EP2416305A1 - Système de prédiction de collision, dispositif de prédiction de collision, procédé de prédiction de collision, et programme - Google Patents

Système de prédiction de collision, dispositif de prédiction de collision, procédé de prédiction de collision, et programme Download PDF

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Publication number
EP2416305A1
EP2416305A1 EP10758418A EP10758418A EP2416305A1 EP 2416305 A1 EP2416305 A1 EP 2416305A1 EP 10758418 A EP10758418 A EP 10758418A EP 10758418 A EP10758418 A EP 10758418A EP 2416305 A1 EP2416305 A1 EP 2416305A1
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EP
European Patent Office
Prior art keywords
moving object
mark
road
overpass
crossing
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10758418A
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German (de)
English (en)
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EP2416305A4 (fr
Inventor
Kazuyuki Sakurai
Shinichiro Okazaki
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NEC Corp
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NEC Corp
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Publication date
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Publication of EP2416305A1 publication Critical patent/EP2416305A1/fr
Publication of EP2416305A4 publication Critical patent/EP2416305A4/fr
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the present invention relates to a collision prediction system, a collision prediction device, a collision detection method, and a program.
  • a collision prediction device that predicts whether the concerned vehicle that is provided with the device will collide with another vehicle based on an image that the camera provided in the concerned vehicle captures, cannot obtain a correct collision prediction result unless the concerned vehicle approaches a grade separated crossing such that the cameras can capture an image that allows the device to predict that the concerned vehicle will collide with the other vehicle.
  • An object of the present invention is to provide a collision prediction system, a collision prediction device, a collision detection method, and a program that can solve the above-described problem.
  • a collision prediction system comprises: a collision prediction device that is provided in each of a plurality of moving objects and that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects; and a mark placed on either an overpass road or on an underpass road situated below the overpass road at a predetermined distance in front of a grade separated crossing where the overpass road and the underpass road on which said plurality of moving objects drive three-dimensionally cross each other, wherein said collision prediction device includes: detection means that detects said mark; communication means that transmits information, that denotes that said detection means has detected said mark, to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and prediction means that predicts that said concerned moving object and the moving objects other than the concerned moving object will not collide with each other, if the information that denotes that said mark has been detected has been transmitted from said collision
  • a collision prediction system comprises: a collision prediction device that is provided in each of a plurality of moving objects and that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects; an overpass crossing mark that is a mark placed on an overpass road at a predetermined distance in front of a grade separated crossing where a plurality of roads on which said plurality of moving objects drive three-dimensionally cross each other; and an underpass crossing mark that is a mark placed on an underpass road situated below said overpass road at the predetermined distance in front of said grade separated crossing, wherein said collision prediction device includes: detection means that detects said mark; communication means that transmits information that denotes that the mark detected by said detection means is said overpass crossing mark or said underpass crossing mark to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and prediction means that predicts the collision based on the mark
  • a collision prediction device is a collision prediction device that is provided in each of a plurality of moving objects and that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects, comprising: detection means that detects a mark placed on either an overpass road or on an underpass road situated below the overpass road at a predetermined distance in front of a grade separated crossing where the overpass road and the underpass road on which said plurality of moving objects drive three-dimensionally cross each other; communication means that transmits information that denotes that said detection means has detected said mark to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and prediction means that predicts that said concerned moving object and the moving objects other than the concerned moving object will not collide with each other, if the information, that denotes that said mark has been detected has been transmitted from said collision prediction device provided in the moving object other than said concerned
  • a collision prediction device is a collision prediction device that is provided in each of a plurality of moving objects and that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects, comprising: detection means that detects an overpass crossing mark that is a mark placed on an overpass road at a predetermined distance in front of a grade separated crossing where a plurality of roads on which said plurality of moving objects drive three-dimensionally cross each other or an underpass crossing mark that is a mark placed on an underpass road situated below said overpass road at the predetermined distance in front of said grade separated crossing; communication means that transmits information that denotes that the mark detected by said detection means is said overpass crossing mark or is said underpass crossing mark to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and prediction means that predicts the collision based on the mark that the information transmitted from said collision prediction device
