JP2004061195A - The road condition judgment method and road condition judgment program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To cast a radar wave on a road surface from radar equipment, receive the reflected wave, detect vehicles and obstacles, judge a condition of a road surface on the basis of information returned from a transponder embedded in the road surface, detect the obstacles on the road surface, judge a more detailed road surface condition, and provide data to a user, regarding a road condition judgement method and a road condition judgement program for judging the condition of a road on which vehicles travel. <P>SOLUTION: The road condition judgment method is provided with a step wherein the radar wave is transmitted toward the road from the radar equipment, receives the reflected wave, and an object on the road surface is detected, a step wherein a reply wave is received which the embedded transponder responds the radio wave transmitted from the radar equipment and radiates, and a step wherein the condition of a road surface is judged based on the reflected wave and the reply wave which are received. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a road condition determination method and a road condition determination program for determining the condition of a road surface on which a vehicle travels.
[0002]
[Prior art]
Conventionally, a radar device is installed at the edge of a road such as a highway, and a radar wave is emitted from the radar device to receive a reflected wave from a vehicle or an obstacle on a road surface, and the presence or relative speed of the vehicle is determined. It has been detecting and obstacles on the road surface.
[0003]
[Problems to be solved by the invention]
However, the radar device has a problem in that it can only detect a vehicle or an obstacle existing on a road surface, but cannot detect a road surface condition such as a snow-covered state on the road surface or accumulation of rain.
[0004]
In addition, although a temperature sensor is embedded on the road surface to detect the frozen state of the road surface, it is only necessary to detect the temperature of the road surface, and to detect the presence of vehicles and obstacles on the road surface detected by the radar device. In addition, there was a problem that the situation on the road surface could not be detected in detail.
[0005]
In order to solve these problems, the present invention radiates a radar wave from a radar device onto a road surface, receives a reflected wave thereof, detects a vehicle or an obstacle, and responds from a transponder device embedded in the road surface. It is an object of the present invention to determine a road surface condition based on reply information, detect an obstacle on the road surface, and provide a more detailed road surface condition determination to a user.
[0006]
[Means for Solving the Problems]
Means for solving the problem will be described with reference to FIG.
[0007]
In FIG. 1, a radar device 1 transmits a radar wave toward a road surface, receives a reflected wave, and detects an object on the road surface.
[0008]
The transponder device 2 is embedded in a road surface and transmits a return wave to which a measured temperature, pressure, and the like are added in response to a radio wave transmitted from the radar device 1.
[0009]
The data processing device 3 executes various processes in accordance with a program, and here includes a road surface condition determination unit 31, a determination table 32, and the like.
[0010]
Next, the operation will be described.
The radar device 1 radiates a radar wave to the road surface and reflects the reflected wave to receive the reflected wave, and the transponder device 2 radiates a return wave in response to the radio wave radiated from the radar device 1 and the like. The received return wave is received, and the road surface condition determination means 31 determines the road surface condition based on the received reflected wave and the return wave.
[0011]
At this time, a plurality of transponder devices 2 are embedded in the road surface, and the state of the road surface is determined based on the respective return waves and reflected waves received from the plurality.
[0012]
In addition, the transponder device 1 embedded in the road surface measures at least one of the temperature and pressure of the road surface and returns it by including it in a return wave. Is determined.
[0013]
In addition, the road condition is determined by referring to the determination table 32 for the reflected wave and the return wave.
[0014]
Therefore, a radar wave is radiated from the radar device 1 onto the road surface, the reflected wave is received to detect a vehicle or an obstacle, and based on the return information returned from the transponder device 2 embedded in the road surface 5, By determining the situation, in addition to detecting an obstacle on the road surface 5, it is possible to determine a more detailed road surface condition and provide it to the user.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, the embodiment and operation of the present invention will be sequentially described in detail with reference to FIGS.
[0016]
FIG. 1 shows a system configuration diagram of the present invention.
