JP2002269694A - Road side processing device for correcting obstacle detection data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a road side processing device capable of preparing the information on an obstacle which can not be detected by a detecting device, by estimating the obstacle based on the information collected in the past, and providing the information to a vehicle through a communicating device between a road and the vehicle. SOLUTION: When a state that the obstacle on the road once detected by the detecting device, can not be detected by the detecting device thereafter, the information capable of not being detected by the detecting device is prepared by the estimation on the basis of the information collected in the past, and the information is provided to a driver through the communicating device between the road and the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support road system (AHS) for transmitting information on obstacles existing on a road to a service area installed at a predetermined location.
The present invention relates to a roadside processing device of a system for preventing collision of a front obstacle by providing a vehicle traveling on a road from a roadside infrastructure to prevent a collision between the vehicle and an obstacle on the road.

[0002]

2. Description of the Related Art FIGS. 1 and 2 show a conventional system for preventing collision of obstacles, which provides information on obstacles existing on a road to vehicles via a road-to-vehicle communication device. FIG. 1 shows a case where an obstacle on the road is detected by the detection device 1. Information on the obstacle on the road detected by the detection device 1 is collected by the roadside processing device 2, and the vehicle travels on the road. Information is provided to the vehicle 4 via the road-to-vehicle communication device 3. The driver in the vehicle 4 can avoid collision with an obstacle by providing information on “there is an obstacle” from the vehicle 4. However, in the related art, as shown in FIG. 2, when an obstacle on a road cannot be detected by the detection device 1, information on the obstacle cannot be obtained even by the roadside processing device 2, and the roadside vehicle The information of the obstacle on the road cannot be provided to the vehicle 4 via the communication device 3, and the driver on the vehicle 4 cannot receive the information from the vehicle 4. There is a problem that a risk of collision between the vehicle and the vehicle occurs.

[0003]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, information on obstacles that cannot be detected by the detecting device is created by estimating from information collected in the past and created through the road-to-vehicle communication device. It is an object of the present invention to provide a roadside processing device characterized in that information is provided to a vehicle by a vehicle.

[0004]

According to the first aspect of the present invention, there is provided an apparatus for detecting an obstacle on a road once detected by a detection device, wherein the obstacle cannot be detected by the detection device. By using the information on obstacles collected in the past by the roadside processing device and estimating and creating information on obstacles that can no longer be detected, information on obstacles that can no longer be detected via the road-to-vehicle communication device Is provided to a driver of a vehicle traveling on a road.

According to a second aspect of the present invention, when an obstacle on the road once detected by the detecting device cannot be detected by the detecting device, information on the undetectable obstacle is transmitted to the road. Since information is provided to the traveling vehicle via the road-to-vehicle communication device, the information is detected by the detection device when information on obstacles that cannot be detected is estimated using the information collected in the past by the roadside processing device and created. By providing only information on obstacles that are no longer able to collide with the vehicle driven by the driver by estimating from the information collected in the past, the information is provided to the driver via the road-to-vehicle communication device. A roadside processing device that corrects obstacle detection data.

[0006]

Embodiments of the present invention will be described with reference to the drawings. FIG. 3 shows a state in which an obstacle exists on the road and the detection device can detect the obstacle. At this time, the roadside processing device inputs the following information from the detection device.

[Table 1]

FIG. 4 shows a state in which the obstacles A and B among the obstacles on the road cannot be detected by the detecting device from the state of FIG. At this time, the roadside processing device obtains the following information from the detection device.

[Table 2]

Here, in FIGS. 3 and 4, although the obstacles existing on the road have not changed, there occurs a situation in which the obstacles A and B cannot be detected by the detecting device in FIG. In the roadside processing device, the obstacle A and the obstacle B
Information cannot be obtained. Therefore, in the present invention, the state of FIG. 3, that is, the information of Table 1 is stored in the roadside processing device, and the state of FIG.
When all of the following conditions 1 and 2 are satisfied, the roadside processing device estimates the state of FIG. 5, that is, the information in Table 3, and provides information to the vehicle via road-to-vehicle communication.