  • a collision prediction method is a collision prediction method that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects, comprising: detecting a mark placed on either an overpass road or on an underpass road situated below the overpass road at a predetermined distance in front of a grade separated crossing where the overpass road and the underpass road on which said plurality of moving objects drive three-dimensionally cross each other; transmitting information that denotes that said mark has been detected to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and predicting that said concerned moving object and the moving objects other than the concerned moving object will not collide with each other, if the information that denotes that said mark has been detected has been transmitted from said collision prediction device provided in the moving object other than said concerned moving object and said mark has not been detected, or if the information that denotes that said mark has been detected has
  • a collision prediction method is a collision prediction method that predicts whether or not a plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects, comprising: detecting an overpass crossing mark that is a mark placed on an overpass road at a predetermined distance in front of a grade separated crossing where a plurality of roads on which said plurality of moving objects drive three-dimensionally cross each other or an underpass crossing mark that is a mark placed on an underpass road situated below said overpass road at the predetermined distance in front of said grade separated crossing; transmitting information that denotes that said detected mark is said overpass crossing mark or said underpass crossing mark to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and predicting the collision based on the mark that the information transmitted from the moving object other than said concerned moving object represents and said detected mark.
  • a recording medium is a recording medium that records a program that causes a collision prediction device that is provided in each of a plurality of moving objects and that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects to execute procedures, comprising: a detection procedure that detects a mark placed on either an overpass road or an underpass road situated below the overpass road at a predetermined distance in front of a grade separated crossing where the overpass road and the underpass road on which said plurality of moving objects drive three-dimensionally cross each other; a communication procedure that transmits information that denotes that said detection procedure has detected said mark to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and a prediction procedure that predicts that said concerned moving object and the moving objects other than the concerned moving object will not collide with each other, if the information, that denotes that said mark has been detected has been transmitted from said
  • a recording medium is a recording medium that records a program that causes a collision prediction device that is provided in each of a plurality of moving objects and that predicts whether or not the plurality of moving objects will collide with each other based on position information and speed information of the plurality of moving objects to execute procedures, comprising: a detection procedure that detects an overpass crossing mark that is a mark placed on an overpass road at a predetermined distance in front of a grade separated crossing where a plurality of roads on which said plurality of moving objects drive three-dimensionally cross each other or an underpass crossing mark that is a mark placed on an underpass road situated below said overpass road at the predetermined distance in front of said grade separated crossing; a communication procedure that transmits information that denotes that the mark detected by said detection procedure is said overpass crossing mark or is said underpass crossing mark to the collision prediction device provided in the moving object other than the concerned moving object that is provided with the collision prediction device of said plurality of moving objects; and a prediction procedure that predicts the collision
  • a correct collision prediction result can be obtained on roads including grade separated crossings.
  • the collision prediction system is composed of a plurality of collision prediction devices 1, overpass crossing mark 21, underpass crossing mark 22, and a plurality of moving objects 31 and 32.
  • Overpass crossing mark 21 is placed on an overpass road of a plurality of roads that are situated at a predetermined distance in front of a grade separated crossing where a plurality of roads on which the plurality of moving objects 31 and 32 drive three-dimensionally cross each other.
  • underpass crossing mark 22 is placed on an underpass road situated below the overpass road at the predetermined distance in front of the grade separated crossing.
  • the predetermined distance is a distance from overpass crossing mark 21 or underpass crossing mark 22 to the grade separated crossing where each collision prediction device 1 of moving objects 31 and 32 that cross the grade separated crossing can recognize overpass crossing mark 21 or underpass crossing mark 22 before each collision prediction device 1 predicts that moving objects 31 and 32 will collide with each other.
  • overpass crossing mark 21 and underpass crossing mark 22 can be arbitrary.
  • overpass crossing mark 21 and underpass crossing mark 22 may be marks drawn, on the beds of roads.