In FIG. 1, a radar device 1 transmits a radar wave toward a road surface, receives a reflected wave, and detects an object (a distance to the object and a relative speed to the object) on the road surface. It is composed of the modulation / demodulation means 11 and the like (see FIGS. 2 and 5). Assuming that the distance to the object is R and the relative velocity is V, in the known FMCW method, the transmission wave is frequency-modulated with a triangle and radiated to the object as a radar wave. The beat signal frequency is obtained by mixing the sections, and both can be calculated by the following equation.
[0017]
_{R = ((f BD + f} BU) * C) / (8Δf * f m) ····· ( Equation 1)
_{V = ((f BD + f} BU) * C) / (4f 0) ········ ( Equation 2)
here,
C: radio wave propagation speed Delta] f: maximum frequency transition width f _m: triangular wave of a frequency f _0: center frequency f _BU: the beat signal obtained at intervals of the modulation frequency increases frequency (up-beat frequency)
f _BD : frequency of a beat signal obtained in a section where the modulation frequency decreases (downbeat frequency)
The modulation / demodulation unit 11 transmits a modulated radar wave, receives a reflected wave, detects an object on a road surface, and detects a distance to the object, a relative speed, and the like.
[0018]
The transponder device 2 is embedded in a road surface and emits a return wave to which a measured temperature, pressure, and the like are added in response to a radio wave transmitted from the radar device 1, and includes a transmission / reception unit 21, an amplification unit 22, A modulator / demodulator 23, a temperature sensor 24, a pressure sensor 25, and the like (see FIGS. 2 and 5).
[0019]
The transmission / reception means 21 detects a signal radiated from the radar device 1 and, in response to receiving a signal radiated from the radar device 1, detects a road surface temperature detected by the temperature sensor 24, the pressure sensor 25, or the like. , And a signal to which information such as pressure is added is returned to the radar device 1 or a receiving device arranged near the radar device 1.
[0020]
The amplifying unit 22 amplifies a received signal or the like.
The modulation / demodulation unit 23 demodulates a signal received from the radar device 1 and modulates information such as road surface temperature and pressure detected by the temperature sensor 24, the pressure sensor 25, and the like.
[0021]
The temperature sensor 24, the pressure sensor 5, and the like detect a temperature, a pressure, and the like near a road surface on which the transponder device 2 is installed.
[0022]
The data processing device 3 performs various processes according to a program, and determines a road surface condition based on a reflected wave received from the road surface received by the radar device 1 and a return wave received from the transponder device 2. Here, it is configured by the road surface condition determination means 31, the determination table 32, and the like.
[0023]
The road surface condition determination means 31 includes an object on the road surface taken in from the radar device 1, a distance to the object, a relative speed, an intensity of a reflected wave, an intensity of a return wave received from the transponder device 2, and a road surface extracted from the return wave. The road condition is determined by referring to the determination table 32 based on the information such as the temperature and the pressure of the vehicle (described later with reference to FIGS. 3 to 8).
[0024]
The determination table 32 is a table for determining the condition of the road surface based on the reflected wave, the return wave, and the temperature and pressure of the road surface extracted from the return wave (see FIG. 6).
[0025]
The display device 4 displays a road surface condition and the like.
FIG. 2 shows an explanatory diagram of the present invention. This shows a state in which the radar device 1 shown in FIG. 1 scans the road surface 5 while irradiating it with a radio wave beam, and the transponder device 2 is embedded in the road surface 5.
[0026]
2A shows a side view, and FIG. 2B shows a top view.
In FIG. 2, the radar device 1 is installed at an end of a road surface 5 forming a road, for example, at a position of about 4 to 5 m in height, and at an angle of about 4 ° in the vertical direction as shown in FIG. While irradiating a radar wave (radar beam) from 50 m to 150 m in front, scanning is performed about 14 ° in the left-right direction at an angle of about 2 ° as shown in FIG. As a result, a range of 50 m to 150 m ahead on the road surface of the road on which the radar device 1 is installed is scanned while irradiating with radar waves, and the object, the distance, the relative speed on the road surface, and the road surface 5 within the range are embedded. By transmitting a signal to the transponder device 2 and receiving the response wave, it is possible to determine the condition of the road surface 5.
