JP2007128182A - Vehicle accident prevention device, vehicle accident prevention system, on-vehicle device and vehicle accident prevention method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle accident prevention device capable of preventing a collision accident at an intersection, and a vehicle accident prevention system, an in-vehicle device and a vehicle accident prevention method provided with the vehicle accident prevention device. <P>SOLUTION: The vehicle accident prevention device 3 prevents a collision accident at the intersection C of a road by determining based on a speed of a vehicle traveling through a first point (distance L1 from a stop line) on the upstream side of the intersection C measured by a sensor 1, whether this vehicle is a dangerous vehicle which advances into the intersection C while a signal lamp color to the road B on the crossing side is blue or not, determining based on the speed and position of a vehicle traveling between the first point and a second point (distance L2 from the stop line) on the downstream side from the first point measured by a video camera 2, whether this vehicle is a dangerous vehicle or not, and reporting a warning to a vehicle traveling in the crossing-side road B based on the determination result. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle accident prevention apparatus that prevents a collision accident between vehicles entering an intersection, a vehicle accident prevention system including the vehicle accident prevention apparatus, an in-vehicle apparatus that notifies collision accident prevention, and a vehicle accident prevention method.

  There is a need for a system that provides detailed traffic information on vehicles on the road for smooth traffic or traffic accident suppression, especially to prevent rear-end collisions or encounter collisions between vehicles at or near intersections. A system has been proposed.

  For example, when a vehicle traveling on a non-priority road passes through a service-in fixed point information detection support facility provided near the intersection at an intersection where a priority road and a non-priority road intersect, the infrastructure provided on the roadside A system for obtaining vehicle information traveling on a priority road, determining whether or not to collide with a vehicle traveling on a priority road with an in-vehicle processing device based on the obtained information, and preventing a collision at the encounter has been proposed. (See Patent Document 1).

In addition, there is a means to acquire accelerator information from other vehicles that are parked in front of the vehicle near the intersection by inter-vehicle communication. When the traffic light changes from red to green, the accelerator information is obtained from other vehicles that are stopped There has been proposed a device that prevents a collision accident by notifying a driver of a startable guidance message at the timing (see Patent Document 2).
JP 2001-126198 A JP 2004-310280 A

  However, in the system of Patent Document 1, it is necessary to mount an in-vehicle processing device in a vehicle in order to determine an encounter collision, and a vehicle that does not have an in-vehicle processing device has an encounter collision. There was a problem that it could not be judged. In addition, there is no description of the collision at the intersection where the traffic signal is installed, and there is a possibility that a vehicle that has entered the intersection with a green traffic light will encounter a collision accident at the encounter.

  Moreover, in the apparatus of patent document 2, in order to acquire the information of another vehicle by vehicle-to-vehicle communication, there existed a problem that a collision accident could not be prevented in the vehicle which does not respond to vehicle-to-vehicle communication. . Further, since it is intended to suppress the occurrence of a collision accident when starting near an intersection, it was not possible to prevent a collision accident at the encounter of a vehicle entering the intersection.

  The present invention has been made in view of such circumstances, and whether or not the vehicle is a dangerous vehicle that enters the intersection based on the speed of the vehicle traveling on the first point upstream of the intersection of the road. And determining whether the vehicle is a dangerous vehicle based on the speed and position of the vehicle traveling between the second point downstream of the first point and the intersection. It is an object of the present invention to provide a vehicle accident prevention apparatus and a vehicle accident prevention method that can prevent a collision accident at an intersection at an intersection by notifying a vehicle traveling on an intersection road based on the result.

  Another object of the present invention is that, based on the speed of the vehicle traveling at the first point upstream of the intersection of the road, the signal light color for the road on the intersection where the vehicle intersects at the intersection is blue or blinking yellow. It is determined whether or not the vehicle is a dangerous vehicle that enters an intersection in between, and based on the speed and position of the vehicle traveling between the second point downstream of the first point and the intersection, the vehicle A vehicle accident prevention device capable of preventing a collision accident at an intersection by determining whether or not the vehicle is a dangerous vehicle and notifying a vehicle traveling on the road on the intersection side based on the determination result, And a vehicle accident prevention system including the vehicle accident prevention apparatus.

  Another object of the present invention is that the speed of the vehicle traveling at the first point is higher than the threshold speed, and the signal light color for the road on the intersection side is blue or blinking yellow at the calculated intersection approach time. An object of the present invention is to provide a vehicle accident prevention device capable of detecting a dangerous vehicle at an early stage by determining the vehicle as a dangerous vehicle and a vehicle accident prevention system including the vehicle accident prevention device.

  Another object of the present invention is to determine the stopping distance of the vehicle and the distance to the intersection based on the predetermined vehicle deceleration, the speed and position of the vehicle traveling between the intersection and the second point. By calculating the distance, if the stop distance is longer than the separation distance, and the signal light color for the road on the intersection side is blue or blinking yellow at the time of the calculated intersection approach, by determining the vehicle as a dangerous vehicle, An object of the present invention is to provide a vehicle accident prevention device capable of detecting dangerous vehicles without omission and a vehicle accident prevention system including the vehicle accident prevention device.

  Another object of the present invention is to provide a warning including a distance between the intersection and the first point, a predetermined vehicle deceleration, and a time required to issue a warning from at least measurement of the vehicle speed or position. By measuring the speed or position of the vehicle traveling between the second point and the intersection specified based on time, the speed of the vehicle between the first point and the second point or An object of the present invention is to provide a vehicle accident prevention apparatus that does not require measurement of a position and a vehicle accident prevention system including the vehicle accident prevention apparatus.

  Another object of the present invention is to identify a vehicle type based on a captured image obtained by imaging with an imaging unit for imaging the vehicle, and set a vehicle deceleration according to the identified vehicle type. By providing such a means, it is an object of the present invention to provide a vehicle accident prevention device capable of accurately detecting a dangerous vehicle regardless of the vehicle type and a vehicle accident prevention system including the vehicle accident prevention device.

