect of the present disclosure includes:
A dangerous vehicle information collection program used in a dangerous vehicle information collection system for collecting dangerous vehicle information about dangerous vehicles in which a driver drives dangerously, the computer of the dangerous vehicle information collection system comprising:
A process of detecting an event related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
a process of identifying the other vehicle using a detection unit that detects the surroundings of the vehicle when the event is detected;
a process of accumulating the specified number of times of the specified other vehicle;
a process of determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
a process of storing information of the other vehicle obtained from the detection result of the detection unit in a dangerous vehicle data storage unit as the dangerous vehicle information when the other vehicle is determined to be the dangerous vehicle;
is executed.

In the first mode, the second mode, or the third mode, an event related to the vehicle and other vehicles located around the vehicle is detected from the vehicle data regarding the driving condition of the vehicle. This event may result from dangerous driving of other vehicles located in the vehicle's surroundings. Therefore, when this event is detected, the other vehicle is identified using the detection unit that detects the surroundings of the vehicle. As the number of times the other vehicle has been identified increases, the possibility of this other vehicle repeating dangerous driving increases. Therefore, the number of times the other vehicle has been specified is accumulated, and when the other vehicle is specified at least once, the other vehicle is determined to be a dangerous vehicle. When the other vehicle is determined to be a dangerous vehicle, the information of the other vehicle obtained from the detection result of the detection unit is stored in the dangerous vehicle data storage unit as dangerous vehicle information. Therefore, according to the first mode, the second mode, or the third mode, it is possible to collect dangerous vehicle information about dangerous vehicles in which the driver drives dangerously. As a result, accidents can be prevented by sharing dangerous vehicle information.

In the first aspect, for example,
The vehicle data may include acceleration of the vehicle,
The detection unit may include a front camera that captures an image in front of the vehicle,
In the detection, the event that is a sudden deceleration in which the vehicle decelerates by a predetermined acceleration threshold or more may be detected from the acceleration of the vehicle,
In the identification, the forward vehicle is the other vehicle based on the automobile registration number of the forward vehicle read from image data of the forward vehicle traveling in the same traveling direction in front of the vehicle captured by the forward camera. may be specified as
In the storing, the vehicle registration number of the forward vehicle may be stored in the dangerous vehicle data storage unit as the dangerous vehicle information.

In this aspect, an event of rapid deceleration in which the vehicle decelerates by a predetermined acceleration threshold or more is detected from the acceleration of the vehicle. In this case, the rapid deceleration of the vehicle is considered to be caused by an interruption by a forward vehicle traveling in the same traveling direction ahead of the vehicle. Therefore, the forward vehicle is identified as the other vehicle based on the automobile registration number of the forward vehicle read from the imaging data of the forward vehicle captured using the forward camera. Then, the automobile registration number of the preceding vehicle is stored as dangerous vehicle information in the dangerous vehicle data storage unit. Therefore, according to this aspect, it is possible to collect the dangerous vehicle information about the dangerous vehicle that the driver interrupts. As a result, by sharing dangerous vehicle information, it is possible to prevent accidents caused by interruptions by taking measures such as avoiding other vehicles that interrupt.

In the first aspect, for example,
The vehicle data includes the speed of the vehicle, the inter-vehicle distance between the vehicle and a vehicle running behind the vehicle in the same traveling direction as the vehicle, and whether or not the road on which the vehicle is traveling is congested. Congestion information representing whether,
The detection unit may include a rear camera that captures an image behind the vehicle,
In the detection, the congestion information indicates that the road on which the vehicle travels is not congested, the speed of the vehicle is maintained within a predetermined speed range, and the rear inter-vehicle distance is predetermined. The event of the rearward vehicle may be detected when a state equal to or less than the set backward distance threshold continues for a predetermined delay time, and
In the identification, the rear vehicle may be identified as the other vehicle based on the automobile registration number of the rear vehicle read from the imaging data of the rear vehicle captured using the rear camera,
In the storing, the vehicle registration number of the rear vehicle may be stored in the dangerous vehicle data storage unit as the dangerous vehicle information.

In this aspect, the congestion information indicates that the road on which the vehicle is traveling is not congested, the vehicle speed is maintained within the speed range, and the rear inter-vehicle distance is equal to or less than the rear distance threshold value, and the state continues for the delay time. Then, the event of the rearward vehicle's tailing driving is detected. The rear vehicle is identified as the other vehicle based on the vehicle registration number of the rear vehicle read from the imaging data of the rear vehicle captured using the rear camera. The vehicle registration number of the rear vehicle is stored in the dangerous vehicle data storage unit as dangerous vehicle information. Therefore, according to this aspect, it is possible to collect the dangerous vehicle information about the dangerous vehicle that the driver is driving. As a result, by sharing dangerous vehicle information, it is possible to take measures such as avoiding other vehicles that drive while leaning, thereby preventing accidents caused by leaning.

In the above aspect, the congestion information may be obtained from a car navigation system installed in the vehicle, or may be determined from the speed of the vehicle.

In the first aspect, for example,
The vehicle data includes turning on/off of the direction indicator light switch of the vehicle, lane change information indicating that the vehicle has changed the lane in which the vehicle is traveling, and lane change information indicating that the vehicle is traveling in the same traveling direction as the vehicle. a preceding vehicle that travels; and
The detection unit may include a front camera that captures an image in front of the vehicle,
In said detection, said turn signal switch is turned on, said lane change information indicates that said vehicle has made said lane change, and said forward vehicle is detected before said lane change and after said lane change. at the same time, the event of obstruction of the forward vehicle may be detected,
In the identification, the forward vehicle may be identified as the other vehicle based on the vehicle registration number of the forward vehicle read from the imaging data of the forward vehicle captured using the forward camera,
In the storing, the vehicle registration number of the forward vehicle may be stored in the dangerous vehicle data storage unit as the dangerous vehicle information.

In this aspect, when the turn indicator light switch is turned on, the lane change information indicates that the vehicle has changed lanes, and the forward vehicle is the same before and after the lane change, the forward An event that is a vehicle obstruction is detected. The forward vehicle is identified as another vehicle based on the automobile registration number of the forward vehicle read from the imaging data of the forward vehicle captured using the forward camera. The automobile registration number of the preceding vehicle is stored as dangerous vehicle information in the dangerous vehicle data storage unit. Therefore, according to this aspect, it is possible to collect the dangerous vehicle information about the dangerous vehicle that the driver obstructs. As a result, by sharing the dangerous vehicle information, it is possible to take measures such as avoiding other vehicles that interfere with the progress of the vehicle, thereby preventing accidents caused by the obstruction of the progress of the vehicle.

In the above aspect, the lane change information may be obtained by detecting the steering angle of the steering wheel of the vehicle with a steering sensor, or obtained by imaging a lane boundary line drawn on the road with a camera. You may

In the first aspect, for example,
The vehicle data may include a side vehicle traveling on the side of the vehicle in the same traveling direction as the vehicle and a side inter-vehicle distance between the side vehicle and the vehicle,
The detection unit may include a side detection unit that detects a side of the vehicle, a front camera that captures an image of the front of the vehicle, or a rear camera that captures the image of the rear of the vehicle,
In the detection, when the side inter-vehicle distance is equal to or less than a predetermined side distance threshold and continues for a predetermined time period, the event that the side vehicle is driving toward the side is detected. well,
In the identification, a feature quantity of the side vehicle may be extracted using the side detection unit, and the side vehicle may be identified as the other vehicle based on the feature quantity,
In the storage, based on the imaging data captured by the front camera or the rear camera, a forward vehicle running in front of the vehicle in the same traveling direction as the vehicle or a rearward of the vehicle in the same traveling direction as the vehicle A matching vehicle matching the feature value of the side vehicle is extracted from the feature values of the preceding vehicle or the following vehicle, and read from the imaging data of the matching vehicle. The vehicle registration number of the matching vehicle may be stored in the dangerous vehicle data storage unit as the dangerous vehicle information.