  • overpass crossing mark 21 and underpass crossing mark 22 may be magnetic marks buried in the beds of roads using paint.
  • overpass transmission device 23 and underpass transmission device 24 may be provided on roads such that the former wirelessly transmits information that denotes that a grade separated crossing is present at the predetermined distance in front of moving object 31 or moving object 32 to moving object 31 or 32 that drives on an overpass road and the latter wirelessly transmits information that denotes that a grade separated crossing is present at the predetermined distance in front of moving object 31 or moving object 32 to moving object 31 or 32 that drives on an underpass road.
  • both overpass crossing mark 21 and underpass crossing mark 22 may be placed on roads.
  • "mark MK" may be placed on either an overpass road situated as an upper road at the predetermined distance in front of a grade separated crossing or on a underpass road situated below the overpass road.
  • Collision prediction device 1 is provided in each of the plurality of moving objects 31 and 32.
  • the number of moving objects and the number of collision prediction devices provided in each moving object can be arbitrary. Examples of "moving objects" include passenger automobiles, bicycles, robots, and users.
  • Collision prediction device 1 provided in moving object 31 detects overpass crossing mark 21 or underpass crossing mark 22.
  • collision prediction device 1 transmits information, that denotes that the mark detected by itself is overpass crossing mark 21 or underpass crossing mark 22, to collision prediction device 1 provided in moving object 32. Then, collision prediction device 1 predicts whether a collision will take place based on the mark that the information transmitted from collision prediction device 1 provided in moving object 32 represents and based on the mark detected by itself.
  • collision prediction device 1 has acquisition section 11, detection section 12, communication section 13, prediction section 14, and notification section 15.
  • Acquisition section 11 acquires "information about its moving object” that is information with respect to its moving object (concerned moving object) 31 and outputs the information about its moving object to communication section 13 and prediction section 14.
  • Examples of information about its moving object include position information of the its moving object detected by a GPS function, speed information and steering angle information of the its moving object, and information detected by various types of sensors.
  • Detection section 12 can be generally called a detection means.
  • Detection section 12 is provided with a sensor that detects overpass crossing mark 21 and underpass crossing mark 22 Detection section 12 detects overpass crossing mark 21 and underpass crossing mark 22 based on information acquired by the sensor. Then, detection section 12 outputs information, that denotes the detected mark is either overpass crossing mark 21 or underpass crossing mark 22, to communication section 13.
  • the sensor is for example an electromagnetic wave receiver.
  • the sensor is a magnetic sensor that detects magnetic marks.
  • the sensor is an image sensor that detects images (for example, a camera according to a second embodiment that will be described later).
  • Communication section 13 can be generally called a communication means.
  • Communication section 13 transmits the information about its moving object that is output from acquisition section 11 and the information that denotes that the detected mark is either overpass crossing mark 21 or underpass crossing mark 22 and that is output from detection section 12 to collision prediction device 1 provided in other moving object 32 rather than its moving object 31.
  • communication section 13 outputs "information about other moving objects", that is transmitted from collision prediction device 1 provided in other moving object 32 and that is information with respect to other moving object 32 and outputs the information that denotes that the mark detected by collision prediction device 1 provided in other moving object 32 is overpass crossing mark 21 or underpass crossing mark 22, to prediction section 14.
  • examples of the information about other moving object include position information, speed information, and steering angle information of other moving object 32.
  • Prediction section 14 can be generally called a prediction means.
  • Prediction section 14 predicts whether or not its moving object 31 will collide with other moving object 32 based on the information about its moving object, the information about other moving object, and the detected result of overpass crossing mark 21 or underpass crossing mark 22.
  • prediction section 14 predicts that there is a risk in which the plurality of moving objects 31 and 32 will collide with each other.
  • prediction section 14 predicts that there is no risk in which the plurality of moving objects 31 and 32 will collide with each other.
  • prediction section 14 predicts that there is a risk in which the plurality of moving objects 31 and 32 will collide with each other.