[0027]
Next, the operation of the configuration shown in FIGS. 1 and 2 will be described in detail according to the order of the flowchart in FIG.
[0028]
FIG. 3 is a flowchart illustrating the operation of the present invention. Here, the radar device 1 and the transponder device 2 are the same as those in FIGS. The object 6 is a moving object (vehicle) on the road surface 5 in FIGS. 1 and 2.
[0029]
In FIG. 3, in S1, the radar device 1 transmits a carrier wave (triangular wave). This is because, for example, the radar apparatus 1 of FIG. 2 described above radiates a radar wave (carrier) on the road surface 5.
[0030]
At S2, the transponder device 2 reflects the signal emitted at S1.
At S3, an object (for example, a vehicle) 6 on the road surface 5 reflects the radar wave emitted at S1.
[0031]
In step S4, the distance / speed is calculated. This is because the radar device 1 radiates a radar wave onto the road surface 5 in S1, as shown in FIG. 2, amplifies the radar wave returned from an object (for example, a vehicle) on the road surface 5 and returns it to a transmission signal. The beat signal is obtained by mixing, and the distance R to the object 6 and the relative velocity V are calculated by the above-described (Equation 1) and (Equation 2) (the radar wave reflected back from the transponder device 2 and returned). From, the relative speed becomes 0, the vehicle stops, the signal is a reflection signal from the transponder device 2 installed at a predetermined place, and it is determined that the object is not the object 6).
[0032]
In step S5, a synchronization code is transmitted. In this, the radar device 1 transmits a predetermined synchronization code (synchronization symbol) to the transponder device 2 as shown in FIG.
[0033]
In S6, it is determined whether the transponder device 2 has received a predetermined synchronization code. That is, it is determined whether the synchronization code (synchronization symbol) transmitted in S5 receives a predetermined synchronization code (synchronization symbol) uniquely assigned to the transponder device 2. In the case of YES, the process proceeds to S7. In the case of NO, since it is not a synchronization code addressed to itself, it is ignored.
[0034]
In S7, since the synchronization code (synchronization symbol) addressed to itself is determined in YES in S6, the identification code / sensor data is transmitted. In this case, the data such as the temperature and the pressure near the transponder device 2 detected by the transponder device 2 with the temperature sensor 24, the pressure sensor 25 and the like are transmitted to the radar device 1 together with the identification code of the transponder device 2 itself.
[0035]
S8 registers in the management table. This is based on a management table, such as the distance R to the object 6 on the road surface 5 calculated in S4, the relative speed, and the information such as the temperature and pressure transmitted from the transponder device 2 in S7. The following data shown in the management table 33 is registered in association with the following data.
[0036]
・ Angle (angle of radar wave):
N from target 1 (detected object 6):
・ Transponder ID:
・ Temperature sensor data:
・ Pressure sensor data:
・ Others:
Here, the angle is an angle when the radar apparatus 2 scans in a horizontal direction on a road surface from which a radar wave is radiated as shown in FIG. The transponder ID is an identification code transmitted and received from the transponder device 2 in S7. The temperature sensor data and the pressure sensor data are the temperature sensor data and the pressure sensor data received together with the identification code transmitted and received from the transponder device 2 in S7.
[0037]
In step S9, it is determined whether one scan is completed. In the case of YES, it is determined that one scan of the radar wave in the horizontal direction on the road surface 5 shown in FIG. 2B has been completed, so the process proceeds to S10. In the case of NO, S1 and subsequent steps are repeated.
[0038]
In step S10, the distance and speed of the object 6 are determined.
S11 determines the road surface condition. This corresponds to, for example, the intensity of the radar wave from the object 6 for one scan registered in the management table 33 of FIG. 4, the distance R, the relative speed V, the intensity of the return wave received from the transponder device 2, the temperature data, and the pressure. Based on the data, the road surface condition is determined with reference to a determination table 32 of FIG. 6 described later. For example, there is no reflected wave of the radar of (1) in FIG. In the case of the pressure corresponding to the pressure snow amount, it is determined that "there is a predetermined snow amount and the road surface is frozen".