In this aspect, when the side inter-vehicle distance is equal to or less than the side distance threshold for a period of time when the side vehicle is moving closer to the side, an event of side vehicle driving is detected. The side vehicle is identified as the other vehicle based on the feature amount of the side vehicle extracted using the side detection unit. A feature amount of the forward vehicle or the backward vehicle is extracted based on the imaging data captured using the front camera or the rearward camera. Matching vehicles that match the feature amounts of the side vehicle from among the feature amounts of the forward vehicle or the rear vehicle are extracted. The vehicle registration number of the matching vehicle read from the image data of the matching vehicle is stored as dangerous vehicle information in the dangerous vehicle data storage unit. Therefore, according to this aspect, it is possible to collect the dangerous vehicle information about the dangerous vehicle that the driver drives side by side. As a result, by sharing dangerous vehicle information, it is possible to take measures such as avoiding other vehicles that drive sideways, thereby preventing accidents caused by sideways driving.

In the first aspect, for example,
In the determination, the other vehicle may be determined to be the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold.

In this aspect, when the accumulated specified number of times reaches the threshold number of times, the other vehicle is determined to be a dangerous vehicle. Therefore, according to this aspect, it is possible to collect dangerous vehicle information about a dangerous vehicle whose driver habitually drives dangerously.

In the first aspect, for example,
The vehicle data may include travel route information indicating whether or not the travel route on which the vehicle is traveling is a normal travel route that has been traveled in the past,
In the integration, it is confirmed whether or not the travel route on which the vehicle is traveling is the normal travel route, based on the travel route information. The integrated value may be integrated.

If the route on which the vehicle is traveling is a normal route that the vehicle has traveled in the past, it is considered that the driver of the vehicle is aware of possible road-related hazards. . Therefore, it can be said that the detected event is highly likely to be caused by another vehicle. Therefore, in this aspect, when the specified number of times is integrated, an increase integrated value larger than 1 is integrated when the travel route is the normal route. Therefore, according to this aspect, it is possible to reduce the number of times specified until the number of times threshold is reached when the route is a normal travel route. As a result, other vehicles can be determined to be dangerous vehicles more quickly.

In the first aspect, for example,
The vehicle data may further include the inter-vehicle distance between the preceding vehicle and the vehicle and the speed of the vehicle when the event of sudden deceleration is detected in the detection;
In the above integration,
A stopping distance, which is the sum of an idle running distance and a braking distance, may be calculated from the speed of the vehicle,
The inter-vehicle distance and the stopping distance may be compared,
When the inter-vehicle distance is less than the stopping distance, a predetermined increase integrated value larger than 1 may be integrated,
When the inter-vehicle distance is twice or more the stopping distance, a predetermined decrease integrated value smaller than 1 may be integrated,
When the inter-vehicle distance is 1 or more times the stopping distance and less than 2 times, 1 may be integrated,
In the determination, the other vehicle may be determined to be the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold.

In this aspect, when the accumulated specified number of times reaches the threshold number of times, the other vehicle is determined to be a dangerous vehicle. In this aspect, the idling distance is the distance that the vehicle travels from when the brake pedal is operated until the brakes start to work. Braking distance is the distance a car travels from the time the brakes are applied until it stops. The stopping distance is the sum of the idling distance and the braking distance. These distance measures can be calculated according to the speed of the vehicle. On the other hand, when the inter-vehicle distance is short when a sudden deceleration event is detected, it can be said that the degree of danger is higher than when the inter-vehicle distance is long.

Therefore, in this aspect, when the inter-vehicle distance is less than the stopping distance, an increase integrated value larger than 1 is integrated. This can reduce the number of times specified until the number threshold is reached. Also, when the inter-vehicle distance is more than twice the stopping distance, a decrease integrated value smaller than 1 is integrated. This can increase the number of times specified until the number threshold is reached. Also, when the inter-vehicle distance is greater than or equal to and less than twice the stopping distance, 1 is added. As a result, according to this aspect, the other vehicle can be determined to be a dangerous vehicle at a speed corresponding to the degree of danger.

(embodiment)
Embodiments of the present disclosure will be described below with reference to the drawings. In addition, in each drawing, the same code|symbol is used for the same component, and detailed description is abbreviate|omitted suitably.

(First embodiment)
FIG. 1 is a block diagram schematically showing the configuration of the dangerous vehicle information collection system according to the first embodiment. The dangerous vehicle information collection system 10 shown in FIG. 1 includes vehicles 20A, 20B, and 20C and a server device 30. The vehicles 20A, 20B, 20C and the server device 30 are configured to be able to communicate with each other via a network 40 such as the Internet. Vehicles 20A, 20B, and 20C are, for example, four-wheeled vehicles in this embodiment. Vehicles 20A, 20B, and 20C are driven by different drivers and have the same control configuration. Although only three vehicles 20A, 20B, and 20C are shown in FIG. 1, other vehicles may be configured to communicate with the server device 30 via the network 40. FIG.

Vehicle 20A includes communication interface (IF) 100, front camera 105F, rear camera 105R, left rear side camera 110L, right rear side camera 110R, left camera 115L, right camera 115R, light detection and ranging (LIDAR ) 120, vehicle speed sensor 125, acceleration sensor 130, steering sensor 135, direction indicator switch (SW) 140, car navigation system 145, global positioning system (GPS) receiver 150, hazard flasher SW 155, electronic control unit (ECU) 170 Prepare. The ECU 170 includes a memory 175, a central processing unit (CPU) 180, and peripheral circuits (not shown).

The memory 175 is configured by, for example, a semiconductor memory or the like. The memory 175 includes, for example, read only memory (ROM), random access memory (RAM), electrically erasable programmable ROM (EEPROM), and the like. For example, the ROM of the memory 175 stores the control program of the first embodiment for operating the CPU 180 . The CPU 180 functions as a detection control section 185 and a communication control section 190 by operating according to the control program of the first embodiment stored in the memory 175 .

The communication IF 100 is a communication circuit that is connected to the ECU 170 and performs communication under the control of the communication control section 190 . Communication IF 100 generates a communication signal containing data to be transmitted input from ECU 170 according to the communication protocol used in network 40 and transmits the generated communication signal to server device 30 via network 40 . Communication IF 100 includes a communication interface circuit conforming to a predetermined standard.

The front camera 105F is attached to the front center of the vehicle 20A (for example, the upper center of the windshield) so that the optical axis of the front camera 105F faces the front of the vehicle 20A. The rear camera 105R is attached to the center of the rear surface of the vehicle 20A (for example, near the rear license plate) so that the optical axis of the rear camera 105R faces the rear of the vehicle 20A. The left rear side camera 110L is attached to the rear left side of the vehicle 20A (for example, the left end of the rear bumper) so that the optical axis of the left rear side camera 110L faces the left rear side of the vehicle 20A. The right rear side camera 110R is attached to the rear right side of the vehicle 20A (for example, the right end of the rear bumper) so that the optical axis of the right rear side camera 110R faces the right rear side of the vehicle 20A. The left camera 115L is attached to the left side of the vehicle 20A (for example, the upper end of the center pillar) so that the optical axis of the left camera 115L faces the left of the vehicle 20A. The right camera 115R is attached to the right side of the vehicle 20A (for example, the upper end of the center pillar) so that the optical axis of the right camera 115R faces the right side of the vehicle 20A.

