JP2002015396A - Road control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a road monitoring system capable of securing safety of an AHS lane by removing a running vehicle except an automatic operation vehicle entering the AHS lane from the AHS lane and guiding the vehicle to an ordinary road. SOLUTION: When receiving running pattern information sent from an image processing part 20, a phenomenon determination part 30 compares the running pattern information with set information for automatic running determination stored in a database(DB) 34, determines whether an automobile 10 running on the AHS lane 11 is an automatic operation vehicle or not, and transmits information of the determination result (information for showing whether the automobile 10 running on the AHS lane 11 is an automatic operation vehicle or not) to this road control system 15 through a data transmission part 35.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road monitoring system for monitoring a traveling vehicle on an autonomous driving lane provided on a motorway.

[0002]

2. Description of the Related Art When an autonomous driving lane is provided on a motorway, the driving speed, the inter-vehicle distance and the like are determined. When a vehicle outside the automatic driving vehicle traveling on the vehicle enters, the normal driving of the automatic driving vehicle traveling on the lane dedicated to automatic driving is impaired, and a dangerous state is caused. Therefore, it is necessary to quickly remove a traveling vehicle outside the automatic driving vehicle that has entered the automatic driving lane from the automatic driving lane and guide the vehicle to a general road. As a technique for monitoring a lane dedicated to automatic driving at this time and promptly guiding a traveling vehicle outside the lane dedicated to automatic driving to outside the lane dedicated to automatic driving, conventionally, there has been no effective means other than artificial monitoring means.

[0003]

As described above, conventionally, there has been no effective means for monitoring a lane dedicated to automatic driving and promptly guiding a traveling vehicle outside the lane dedicated to automatic driving to the outside of the lane dedicated to automatic driving. .

The present invention has been made in view of the above circumstances, and automatically eliminates a traveling vehicle outside an automatic driving vehicle that has entered an automatic driving exclusive lane from an automatic driving exclusive lane without using any artificial means. An object of the present invention is to provide a road monitoring system that can guide a user to a road and always secure the safety of a lane dedicated to automatic driving.

[0005]

According to the present invention, there is provided a road management system comprising: processing means for determining that a vehicle traveling on a lane dedicated to automatic driving deviates from a predetermined traveling pattern; A warning means is provided for issuing a warning to the traveling vehicle when it is determined that the traveling vehicle is outside the automatic driving vehicle that deviates from the pattern.

Further, the road management system according to the present invention comprises a processing means for determining whether or not the vehicle is an automatic driving vehicle from a monitoring photographed image of the vehicle traveling on the lane dedicated to automatic driving, and a determination made by the processing means. Guide means for guiding a traveling vehicle outside the automatic driving vehicle to the outside of the automatic driving lane.

Further, a road management system according to the present invention includes a monitoring camera for photographing a traveling vehicle on a lane dedicated to automatic driving, and whether or not the vehicle is an automatically driving vehicle based on a traveling pattern of the traveling vehicle photographed by the monitoring camera. Processing means for judging whether the traveling vehicle on the lane dedicated to automatic driving is a traveling vehicle outside the automatic driving vehicle when the processing means determines that the traveling vehicle is outside the lane dedicated to automatic driving. And a guide means for providing information.

According to the present invention, in the above-mentioned road management system, the processing means may determine whether the traveling vehicle is an automatic driving vehicle based on any one of a speed, a trajectory, and an inter-vehicle distance. Characterized in that it comprises means for determining

Further, the present invention is characterized in that in the above-mentioned road management system, the guide means is realized by using at least one of an electronic road information board, an electronic guide sign, and a vehicle-mounted device.

According to the present invention, in the above-mentioned road management system, there is provided a means for notifying a road manager that a vehicle outside the automatic driving vehicle is traveling on the lane dedicated to automatic driving, or an automatic lane driving on the lane dedicated to automatic driving. It is characterized by having means for notifying a road manager of a vehicle outside the driving vehicle.

Further, the present invention is characterized in that in the above-mentioned road management system, there is provided recording means for recording an image of a traveling vehicle outside the self-driving vehicle photographed by a monitoring camera or image transmission means for transmitting the image. .

With the system configuration described above, a traveling vehicle outside the automatic driving vehicle that has entered the automatic driving lane can be automatically and promptly removed from the automatic driving lane and guided to a general road. The safety of the lane dedicated to automatic driving can always be ensured without the need for artificial monitoring and guidance.