  • Notification section 15 notifies the driver for moving object 31 of "collision risk information" that includes information associated with a risk in which moving object 31 will collide with other moving object 32 based on the predicted result of a collision predicted by prediction section 14.
  • This collision risk information is an alert that notifies that it is likely that moving object 31 will collide with other moving object 32 or information that represents a predetermined evaluation index of a risk of a collision.
  • the notification method that notification section 15 5 performs can be arbitrary.
  • notification section 15 may display the collision risk information on any display device including the monitor of a car navigation system or an instrument panel.
  • notification section 15 may audibly output the collision risk information through a speaker or the like. Further alternatively, notification section 15 may notify the driver of a risk of a collision through a vibration mechanism.
  • notification section 15 may output the collision risk information to a predetermined control module that controls the driving state of the moving object (for example, the attitude, speed, and so forth of the moving object).
  • communication section 13 transmits information, that denotes that detection section 12 has detected the mark MK, to collision prediction device 1 provided in other moving object 32.
  • prediction section 14 predicts that own moving object 31 will not collide with moving object 32 other than its moving object 31.
  • prediction section 14 of collision prediction device 1 provided in moving object 31 may predict whether or not there is a risk in which moving object 31 will collide with moving object 32 depending on whether or not the information that denotes that the mark MK has been detected has been transmitted from other moving object 32 after detection section 12 detects the mark MK until a predetermined time period elapses.
  • prediction section 14 of collision prediction device 1 provided in moving object 31 may predict whether or not there is a risk in which moving object 31 and moving object 32 will collide with each other depending on whether or not detection section 12 has detected the mark MK after the information that represents the detection of the mark MK is transmitted from collision prediction device 1 provided in moving object 32 until a predetermined time elapses. This can prevent prediction section 14 of collision prediction device 1 provided in moving object 31 from predicting that moving object 31 and moving object 32 will not collide with each other although they will collide with each other if collision prediction device 1 provided in moving object 31 has detected mark MK after information that represents the detection of mark MK is transmitted from collision prediction device 1 provided in moving object 32 until a predetermined time period elapses.
  • overpass crossing mark 21 is painted on the bed of the overpass road at the predetermined distance in front of the grade separated crossing.
  • detection section 12 is provided with a camera as a sensor.
  • Detection section 12 of collision prediction device 1 provided in moving object 31 analyzes an image captured by the camera at the predetermined distance in front of the grade separated crossing so as to detect overpass crossing mark 21. Thus, detection section 12 recognizes that moving object 31 is driving on the overpass road.
  • collision prediction device 1 provided in moving object 31 transmits the information that denotes that moving object 31 has detected overpass crossing mark 21 to collision prediction device 1 provided in moving object 32 that is driving on the underpass road.
  • collision prediction device 1 provided in moving object 31 receives the information that denotes that collision prediction device 1 provided in moving object 32 has detected underpass crossing mark 22 from collision prediction device 1 provided in moving object 32.
  • collision prediction device 1 provided in each of moving object 31 and moving object 32 transmits the information that denotes that it has detected overpass crossing mark 21 or underpass crossing mark 22 to collision prediction device 1 provided in the other moving object.
  • both collision prediction devices 1 of moving objects 31 and 32 can accurately determine that moving objects 31 and 32 are driving on different roads at the grade separated crossing.
  • detection section 12 detects overpass crossing mark 21 or underpass crossing mark 22 through the sensor at step 401. Then, detection section 12 outputs information that denotes whether the detected mark is overpass crossing mark 21 or underpass crossing mark 22 to communication section 13.
  • acquisition section 11 acquires information about own moving object at step 402.
  • communication section 13 transmits information that denotes whether the detected mark is overpass crossing mark 21 or underpass crossing mark 22 and the information about its moving object to collision prediction device 1 provided in other moving object 32 at step 403.
  • communication section 13 receives the information about other moving object from collision prediction device 1 provided in other moving object 32 at step 404. If other moving object 32 is not present in a predetermined range based on moving object 31, collision prediction device 1 completes the process at step 405.