Cameras 105F, 105R, 110L, 110R, 115L, and 115R (equivalent to an example of surrounding detection units) each capture an image of a fan-shaped imaging range centered on the optical axis at predetermined time intervals (for example, 1/60 second). Take an image. Cameras 105F, 105R, 110L, 110R, 115L, and 115R each output imaging data to ECU 170 at predetermined time intervals (eg, 1/60 second). Note that the front camera 105F and the rear camera 105R may be cameras provided in a video recording type drive recorder.

The detection control unit 185 of the CPU 180 detects an object present in the imaging range, for example, the area around the vehicle 20A by template matching based on the imaging data output from the cameras 105F, 105R, 110L, 110R, 115L, and 115R. Other vehicles, pedestrians walking in the vicinity of the driving lane, boundary lines drawn on the road that indicate the boundaries of lanes (for example, white lines drawn intermittently), and traffic signs installed on the side of the road are detected.

The LIDAR 120 is mounted, for example, on the roof of the vehicle 20A. The LIDAR 120 emits a pulse of laser light, measures the return time, and detects the distance to the reflector. The LIDAR 120 detects the three-dimensional shape around the vehicle 20A by rotating the emitting direction of the laser light in the horizontal direction and simultaneously swinging it in the vertical direction at high speed.

Vehicle speed sensor 125 detects the speed of vehicle 20A. The vehicle speed sensor 125 may detect the rotational speed of the wheels of the vehicle 20A, and the detection control unit 185 may calculate the speed of the vehicle 20A based on the detected wheel rotational speed. Acceleration sensor 130 detects the acceleration of vehicle 20A. The steering sensor 135 detects the steering angle of the steering wheel operated by the driver. The direction indicator light SW140 is composed of, for example, a lever extending from the steering column and is operated by the driver. The detection control unit 185 blinks an orange direction indicator light for indicating a left turn or a right turn according to the operation content of the direction indicator SW 140 .

The car navigation system 145 is a known system that detects the position of the vehicle 20A and guides the route to the destination based on the detected position of the vehicle 20A and built-in map data. GPS receiver 150 is a known device that receives radio waves from GPS satellites and calculates the position of GPS receiver 150 (that is, vehicle 20A) by positioning calculation. GPS receiver 150 may be a device provided in car navigation system 145 . The hazard flasher SW155 is configured by, for example, a push button switch. When the hazard flasher SW 155 is operated by the driver or a passenger who rides with the driver in the vehicle 20A, the detection control unit 185 flashes all the direction indicator lights all at once.

The communication control unit 190 of the CPU 180 includes the front camera 105F, the rear camera 105R, the left rear side camera 110L, the right rear side camera 110R, the left camera 115L, the right camera 115R, the LIDAR 120, the vehicle speed sensor 125, the acceleration sensor 130, Data input from the steering sensor 135, the direction indicator SW 140, the car navigation system 145, the GPS receiver 150, and the hazard flasher SW 155 are communicated as vehicle data together with unique vehicle identification information (vehicle ID) that identifies the vehicle 20A. It transmits to the server device 30 via the IF 100 .

The server device 30 has a communication IF 200 , a control circuit 205 and a storage device 270 . The storage device 270 is configured by, for example, a hard disk or a semiconductor non-volatile memory. The storage device 270 includes an event data storage section 275 and a dangerous vehicle data storage section 280 .

The control circuit 205 includes a memory 210, a CPU 220, and peripheral circuits (not shown). The memory 210 is configured by, for example, a semiconductor memory or the like. Memory 210 includes, for example, ROM, RAM, EEPROM, and the like. For example, the ROM of the memory 210 stores the control program of the first embodiment for operating the CPU 220 . The CPU 220 functions as an event detection section 230 , a dangerous vehicle determination section 240 and a communication control section 245 by operating according to the control program of the first embodiment stored in the memory 210 .

The communication IF 200 is a communication circuit that is connected to the control circuit 205 and performs communication under the control of the communication control section 245 . Communication IF 200 receives, via network 40, communication signals transmitted from communication IFs 100 of vehicles 20A, 20B, and 20C. Communication IF 200 may include a communication interface circuit conforming to the same standard as communication IF 100 . The communication control unit 245 extracts vehicle data such as acceleration and imaging data from the communication signal received by the communication IF 200, and temporarily stores the extracted vehicle data in the memory 210, for example, RAM.

FIG. 2 is a diagram schematically showing an example of the running state of the vehicle when event detection section 230 of CPU 220 detects an event. FIG. 3 is a diagram schematically showing an example of event information stored in an event data storage unit. FIG. 4 is a diagram schematically showing an example of specific vehicle information stored in an event data storage unit. FIG. 5 is a diagram schematically showing an example of dangerous vehicle information stored in a dangerous vehicle data storage unit.

In FIG. 2 , event detection unit 230 determines that the absolute value of the negative acceleration of vehicle 20A becomes equal to or greater than a predetermined acceleration threshold based on data from acceleration sensor 130 transmitted from vehicle 20A (that is, if vehicle 20A suddenly When it is detected that the vehicle 20A has decelerated) and that another vehicle 25X cuts in front of the vehicle 20A is detected based on data from the front camera 105F or the LIDAR 120, etc., an interrupt event by the other vehicle 25X is detected. do. Similarly, based on the vehicle data transmitted from the vehicle 20B, the event detection unit 230 detects that the absolute value of the negative acceleration of the vehicle 20B is greater than or equal to the acceleration threshold value and that another vehicle 25X cuts in front of the vehicle 20B. When this is detected, an event that is an interruption by the other vehicle 25X is detected. Similarly, based on the vehicle data transmitted from the vehicle 20C, the event detection unit 230 detects that the absolute value of the negative acceleration of the vehicle 20C is greater than or equal to the acceleration threshold and that another vehicle 25X has cut in front of the vehicle 20C. When this is detected, an event that is an interruption by the other vehicle 25X is detected.

That is, for example, when it is detected that another vehicle 25X cuts in front of the vehicle 20A when the vehicle 20A suddenly decelerates, the event detection unit 230 determines that the sudden deceleration of the vehicle 20A is caused by the driver of the vehicle 20A. An event that is an interruption is detected by judging that the cause is not dangerous driving but interruption by the other vehicle 25X. Note that the event detection unit 230 may detect an event that is an interruption by the other vehicle 25X when the hazard flasher SW 155 is further operated.

The event detector 230 creates event information 3000 upon detecting an event. The event detection unit 230 saves the created event information 3000 and the image of the other vehicle 25X captured by the front camera 105F in the event data storage unit 275. FIG. In the event information 3000, as shown in FIG. 3, the event detection date and time (year, month, day, hour, minute, second), acceleration, and an image of the other vehicle 25X are stored in the event data storage unit 275 for each vehicle identification information (vehicle ID). are associated with the memory addresses at which they are stored in the . In FIG. 3, for example, the acceleration value "Gaa" corresponding to the date and time "AAAA" of the vehicle 20A is a negative value, and the absolute value of "Gaa" is greater than or equal to the acceleration threshold.

In FIG. 3, the event information 3000 includes, for each vehicle ID, the date and time of event detection, the acceleration, and the memory address of the image of the other vehicle 25X, but is not limited to this. Event information 3000 may also include location information for each vehicle ID based on data from GPS receiver 150 .

When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 (corresponding to an example of the identification unit, the integration unit, the determination unit, and the control unit) detects the event from the image data of the other vehicle 25X captured by the front camera 105F. The other vehicle 25X is specified by reading the vehicle registration number written on the vehicle registration number mark of the vehicle 25X. The dangerous vehicle determination unit 240 creates specific vehicle information 4000 of the identified other vehicle 25X. The dangerous vehicle determination unit 240 saves the created specific vehicle information 4000 in the event data storage unit 275 .

