JP2007133589A - Traffic information processing apparatus and traffic information processing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traffic information processing apparatus and traffic information processing method capable of accurately determining whether or not an unexpected accident occurs on a road. <P>SOLUTION: The traffic information processing apparatus 1 for computing traffic information by dividing the road LK into a plurality of road links L1 to L5, comprises a probe information acquiring means 11 for acquiring probe information collected by vehicles, and an assuming means 15 for computing a difference accumulating value SL<SB>a</SB>by accumulating difference values between a travelling position of the measured vehicle 4, based on the probe information on the measured vehicle 4 acquired by the probe information acquiring means 11, and a precomputed standard travelling position in a travelling section L<SB>pq</SB>formed by a plurality of consecutive road links L<SB>p</SB>to L<SB>q</SB>and assuming existence of any unexpected accident on the travelling section L<SB>pq</SB>on the basis of the difference accumulating value SL<SB>a</SB>and travelling speed of the measured vehicle 4. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a traffic information processing apparatus and a traffic information processing method.

Recently, traffic information systems using probe information including vehicle travel history information have been realized. In such a traffic information system, probe information is acquired and stored in a vehicle, and this probe information is collected via a roadside device. Based on the probe information collected in this way, road traffic information including the presence / absence of traffic congestion and travel time is calculated. Such road traffic information is transmitted to a road jurisdiction organization, a police organization, etc., and used for realizing and maintaining safe road traffic. For example, Patent Document 1 discloses a technique for calculating road traffic information indicating whether or not an unexpected event (accident etc.) has occurred on a road. In this case, whether or not a sudden event has occurred is determined based on a difference in travel time for each road link.
JP-A-2005-242424

  However, in the technique described in Patent Document 1, the difference in travel time for each road link may vary depending on the amount of traffic. For this reason, it may be determined that a sudden event has occurred due to a long travel time due to a large amount of traffic even though no sudden event has occurred. In addition, there may be cases where it is determined that an unexpected event has not occurred because there is little traffic and the flow of the vehicle is smooth and there is no significant change in travel time despite the occurrence of an unexpected event. possible. As described above, the sudden event determination based on the travel time is inaccurate.

  Therefore, an object of the present invention is to provide a traffic information processing apparatus and a traffic information processing method that can accurately determine whether or not a sudden event has occurred on a road.

  A traffic information processing apparatus according to the present invention is a traffic information processing apparatus that calculates traffic information by dividing a road into a plurality of road links, the probe information acquiring means for acquiring probe information collected by a vehicle, and the probe Based on the probe information of the measured vehicle acquired by the information acquisition means, the difference between the traveling position information characterizing the traveling position of the measured vehicle and the reference traveling position information characterizing the reference traveling position is calculated. And an estimation means for estimating the presence or absence of a sudden event based on the calculated difference and the traveling speed of the vehicle to be measured.

  Furthermore, in the traffic information processing apparatus of the present invention, the travel position information may be information indicating a travel position of the measured vehicle, and the reference travel position information may be information indicating a reference travel position. . The travel position information may be information indicating a standard deviation of the travel position of the vehicle to be measured, and the reference travel position information may be information indicating a standard deviation serving as a reference at the travel position.

  The traffic information processing method of the present invention is a traffic information processing method for calculating traffic information by dividing a road into a plurality of road links, and a probe information acquisition step for acquiring probe information collected by a vehicle; Based on the probe information of the measured vehicle acquired in the probe information acquisition step, a difference between the traveling position information characterizing the traveling position of the measured vehicle and the reference traveling position information characterizing the reference traveling position is calculated. And an estimation step of estimating the occurrence of a sudden event based on the calculated difference and the traveling speed of the vehicle under measurement.