  • prediction section 14 determines whether or not there is a risk in which its moving object 31 and other moving object 32 will collide with each other at step 406.
  • collision prediction device 1 completes the process.
  • prediction section 14 predicts that there is a risk in which moving objects 31 and 32 will collide with each other at step 406.
  • prediction section 14 predicts that there is a risk in which the plurality of moving objects 31 and 32 will collide with each other.
  • collision prediction device 1 If prediction section 14 predicts that there is a risk in which moving object 31 and other moving object 32 will collide with each other, notification section 15 notifies the driver or a predetermined control module that controls the driving state of moving object 31 of the collision risk information. Thereafter, collision prediction device 1 according to the first embodiment completes the operation that predicts whether or not a plurality of moving objects will collide with each other.
  • overpass crossing mark 21 that represents an overpass road at a grade separated crossing
  • underpass crossing mark 22 that represents an underpass road at the grade separated crossing are placed in advance.
  • One moving object detects a mark on a road and communicates with other moving object and thereby collision prediction devices 1 provided in the plurality of moving objects share the information therebetween through communication.
  • Overpass crossing mark 21 and underpass crossing mark 22 are magnetic marks, information that denotes that overpass crossing mark 21 transmitted from overpass transmission device 23 shown in Fig. 2 is present, or information that denotes that underpass crossing mark 22 transmitted from underpass transmission device 24 is present.
  • a correct collision prediction result when a moving object passes through a grade separated crossing, a correct collision prediction result can be obtained.
  • a correct collision prediction result can be obtained even if a grade separated crossing cannot be recognized based on an image captured by the camera.
  • overpass crossing mark 21 and underpass crossing mark 22 are placed at appropriate positions and thereby whether or not moving objects 31 and 32 will collide with each other can be predicted at an appropriate timing and with high accuracy.
  • overpass crossing marks are placed at both the entrance and exit of an overpass road at a grade separated crossing.
  • underpass crossing marks are placed at both the entrance and exit of an underpass road at the grade separated crossing.
  • moving object 31 is driving on the overpass road toward the grade separated crossing.
  • other moving object 32 is driving on the underpass road toward the grade separated crossing.
  • Overpass crossing mark 211 that denotes that the grade separated crossing is present at a predetermined distance in front of moving object 31 or 32 and overpass crossing mark 212 that denotes that the grade separated crossing is present at the predetermined distance behind moving object 31 or 32 are painted on the bed of the overpass road.
  • underpass crossing mark 221 that denotes that the grade separated crossing is present at the predetermined distance in front of moving object 31 or 32 and underpass crossing mark 222 that denotes that the grade separated crossing is present at the predetermined distance behind moving object 31 or 32 are painted on the bed of the underpass road.
  • overpass transmission device 23 that transmits the information that denotes that the grade separated crossing is present at the predetermined distance in front of moving object 31 or 32 to moving object 31 or 32 that drives on the overpass road and overpass transmission device 23 that transmits information that denotes that the grade separated crossing is present at the predetermined distance behind the moving object 31 or 32 to moving object 31 or 32 that drives on the overpass road are provided on the overpass road.
  • underpass transmission device 24 that transmits information that denotes that the grade separated crossing is present at the predetermined distance in front of moving object 31 or moving object 32 to moving object 31 or 32 that drives on the underpass road and underpass transmission device 24 that transmits information that denotes that the grade separated crossing is present at the predetermined distance behind moving object 31 or 32 to moving object 31 or 32 that drives on the underpass road are provided on the underpass road.
  • marks MS that are different from each other may be placed on either an overpass road or an underpass road at the predetermined distance in front of and behind the grade separated crossing, respectively.
  • moving object 31 is provided with camera 33 having a fixed image capturing direction that is the same as the driving direction of moving object 31.
  • Camera 33 captures an image of the bed of the road in the driving direction of moving object 31.