The specific vehicle information 4000 includes a car registration number column 4001 and a specific number of times column 4002, as shown in FIG. The vehicle registration number field 4001 registers the vehicle registration number read from the imaging data of the other vehicle 25X. The number of times specified by the dangerous vehicle determination unit 240 is registered in the specified number of times column 4002 .

For example, in the situation of FIG. 2, the dangerous vehicle determination unit 240 identifies the other vehicle 25X based on each vehicle data from the vehicles 20A, 20B, and 20C. Then, if the vehicle registration number of the other vehicle 25X is already registered in the specific vehicle information 4000, the dangerous vehicle determination unit 240 adds "3" to the specific number of times column 4002.

The dangerous vehicle determination unit 240 further determines whether or not the number of times in the specific number of times column 4002 in the specific vehicle information 4000 has reached a predetermined number of times threshold value (for example, five times). When the number of times in the specified number of times column 4002 reaches the threshold number of times, the dangerous vehicle determination unit 240 determines that the vehicle that has reached the threshold number of times is a dangerous vehicle. The dangerous vehicle determination unit 240 creates dangerous vehicle information 5000 regarding a vehicle determined to be a dangerous vehicle. The dangerous vehicle determination unit 240 saves the created dangerous vehicle information 5000 and the image of the vehicle determined to be a dangerous vehicle in the dangerous vehicle data storage unit 280 . Note that the number of times threshold is not limited to five, and may be set to an appropriate value experimentally or empirically.

The dangerous vehicle information 5000 includes an automobile registration number column 5001, a specified number of times column 5002, and an image memory address column 5003, as shown in FIG. The vehicle registration number column 5001 and the specified number of times column 5002 are respectively the same as the vehicle registration number column 4001 and the specified number of times column 4002 of the specific vehicle information 4000 (FIG. 4). The image memory address column 5003 registers a memory address when an image of a vehicle determined to be a dangerous vehicle is stored in the dangerous vehicle data storage unit 280 .

6 to 8 are diagrams schematically showing other examples of vehicle running conditions when event detection section 230 detects an event. In FIG. 6, the event detection unit 230 detects an event of the back vehicle 25Y driving in a rush based on the vehicle data transmitted from the vehicle 20A. That is, the traffic information of the car navigation system 145 of the vehicle 20A indicates that the road on which the vehicle 20A travels is not congested, and the vehicle speed sensor 125 of the vehicle 20A detects the speed of the vehicle 20A in advance. A rear vehicle 25Y that is maintained at a speed within a predetermined speed width threshold (for example, ±10 km/h centered on the legal speed) and that travels behind the vehicle 20A in the same traveling direction as the vehicle 20A. and the vehicle 20A is equal to or less than a predetermined rear distance threshold value (for example, 20 m) and continues for a predetermined period of time (for example, 10 seconds), the rear vehicle 25Y causes the rear vehicle 25Y to drive. Detect an event. Note that the speed width threshold is not limited to ±10 km/h centered on the legal speed, the rear distance threshold is not limited to 20 m, and the swing time is not limited to 10 seconds. Appropriate values may be determined experimentally or empirically.

The event detection unit 230 calculates the rear inter-vehicle distance D1 based on the distance data obtained by the LIDAR 120 . Alternatively, the event detection unit 230 may calculate the rear inter-vehicle distance D1 based on the size of the rear vehicle 25Y in the imaging data output from the rear camera 105R.

Event detection unit 230 stores event information 3000 ( FIG. 3 ) and an image of rear vehicle 25</b>Y captured by rear camera 105</b>R in event data storage unit 275 . In this case, the event detection unit 230 may create the event information 3000 (FIG. 3) so as to include information representing the rear inter-vehicle distance D1 or leaning driving instead of the acceleration.

When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 reads the vehicle registration number written on the vehicle registration number mark of the rear vehicle 25Y from the imaging data of the rear vehicle 25Y captured by the rear camera 105R. , to identify the rear vehicle 25Y.

In FIG. 7, the event detection unit 230 detects an event of obstruction by the forward vehicle 25Z based on the vehicle data transmitted from the vehicle 20A. That is, the event detection unit 230 determines that the direction indicator light SW 140 is on, the lane in which the vehicle 20A is traveling is changed, and the same forward vehicle 25Z is detected by the front camera 105F or the like before and after the lane change. When detected, an event that is an obstruction of progress by the forward vehicle 25Z is detected. Alternatively, when the vehicle 20A repeats lane changes a predetermined number of times (for example, three times), the event detection unit 230 repeatedly detects the same forward vehicle 25Z before and after the lane change. It is also possible to detect an event that is obstruction of progress by the forward vehicle 25Z.

Event detection unit 230 detects a change of lane by vehicle 20A based on the steering angle of the steering wheel detected by steering sensor 135, which is included in the vehicle data transmitted from vehicle 20A. Alternatively, the event detection unit 230 detects the change of the driving lane by the vehicle 20A based on the lane lines drawn on the road imaged by the cameras 105F, 105R, 110L, 110R, etc. included in the vehicle data transmitted from the vehicle 20A. may be detected based on a boundary line (for example, a white line drawn intermittently) representing the boundary of the .

The event detection unit 230 saves the event information 3000 (FIG. 3) and the image of the forward vehicle 25Z captured by the front camera 105F in the event data storage unit 275. FIG. In this case, the event detection unit 230 may create the event information 3000 (FIG. 3) so as to include information representing progress obstruction instead of acceleration.

When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 reads the vehicle registration number written on the vehicle registration number tag of the forward vehicle 25Z from the imaging data of the forward vehicle 25Z captured by the front camera 105F. , to identify the forward vehicle 25Z.

In FIG. 8, the event detection unit 230 detects an event that the side vehicle 25W moves toward the side based on the vehicle data transmitted from the vehicle 20A. That is, the event detection unit 230 detects a side distance threshold (for example, 2m) When the following state continues for a predetermined time period (for example, 5 seconds), an event of the side vehicle 25W is detected. Note that the side distance threshold is not limited to 2 m, and the width adjustment time is not limited to 5 seconds. Appropriate values may be determined experimentally or empirically.

Event detection unit 230 detects side vehicle 25W based on image data captured by left camera 115L or right camera 115R, which is included in vehicle data transmitted from vehicle 20A. Alternatively, the event detection unit 230 may detect the side vehicle 25W based on the distance data of the LIDAR 120 included in the vehicle data transmitted from the vehicle 20A.

The event detection unit 230 saves the event information 3000 ( FIG. 3 ) and the image of the side vehicle 25W captured by the left camera 115L or the right camera 115R in the event data storage unit 275 . In this case, the event detection unit 230 may create the event information 3000 (FIG. 3) so as to include information representing the width adjustment instead of the acceleration.

When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 extracts a feature amount from the image of the side vehicle 25W captured by the left camera 115L or the right camera 115R. The side vehicle 25W is identified.

The dangerous vehicle determination unit 240 extracts a feature amount from an image of another vehicle (front vehicle or rear vehicle) captured by the front camera 105F or the rear camera 105R. The dangerous vehicle determination unit 240 extracts matching vehicles that match the feature amounts of the side vehicle 25W from among the feature amounts of the other vehicles. The dangerous vehicle determination unit 240 reads the vehicle registration number written on the vehicle registration number tag of the matching vehicle from the imaging data captured by the front camera 105F or the rear camera 105R, and obtains the specific vehicle information 4000 ( 4) is created, and the created specific vehicle information 4000 is stored in the event data storage unit 275. FIG.