[0013]

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

FIG. 1 is a block diagram showing the configuration of a system according to an embodiment of the present invention.

In FIG. 1, reference numeral 10 denotes a road traveling vehicle (automobile) traveling on a road, and reference numeral 11 denotes a lane dedicated to automatic driving in which an automatic driving vehicle travels. 12 is a lane 11 for automatic driving
Is a monitoring camera (ITV camera) 12 that captures an image of an automobile 10 that travels on a road, such as a roadside or an area where a vehicle can enter as an object to be monitored, including a start point of a lane 11 dedicated to automatic driving. It is installed on the upper part of the road.

Reference numeral 13 denotes a road information board for notifying a driver of information. Here, the road information board 13 provides information for guiding the vehicle 10 traveling on the automatic driving lane 11 to the outside of the automatic driving lane. Reference numeral 14 denotes an automatic driving lane monitoring processing device that determines whether or not the automobile 10 running on the automatic driving lane 11 is an automatic driving vehicle based on an image captured by the monitoring camera (ITV camera) 12. A specific configuration example and an operation example will be described later with reference to FIG.

Reference numeral 15 denotes a road management system provided in a road management facility such as a road management center. In this case, the vehicle 10 running on the automatic driving lane 11 is automatically driven by the automatic driving lane monitoring processor 14. Is transmitted to the road information board 13 for guiding the vehicle 10 to the outside of the automatic driving lane 11 (or the character information is sent to the road information board 13). And a predetermined guidance voice message to the loudspeaker 16 shown in FIG. 2).

FIG. 2 is a block diagram showing an example of the configuration of the lane monitoring processor 14 for exclusive use in automatic driving and the road management system.

In the figure, reference numerals 20 and 30 are constituent elements of the lane monitoring and processing device 14 dedicated to automatic driving, respectively.
Reference numeral 0 denotes an image processing unit that analyzes an image of the automobile 10 traveling on the lane 11 dedicated to automatic driving, which is captured by the monitoring camera (ITV camera) 12, and extracts a traveling feature point (traveling pattern) of the traveling vehicle. The traveling pattern information acquired by the image processing unit 20 is collated with the setting information for automatic traveling determination to determine whether or not the automobile 10 traveling on the automatic driving dedicated lane 11 is an automatic driving vehicle (for example, a vehicle that is prohibited from driving on an automatic driving lane). Is an event determination unit that determines whether or not there is any data.

The image processing unit 20 performs an input process of a captured image including a process of extracting an image of the automobile 10 to be monitored from an image (video signal) captured by the monitoring camera (ITV camera) 12. An image of the automobile 10 traveling on the lane 11 dedicated to automatic driving is analyzed from an input unit (image input interface unit) 21 and a photographed image (video signal) input-processed by the image input unit 21, and Operation control unit 22 for recognizing characteristic points such as a speed and a trajectory to be extracted and extracting a traveling pattern corresponding to the characteristic points, and the traveling pattern information of the traveling vehicle obtained from the image computing control unit 22 to the event determination unit 30. And an output interface unit (I / F) 23 for controlling transmission.

The event judging section 30 receives the running pattern information sent from the image processing section 20 and stores the running pattern information with setting information for automatic running judgment stored in a database (DB) 34 described later. An arithmetic and control unit 31 for comparing and determining whether or not the vehicle 10 traveling on the automatic driving lane 11 is an automatic driving vehicle (whether or not an automatic driving lane driving prohibited vehicle); and the arithmetic and control unit 31 Display unit 32 for displaying and outputting the contents of the processing to the operator
And a control unit 33 that controls the entire event determination unit 30 including a control of passing the setting information for automatic driving determination stored in the database (DB) 34 to the arithmetic control unit 31 and activating the arithmetic control unit 31. And the setting pattern for the automatic driving determination, and read out / under the control of the control unit 33.
A database (DB) 34 that is write-controlled and information of the determination result processed by the arithmetic and control unit 31 (information indicating whether or not the automobile 10 traveling on the lane 11 dedicated to automatic driving is an automatic driving vehicle) is stored in a road management system. And a data transmission unit 35 for transmitting the data to the system 15.