  • collision prediction device 1 As shown in Fig. 8 , collision prediction device 1 according to the second embodiment is different from collision prediction device 1 shown in Fig. 4 in that the former has detection section 12A instead of detection section 12; and prediction section 14A instead of prediction section 14.
  • Detection section 12A can be generally called a detection means.
  • prediction section 14A can be generally called a prediction means.
  • detection section 12A has camera 33 shown in Fig. 7 as a sensor.
  • detection section 12A detects overpass crossing mark 21 or underpass crossing mark 22 based on an image in which camera 33 captures the bed of the road behind moving object 31 and outputs information that denotes whether moving object 31 is driving on the overpass road at the grade separated crossing or on the underpass road at the grade separated crossing.
  • detection section 12A has image input section 121, bird's eye view image generation section 122, template database 123, mark identification section 124, and grade separated crossing driving information output section 125.
  • Image input section 121 converts an original image that camera 33 captures and outputs into a digital format image and then outputs the resultant image to bird's eye view image generation section 122.
  • Bird's eye view image generation section 122 converts an image of a subject (road) viewed from moving object 31 that is driving on the road into a bird's eye view image that is an elevated view image of the subject. Then, bird's eye view image generation section 122 outputs the bird's eye view to mark identification section 124.
  • the method that converts an image captured by camera 33 into a bird's eye view image can be arbitrary as disclosed in Japan Patent Application No. 2008-271813 , Specification.
  • Template database 123 stores image patterns of bird's eye view images of overpass crossing mark 21 and underpass crossing mark 22 as templates.
  • Examples of templates include marks formed of repetitive patterns containing elements such as slant lines or curved lines other than segments parallel to the road as shown in Fig. 10 or Fig. 11 .
  • Mark identification section 124 shown in Fig. 9 identifies overpass crossing mark 21 or underpass crossing mark 22 contained in bird's eye view images according to template matching using template database 123.
  • the template matching can be an ordinary template matching method.
  • mark identification section 124 identifies overpass crossing mark 21 placed on the entrance side of the grade separated crossing, mark identification section 124 notifies grade separated crossing information output section 125 that the mark has been identified.
  • mark identification section 124 identifies overpass crossing mark 21 placed on the entrance side of the grade separated crossing and then overpass crossing mark 21 placed on the exit side thereof, mark identification section 124 notifies grade separated crossing information output section 125 that the marks have been identified.
  • grade separated crossing information output section 125 If grade separated crossing information output section 125 is notified by mark identification section 124 that mark identification section 124 has identified overpass crossing mark 21 placed on the entrance side of the grade separated crossing, grade separated crossing information output section 125 outputs elevated pass driving information that denotes that moving object 31 is driving on the overpass road (elevated side) at the grade separated crossing to communication section 13 and prediction section 14A.
  • grade separated crossing information output section 125 If grade separated crossing information output section 125 is notified by mark identification section 124 that mark identification section 124 has identified overpass crossing mark 21 placed on the exit side, grade separated crossing information output section 125 stops outputting the elevated pass driving information.
  • detection section 12A recognizes the start or the end of driving by moving object 31 on the overpass road or underpass road on which the marks MK are placed based on the detection of the marks MK that are different from each other.
  • Communication section 13 transmits elevated pass driving information that is output from grade separated crossing information output section 125 to collision prediction device 1 provided in other moving object 32.
  • communication section 13 outputs elevated pass driving information that is associated with moving object 32 and that is transmitted from collision prediction device 1 provided in other moving object 32 to prediction section 14A.
  • prediction section 14A has other moving object position prediction section 141, own moving object position prediction section 142, analysis section 143, and collision determination section 144.
  • Other moving object position prediction section 141 predicts the position of other moving object 32 after the present time based on the information about other moving object transmitted from collision prediction device 1 provided in other moving object 32.
  • the position of other moving object 32 that is advanced from the current position by a predicted driving distance obtained by multiplying the speed of moving object 32 at the present time by the elapsed time between the present time and a predetermined time thereafter in the driving direction of moving object 32 computed from the steering angle information of moving object 32 at the present time can be the predicted position at the predetermined time.