Condition 1 When the input from the detection device to the roadside processing device suddenly changes from the state shown in Table 1 to the state shown in Table 2. That is, when there is no trace that the obstacle A and the obstacle B have moved while changing their coordinates.

Condition 2 In addition to the road on the X- and Y-coordinates which are the detection target ranges of the detection device, obstacles such as road shoulders, parking lots adjacent to the road, shops adjacent to the road, and vacant lots adjacent to the road can move. And a movable area other than a road is not adjacent to the positions of the obstacles A and B at the time when detection by the detection device becomes impossible. That is, obstacle A
And when there is no evidence that the obstacle B has moved to a parking lot or the like adjacent to the road.

[0011]

[Table 3]

In Table 3, x1 'is the latest information of the x coordinate (x1) of the obstacle A among the information input from the detection device by the roadside processing device. y1 ′ is the latest information of the y coordinate (y1) of the obstacle A among the information input from the detection device by the roadside processing device. x2 ′ is the latest information of the x coordinate (x2) of the obstacle B among the information input from the detection device by the roadside processing device. Y2 ′ is the latest information of the y-coordinate (y2) of the obstacle B among the information input from the detection device by the roadside processing device.

FIG. 6 shows a method of selecting only information of an obstacle that cannot be detected by the detection device 1 and that has a risk of colliding with the vehicle 4 driven by the driver. When a service for preventing obstacle collision in front is provided under the road conditions shown in FIG. 6, information on the obstacles A to D detected by the detection device 1 is collected by the roadside processing device 2, and the roadside-vehicle communication device is used. The information is provided to the vehicle 4 through 3. Among these pieces of information, the most important information for avoiding the collision between the vehicle 4 and the obstacle is the information on the obstacle A that is closest to the traveling direction of the vehicle 4. Even if an error occurs when the detection device 1 detects the obstacles B to D, if the obstacle A can be accurately detected and the information can be provided to the vehicle 4, the communication between the vehicle 4 and the obstacle can be performed. It is possible to prevent a collision accident. On the other hand, even if the detection device 1 can accurately detect the obstacles B to D, a mistake occurs when the obstacle A is detected, and the information cannot be provided to the vehicle 4. For example, it becomes difficult to provide effective information for preventing a collision accident between the vehicle 4 and an obstacle. Based on the above, if a state occurs in which the detection device 1 cannot detect an obstacle on the road, among the obstacles that cannot be detected by the detection device 1, Selects only information on obstacles in front. With respect to the selected obstacle, the information obtained in the past by the roadside processing device 2 is used to estimate and create the information of the obstacle, so that the information is transmitted to the vehicle 4 via the road-vehicle communication device 3. provide.

FIGS. 7 to 10 show a case where the roadside processing device 2 according to the present invention is applied when an obstacle on the road once detected by the detection device 1 cannot be detected by the detection device 1 thereafter. FIG. 3 illustrates a scenario of a service for preventing collision of a forward obstacle.

In FIG. 7, obstacles A to A are located on the road in the traveling direction.
C exists, and each of the positions A to
C detected. The information on the obstacles A to C is stored in the roadside processing device 2.
Is input to The roadside processing device 2 stores information on the obstacles A to C.

Thereafter, as shown in FIG. 8, when the vehicle 4 enters, information on the obstacles A to C must be provided to the driver of the vehicle 4. However, the detection device 1
Cannot detect the obstacles A and B, only the information on the obstacle C is input to the roadside processing device 2. When only the information on the obstacle C is provided to the vehicle 4, the vehicle 4 collides with the obstacle A.

Therefore, as shown in FIG.
Determines that the danger of collision with the vehicle 4 is the obstacle A in front of the traveling direction, and estimates the position A ′ of the obstacle A from the stored past information.