  Another object of the present invention is to determine whether the vehicle is a dangerous vehicle entering the intersection based on the speed and position of the vehicle traveling on the upstream side of the intersection of the road, and based on the determination result. An object of the present invention is to provide a vehicle accident prevention device capable of preventing a collision accident at an intersection at an intersection by notifying a vehicle traveling on an intersection road.

  In addition, another object of the present invention is that, based on the speed and position of the vehicle traveling upstream of the intersection of the road, the risk that the vehicle enters the intersection while the signal light color for the road on the intersection is blinking blue or yellow. A vehicle accident prevention device capable of preventing a collision accident at an intersection at an intersection by determining whether the vehicle is a vehicle and notifying a vehicle traveling on an intersection road based on the determination result, and the vehicle It is providing the vehicle accident prevention system provided with an accident prevention apparatus.

  Another object of the present invention is to provide an in-vehicle device capable of reliably warning a dangerous vehicle by including means for acquiring information including a warning notified by the vehicle accident prevention device and outputting the acquired information. It is to provide.

  A vehicle accident prevention apparatus according to a first aspect of the present invention is the vehicle accident prevention apparatus for preventing an accident at the intersection of vehicles entering an intersection where a plurality of roads intersect, and traveling on the first point upstream of the intersection of one road. First measuring means for measuring the speed of the vehicle to be operated, and first determining whether the vehicle is a dangerous vehicle entering the intersection based on the speed of the vehicle measured by the first measuring means. 1 determination means, a second measurement means for measuring the speed and position of a vehicle traveling between the second point downstream of the first point and the intersection, and the second measurement means Based on the measured speed and position of the vehicle, the second determination means for determining whether or not the vehicle is a dangerous vehicle, and the other based on the determination result by the first or second determination means Means for notifying a vehicle traveling on the road Characterized in that it obtain.

  According to a second aspect of the present invention, there is provided a vehicle accident prevention apparatus according to the first aspect, further comprising means for acquiring signal light information for the other road of the traffic light installed at the intersection, wherein the first determination means is the acquired signal light. Based on the information and the speed of the vehicle measured by the first measuring means, whether or not the vehicle is a dangerous vehicle entering the intersection while the signal light color for the other road is blue or blinking yellow. The second determination means determines whether the vehicle is a dangerous vehicle based on the acquired signal light information and the speed and position of the vehicle measured by the second measurement means. It is characterized by being able to judge whether or not.

  According to a third aspect of the present invention, there is provided the vehicle accident prevention apparatus according to the second aspect, wherein the vehicle intersection is based on the vehicle speed measured by the first measurement means and the distance between the intersection and the first point. A means for calculating an entry time, wherein the first determination means is such that the speed of the vehicle is faster than a threshold speed and the signal light color for the other road is blue or blinking yellow at the calculated intersection entry time The vehicle is determined as a dangerous vehicle.

  The vehicle accident prevention apparatus according to a fourth aspect of the present invention is the vehicle accident prevention device according to the second aspect or the third aspect, wherein the vehicle is stopped based on the predetermined vehicle deceleration and the vehicle speed measured by the second measuring means. The means for calculating the distance, the means for calculating the separation distance to the intersection of the vehicle based on the position of the vehicle measured by the second measurement means, and the calculated stop distance and the separation distance are compared. And means for calculating an intersection approach point of the vehicle based on the vehicle speed and the separation distance measured by the second measuring means, and the second determining means has the stop distance The vehicle is determined to be a dangerous vehicle if it is longer than the separation distance and the signal light color for the other road is blue or yellow blinking at the calculated intersection approach time.

  The vehicle accident prevention apparatus according to a fifth aspect of the present invention is the vehicle accident prevention device according to any one of the second to fourth aspects, wherein the second measuring means is a distance from the intersection to the first point, a predetermined vehicle deceleration. And measuring the speed or position of the vehicle traveling between the second point and the intersection specified based on the warning time including at least the time required for warning notification from the measurement of the vehicle speed or position. It is characterized by.

  According to a sixth aspect of the present invention, there is provided the vehicle accident prevention apparatus according to the fourth or fifth aspect, wherein the first or second measuring means includes an image pickup unit for picking up an image of the vehicle and picks up an image with the image pickup unit. The apparatus further comprises means for specifying the vehicle type of the vehicle based on the captured image and means for setting the deceleration of the vehicle according to the vehicle type specified by the means.

  A vehicle accident prevention apparatus according to a seventh aspect of the present invention is a vehicle accident prevention apparatus for preventing encounter accidents between vehicles entering a crossing where a plurality of roads intersect. The vehicle accident prevention apparatus measures the speed and position of a vehicle traveling on one road. 3 measuring means, and 3rd judging means for judging whether or not the vehicle is a dangerous vehicle entering an intersection based on the speed and position of the vehicle measured by the third measuring means, And a means for notifying a vehicle traveling on another road based on a determination result by the third determination means.

  According to an eighth aspect of the present invention, there is provided a vehicle accident prevention apparatus according to the seventh aspect, further comprising means for acquiring signal light information for the other road of the traffic light installed at the intersection, wherein the third determination means is the acquired signal light. Based on the information and the speed and position of the vehicle measured by the third measuring means, it is determined whether or not the vehicle is a dangerous vehicle.

  According to a ninth aspect of the present invention, there is provided a vehicle accident prevention system comprising: a signal control device for controlling a traffic light; and a vehicle accident prevention device for preventing an encounter accident between vehicles entering the intersection where the traffic light is installed and a plurality of roads intersect. In the vehicle accident prevention system, the vehicle accident prevention device is a vehicle accident prevention device according to any one of the second to sixth inventions or the eighth invention.

  An in-vehicle apparatus according to a tenth aspect of the present invention is the in-vehicle apparatus for informing the presence of a dangerous vehicle determined by a vehicle accident prevention apparatus for preventing an accident between vehicles entering into an intersection where a plurality of roads intersect. The apparatus includes a means for acquiring information including a warning notified by the apparatus, and a means for outputting the acquired information.