  • the method that predicts the position of other moving object 32 after the present time can be arbitrary as long as the position of moving object 32 is predicted based on the information about other moving object at the present time and past time.
  • Own moving object position prediction section 142 predicts the position of its moving object 31 after the present time based on the information about its moving object that is output from acquisition section 11.
  • the method that predicts the position of moving object 31 after the current time can be arbitrary as long as the position of moving object 31 is predicted based on the information about its moving object at the present time and past time.
  • Analysis section 143 determines whether either its moving object 31 or other moving object 32 is driving on an elevated pass based on the elevated pass driving information that is associated with moving object 31 and that is output from grade separated crossing information output section 125 and the elevated pass driving information that is associated with other moving object 32 and that is transmitted from communication section 13. If analysis section 143 determines that either moving object 31 or moving object 32 is not driving on the elevated pass, analysis section 143 notifies collision determination section 144 of this state.
  • Collision determination section 144 compares the predicted position of its moving object 31 predicted by own moving object position prediction section 142 with the predicted position of moving object 32 predicted by other moving object position prediction section 141.
  • collision determination section 144 determines that there is a risk in which its moving object 31 and other moving object 32 will collide with each other.
  • collision determination section 144 determines that there is a risk in which moving objects 31 and 32 will collide with each other.
  • collision determination section 144 determines that there is a risk in which a collision will occur, collision determination section 144 notifies notification section 15 of the risk. Then, notification section 15 notifies the driver for moving object 31 of the collision risk information.
  • prediction section 14A predicts a collision based on the start or the end of driving by moving object 31 on the overpass road or underpass road on which the marks MK are placed.
  • prediction section 14A of collision prediction device 1 provided in moving object 31 may predict whether or not there is a risk in which moving object 31 and moving object 32 will collide with each other depending on whether or not the information that denotes that other moving object 32 has started driving on the overpass road or underpass road on which the marks MK are placed has been transmitted from other moving object 32 after detection section 12A recognizes that moving object 31 has started driving on the overpass road or underpass road on which the marks MK are placed until it recognizes that moving object 31 has stopped driving.
  • prediction section 14A of collision prediction device 1 provided in moving object 31 may predict whether or not there is a risk in which moving object 31 and moving object 32 will collide with each other depending on whether or not detection section 12A recognizes that moving object 31 has started driving on the overpass road or underpass road on which the marks MK are placed after information that denotes that moving object 32 has started driving on the overpass road or underpass road on which the marks MK are placed is transmitted from collision prediction device 1 provided in moving object 32 until the information that denotes that the moving object 32 has stopped driving is transmitted.
  • collision prediction device 1 captures images of the bed of the road at predetermined intervals and outputs the captured images to image input section 121.
  • image input section 121 converts the images that camera 33 has captured and outputs into digital format images and then outputs the converted images to bird's eye view image generation section 122 at step 501.
  • bird's eye view image generation section 122 converts images of the road viewed from moving object 31 that is driving on the road into bird's eye view images that are elevated view images of the road and then outputs the converted images to mark identification section 124 at step 502.
  • mark identification section 124 identifies overpass crossing mark 21 or underpass crossing mark 22 contained in the bird's eye view images that are output from bird's eye view image generation section 122 according to the template matching based on templates stored in template database 123 at step 503.
  • mark identification section 124 identifies overpass crossing mark 21 placed on the entrance side of the grade separated crossing, mark identification section 124 notifies grade separated crossing information output section 125 that overpass crossing mark 21 has been identified at step 504.
  • grade separated crossing information output section 125 outputs the elevated pass driving information that denotes that moving object 31 is driving on the overpass road at the grade separated crossing to communication section 13 and prediction section 14A at step 505. Then, communication section 13 transmits the elevated pass driving information to collision prediction device 1 provided in other moving object 32 at step 506.
  • other moving object position prediction section 141 predicts the position of other moving object 32 after the present time based on the information about other moving object transmitted from collision prediction device 1 provided in other moving object 32 at step 507.