Alternatively, when the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 tracks the movement of the side vehicle 25W based on the distance data of the LIDAR 120 included in the vehicle data transmitted from the vehicle 20A, When the side vehicle 25W enters the imaging range of the front camera 105F or the rear camera 105R, from the image data captured by the front camera 105F or the rear camera 105R, the vehicle registration number stamp of the side vehicle 25W is obtained. The vehicle registration number may be read to identify the side vehicle 25W.

FIG. 9 is a flow chart schematically showing the operation of the dangerous vehicle information collection system 10 according to the first embodiment. The operation of FIG. 9 is repeatedly executed at fixed time intervals (for example, 10 msec).

In step S1000, communication control unit 245 of server device 30 receives vehicle data from vehicles 20A, 20B, and 20C via communication IF 100. FIG. In step S1005, communication control unit 245 temporarily stores the received vehicle data in memory 210 together with the vehicle ID. In step S1010, dangerous vehicle determination section 240 determines whether event detection section 230 has detected an event. If event detection unit 230 has detected an event (YES in step S1010), the process proceeds to step S1015. On the other hand, if event detection unit 230 has not detected an event (NO in step S1010), the operation in FIG. 9 ends.

In step S1015, the dangerous vehicle determination unit 240 identifies other vehicles. In step S<b>1020 , dangerous vehicle determination unit 240 reads information about the specified other vehicle from event data storage unit 275 . In step S1025, the dangerous vehicle determination unit 240 integrates the specific number of times of the other vehicle identified in the specific vehicle information 4000 (FIG. 4). It should be noted that if information on the specified other vehicle is not stored in the event data storage unit 275, the specified number of times is not accumulated.

In step S1030, dangerous vehicle determination unit 240 determines whether or not the accumulated specific number of other vehicles has reached a number threshold. If the accumulated specific number of times of other vehicles has not reached the number of times threshold (NO in step S1030), the process proceeds to step S1035. On the other hand, if the accumulated specific number of times of other vehicles has reached the number of times threshold (YES in step S1030), the process proceeds to step S1040.

In step S1035, event detection unit 230 creates event information 3000 (FIG. 3) based on the specified information of the other vehicle, and stores the created event information 3000 and the image of the other vehicle in event data storage unit 275. . It should be noted that even if the information of the specified other vehicle is not saved in the event data storage unit 275 in step S1020, the event information 3000 and the image of the other vehicle are stored in the event data storage unit 275 in step S1035. Saved. Also, in step S1035, dangerous vehicle determination unit 240 creates specific vehicle information 4000 (FIG. 4) and stores it in event data storage unit 275. FIG. After that, the operation of FIG. 9 ends.

In step S1040, dangerous vehicle determination unit 240 creates dangerous vehicle information 5000 (FIG. 5) from the information of other vehicles for which the specified number of times has reached the threshold number of times, and creates dangerous vehicle information 5000 (FIG. 5) together with an image of the vehicle determined to be a dangerous vehicle. Save in the storage unit 280 . After that, the operation of FIG. 9 ends.

As described above, according to the first embodiment, an event such as cut-in, rush driving, obstruction of progress, or narrowing is detected, the other vehicle that caused the event is specified, and the specified number of times is the number of times threshold. The other vehicle that has reached the limit is determined to be a dangerous vehicle, and the dangerous vehicle information 5000 including the vehicle registration number is stored in the dangerous vehicle data storage unit 280 . Therefore, it is possible to collect dangerous vehicle information about a dangerous vehicle that the driver drives dangerously. As a result, accidents can be prevented by sharing dangerous vehicle information.

(Second embodiment)
FIG. 10 is a block diagram schematically showing the configuration of a dangerous vehicle information collection system 10A according to the second embodiment. A dangerous vehicle information collection system 10A according to the second embodiment includes vehicles 20A, 20B, and 20C, and a server device 30A. Vehicles 20A, 20B, 20C and server device 30A are configured to be able to communicate with each other via network 40 .

The server device 30A includes a communication IF 200, a control circuit 205A, and a storage device 270A. The storage device 270A is configured by, for example, a hard disk or a semiconductor non-volatile memory. The storage device 270A includes an event data storage section 275, a dangerous vehicle data storage section 280, and a travel route storage section 285. FIG.

The control circuit 205A includes a memory 210A, a CPU 220A, and peripheral circuits (not shown). The memory 210A is configured by, for example, a semiconductor memory or the like, and includes, for example, ROM, RAM, EEPROM, and the like. For example, the ROM of the memory 210A stores the control program of the second embodiment for operating the CPU 220A. The CPU 220A functions as an event detection unit 230, a dangerous vehicle determination unit 240A, a communication control unit 245, and a travel route confirmation unit 250 by operating according to the control program of the second embodiment stored in the memory 210A.

The travel route storage unit 285 stores the position information of the vehicle 20A included in the vehicle data transmitted from the vehicle 20A. That is, communication control unit 190 of vehicle 20A transmits the position information of vehicle 20A calculated by GPS receiver 150 to server device 30A via communication IF 100 . The communication control unit 245 of the server device 30A stores the position information of the vehicle 20A included in the vehicle data transmitted from the vehicle 20A in the travel route storage unit 285 in association with the vehicle ID.

The traveling route confirmation unit 250 checks the location information of the vehicle 20A included in the vehicle data transmitted from the traveling vehicle 20A and the location information of the vehicle 20A stored in the traveling route storage unit 285 in association with the vehicle ID of the vehicle 20A. By comparing with the position information, it is confirmed whether or not the traveling route of the vehicle 20A currently traveling is the normal traveling route that has been traveled in the past.

Alternatively, the communication control unit 190 of the vehicle 20A determines whether the currently traveling route output from the car navigation system 145 via the communication IF 100 is a normal traveling route that has been traveled in the past. may be transmitted to the server device 30A. Based on the navigation information included in the vehicle data transmitted from vehicle 20A, traveling route confirmation unit 250 determines whether or not the traveling route of vehicle 20A currently traveling is a normal traveling route that has been traveled in the past. You can check. In this case, the travel route storage unit 285 becomes unnecessary.

The dangerous vehicle determination unit 240A adds up the number of times the other vehicle 25X specified by the dangerous vehicle determination unit 240A is specified when the current vehicle 20A is traveling on a first-time route that has not been traveled in the past. Keep the integrated value at "1". On the other hand, when the travel route of the currently traveling vehicle 20A is a normal travel route that has been traveled in the past, the dangerous vehicle determination unit 240A increases the integrated value to, for example, "2" and do.

FIG. 11 is a diagram schematically showing an example of integrated values that change according to the travel route. In the example of FIG. 11, the frequency threshold is set to four. As shown in section (A) of FIG. 11, when only the initial travel route is traveled, the integrated value of the specified number of times is "1". 240A is determined to be a dangerous vehicle. On the other hand, as shown in section (B) of FIG. 11, when only the normal driving route is traveled, the integrated value of the specific number of times is an increased integrated value increased to "2", so the other vehicle Only by being identified, the vehicle is determined to be a dangerous vehicle by the dangerous vehicle determination unit 240A. In addition, as shown in section (C) of FIG. 11, when the initial travel route is traveled twice and the normal travel route is traveled once, the integrated value of the specific number of times is "1" and "2 times". 2" is one time, so if the other vehicle is specified three times, it is determined to be a dangerous vehicle by the dangerous vehicle determination unit 240A.

FIG. 12 is a flow chart schematically showing the operation of the dangerous vehicle information collection system 10A according to the second embodiment. The operation of FIG. 12 is repeatedly executed at fixed time intervals (for example, 10 msec).