  A vehicle accident prevention method according to an eleventh aspect of the present invention is the vehicle accident prevention method for preventing an accident at the intersection of vehicles entering an intersection where a plurality of roads cross each other, traveling on the first point upstream of the intersection of one road. The vehicle speed is measured, and based on the measured vehicle speed, it is determined whether or not the vehicle is a dangerous vehicle entering the intersection, and a second point downstream of the first point. And the speed and position of a vehicle traveling between the vehicle and the intersection, and based on the measured speed and position of the vehicle, it is determined whether or not the vehicle is a dangerous vehicle. A warning is notified to a vehicle traveling on another road.

  In the first invention and the eleventh invention, the speed of the vehicle traveling at the first point upstream of the intersection (for example, the point at the distance L1 from the stop line of the intersection) is measured by the first measuring means. The first determining means determines whether or not the vehicle is a dangerous vehicle entering the intersection based on the speed of the vehicle measured by the first measuring means. For example, when one road is a non-priority road and another road is a priority road, it is determined whether or not the vehicle can safely stop before the intersection.

  The second measuring means, the speed of the vehicle traveling between the second point downstream from the first point and the intersection (for example, a range of distance L2 from the stop line of the intersection, L2 <L1) and Measure the position. The second determining means determines whether or not the vehicle is a dangerous vehicle based on the speed and position of the vehicle measured by the second measuring means. For example, it is determined whether or not the vehicle can safely stop before an intersection. When it is determined that the vehicle is a dangerous vehicle based on the determination result by the first or second determination unit, a warning is notified to a vehicle traveling on the other road (for example, a priority road on the intersection side).

  In the 2nd invention and the 9th invention, the signal light information (for example, the information which shows the relationship between time and a signal light color) of the traffic signal with respect to the other road which crosses an intersection is acquired. The first measuring means measures the speed of the vehicle traveling on the first point upstream of the intersection (for example, the point at a distance L1 from the stop line of the intersection). The first determination means is based on the acquired signal light information and the speed of the vehicle measured by the first measurement means, and the vehicle is an intersection while the signal light color for the other road is blue or yellow blinking. It is determined whether or not the vehicle is a dangerous vehicle entering the road. For example, whether or not the vehicle can safely stop before an intersection, or when the vehicle travels as it is, the signal light for the other road (intersection road) is between a blue signal or a yellow blinking signal Whether or not to enter the intersection.

  The second measuring means, the speed of the vehicle traveling between the second point downstream from the first point and the intersection (for example, a range of distance L2 from the stop line of the intersection, L2 <L1) and Measure the position. The second determining means determines whether or not the vehicle is a dangerous vehicle based on the acquired signal light information and the speed and position of the vehicle measured by the second measuring means. For example, whether or not the vehicle can safely stop before an intersection, or when the vehicle travels as it is, the signal light for the other road (intersection road) is between a blue signal or a yellow blinking signal Whether or not to enter the intersection. When it is determined that the vehicle is a dangerous vehicle based on the determination result by the first or second determination unit, a warning is notified to a vehicle traveling on the other road (intersection road).

  In the third and ninth inventions, the intersection entry time of the vehicle is calculated based on the vehicle speed measured by the first measuring means and the distance between the intersection and the first point. For example, when the measured speed is V1, the width of the intersection is W, and the distance from the intersection (stop line) to the first point is L1, the time t1 until the vehicle passes the intersection is (L1 + W) / V1. When the speed of the vehicle is higher than a threshold speed and the signal light color for the other road is blue or blinking yellow at the calculated intersection approach time (time t1 has elapsed), The vehicle is determined to be a dangerous vehicle. The threshold speed Vth is, for example, an upper limit speed at which the vehicle can stop before the intersection when the vehicle brakes at the first point. Thereby, it is determined whether or not the vehicle is a dangerous vehicle with respect to a vehicle whose speed is higher than the threshold speed.

In the fourth and ninth inventions, the stop distance of the vehicle is calculated based on a predetermined vehicle deceleration and the vehicle speed measured by the second measuring means. Further, a distance (separation distance) X to the intersection (stop line) of the vehicle is calculated based on the position of the vehicle measured by the second measuring means. For example, when the deceleration of the vehicle is d and the measured speed is V2, the stop distance S is V2 ² / 2d. An intersection entry time point of the vehicle is calculated based on the vehicle speed and the separation distance measured by the second measuring means. For example, when the measured speed is V2, the width of the intersection is W, and the separation distance is X, the time t2 until the vehicle passes through the intersection is (X + W) / V2. In the second determination means, the stop distance S is longer than the separation distance X, and the signal light color for the one road is blinking blue or yellow at the calculated intersection approach time (time t2 has elapsed). The vehicle is determined to be a dangerous vehicle.

  In the fifth and ninth inventions, the measurement range from the intersection (stop line) of the second measuring means is the distance from the intersection to the first point, a predetermined vehicle deceleration, And at least a warning time including a time required for warning notification from measurement of the speed or position of the vehicle. For example, when the distance from the intersection to the first point is L1, the predetermined deceleration of the vehicle is d, and the warning time including at least the time required for warning notification from measurement of the vehicle speed or position is T The measurement range (distance from the intersection) L2 from the intersection (stop line) of the second measuring means is T · Vth. As a result, the first measuring means detects a dangerous vehicle T time before entering the intersection with respect to a vehicle traveling at a threshold speed Vth or less where it was not possible to determine whether or not the vehicle is a dangerous vehicle. . Moreover, there is no need to measure a vehicle that travels in a range where the distance from the intersection is not less than L2 and not more than L1.

  In the sixth invention and the ninth invention, the vehicle type (for example, a normal vehicle, a large vehicle, etc.) of the vehicle is specified based on the captured image obtained by imaging with the imaging unit for imaging the vehicle. For example, a standard pattern corresponding to the vehicle type is stored in advance, and the similarity between the captured image and the standard pattern is calculated based on a predetermined correlation value based on the luminance of the captured image pixel, and is calculated. The vehicle type of the vehicle is specified according to whether or not the calculated correlation value is larger than the threshold value. The vehicle deceleration is set according to the specified vehicle type. For example, the stop distance S of the vehicle is accurately calculated according to the set deceleration.