Further, the road management system 15 outputs the information of the judgment result (judgment information indicating whether or not the car 10 running on the lane 11 for automatic driving is an autonomous driving vehicle) outputted from the event judging section 30. A road management processing device 41 having a notification function for receiving the information and informing the driver and the manager of the vehicle concerned, and a vehicle 10 traveling on the lane 11 dedicated to automatic driving from the road management processing device 41 is provided outside the vehicle. Upon receiving the determination information indicating that the vehicle 10 is the vehicle 10, display information for guiding the vehicle (autonomous driving lane prohibited vehicle) outside the automatic driving vehicle to the outside of the automatic driving lane 11 is displayed on the road information board 13. (Or sends display information to the road information board 13 and sends a predetermined guidance voice message to the loudspeaker 16).
And a road management monitor 43 for notifying an administrator that the vehicle 10 outside the automatic driving vehicle has entered the automatic driving lane 11.

FIG. 3 is a flowchart showing the processing procedure of the event determination unit 30.

Here, the operation of the embodiment of the present invention will be described with reference to the above-mentioned drawings.

An automobile 10 traveling on an automatic driving lane 11 is photographed by a surveillance camera (ITV camera) 12. The captured image (video signal) is input by the image input unit 21 of the image processing unit 20.

The image input unit 21 is connected to the surveillance camera (IT
The video (video camera) 12 extracts an image for extracting the monitoring target automobile 10 from the image (video signal) captured by the V camera 12 and sends the captured image to the image calculation control unit 22 (step S in FIG. 3).
1).

The image operation control unit 22 analyzes the image of the automobile 10 traveling on the lane 11 dedicated to automatic driving from the photographed image (video signal) input by the image input unit 21 and analyzes the speed and the speed during the traveling of the vehicle. An image of the traveling vehicle capable of recognizing features such as a trajectory is extracted, and the extracted image is transmitted to the event determination unit 30 via the output interface unit 23 as traveling pattern information of the traveling vehicle (step S2 in FIG. 3).

Upon receiving the traveling pattern information sent from the image processing unit 20, the event determining unit 30 compares the traveling pattern information with the setting information for automatic traveling determination stored in the database (DB) 34, It is determined whether or not the vehicle 10 traveling on the automatic driving lane 11 is an automatic driving vehicle, and information on the determination result (whether or not the vehicle 10 traveling on the automatic driving lane 11 is an automatic driving vehicle) is determined. Is transmitted to the road management system 15 via the data transmission unit 35 (steps S3 to S8 in FIG. 3).

In the above-mentioned automatic driving vehicle determination processing, for example, it is determined whether or not the automobile 10 traveling on the automatic driving lane 11 is an automatic driving vehicle based on the trajectory and speed of the traveling vehicle. . That is, the arithmetic control unit 31 of the event determination unit 30 recognizes the trajectory and speed of the traveling vehicle in the above-described automatic driving vehicle determination process, and stores the trajectory and speed in the automatic driving stored in the database (DB) 34. The traveling vehicle (surveillance camera (ITV
The vehicle 10) traveling on the lane 11 dedicated to automatic driving captured by the camera 12) determines whether or not the vehicle 10) is traveling on a predetermined track at a predetermined constant speed. It is determined whether or not the traveling automobile 10 is an automatic driving vehicle (steps S3 to S3 in FIG. 3).
5).

In the above-described automatic driving vehicle determination processing, the arithmetic and control unit 31 determines that the vehicle 10 traveling on the automatic driving lane 11 is not an automatic driving vehicle (it is a vehicle prohibited from driving on an automatic driving lane). (FIG. 3 step S
6) The image of the traveling vehicle (vehicle prohibited from traveling in the lane dedicated to automatic driving) is stored in a predetermined storage means (step S in FIG. 3).
7) Further, the event is reported to the road management processing device 41 of the road management system 15 (step S8 in FIG. 3).

The road management processing device 41 of the road management system 15 notifies the event judging section 30 that the automobile 10 traveling on the lane 11 for automatic driving is not an autonomous driving vehicle (it is a vehicle forbidden for lane driving for automatic driving). Upon receipt, the display output control is performed on the road management monitor 43 to notify the administrator, and the information board control device 42 is activated, and a predetermined guidance voice message is transmitted to the loudspeaker 16, and the automatic The driver of the automobile 10 determined to be a driving-only lane-prohibited vehicle promptly informs the driver of the automatic driving-only lane 1
At the same time, a warning is issued to shift to outside the lane 11 and display information for guiding the vehicle to the outside of the automatic driving lane 11 is displayed and output on the information board 13 (steps S9 and S10 in FIG. 3).