Steps S1000-S1020 are the same as steps S1000-S1020 in FIG. In step S1100 following step S1020, travel route confirmation unit 250 confirms whether or not the travel route of vehicle 20A currently traveling is the normal travel route. If the travel route of the vehicle 20A currently traveling is the normal travel route (YES in step S1100), the process proceeds to step S1105. On the other hand, if the travel route of vehicle 20A currently traveling is not the normal travel route (NO in step S1100), the process proceeds to step S1025.

In step S1105, the dangerous vehicle determination unit 240A increases the integrated value to "2" when accumulating the specified number of times of the specified other vehicle 25X to be an increased integrated value. Steps S1025-S1040 are the same as steps S1025-S1040 in FIG.

As described above, according to the second embodiment, when the travel route on which the vehicle 20A is traveling is the normal travel route that the vehicle 20A has traveled in the past, when accumulating the specified number of times, " 2” is accumulated. Therefore, when traveling the normal travel route, it is possible to reduce the number of times specified until the number of times threshold is reached. As a result, other vehicles can be determined to be dangerous vehicles more quickly. In general, the driver of a vehicle is assumed to know where road-borne hazards may occur. Therefore, when an event is detected while driving on a normal driving route, it can be said that there is a high possibility that the event is caused by another vehicle. Therefore, according to the second embodiment, the other vehicle can be determined to be a dangerous vehicle at an appropriate timing according to the travel route on which the vehicle 20A is traveling. Note that the integrated increase value is not limited to "2" and may be any value greater than one.

(Third Embodiment)
FIG. 13 is a block diagram schematically showing the configuration of a dangerous vehicle information collection system 10B according to the third embodiment. FIG. 14 is a diagram schematically showing the same example as in FIG. 2 of the running state of the vehicle when event detection section 230 detects an event. FIG. 15 is a diagram schematically showing an example of an integrated value that changes according to the inter-vehicle distance.

As shown in FIG. 13, the dangerous vehicle information collection system 10B according to the third embodiment includes vehicles 20A, 20B, 20C and a server device 30B. Vehicles 20A, 20B, 20C and server device 30B are configured to be able to communicate with each other via network 40 . The server device 30B includes a communication IF 200, a control circuit 205B, and a storage device 270. The control circuit 205B includes a memory 210B, a CPU 220B, and peripheral circuits (not shown).

The memory 210B is configured by, for example, a semiconductor memory or the like, and includes, for example, ROM, RAM, EEPROM, and the like. For example, the ROM of the memory 210B stores the control program of the third embodiment for operating the CPU 220B. The CPU 220B functions as an event detection section 230, a dangerous vehicle determination section 240B, a communication control section 245, and a distance calculation section 255 by operating according to the control program of the third embodiment stored in the memory 210B.

Distance calculation unit 255 calculates stopping distance (= idle running distance + braking distance). The idling distance is the distance that the vehicle travels from when the brake pedal is operated until the brakes start to work. Braking distance is the distance a car travels from the time the brakes are applied until it stops. The stopping distance is the sum of the idling distance and the braking distance. These distance measures can be calculated according to the speed of the vehicle.

When the event detection unit 230 detects an event of interrupting driving by the other vehicle 25X, the distance calculation unit 255 further calculates the inter-vehicle distance to the other vehicle 25X in front based on the distance data obtained by the LIDAR 120. do. Alternatively, the distance calculation unit 255 may calculate the inter-vehicle distance to the other vehicle 25X ahead based on the size of the other vehicle 25X in the imaging data output from the front camera 105F.

The dangerous vehicle determination unit 240B compares the calculated stopping distance with the inter-vehicle distance to the other vehicle 25X in front, and adjusts the integrated value when the specified number of times of the specified other vehicle 25X is integrated based on the comparison result. do. For example, in FIG. 14, when the inter-vehicle distance D3a between the vehicle 20A and the other vehicle 25X is a long distance that is twice or more the stopping distance, the integrated value when integrating the specific number of times is a predetermined "1". It is adjusted to a smaller reduction integrated value (for example, "0.5" in this embodiment). Further, when the inter-vehicle distance D3b between the vehicle 20B and the other vehicle 25X is a short distance that is less than the stopping distance, the integrated value when accumulating the specific number of times is an increased integrated value ( In this embodiment, it is adjusted to, for example, "2"). Further, when the inter-vehicle distance D3c between the vehicle 20C and the other vehicle 25X is a middle distance equal to or greater than the stopping distance and less than twice the stopping distance, the integrated value when accumulating the specific number of times is adjusted to "1". be done.

In the example of FIG. 15, the frequency threshold is set to four. As shown in section (A) of FIG. 15, when the vehicle-to-vehicle distance is equal to or greater than the stopping distance and less than twice the stopping distance, the integrated value of the specific number of times is "1". When the vehicle is identified four times, it is determined to be a dangerous vehicle by the dangerous vehicle determining section 240B. On the other hand, as shown in section (B) of FIG. 15, when the inter-vehicle distance is shorter than the stopping distance, the integrated value of the specified number of times is "2", so the other vehicle is specified twice. Therefore, the vehicle is determined to be a dangerous vehicle by the dangerous vehicle determination unit 240B. Also, as shown in section (C) of FIG. 15, when the inter-vehicle distance is two times or more the stopping distance, the integrated value of the specific number of times becomes "0.5". is identified eight times, the vehicle is determined to be a dangerous vehicle by the dangerous vehicle determination unit 240B.

As described above, according to the third embodiment, when the vehicle-to-vehicle distance D3a between the vehicle 20A and the other vehicle 25X is a long distance that is twice or more the stopping distance, the integrated value is reduced to a reduced integrated value. When the adjusted inter-vehicle distance D3b between the vehicle 20B and the other vehicle 25X is a short distance less than the stopping distance, the integrated value is adjusted to an increased integrated value, and the inter-vehicle distance D3c between the vehicle 20C and the other vehicle 25X is increased. , the cumulative value is adjusted to "1" at medium distances equal to or greater than the stopping distance and less than twice the stopping distance.

In general, when the inter-vehicle distance is short when a sudden deceleration event is detected, it can be said that the degree of danger is higher than when the inter-vehicle distance is long. Therefore, according to the third embodiment, the other vehicle can be determined to be a dangerous vehicle at an appropriate timing according to the degree of danger. Note that the integrated increase value is not limited to "2" and may be any value greater than one. Further, the decrease integrated value is not limited to "0.5", and any value smaller than 1 may be used.

(others)
(1) In each of the above-described embodiments, the CPU 220 of the server device 30 stores all vehicle data such as image data of the front camera 105F transmitted from the vehicles 20A, 20B, and 20C during the predetermined storage time TS1. It may be stored in memory 210 . In this case, if the event detector 230 does not detect an event, the CPU 220 may sequentially erase old vehicle data from the memory 210 . In addition, CPU 220 stores all vehicle data transmitted from vehicles 20A, 20B, and 20C in memory 210 for a predetermined storage time TS2 from the time event detection unit 230 detects an event. good too. The storage times TS1 and TS2 may each have the same value as the biasing time or the biasing time for event detection, or may have a different value.

(2) In each of the embodiments described above, the CPU 220 of the server device 30 has the function of the event detection unit 230, but the present invention is not limited to this. Alternatively, CPU 180 of vehicle 20A may have the function of event detection unit 230 . In this case, communication control unit 190 of vehicle 20A may transmit only vehicle data related to the event to server device 30 when the event is detected. For example, when a sudden deceleration event is detected, the communication control unit 190 may transmit only the imaging data of the front camera 105F and the acceleration data of the acceleration sensor 130 to the server device 30.