  In the seventh invention, the speed and position of the vehicle traveling on the upstream side of the intersection (for example, the range of the distance L2 from the stop line of the intersection) is measured by the third measuring means. The third determining means determines whether or not the vehicle is a dangerous vehicle based on the speed and position of the vehicle measured by the third measuring means. For example, when one road is a non-priority road and another road is a priority road, it is determined whether or not the vehicle can safely stop before the intersection. When it is determined that the vehicle is a dangerous vehicle based on the determination result by the third determination unit, a warning is notified to the vehicle traveling on the other road (for example, the priority road on the intersection side).

  In the eighth invention and the ninth invention, the third measuring means measures the speed and position of the vehicle traveling on the upstream side of the intersection (for example, the distance L2 from the stop line of the intersection). The third determining means determines whether or not the vehicle is a dangerous vehicle based on the acquired signal light information and the speed and position of the vehicle measured by the third measuring means. For example, whether or not the vehicle can safely stop before an intersection, or when the vehicle travels as it is, the signal light for the other road (intersection road) is between a blue signal or a yellow blinking signal Whether or not to enter the intersection. When it is determined that the vehicle is a dangerous vehicle based on the determination result by the third determination unit, a warning is notified to a vehicle traveling on the other road (intersection road).

  In the tenth invention, when it is determined by the vehicle accident prevention device that a dangerous vehicle exists, the in-vehicle device acquires information including a warning notified by the vehicle accident prevention device, and outputs the acquired information.

  In the first invention and the eleventh invention, based on the speed of the vehicle traveling on the first point upstream of the intersection of the road, it is determined whether or not the vehicle is a dangerous vehicle entering the intersection, Based on the speed and position of the vehicle traveling between the second point downstream of the first point and the intersection, it is determined whether or not the vehicle is a dangerous vehicle, and the vehicle is crossed based on the determination result. By notifying the vehicle traveling on the road on the side, for example, it is possible to prevent a collision accident at the intersection at a no-signal intersection where a priority road and a non-priority road intersect.

  In the second invention and the ninth invention, based on the speed of the vehicle traveling on the first point upstream of the intersection of the road, the signal light color for the road on the intersection side is blue or blinking yellow. It is determined whether or not the vehicle is a dangerous vehicle entering an intersection, and the vehicle is a dangerous vehicle based on the speed and position of the vehicle traveling between the second point downstream of the first point and the intersection. It is possible to prevent a collision accident at the intersection at the intersection by determining whether or not the vehicle is running and notifying the vehicle traveling on the crossing road based on the determination result.

  In the third and ninth inventions, the speed of the vehicle traveling at the first point is higher than the threshold speed, and the signal light color for the road on the intersection side is blue or blinking yellow at the calculated intersection approach time. In some cases, by determining the vehicle as a dangerous vehicle, the dangerous vehicle can be detected reliably and early before entering the intersection even when the vehicle speed is high.

  In the fourth invention and the ninth invention, based on the predetermined vehicle deceleration, the speed and position of the vehicle traveling between the intersection and the second point, up to the stop distance of the vehicle and the intersection If the stop distance is longer than the separation distance, and the signal light color for the road on the intersection side is blue or blinking yellow at the time of entering the intersection, the vehicle is determined to be a dangerous vehicle. Thus, even when the vehicle speed is not high, the dangerous vehicle can be detected without omission before entering the intersection.

  In the fifth and ninth inventions, the measurement range from the intersection (stop line) of the second measuring means is the distance from the intersection to the first point, a predetermined vehicle deceleration, And a vehicle that cannot determine whether or not it is a dangerous vehicle by the first measuring means by determining based on a warning time that includes at least a time required for warning notification from measurement of the speed or position of the vehicle. Thus, it is possible to determine whether or not the vehicle is a dangerous vehicle before entering the intersection. In addition, it is possible to measure a dangerous vehicle without omission without measuring the speed or position of the vehicle traveling upstream from the measurement range to the first point.

  In the sixth invention and the ninth invention, the vehicle type of the vehicle is specified based on the captured image obtained by imaging with the imaging unit for imaging the vehicle, and the vehicle deceleration is determined according to the specified vehicle type. By providing the means for setting the vehicle, it is possible to accurately detect a dangerous vehicle regardless of the vehicle type.

  In the seventh invention, it is determined whether or not the vehicle is a dangerous vehicle entering the intersection based on the speed and position of the vehicle traveling upstream from the intersection of the road, and the intersection is determined based on the determination result. By notifying the vehicle traveling on the road on the side, for example, it is possible to prevent a collision accident at the intersection at a no-signal intersection where a priority road and a non-priority road intersect.

  In the eighth and ninth inventions, based on the speed and position of the vehicle traveling upstream from the intersection of the road, the vehicle lights at the intersection while the signal light color for the intersection road is blue or yellow blinking. It is possible to prevent a collision accident at the intersection at the intersection by determining whether the vehicle is a dangerous vehicle to enter and notifying a vehicle traveling on the road on the intersection side based on the determination result.

  In the tenth aspect, the in-vehicle device can reliably warn a dangerous vehicle by including means for acquiring information including a warning notified by the vehicle accident prevention device and outputting the acquired information.

Embodiment 1
Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of a vehicle accident prevention system including a vehicle accident prevention apparatus according to the present invention. The vehicle accident prevention system according to the present invention includes a vehicle accident prevention device 3, a signal control device 4, and the like. A signal control device 4 is connected to the vehicle accident prevention device 3 through a communication line 7, and a signal device 5,... Is connected to the signal control device 4.

  The sensor 1 of the vehicle accident prevention apparatus 3 is installed on the upstream side of the intersection C of the road A (one road), and the point (first point) where the distance from the stop line of the intersection C is L1 (for example, 150 m). ) Is measured, and the measurement result is output to the vehicle accident prevention apparatus main body. The sensor 1 is, for example, an ultrasonic sensor capable of sensing speed, a loop coil sensor, a far-infrared sensor, an image sensor, or the like.