[0039]
In step S12, the determination result is notified to the host device. This notifies the host device of the distance to the object (eg, vehicle) on the road surface 5 determined in S10, the relative speed, and the status of the road surface 5 determined in S11.
[0040]
In S13, it is determined whether or not there is danger. In the case of YES, it is determined that there is danger in the distance, relative speed, and road surface condition (snow xxm) to the object 6 notified by the host device in S12, and the approaching object (moving body) is determined in S14. , The vehicle is wirelessly transmitted and displayed, for example, a screen of FIG. 7 described later is displayed (displayed on the screen of the navigation system) to warn the driver. Then, the process returns to S1 and repeats. On the other hand, if NO in S13, the process returns to S1 and repeats.
[0041]
As described above, the radar wave is transmitted from the radar device 1 onto the road surface 5 and the reflected wave is received to detect the distance to the object on the road surface 5 and the relative speed, and the temperature data and the pressure data are transmitted from the transponder device 2. The added response waves are received, and based on the received response waves, the road surface condition is determined with reference to the determination table 32 of FIG. Information is transmitted wirelessly and displayed on the screen of the vehicle's navigation system, etc., to call attention, or reference information (road surface conditions (such as snow cover), speed of other vehicles, etc.) is displayed to assist driving It can be presented.
[0042]
FIG. 4 shows an example of the management table according to the present invention. The illustrated management table 33 registers the following information shown for one scan in association with the angle of the radar wave transmitted from the radar apparatus 1 in S1 to S8 in FIG.
[0043]
· Targets 1, 2, 3, ... n:
・ Transponder ID:
・ Temperature sensor data:
・ Pressure sensor data:
・ Others:
Here, the targets 1, 2, 3,... N are objects 6 on the road surface 5 which are detected based on the reflected waves that are transmitted by transmitting the radar waves on the road surface 5 at the illustrated angles and reflecting the radar waves. Then, the distances to the targets 1, 2, 3,... N (not shown, but also the relative velocity, the received intensity of the reflected wave, etc.) are registered. The transponder ID, the temperature sensor data, and the pressure sensor data are the identification code (ID) of the transponder device 2 received as a reply wave from the transponder device 2 when the synchronization symbol shown in FIG. The temperature measured by the sensor 24 and the pressure measured by the pressure sensor 25.
[0044]
As described above, the data for one scan transmitted and received from the radar apparatus 1 is registered as shown in FIG. 4 (S8 in FIG. 3 described above), and the object on the road surface 5 is The distance, the relative speed, and the road surface condition up to 6 can be determined (S10 in FIG. 3).
[0045]
FIG. 5 shows an explanatory diagram of the present invention.
FIG. 5A shows a time division example. This is because the radar apparatus 1 shown in FIGS. 1 and 2 transmits one frame (in FIG. 2, the radar apparatus 1 transmits one radar carrier at an angle, receives a reflected wave, and receives data from the transponder apparatus 2). )Inside,
・ During the radar time of (1), a radar carrier (carrier modulated in a triangular frequency) is transmitted on the road surface 5 and its reflected wave is received, and the distance to the object 6 on the road surface 5 and the relative speed are detected. I do.
[0046]
During the communication time of (2), the radar device 1 transmits the synchronization symbol to the transponder device 2, and the transponder device 2 that has received the corresponding synchronization symbol measures the temperature measured by the temperature sensor 24 and the temperature measured by the pressure sensor 25. The pressure and the identification code are transmitted to the radar device 1.
[0047]
As described above, using the same frequency band signal, the first half (1) radar time and the second half (2) communication time in one frame are alternately provided (provided in a time-sharing manner), and the object 6 on the road surface 5 is provided. It is possible to measure the distance, relative speed, and collect data such as temperature and pressure on the road surface 5 (see the flowchart in FIG. 3).
[0048]
FIG. 5B shows a parallel example. This is because the radar apparatus 1 shown in FIGS. 1 and 2 transmits a radar carrier and receives a reflected wave, and the radar apparatus 1 superimposes a synchronization symbol on the same carrier and transmits it to the transponder apparatus 2 to transmit the corresponding transponder apparatus 2. An example in which the reception of data from C.I. Here, the same carrier is subjected to modulation at a plurality of frequencies, and is separated by a filter at the time of reception to extract each signal.