(3) In each of the above-described embodiments, raw detection data such as acceleration data of the acceleration sensor 130 is configured to be transmittable from the vehicle 20A to the server device 30, but the present invention is not limited to this. For example, the CPU 180 of the vehicle 20A may have a function of diagnosing whether the driver of the vehicle 20A is driving safely or dangerously. Raw detection data cannot be transmitted from the vehicle 20A to the server device 30, and only the driving diagnosis result, the imaging data of the front camera 105F and the like, and the distance data of the LIDAR 120 are transmitted from the vehicle 20A to the server device 30. It may be configured to be transmittable.

In this case, the event detection unit 230 of the server device 30 detects that the other vehicle 25X (FIG. 2) is included in the imaging data of the front camera 105F, for example, when the diagnosis result of dangerous driving due to sudden deceleration is transmitted from the vehicle 20A. When the other vehicle 25X interrupts, an event may be detected.

The dangerous vehicle information collection technology according to the present disclosure is particularly useful for a system for preventing vehicle accidents.

30, 30A, 30B Server device 230 Event detection unit 240, 240A, 240B Dangerous vehicle determination unit 250 Travel route confirmation unit 255 Distance calculation unit 280 Dangerous vehicle data storage unit 5000 Dangerous vehicle information

Claims (13)

A dangerous vehicle information collection method for use in a dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously, wherein a computer of the dangerous vehicle information collection system comprises:
Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, the other vehicle is identified using a surrounding detection unit that detects the surroundings of the vehicle,
accumulating the specified number of times of the specified other vehicle;
determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
when the other vehicle is determined to be the dangerous vehicle, storing information of the other vehicle obtained from the detection result of the surrounding detection unit as the dangerous vehicle information in the dangerous vehicle data storage unit ;
The vehicle data includes turning on/off of the direction indicator light switch of the vehicle, lane change information indicating that the vehicle has changed the lane in which the vehicle is traveling, and lane change information indicating that the vehicle is traveling in the same traveling direction as the vehicle. a preceding vehicle that travels,
The surroundings detection unit includes a front camera that captures an image in front of the vehicle,
In said detection, said turn signal switch is turned on, said lane change information indicates that said vehicle has made said lane change, and said forward vehicle is detected before said lane change and after said lane change. at the same time, the event of obstruction of the preceding vehicle is detected;
In the identification, the forward vehicle is identified as the other vehicle based on the vehicle registration number of the forward vehicle read from the imaging data of the forward vehicle captured using the forward camera,
In the storing, the vehicle registration number of the forward vehicle is stored in the dangerous vehicle data storage unit as the dangerous vehicle information.
Dangerous vehicle information gathering method. A dangerous vehicle information collection method for use in a dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously, wherein a computer of the dangerous vehicle information collection system comprises:
Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, the other vehicle is identified using a surrounding detection unit that detects the surroundings of the vehicle,
accumulating the specified number of times of the specified other vehicle;
determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
when the other vehicle is determined to be the dangerous vehicle, storing information of the other vehicle obtained from the detection result of the surrounding detection unit as the dangerous vehicle information in the dangerous vehicle data storage unit ;
The vehicle data includes a side vehicle traveling on the side of the vehicle in the same traveling direction as the vehicle and a side inter-vehicle distance between the side vehicle and the vehicle;
The surrounding detection unit includes a side detection unit that detects the side of the vehicle, and a front camera that images the front of the vehicle or a rear camera that images the rear of the vehicle,
In the detection, when the side inter-vehicle distance is equal to or less than a predetermined side distance threshold and the state continues for a predetermined side-to-side distance time, the event of side-to-side vehicle driving is detected;
In the identification, a feature amount of the side vehicle is extracted using the side detection unit, and the side vehicle is identified as the other vehicle based on the feature amount,
In the storage, based on the imaging data captured by the front camera or the rear camera, a forward vehicle running in front of the vehicle in the same traveling direction as the vehicle or a rearward of the vehicle in the same traveling direction as the vehicle A matching vehicle matching the feature value of the side vehicle is extracted from the feature values of the preceding vehicle or the following vehicle, and read from the imaging data of the matching vehicle. the vehicle registration number of the matching vehicle is stored in the dangerous vehicle data storage unit as the dangerous vehicle information;
Dangerous vehicle information gathering method. A dangerous vehicle information collection method for use in a dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously, wherein a computer of the dangerous vehicle information collection system comprises:
Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, the other vehicle is identified using a surrounding detection unit that detects the surroundings of the vehicle,
accumulating the specified number of times of the specified other vehicle;
determining the other vehicle as the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold ;
when the other vehicle is determined to be the dangerous vehicle, storing information of the other vehicle obtained from the detection result of the surrounding detection unit as the dangerous vehicle information in the dangerous vehicle data storage unit ;
The vehicle data includes travel route information indicating whether the travel route on which the vehicle is traveling is a normal travel route that has been traveled in the past,
In the integration, it is confirmed whether or not the travel route on which the vehicle is traveling is the normal travel route, based on the travel route information. The accumulated value is accumulated,
Dangerous vehicle information gathering method. the vehicle data includes acceleration of the vehicle;
The surroundings detection unit includes a front camera that captures an image in front of the vehicle,
In the detection, from the acceleration of the vehicle, the event that is a sudden deceleration in which the vehicle decelerates by a predetermined acceleration threshold or more is detected;
In the identification, the forward vehicle is the other vehicle based on the automobile registration number of the forward vehicle read from image data of the forward vehicle traveling in the same traveling direction in front of the vehicle captured by the forward camera. identified as
In the storing, the vehicle registration number of the forward vehicle is stored in the dangerous vehicle data storage unit as the dangerous vehicle information.
The dangerous vehicle information collection method according to any one of claims 1 to 3 . The vehicle data includes the speed of the vehicle, the inter-vehicle distance between the vehicle and a vehicle running behind the vehicle in the same traveling direction as the vehicle, and whether or not the road on which the vehicle is traveling is congested. Congestion information representing whether
The surroundings detection unit includes a rear camera that images the rear of the vehicle,
In the detection, the congestion information indicates that the road on which the vehicle travels is not congested, the speed of the vehicle is maintained within a predetermined speed range, and the rear inter-vehicle distance is predetermined. when the state of the rearward distance below the threshold continues for a predetermined period of time, the event of the rear vehicle's rearward driving is detected,
In the identification, the rear vehicle is identified as the other vehicle based on the automobile registration number of the rear vehicle read from the imaging data of the rear vehicle captured using the rear camera,
In the storing, the vehicle registration number of the rear vehicle is stored as the dangerous vehicle information in the dangerous vehicle data storage unit.
The dangerous vehicle information collection method according to any one of claims 1 to 3 . In the determination, the other vehicle is determined to be the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold.
The dangerous vehicle information collection method according to claim 1 or 2 . The vehicle data further includes the inter-vehicle distance between the preceding vehicle and the vehicle and the speed of the vehicle when the event of rapid deceleration is detected in the detection;
In the above integration,
A stopping distance, which is the sum of the idling distance and the braking distance, is calculated from the speed of the vehicle,
comparing the inter-vehicle distance and the stopping distance;
When the inter-vehicle distance is less than the stopping distance, a predetermined increase integrated value larger than 1 is integrated,
When the inter-vehicle distance is twice or more the stopping distance, a predetermined decrease integrated value smaller than 1 is integrated,
When the inter-vehicle distance is 1 or more times the stopping distance and less than 2 times, 1 is integrated,
In the determination, the other vehicle is determined to be the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold.
The dangerous vehicle information collection method according to claim 4 . A dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously,
an event detection unit that detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to the driving conditions of the vehicle;
a specifying unit that specifies the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle when the event is detected;
an accumulating unit for accumulating the identified number of times of the identified other vehicle;
a determination unit that determines the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
a control unit that, when the other vehicle is determined to be the dangerous vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit as the dangerous vehicle information in a dangerous vehicle data storage unit;
with