  • own moving object position prediction section 142 predicts the position of its moving object 31 after the present time based on the information about its moving object that is output from acquisition section 11 at step 508.
  • analysis section 143 determines whether either its moving object 31 or other moving object 32 is driving on the elevated pass based on the elevated pass driving information that is associated with its moving object 31 and that is output from grade separated crossing information output section 125 at step 505 and the elevated pass driving information that is associated with other moving object 32 and that is transmitted from communication section 13.
  • analysis section 143 determines that either moving object 31 or moving object 32 is not driving on the elevated path, analysis section 143 notifies collision determination section 144 of this state.
  • collision determination section 144 compares the predicted position of its moving object 31 predicted by its moving object position prediction section 142 with the predicted position of other moving object 32 predicted by other moving object position prediction section 141 at step 510.
  • collision determination section 144 determines that there is a risk in which its moving object 31 and other moving object 32 will collide with each other. If the determined result denotes that there is a risk of collision, collision determination section 144 notifies notification section 15 of the risk.
  • collision determination section 144 determines that there is a risk in which moving objects 31 and 32 will collide with each other at step 510.
  • notification section 15 notifies the driver for moving object 31 of the collision risk information containing information associated with a risk in which moving object 31 will collide with other moving object 32.
  • collision prediction device 1 completes the series of operations that predict whether or not the plurality of moving objects 31 and 32 will collide with each other.
  • an image of overpass crossing mark 21 and underpass crossing mark 22 having predetermined forms placed on the beds are captured by camera 33 and the images are analyzed and thereby can be determined whether its moving object is driving on the overpass road or underpass road.
  • the overpass road or underpass road can be more easily detected than by using the ordinary technique that identifies a road structure based on a captured image of the grade separated crossing and determines the overpass road or underpass road based on the identified road structure.
  • collision prediction device 1 may be accomplished in such a manner that a program that accomplishes the functions is recorded to a recording medium that collision prediction device 1 can read, collision prediction device 1 is caused to read the program from the recording medium, and then the program is executed.
  • the recording mediums readable by collision prediction device 1 include removable recording mediums, such as a floppy disk (registered trademark), a magneto-optical disc, a DVD, and a CD, and an HDD built in collision prediction device 1.
  • the program recorded to the recording medium is read by for example detection section 12 and prediction section 14 with which collision prediction device 1 is provided and the same processes as those described above are performed under the control of detection section 12 and prediction section 14.
  • detection section 12 and prediction section 14 with which collision prediction device 1 is provided operate as a computer that executes the program that is read from the recording medium.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
EP10758418A 2009-04-01 2010-03-17 Système de prédiction de collision, dispositif de prédiction de collision, procédé de prédiction de collision, et programme Withdrawn EP2416305A4 (fr)

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Application Number Priority Date Filing Date Title
JP2009088959 2009-04-01
PCT/JP2010/054556 WO2010113642A1 (fr) 2009-04-01 2010-03-17 Système de prédiction de collision, dispositif de prédiction de collision, procédé de prédiction de collision, et programme

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EP2416305A1 true EP2416305A1 (fr) 2012-02-08
EP2416305A4 EP2416305A4 (fr) 2012-09-05

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US20150241708A1 (en) * 2013-08-23 2015-08-27 Panasonic Intellectual Property Corporation Of America Head-mounted display
US9804398B2 (en) * 2013-08-23 2017-10-31 Panasonic Intellectual Property Corporation Of America Head-mounted perfume dispenser apparatus
EP3112810B1 (fr) * 2015-06-30 2020-08-05 Lg Electronics Inc. Appareil d'assistance à la conduite avancée, appareil d'affichage pour véhicule et véhicule

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JP5652390B2 (ja) 2015-01-14
JPWO2010113642A1 (ja) 2012-10-11
EP2416305A4 (fr) 2012-09-05
WO2010113642A1 (fr) 2010-10-07

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