[0049]
As described above, the radar carrier is transmitted and the reflected wave is received, the synchronization symbol is transmitted and the response signal from the transponder device 2 is received in parallel, and the distance and the relative speed of the object 6 on the road surface 5 are performed. And data such as temperature and pressure on the road surface 5 can be collected (see the flowchart of FIG. 8 described later).
[0050]
FIG. 6 shows an example of the determination table of the present invention.
FIG. 6A shows an example of the determination table 32 in the case of only the response wave from the transponder device 2. In this case, the radar wave transmitted from the radar device 1 onto the road surface 5 is reflected on the intensity of the reflected wave reflected by the object 6 on the road surface 5 and the presence or absence of the return wave from the transponder device 2 and the intensity. The road surface state to be determined is registered in advance. For example, {circle around (1)} indicates that a reflected wave (a reflected wave transmitted from the radar device 1 and reflected by the object 6 and returned and received) is received, but the intensity is weak and the return wave from the transponder device 2 is When receiving, register as "No obstacle (normal state)". (2) When a reflected wave is received, but the intensity is weak, and when a reply wave from the transponder device 2 is not received, "There is a failure" And register.
[0051]
As described above, the condition of the road surface 5 (road surface condition) is determined based on the presence / absence and intensity of the reflected wave transmitted from the radar device 1 and reflected and the return wave received from the transponder device 2, as shown in FIG. By registering as shown in the column of "Example", it becomes possible to automatically determine the road surface condition based on the presence and intensity of the reflected wave and the return wave.
[0052]
FIG. 6B shows an example of the determination table 32 when the determination is made based on the response wave from the transponder device 2 and the temperature and pressure measured by the temperature sensor 24 and the pressure sensor 25. In this case, the intensity of the reflected wave of the radar wave transmitted from the radar device 1 on the road surface 5 reflected by the object 6 on the road surface 5 and the presence / absence of the return wave from the transponder device 2, intensity, temperature, pressure Is registered in advance on the basis of the road surface condition determined based on. For example, in (1), if there is no reflected wave, there is a return wave, the temperature is 0 ° or less, and the pressure is a value corresponding to the measurement of the amount of snow, “snow and road surface freezing” is registered.
[0053]
As described above, the condition of the road surface 5 (road surface condition) is determined based on the presence / absence, intensity, temperature, and pressure of the reflected wave transmitted from the radar device 1 and reflected and returned by the transponder device 2. By registering as shown in the column of determination (example) shown in the figure, it becomes possible to automatically determine the road surface condition based on the presence, strength, temperature, and pressure of the reflected wave and the return wave.
[0054]
FIG. 7 shows a screen example according to the present invention. This shows an example in which a danger warning is wirelessly transmitted to the approaching object (vehicle) 6 in S14 of FIG. 3 described above and displayed on the screen of the vehicle (for example, the screen of the navigation system). here,
・ Be careful of xxxm road surface freezing! !
Is displayed. This is based on the determination table of FIG. 6 described above based on the temperature, pressure data, response wave intensity, radar wave reflection intensity, and the like received from the transponder device 2 by the host device in S12 of FIG. 32, when it is determined that the driving is dangerous (for example, when there is snow and the road surface is frozen at 0 ° or less), it is wirelessly transmitted to the vehicle that intends to enter the dangerous place and displayed on the screen of the vehicle. This is an example of the display.
[0055]
As described above, the road surface condition on the road surface 5 is monitored unattended for 24 hours, and when the road surface condition becomes dangerous for traveling, a warning is wirelessly transmitted to a vehicle that is about to enter the location to call attention. And so on.
[0056]
FIG. 8 is a flowchart illustrating another operation of the present invention. As shown in FIG. 5B, this is a case where the radar carrier and the modulation data (synchronous symbol, transmission data) are transmitted and received simultaneously in parallel to determine the road surface condition (FIG. 5B). 3 shows an example in which the same frequency band signal shown in FIG.