The vehicle data includes turning on/off of the direction indicator light switch of the vehicle, lane change information indicating that the vehicle has changed the lane in which the vehicle is traveling, and lane change information indicating that the vehicle is traveling in the same traveling direction as the vehicle. a preceding vehicle that travels,
The surroundings detection unit includes a front camera that captures an image in front of the vehicle,
The event detection unit determines that the lane change information indicates that the turn indicator lamp switch is turned on and that the vehicle has changed lanes, and that the preceding vehicle has changed lanes before and after the lane change. and at the same time, detecting the event of obstruction of the forward vehicle;
The identification unit identifies the forward vehicle as the other vehicle based on the automobile registration number of the forward vehicle read from the imaging data of the forward vehicle captured using the forward camera,
The control unit stores the automobile registration number of the preceding vehicle in the dangerous vehicle data storage unit as the dangerous vehicle information.
Dangerous vehicle information collection system. A dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously,
an event detection unit that detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to the driving conditions of the vehicle;
a specifying unit that specifies the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle when the event is detected;
an accumulating unit for accumulating the identified number of times of the identified other vehicle;
a determination unit that determines the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
a control unit that, when the other vehicle is determined to be the dangerous vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit as the dangerous vehicle information in a dangerous vehicle data storage unit;
with
The vehicle data includes a side vehicle traveling on the side of the vehicle in the same traveling direction as the vehicle and a side inter-vehicle distance between the side vehicle and the vehicle;
The surrounding detection unit includes a side detection unit that detects the side of the vehicle, and a front camera that images the front of the vehicle or a rear camera that images the rear of the vehicle,
The event detection unit detects the event that the side vehicle is driving closer to the side when the side inter-vehicle distance is equal to or less than a predetermined side distance threshold and continues for a predetermined time. death,
The specifying unit extracts a feature amount of the side vehicle using the side detection unit, specifies the side vehicle as the other vehicle based on the feature amount,
The control unit controls a forward vehicle running in front of the vehicle in the same traveling direction as the vehicle, or a rearward vehicle running in the same traveling direction as the vehicle, based on image data captured by the front camera or the rear camera. A feature amount of a vehicle behind traveling in a direction is extracted, a matching vehicle that matches the feature amount of the side vehicle is extracted from the feature amounts of the preceding vehicle or the following vehicle, and read from the imaging data of the matching vehicle. storing the vehicle registration number of the matching vehicle as the dangerous vehicle information in the dangerous vehicle data storage unit;
Dangerous vehicle information collection system. A dangerous vehicle information collection system for collecting dangerous vehicle information about a dangerous vehicle in which a driver drives dangerously,
an event detection unit that detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to the driving conditions of the vehicle;
a specifying unit that specifies the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle when the event is detected;
an accumulating unit for accumulating the identified number of times of the identified other vehicle;
a determination unit that determines the other vehicle as the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold value ;
a control unit that, when the other vehicle is determined to be the dangerous vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit as the dangerous vehicle information in a dangerous vehicle data storage unit;
with
The vehicle data includes travel route information indicating whether the travel route on which the vehicle is traveling is a normal travel route that has been traveled in the past,
The accumulating unit checks whether or not the travel route on which the vehicle is traveling is the normal travel route based on the travel route information, and if the travel route is the normal travel route, accumulating the incremented accumulative value,
Dangerous vehicle information collection system. A dangerous vehicle information collection program used in a dangerous vehicle information collection system for collecting dangerous vehicle information about dangerous vehicles in which a driver drives dangerously, the computer of the dangerous vehicle information collection system comprising:
A process of detecting an event related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, a process of identifying the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle;
a process of accumulating the specified number of times of the specified other vehicle;
a process of determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
when the other vehicle is determined to be the dangerous vehicle, a process of storing information of the other vehicle obtained from the detection result of the surrounding detection unit as the dangerous vehicle information in the dangerous vehicle data storage unit;
and
The vehicle data includes turning on/off of the direction indicator light switch of the vehicle, lane change information indicating that the vehicle has changed the lane in which the vehicle is traveling, and lane change information indicating that the vehicle is traveling in the same traveling direction as the vehicle. a preceding vehicle that travels,
The surroundings detection unit includes a front camera that captures an image in front of the vehicle,
In said detection, said turn signal switch is turned on, said lane change information indicates that said vehicle has made said lane change, and said forward vehicle is detected before said lane change and after said lane change. at the same time, the event of obstruction of the preceding vehicle is detected;
In the identification, the forward vehicle is identified as the other vehicle based on the vehicle registration number of the forward vehicle read from the imaging data of the forward vehicle captured using the forward camera,
In the storing, the vehicle registration number of the forward vehicle is stored in the dangerous vehicle data storage unit as the dangerous vehicle information.
Dangerous Vehicle Information Collection Program. A dangerous vehicle information collection program used in a dangerous vehicle information collection system for collecting dangerous vehicle information about dangerous vehicles in which a driver drives dangerously, the computer of the dangerous vehicle information collection system comprising:
A process of detecting an event related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, a process of identifying the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle;
a process of accumulating the specified number of times of the specified other vehicle;
a process of determining the other vehicle as the dangerous vehicle when the other vehicle is identified at least once;
when the other vehicle is determined to be the dangerous vehicle, a process of storing information of the other vehicle obtained from the detection result of the surrounding detection unit as the dangerous vehicle information in the dangerous vehicle data storage unit;
and
The vehicle data includes a side vehicle traveling on the side of the vehicle in the same traveling direction as the vehicle and a side inter-vehicle distance between the side vehicle and the vehicle;
The surrounding detection unit includes a side detection unit that detects the side of the vehicle, and a front camera that images the front of the vehicle or a rear camera that images the rear of the vehicle,
In the detection, when the side inter-vehicle distance is equal to or less than a predetermined side distance threshold and the state continues for a predetermined side-to-side distance time, the event of side-to-side vehicle driving is detected;
In the identification, a feature amount of the side vehicle is extracted using the side detection unit, and the side vehicle is identified as the other vehicle based on the feature amount,
In the storage, based on the imaging data captured by the front camera or the rear camera, a forward vehicle running in front of the vehicle in the same traveling direction as the vehicle or a rearward of the vehicle in the same traveling direction as the vehicle A matching vehicle matching the feature value of the side vehicle is extracted from the feature values of the preceding vehicle or the following vehicle, and read from the imaging data of the matching vehicle. the vehicle registration number of the matching vehicle is stored in the dangerous vehicle data storage unit as the dangerous vehicle information;
Dangerous Vehicle Information Collection Program. A dangerous vehicle information collection program used in a dangerous vehicle information collection system for collecting dangerous vehicle information about dangerous vehicles in which a driver drives dangerously, the computer of the dangerous vehicle information collection system comprising:
A process of detecting an event related to the vehicle and other vehicles located around the vehicle from vehicle data relating to the driving conditions of the vehicle;
When the event is detected, a process of identifying the other vehicle using a surrounding detection unit that detects the surroundings of the vehicle;
a process of accumulating the specified number of times of the specified other vehicle;
a process of determining the other vehicle as the dangerous vehicle when the specified number of times accumulated in the accumulation reaches a predetermined number of times threshold ;
when the other vehicle is determined to be the dangerous vehicle, a process of storing information of the other vehicle obtained from the detection result of the surrounding detection unit as the dangerous vehicle information in the dangerous vehicle data storage unit;
and
The vehicle data includes travel route information indicating whether the travel route on which the vehicle is traveling is a normal travel route that has been traveled in the past,
In the integration, it is confirmed whether or not the travel route on which the vehicle is traveling is the normal travel route, based on the travel route information. The accumulated value is accumulated,
Dangerous Vehicle Information Collection Program.

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