  The video camera 2 of the vehicle accident prevention apparatus 3 travels on the road A from the first point to the distance L2 (for example, 60 m, the second point) from the stop line of the intersection C to the upstream side. The video camera 2 is installed near the intersection of the road A so that the optical axis of the video camera 2 substantially coincides with the direction of the road A so that the vehicle can be imaged. In addition, the video camera 2 outputs a captured image obtained by imaging to the vehicle accident prevention apparatus main body.

  When the vehicle accident prevention device 3 performs processing described later and determines that the vehicle traveling on the road A toward the intersection C is a dangerous vehicle, the vehicle accident prevention device 3 is dangerous for the vehicle 6 traveling on the road B (another road). Information including an alarm indicating that a vehicle is present is transmitted.

  FIG. 2 is a block diagram showing the configuration of the vehicle accident prevention apparatus 3. The vehicle accident prevention apparatus 3 includes a control unit 31 including a CPU that performs various arithmetic processes. The control unit 31 is connected to an interface unit 32, an image memory 33, a ROM 34, a RAM 35, an image processing unit 36, a storage unit 37, a transmission / reception unit 38, a wireless unit 39, and the like via an internal bus. The sensor 1 and the video camera 2 are connected through 32. The control unit 31 controls operations of these hardware units.

  The interface unit 32 performs a command transfer to the sensor 1 and the video camera 2, acquisition of a captured image obtained by imaging with the sensor 1 and the video camera 2, and the like. The interface unit 32 stores the captured image input from the video camera 2 in the image memory 33 in units of one frame in synchronization with the frame rate of the video camera 2.

  The ROM 34 stores a control program indicating the control procedure of the control unit 31 in advance. When the CPU of the control unit 31 loads the control program stored in the ROM 34 into the RAM 35, the control unit 31 controls the operation of the vehicle accident prevention apparatus according to the control procedure indicated by the control program.

The storage unit 37 stores a plurality of standard patterns according to the vehicle type in order to specify the vehicle type (for example, a normal vehicle, a large vehicle, etc.) of the vehicle. The standard pattern has a luminance distribution according to the vehicle type. The storage unit 37 stores the deceleration of the vehicle in association with the vehicle type. For example, the deceleration d of a normal vehicle is 3.0 m / s ² , and the deceleration d of a large vehicle is 2.0 m / s ² .

The storage unit 37 stores a threshold speed Vth for comparison with the vehicle speed measured through the sensor 1. The threshold speed Vth is, for example, an upper limit speed at which the vehicle can be stopped before the intersection C when the vehicle brakes at a measurement point (a first point at a distance L1 upstream from the stop line of the intersection C). . If the deceleration of the vehicle when the brake is applied is d, the distance until the vehicle at the speed V stops is V2 ² / 2d, so the speed of the vehicle traveling at the point where the distance to the intersection C is L1 If the vehicle exceeds √ (2dL1), the vehicle cannot stop before the intersection C. Therefore, the threshold speed Vth is √ (2dL1).

  The image processing unit 36 is configured by an ASIC or the like, reads a captured image in units of one frame from the image memory 33, specifies a vehicle based on the luminance of pixels of the read captured image, and displays the image on the specified captured image of the vehicle. The speed and position of the vehicle are measured based on the position change and coordinates. Further, the image processing unit 36 determines the similarity between the captured image and the standard pattern based on the luminance of the pixel of the read captured image. That is, the image processing unit 36 calculates a predetermined correlation value between the captured image and the standard pattern, and if the calculated correlation value is larger than a threshold value stored in advance, the image processing unit 36 is a vehicle type corresponding to the standard pattern. Is identified. The image processing unit 36 outputs information indicating the measured vehicle speed and position and the specified vehicle type to the control unit 31.

  The transmission / reception unit 38 transmits / receives data to / from the signal control device 4 through the communication line 7. In addition, the transmission / reception unit 38 receives data indicating the start and end of the vehicle accident prevention determination process based on an instruction from an operator who operates with an external monitoring device (not shown) connected to the communication line 7. The received data is output to the control unit 31.

  The wireless unit 39 is capable of data communication with a vehicle traveling on a predetermined range of the road B intersecting the intersection C, and is modulated to perform wireless communication with the vehicle 6 traveling on the road B. And processing such as demodulation. Under the control of the control unit 31, the radio unit 39 determines that the vehicle traveling on the road A is a dangerous vehicle (a vehicle entering the intersection C from the road A while the signal light color for the road B is green). If it is, data for notifying that the dangerous vehicle enters the intersection C is transmitted to the vehicle 6.

  The vehicle 6 includes an in-vehicle device 61, and the in-vehicle device 61 includes a receiving device, an alarm device (for example, a speaker, a liquid crystal display panel, and the like). The in-vehicle device 61 can receive the data transmitted from the wireless unit 39 and can confirm the presence of the dangerous vehicle by voice or text using an alarm device. For example, a message such as “Please pay attention to vehicles on the crossing road” can be displayed on the display or output by voice. Note that the radio unit 39 may transmit data to an information display board or the like installed near the intersection instead of the vehicle traveling on the road B, and display a warning message on the information display board.

  FIG. 3 is a block diagram showing the configuration of the signal control device 4. The signal control device 4 includes a control unit 41 including a CPU that performs various arithmetic processes. An interface unit 42, a transmission / reception unit 43, a storage unit 44, and the like are connected to the control unit 41 via an internal bus, and the control unit 41 controls operations of these hardware units.

  The interface unit 42 outputs a control signal for controlling the signal display of the traffic lights 5,. The memory | storage part 13 has memorize | stored the signal lamp information 131 used in order to control the signal display of the traffic lights 5, .... The signal light information 131 is stored as separate data for each of the roads A and B.