[0057]
In FIG. 8, in S21, the radar device 1 transmits a carrier wave (triangular wave). For example, the radar device 1 shown in FIG. 2 emits a radar wave (a triangular carrier wave) on the road surface 5.
[0058]
In S22, the transponder device 2 and the object 6 on the road surface 5 respectively reflect radar waves.
[0059]
In S23, the radar device 1 transmits a synchronization code. In this, the radar device 1 transmits a predetermined synchronization code (synchronization symbol) in parallel to the transponder device 2 as shown in FIG.
[0060]
A step S24 decides whether or not the transponder device 2 has received the synchronization code addressed to itself. In the case of YES, the process proceeds to S25. If NO, ignore it.
[0061]
In S25, since it is determined that the synchronization code (synchronization symbol) is addressed to itself in YES of 24, the identification code / sensor data is transmitted. In this case, the data such as the temperature and the pressure near the transponder device 2 detected by the transponder device 2 with the temperature sensor 24, the pressure sensor 25 and the like are transmitted to the radar device 1 together with the identification code of the transponder device 2 itself.
[0062]
S26 separates the received signal. This separates the reflected waves reflected in S22 and S23 from the reply waves transmitted from the transponder device 2 and received in S25.
[0063]
In step S27, the distance / speed is calculated. This is because the reflected wave transmitted from the radar device 1 separated in S26 and reflected by the object 6 is amplified and mixed with the transmission signal to obtain a beat signal, and as described above (Equation 1), Calculate the distance R to the object 6 and the relative speed V by (Equation 2). (From the radar wave reflected back from the transponder device 2, the relative speed becomes 0 and stops, and it is installed at a predetermined place. It is determined that the signal is a reflection signal from the transponder device 2 and the object is not the object 6).
[0064]
S28 registers in the management table. This is obtained by combining the information such as the distance R to the object 6 on the road surface 5 calculated in S27 and the relative speed, and the information such as the temperature and pressure transmitted from the transponder device 2 in S25. 4 is registered as shown in the management table 33.
[0065]
In step S29, it is determined whether one scan is completed. In the case of YES, it is determined that one scan of the radar wave in the horizontal direction on the road surface 5 shown in FIG. 2B has been completed, so the process proceeds to S30. In the case of NO, S21 and subsequent steps are repeated.
[0066]
In step S30, the distance / speed of the object 6 is determined.
S31 determines the road surface condition. This corresponds to, for example, the intensity of the radar wave from the object 6 for one scan registered in the management table 33 of FIG. 4, the distance R, the relative speed V, the intensity of the return wave received from the transponder device 2, the temperature data, and the pressure. Based on the data, the road surface condition is determined by referring to the determination table 32 of FIG. 6 described above. For example, there is no reflected wave of the radar of (1) in FIG. If the pressure is equivalent to the pressure snow amount, it is determined that a predetermined snow amount exists.
[0067]
In step S32, the determination result is notified to the host device. This notifies the host device of the distance to the object (eg, vehicle) on the road surface 5 determined in S30, the relative speed, and the status of the road surface 5 determined in S31.
[0068]
A step S33 decides whether or not there is danger. In the case of YES, it is determined that there is a danger in the distance, relative speed, and road surface condition (snow xxm) to the object 6 notified by the host device in S34, so the approaching object (moving object, vehicle) 7) wirelessly transmits and displays a danger warning, for example, displays the above-described screen of FIG. Then, the process returns to S21 and is repeated. On the other hand, if NO in S33, the process returns to S21 and repeats.
[0069]
As described above, the radar wave is transmitted from the radar device 1 onto the road surface 5 and the reflected wave is received to detect the distance to the object on the road surface 5 and the relative speed, and the temperature data and the pressure data are transmitted from the transponder device 2. The response waves added are received in parallel, and based on these, the road surface condition is determined with reference to the determination table 32 of FIG. 6, and the vehicle approaching the point detected by the radar device 1 when it is in a dangerous state Danger information is wirelessly transmitted to the vehicle and displayed on the screen of the vehicle's navigation system, etc. to alert the driver, and reference information (road surface conditions (such as snow), speed of other vehicles, etc.) It can be presented as help or the like.