With the above system configuration, a traveling vehicle (automobile 10) outside the automatic driving vehicle that has entered the automatic driving lane 11 is automatically and promptly removed from the automatic driving lane 11 and guided to a general road. As a result, the safety of the automatic driving lane 11 can always be ensured without the need for artificial monitoring and guidance.

In the above embodiment, the road information board 1
3, or the warning means using the road information board 13 and the loudspeaker 16 has been described as an example, but is not limited thereto. It is also possible to adopt a configuration in which a traveling vehicle (automobile 10) outside the automatic driving vehicle that has entered the automatic driving dedicated lane 11 is excluded from the automatic driving dedicated lane 11 by using means, a lane changing means by a gate operation, or the like. Further, in the above-described embodiment, the determination of the vehicle for which the lane is prohibited for the automatic driving is performed only by the video of the monitoring camera (ITV camera) 12. However, for example, in addition to the video of the road information board 13 or the video Instead, other monitoring means such as a configuration in which a speed detector and a track running detector are combined can be used.

[0034]

As described above in detail, according to the present invention, a traveling vehicle outside an automatic driving vehicle that has entered the automatic driving lane is automatically and promptly removed from the automatic driving lane and guided to a general road. Thus, it is possible to provide a road monitoring system capable of always ensuring the safety of the lane dedicated to automatic driving.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a system according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration example of an automatic driving lane monitoring processing device and a road management system according to the embodiment;

FIG. 3 is an exemplary flowchart showing the processing procedure of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 ... Automatic driving lane 12 ... Monitoring camera (ITV camera) 13 ... Road information board 14 ... Automatic driving lane monitoring processor 15 ... Road management system 16 ... Loudspeaker 20 ... Image processing unit 21 ... Image input unit 22 ... Image Arithmetic control unit 23 Output interface unit (I / F) 30 Event determination unit 31 Operation control unit 32 Display unit 33 Control unit 34 Database (DB) 35 Data transmission unit 41 Road management processing device 42 Information board controller 43… Road management monitor

Continuation of the front page (72) Inventor Kenji Nakatani 66-2 Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa F-term (reference) in Toshiba Engineering Corporation 5H180 AA01 AA27 CC04 DD07 DD09 EE01 HH21

Claims (7)

[Claims] 1. A processing means for determining that a vehicle traveling on a lane dedicated to automatic driving deviates from a predetermined traveling pattern, and the processing means is a traveling vehicle outside the automatic driving vehicle deviating from the traveling pattern. A road management system comprising: a warning unit that warns the traveling vehicle when the determination is made. 2. A processing means for judging whether or not the vehicle is an autonomous driving vehicle from a monitoring photographed image of a vehicle traveling on an autonomous driving lane, and a traveling vehicle outside the autonomous driving vehicle determined by the processing means. A road management system comprising: guidance means for guiding an outside of a lane dedicated to automatic driving. 3. A surveillance camera for photographing a traveling vehicle on a lane dedicated to automatic driving, processing means for judging whether or not the vehicle is an automatically driving vehicle from a traveling pattern of the traveling vehicle photographed by the monitoring camera, Guide means for providing information for guiding the traveling vehicle to the outside of the automatic driving lane when the processing unit determines that the traveling vehicle on the automatic driving dedicated lane is a traveling vehicle outside the automatic driving vehicle. A road management system comprising: a road management system; 4. The vehicle according to claim 1, wherein the processing unit determines whether the vehicle is an autonomous vehicle based on any one of a speed, a trajectory, and an inter-vehicle distance of the traveling vehicle. 3. The road management system according to 3. 5. The road management system according to claim 1, wherein said guidance means is realized by using at least one of an electronic road information board, an electronic guidance sign, and an onboard device. 6. A means for notifying a road manager that a vehicle outside the vehicle for automatic driving is running on the lane dedicated to automatic driving, or a vehicle outside the vehicle for automatic driving traveling on the lane dedicated to automatic driving to the road manager. Claim 1 comprising means for reporting.
Or the road management system according to 2 or 3. 7. The road management system according to claim 1, further comprising a recording unit for recording an image of the traveling vehicle outside the self-driving vehicle photographed by the surveillance camera or an image transmission unit for transmitting the image.