  The signal light information 131 sets each display time such as a green light, a yellow light, a yellow blinking, a red blinking, and a red signal of the traffic light 5,. In addition, the display plan of the display lamp color of the traffic lights 5,... Is stored together with the time. The signal light information 131 indicates, for example, how many seconds the signal light color is after a certain time as a reference. The blue signal of the traffic lights 5,... Also includes a blue arrow indicating that only a right turn is a green signal when the straight signal is a red signal. Further, for example, when the signal light for the road A (one road) is blinking red, the signal light for the road B (other road) is blinking yellow.

  The transmission / reception unit 43 transmits / receives data to / from the vehicle accident prevention apparatus 3 through the communication line 7. For example, in response to a request from the vehicle accident prevention apparatus 3, the transmission / reception unit 43 transmits the signal lamp information 131 indicating the signal lamp color display plan after the request time to the vehicle accident prevention apparatus 3. Specifically, when the vehicle accident prevention device 3 determines whether or not the vehicle traveling on the road A (one road) is a dangerous vehicle, the vehicle accident prevention device 3 Signal light information 131 of the traffic light 5 displayed for (other roads) is acquired.

  Next, a processing procedure of the vehicle accident prevention apparatus according to the embodiment of the present invention will be described. FIG. 4 and FIG. 5 are flowcharts showing a processing procedure for dangerous vehicle determination. The control unit 31 determines whether or not the vehicle traveling on the road A is detected by the sensor 1 (S11). When the vehicle is detected by the sensor 1 (YES in S11), the signal control device 4 transmits the signal lamp information. (S12), and the speed of the vehicle is measured based on the result measured by the sensor 1 (S13).

  The control unit 31 determines whether or not the measured vehicle speed is faster than the threshold speed (S14). Thereby, it is determined whether or not the vehicle measured by the sensor 1 can be safely stopped before the intersection C. Thereby, it is determined whether or not the vehicle entering the first point upstream of the intersection C at a high speed toward the intersection is a dangerous vehicle.

  When the vehicle speed is faster than the threshold speed (YES in S14), the control unit 31 calculates the vehicle intersection approach time (S15). For example, when the measured vehicle speed is V1, the width of the intersection C is W, and the distance from the intersection (stop line) to the measurement point is L1, the vehicle intersection entry time t1 (when the current time is used as a reference, (Time t1) is calculated by (L1 + W) / V1.

  The control unit 31 determines whether or not the traffic light for the road B (intersection road) intersecting at the intersection is a green signal or a yellow blinking signal at the calculated intersection approach time (S16). When the traffic light is a green signal or a yellow blinking signal (YES in S16), the control unit 31 causes the dangerous vehicle to enter the intersection from the road A during the blue signal or the yellow blinking signal with respect to the vehicle 6 traveling on the road B. In order to notify that it is coming, dangerous vehicle notification is performed (S17). The control unit 31 determines whether or not there is an instruction to end the process (S18). If there is an instruction to end the process (YES in S18), the process ends. If there is no instruction to end the process (NO in S18), the control unit 31 continues the process after step S11.

  On the other hand, when the traffic light is not a blue signal or a yellow blinking signal (NO in S16), the control unit 31 determines whether the video camera 2 has detected a vehicle (S19). When the sensor 1 does not detect the vehicle (NO in S11), or when the vehicle speed is not faster than the threshold speed (NO in S14), the control unit 31 continues the processing from step S19.

  When the video camera 2 does not detect a vehicle (NO in S19), the control unit 31 continues the process from step S11. When the video camera 2 detects a vehicle (YES in S19), the control unit 31 acquires signal light information from the signal control device 4 (S20), and based on the result measured by the video camera 2, the speed of the vehicle and The position is measured (S21).

The control unit 31 identifies the vehicle type based on the captured image captured by the video camera 2 (S22). Thereby, the deceleration is set according to the specified vehicle type, and it becomes possible to accurately determine the dangerous vehicle according to the vehicle type. The control unit 31 calculates the stop distance of the vehicle detected by the video camera 2 using the set deceleration (S23). For example, when the deceleration of the vehicle is d and the measured speed is V2, the stop distance S is calculated by V2 ² / 2d.

  Based on the position of the vehicle detected by the video camera 2, the control unit 31 calculates a distance (separation distance) X from the vehicle intersection C (more precisely, the position of the stop line) to the vehicle (S24), It is determined whether or not the stop distance S is longer than the separation distance X (S25). Thereby, it is determined whether or not the vehicle measured by the video camera 2 can be safely stopped before the intersection C. Thus, by determining whether a vehicle that travels between the intersection C and the measurement point of the sensor 1 and that is not determined to be a dangerous vehicle by the sensor 1 is a dangerous vehicle. Dangerous vehicles can be detected without leakage.

  When the stop distance S is longer than the separation distance X (YES in S25), the control unit 31 calculates the vehicle approach time when it is determined that the vehicle cannot stop safely before the intersection C (S26). For example, when the measured speed is V2, the width of the intersection is W, and the separation distance is X, the intersection entry time t2 of the vehicle (the time t2 when the current time is used as a reference) is (X + W) / Calculated by V2.

  The control unit 31 determines whether or not the traffic light for the road B (intersection road) intersecting at the intersection is a green signal or a yellow blinking signal at the calculated intersection approach time (S27). When the traffic light is a green signal or a yellow blinking signal (YES in S27), the control unit 31 causes the dangerous vehicle to enter the intersection from the road A during the blue signal or the yellow blinking signal with respect to the vehicle 6 traveling on the road B. In order to notify that it is coming, dangerous vehicle notification is performed (S17).

  If the traffic light is not a blue signal or a yellow blinking signal (NO in S27), the control unit 31 determines whether there is another detected vehicle (S28), and if there is a vehicle (YES in S28), step S21. Continue the subsequent processing. When there is no vehicle (NO in S28), the control unit 31 continues the processing from step S18. On the other hand, when the stop distance S is not longer than the separation distance X (NO in S25), the control unit 31 continues the processing from step S28.