Then, as shown in FIG. 10, the information of the obstacle C detected by the detection device 1 and the information of the obstacle A estimated by the roadside processing device 2 are transmitted to the vehicle via the road-vehicle communication device 3. Provide information to 4. Thereby, collision between the vehicle 4 and the obstacle A can be avoided.

[0019]

According to the present invention, it is possible to avoid the danger that an obstacle that cannot be detected by the detection device will collide with a vehicle driven by the driver. In addition, among the collision objects that cannot be detected by the detection device, the danger of colliding with the vehicle driven by the driver is created by estimating only the information on the obstacles from the information collected in the past, thereby creating information on all the obstacles. As compared with the case where is estimated, there is an effect that the number of processes can be reduced and the process can be simplified.

[Brief description of the drawings]

FIG. 1 is a diagram showing a conventional obstacle collision prevention support system when an obstacle on a road is detected by a detection device.

FIG. 2 is a diagram showing a conventional obstacle collision prevention support system when an obstacle on a road cannot be detected by a detection device.

FIG. 3 is a diagram showing a state where an obstacle exists on a road and can be detected by a detection device.

FIG. 4 is a diagram showing a state in which the detection device cannot detect the obstacles A and B among obstacles on the road from the state of FIG. 3;

FIG. 5 is a diagram showing a state in which the roadside processing device makes an estimation when falling into the state of FIG. 4;

FIG. 6 is a diagram illustrating a method of selecting an obstacle to be estimated by the processing device.

FIG. 7 is a diagram illustrating a scenario of a service for assisting in preventing collision of a forward obstacle when the roadside processing device according to the present invention is applied.

FIG. 8 is a diagram illustrating a scenario of a service for preventing collision of a forward obstacle when the roadside processing device according to the present invention is applied.

FIG. 9 is a diagram illustrating a scenario of a service for preventing collision of a forward obstacle when the roadside processing device according to the present invention is applied.

FIG. 10 is a diagram for explaining a scenario of a service for preventing collision of a forward obstacle when the roadside processing device according to the present invention is applied.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Detection apparatus 2 Roadside processing apparatus 3 Roadside-vehicle communication apparatus 4 Vehicle

Continued on the front page (72) Inventor Naoya Noguchi 3-2-1, Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Inventor Kazuyuki Nakagawa 2-3-1 Otemachi, Chiyoda-ku, Tokyo No. Nippon Telegraph and Telephone Corporation (72) Inventor Y. Toi 5-7-1 Shiba, Minato-ku, Tokyo NEC Corporation (72) Inventor Tetsuya Yamazaki 5-2-1 Omika-cho, Hitachi City, Ibaraki Prefecture No. 72 Hitachi, Ltd. Information Control Systems Division (72) Inventor Shoji Dohi 4-1-1, Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa F-term in Fujitsu Limited 5B057 AA16 DA07 DA15 DB02 5H180 AA01 BB04 EE11 FF13 LL01 LL08 LL15

Claims (2)

[Claims] 1. A roadside processing device for providing information on an obstacle on a road detected by a detection device to a driver of a vehicle traveling on the road, wherein an obstacle on the road once detected by the detection device is detected. Then, when a situation that cannot be detected by the detection device occurs, the information of the obstacle that cannot be detected by the detection device is created by estimating from the information collected in the past, and the obstacle that cannot be detected through the road-to-vehicle communication device. A roadside processing device that corrects obstacle detection data, by providing information on the obstacle detection data to a driver. 2. A roadside processing device for providing information on an obstacle on a road detected by a detection device to a driver of a vehicle running on the road, wherein the obstacle on the road once detected by the detection device is provided. Then, if a situation that cannot be detected by the detection device occurs, it is calculated whether there is a risk of collision between an obstacle that cannot be detected by the detection device and a vehicle driven by the driver. Of obstacles that cannot be detected by the detection device, only information on obstacles that may collide with the vehicle driven by the driver is created by estimating from information collected in the past and provided to the driver via the road-to-vehicle communication device. A roadside processing device that corrects obstacle detection data.