[0070]
(Appendix 1)
In a road surface condition determination method for determining a road surface condition on which a vehicle travels,
A step of transmitting a radar wave from the radar device toward the road surface, receiving a reflected wave that has been reflected, and detecting an object on the road surface;
A step of receiving a reply wave emitted by the transponder device embedded in the road surface in response to a radio wave transmitted from the radar device,
Determining a road surface condition based on the received reflected wave and the received return wave.
[0071]
(Appendix 2)
The road surface condition determination method according to claim 1, wherein a plurality of transponder devices are embedded in the road surface, and the condition of the road surface is determined based on the respective return waves and the reflected waves received from the plurality.
[0072]
(Appendix 3)
The road surface condition determining method according to claim 1 or 2, wherein the transponder device embedded in the road surface measures at least one of the temperature and the pressure of the road surface and sends the measured response in the return wave.
[0073]
(Appendix 4)
In a road surface determination program that determines the state of the road surface on which the vehicle runs,
On the computer,
A step of transmitting a radar wave from the radar device toward the road surface, receiving a reflected wave that has been reflected, and detecting an object on the road surface;
A step of receiving a reply wave emitted by the transponder device embedded in the road surface in response to a radio wave transmitted from the radar device,
Determining a road condition based on the received reflected wave and the received reply wave.
[0074]
(Appendix 5)
In a road surface determination device that determines a state of a road surface on which a vehicle travels,
Means for transmitting a radar wave from the radar device toward the road surface, receiving a reflected wave reflected therefrom, and detecting an object on the road surface,
Means for receiving a return wave emitted by the transponder device embedded in the road surface in response to a radio wave transmitted from the radar device,
Means for determining a road surface condition based on the received reflected wave and the received reply wave.
[0075]
【The invention's effect】
As described above, according to the present invention, a radar wave is radiated from the radar device 1 onto the road surface, the reflected wave is received to detect a vehicle or an obstacle, and the transponder device 2 embedded in the road surface 5 Since the configuration that determines the road surface condition based on the returned reply information is adopted, it is possible to provide more detailed road surface condition determination to the user in addition to detecting obstacles on the road surface 5. It becomes.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram of the present invention.
FIG. 2 is an explanatory diagram of the present invention.
FIG. 3 is a flowchart illustrating the operation of the present invention.
FIG. 4 is an example of a management table according to the present invention.
FIG. 5 is an explanatory diagram of the present invention.
FIG. 6 is an example of a determination table according to the present invention.
FIG. 7 is a screen example of the present invention.
FIG. 8 is a flowchart illustrating another operation of the present invention.
[Explanation of symbols]
1: radar apparatus 11: modulation / demodulation means 2: transponder apparatus 21: transmission / reception means 22: amplification means 23: modulation / demodulation means 24: temperature sensor 25: pressure sensor 3: data processing apparatus 31: road surface condition determination means 32: determination table 4: display Device 5: Road surface 6: Object

Claims (3)

In a road surface condition determination method for determining a road surface condition on which a vehicle travels,
A step of transmitting a radar wave from the radar device toward the road surface, receiving a reflected wave that has been reflected, and detecting an object on the road surface;
A step of receiving a reply wave emitted by the transponder device embedded in the road surface in response to a radio wave transmitted from the radar device,
Determining a road surface condition based on the received reflected wave and the received return wave. 2. The road surface condition determination method according to claim 1, wherein the transponder device embedded in the road surface measures at least one of the temperature and the pressure of the road surface and sends back the response wave in the return wave. In a road surface determination program that determines the state of the road surface on which the vehicle runs,
On the computer,
A step of transmitting a radar wave from the radar device toward the road surface, receiving a reflected wave that has been reflected, and detecting an object on the road surface;
A step of receiving a reply wave emitted by the transponder device embedded in the road surface in response to a radio wave transmitted from the radar device,
Determining a road condition based on the received reflected wave and the received reply wave.

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