The measurement point of the sensor 1 (the first point at a distance L1 from the stop line at the intersection C) can be set as a position where dilemma sensitive control is possible (for example, L1 = 150 m). When a vehicle with a speed V is braked at a measurement point of the sensor 1 and decelerates at a deceleration d (for example, d = 3.0 m / s ² for a normal vehicle), the distance traveled before stopping is V2 ^2. Since the vehicle traveling at a speed exceeding the threshold speed Vth = √ (2dL1) cannot stop by the stop line, the vehicle speed V measured by the sensor 1 is compared with the threshold speed Vth. Thus, it can be determined whether or not the vehicle is a dangerous vehicle. Thereby, a dangerous vehicle can be determined within a range in which dilemma sensitive control is possible.

  A vehicle whose speed is equal to or lower than the threshold speed Vth exists at a distance of Vth · T from the stop line at a time point T seconds before entering the intersection C. Therefore, even if the speed of the video camera 2 is less than the threshold speed Vth by setting the measurement range of the video camera 2 (range of distance L2 from the stop line of intersection C), that is, distance L2 to Vth · T or more, this vehicle It can be determined whether T is a dangerous vehicle T seconds before entering the intersection C. Here, the time T is predetermined based on an empirical rule or the like, and is, for example, a warning time including at least a time required for warning notification from measurement of the speed or position of the vehicle. More specifically, it can be determined that the vehicle is a dangerous vehicle from the time when the vehicle is detected, the determination result is notified, and the time until the driver of the vehicle reacts to the notification can be a numerical value of about 2 seconds. Can be used.

In the above example, when L1 is 150 m, the current speed d is 3.0 m / s ² , and T is 2 s, Vth is 30 m / s. Thereby, the distance L2 from the stop line of the intersection C which is the measurement range of the video camera 2 is 60 m from Vth · T. That is, if the imaging range of the video camera 2 is set to 60 m upstream from the stop line of the intersection C, the dangerous vehicle can be determined without omission and it is not necessary to measure the range from 60 m to 150 m upstream of the intersection C. In particular, when measuring a range of about 150 m upstream of the intersection with a video camera, the measurement system decreases as the measurement range becomes longer due to the image, so the measurement range of the video camera 2 can be limited to a distance of L2. Therefore, it is possible to measure with high accuracy.

  As described above, according to the present invention, it is possible to prevent a collision accident at an intersection at an intersection. Further, regardless of the speed of the vehicle, it is possible to detect the dangerous vehicle without omission before a predetermined time required to notify the dangerous vehicle. Further, the measurement range by the video camera can be limited, and a dangerous vehicle can be determined with high accuracy.

Embodiment 2
In the above-described embodiment, the sensor 1 and the video camera 2 are used. However, only the video camera 2 may be used.

  FIG. 6 is a schematic diagram showing an outline of a vehicle accident prevention system including the vehicle accident prevention apparatus according to the second embodiment. The difference from the first embodiment is that the sensor 1 is not provided, and the others are the same as those of the first embodiment, and thus the description thereof is omitted. In this case, a simpler configuration can be achieved in that the sensor 1 is not provided. It is also possible to change the distance L2 from the stop line of the intersection C, which is the measurement range of the video camera 2. In addition, it is possible to provide the right turn sensitive control at the intersection C and the information of the oncoming straight vehicle with respect to the right turn vehicle by the video camera 2, and the cost effectiveness of the system can be improved as in the first embodiment.

  In the first and second embodiments described above, the detection signal obtained by detecting the vehicle by the sensor 1 or the video camera 2 is output to the vehicle accident prevention apparatus body. However, the present invention is not limited to this. The configuration may be such that a detection signal obtained by detecting the vehicle by the device 1 or the video camera 2 is transmitted to the signal control device 4 and the vehicle detection signal is acquired by the vehicle accident prevention device main body through the signal control device 4.

  In Embodiment 1 described above, the sensor 1 is used. However, the present invention is not limited to this, and a structure using a video camera instead of the sensor 1 may be used. Further, although the configuration using the video camera 2 is not limited thereto, a configuration using an image type sensor may be used instead of the video camera 2. In this case, the image type sensor may measure the position and speed of the vehicle based on the captured image and output the measured position and speed of the vehicle to the vehicle accident prevention apparatus main body.

  In the first embodiment described above, the vehicle accident prevention device 3 and the signal control device 4 are separate devices. However, the present invention is not limited to this, and the signal control device 4 is incorporated into the vehicle accident prevention device 3. The configuration may be a single control device.

  In the first and second embodiments described above, the case where the road A (one road) and the road B (other road) intersect with the intersection C has been described. However, the intersection of the roads at the intersection is limited to this. It is not a thing. For example, the present invention can be applied even in the case of an intersection such as a three-way intersection where the three roads D, E, and F intersect at an angle of about 120 degrees. In this case, the roads that determine whether or not the vehicle traveling toward the intersection is a dangerous vehicle are the road D and the road E (one road), and are vehicles that travel on the road F (other roads). The presence of a dangerous vehicle is notified. In this case, the signal light changes for the roads D and E are the same, and the signal light change for the road F is different from the signal light changes for the roads D and E. In addition, it is not limited to a three-way road, and the relationship between one road on the side for judging a dangerous vehicle and the other road on the side on which the vehicle for reporting the presence of the dangerous vehicle is the same. Alternatively, it may not be a yellow blinking signal.

  In the first and second embodiments described above, the case where the traffic signal is installed at the intersection has been described. However, the present invention is not limited to this. It is also possible to apply to intersections that are not installed.

Embodiment 3
FIG. 7 is a schematic diagram showing an outline of a vehicle accident prevention system including the vehicle accident prevention apparatus according to the third embodiment. The difference from the first embodiment is that the signal control device 4, the traffic light 5,... One road G that intersects the intersection C is a non-priority road, and the other road H is a priority road. In this case, the sensor 1 may not be provided. Thereby, when it is determined that the vehicle traveling on the non-priority road is a dangerous vehicle with respect to the vehicle traveling on the priority road H, an encounter accident can be prevented even at an intersection where no traffic light is installed. .

It is a schematic diagram which shows the outline | summary of a vehicle accident prevention system provided with the vehicle accident prevention apparatus which concerns on this invention. It is a block diagram which shows the structure of a vehicle accident prevention apparatus. It is a block diagram which shows the structure of a signal control apparatus. It is a flowchart which shows the process sequence of dangerous vehicle determination. It is a flowchart which shows the process sequence of dangerous vehicle determination. It is a schematic diagram which shows the outline | summary of a vehicle accident prevention system provided with the vehicle accident prevention apparatus which concerns on Embodiment 2. FIG. It is a schematic diagram which shows the outline | summary of a vehicle accident prevention system provided with the vehicle accident prevention apparatus which concerns on Embodiment 3. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Sensor 2 Video camera 3 Vehicle accident prevention apparatus 4 Signal control apparatus 5 Traffic light 31 Control part 32 Interface part 33 Image memory 34 ROM
35 RAM
36 Image processing unit 37 Storage unit 38 Transmission / reception unit 39 Wireless unit 61 In-vehicle device

Claims (11)

In a vehicle accident prevention apparatus for preventing an accident between vehicles entering an intersection where a plurality of roads intersect,
First measuring means for measuring the speed of a vehicle traveling on a first point upstream of the intersection of one road;
First determination means for determining whether or not the vehicle is a dangerous vehicle entering an intersection based on the speed of the vehicle measured by the first measurement means;
Second measuring means for measuring the speed and position of a vehicle traveling between the second point downstream of the first point and the intersection;
Second determining means for determining whether or not the vehicle is a dangerous vehicle based on the speed and position of the vehicle measured by the second measuring means;
A vehicle accident prevention apparatus comprising: means for notifying a vehicle traveling on another road based on a determination result by the first or second determination means. Means for obtaining signal light information for the other road of the traffic light installed at the intersection;
The first determination means includes
Based on the acquired signal light information and the speed of the vehicle measured by the first measuring means, the vehicle is a dangerous vehicle that enters an intersection while the signal light color for the other road is blue or yellow blinking. To determine whether or not
The second determination means includes
2. The apparatus according to claim 1, wherein it is determined whether or not the vehicle is a dangerous vehicle based on the acquired signal light information and the speed and position of the vehicle measured by the second measuring means. The vehicle accident prevention apparatus according to 1. Means for calculating an intersection entry time of the vehicle based on a vehicle speed measured by the first measurement means and a distance between the intersection and the first point;
The first determination means includes
3. The vehicle is determined to be a dangerous vehicle when the vehicle speed is higher than a threshold speed and the signal light color for the other road is blue or blinking yellow at the time of the calculated intersection approach. Vehicle accident prevention device as described in 2. Means for calculating a stop distance of the vehicle based on a predetermined vehicle deceleration and the vehicle speed measured by the second measuring means;
Means for calculating a separation distance of the vehicle to the intersection based on the position of the vehicle measured by the second measuring means;
Means for comparing the calculated stopping distance and the separation distance;
Means for calculating an intersection approach point of the vehicle based on the speed of the vehicle measured by the second measuring means and the separation distance;
The second determination means includes
3. The vehicle is determined to be a dangerous vehicle when the stop distance is longer than the separation distance and the signal light color for the other road is blue or blinking yellow at the time of entering the intersection. Or the vehicle accident prevention apparatus of Claim 3. The second measuring means includes
The second specified by a warning time including a distance from the intersection to the first point, a predetermined vehicle deceleration, and at least a time required for warning notification from measurement of the vehicle speed or position. The vehicle accident prevention apparatus according to any one of claims 2 to 4, wherein a speed or a position of a vehicle traveling between a point and the intersection is measured. The first or second measuring means includes an imaging unit for imaging the vehicle,
Means for identifying a vehicle type based on a captured image obtained by imaging with the imaging unit;
6. The vehicle accident prevention apparatus according to claim 4, further comprising: means for setting a deceleration of the vehicle according to the vehicle type specified by the means. In a vehicle accident prevention apparatus for preventing an accident between vehicles entering an intersection where a plurality of roads intersect,
Third measuring means for measuring the speed and position of a vehicle traveling on one road;
Third determination means for determining whether or not the vehicle is a dangerous vehicle entering an intersection based on the speed and position of the vehicle measured by the third measurement means;
A vehicle accident prevention apparatus comprising: means for notifying a vehicle traveling on another road based on a determination result by the third determination means. Means for obtaining signal light information for the other road of the traffic light installed at the intersection;
The third determination means includes
The vehicle is determined to be a dangerous vehicle based on the acquired signal light information and the speed and position of the vehicle measured by the third measuring means. The vehicle accident prevention device according to claim 7. In a vehicle accident prevention system comprising: a signal control device that controls a traffic light; and a vehicle accident prevention device that prevents an encounter accident between vehicles entering the intersection where the traffic light is installed and a plurality of roads intersect.
9. The vehicle accident prevention system according to claim 2, wherein the vehicle accident prevention device is the vehicle accident prevention device according to claim 2. In an in-vehicle device that notifies the presence of a dangerous vehicle determined by a vehicle accident prevention device that prevents an accident between vehicles entering an intersection where a plurality of roads intersect,
Means for acquiring information including a warning notified by the vehicle accident prevention device;
An on-vehicle apparatus comprising: means for outputting the acquired information. In a vehicle accident prevention method for preventing encounter accidents between vehicles entering an intersection where multiple roads intersect,
Measuring the speed of the vehicle traveling on the first point upstream of the intersection of one road,
Based on the measured speed of the vehicle, it is determined whether the vehicle is a dangerous vehicle entering the intersection,
Measuring the speed and position of a vehicle traveling between the second point downstream of the first point and the intersection;
Based on the measured speed and position of the vehicle, it is determined whether the vehicle is a dangerous vehicle,
A vehicle accident prevention method characterized by notifying a warning to a vehicle traveling on another road based on the determination result.

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