  When a sudden event such as an accident occurs, in addition to the lane change that the vehicle under measurement performs to avoid the sudden event, the vehicle under test can be expected to decelerate to avoid the sudden event. In this regard, according to the traffic information processing apparatus and the traffic information processing method of the present invention, the travel position information characterizing the travel position of the vehicle to be measured (for example, the travel position and the standard deviation of the travel position) and the reference travel position A difference with reference travel position information (for example, a reference travel position or a reference standard deviation of the travel position) is calculated. For this reason, by using this difference, it becomes possible to accurately estimate the lane change that the vehicle under measurement performs to avoid the sudden event. Furthermore, by using the traveling state represented by the traveling speed of the measured vehicle, it is possible to accurately estimate the deceleration that the measured vehicle performs in order to avoid the sudden event. Therefore, it is possible to accurately estimate whether or not a sudden event has occurred. As described above, in the traffic information processing apparatus and the traffic information processing method of the present invention, since the presence or absence of a sudden event is determined based on the travel position information and the travel speed that characterize the actual travel position, the travel time (travel time) ) Makes it possible to make a more accurate determination than when determining whether or not a sudden event has occurred.

  A traffic information processing apparatus according to the present invention is a traffic information processing apparatus that calculates traffic information by dividing a road into a plurality of road links, the probe information acquiring means for acquiring probe information collected by a vehicle, and the probe Based on the probe information of the measured vehicle acquired by the information acquisition means, a difference value between the traveling position of the measured vehicle and a reference traveling position representing the reference traveling position is formed by a plurality of continuous road links. Travel position determination means for determining whether the accumulated value of the difference value is greater than or equal to a preset reference difference accumulated value, and the travel speed of the vehicle under measurement is equal to or less than a preset reference speed Is included in the measurement section including the travel section, or the fluctuation range of the travel speed of the measured vehicle in the measurement section is set in advance. Travel speed determination means for determining whether the difference is equal to or greater than the reference fluctuation range, and when the travel position determination means determines that the accumulated value of the difference value in the travel section is equal to or greater than the reference difference accumulated value, Whether the measurement section includes a road link in which the traveling speed of the measured vehicle is equal to or lower than the preset reference speed, or the fluctuation range of the traveling speed of the measured vehicle in the measurement section is preset. And a sudden event estimating means for estimating that a sudden event has occurred in the travel section when it is determined by the travel speed determining means to be equal to or greater than the reference fluctuation range.

  When a sudden event such as an accident occurs, in addition to the lane change that the vehicle under measurement performs to avoid the sudden event, the vehicle under test can be expected to decelerate to avoid the sudden event. In this regard, according to the traffic information processing apparatus of the present invention, the difference value between the travel position of the vehicle to be measured and the reference travel position representing the reference travel position is accumulated over a travel section composed of a plurality of continuous road links. . For this reason, by using this accumulated difference value, it becomes possible to accurately estimate the lane change performed by the measured vehicle for avoiding the sudden event for each traveling section. Further, as the running state represented by the running speed of the vehicle to be measured, a road link whose running speed is lower than the reference speed is included in the measurement section, or the fluctuation width of the running speed in the measurement section is the reference fluctuation range. By using the determination result as described above, it is possible to accurately estimate the deceleration performed by the measured vehicle for avoiding the sudden event for each traveling section. Therefore, it is possible to accurately estimate whether or not a sudden event has occurred.

  In the traffic information processing apparatus of the present invention, it is preferable that the travel position determination means accumulates the difference value over a travel section composed of a predetermined number of continuous road links. You may accumulate the said difference value over the driving | running | working area which consists of the continuous road link in the same side of the said reference | standard driving | running | working position toward a running direction. For example, when the travel position is calculated based only on the position measurement using the GPS signal, the reception status of the GPS signal deteriorates if there is a high-rise building or the like in the vicinity, so the "variation" of the calculated travel position is Increase. As described above, when the “variation” of the travel position is relatively large, it is preferable to accumulate the difference values over a travel section including a predetermined number of continuous road links. On the other hand, in the case of using not only the positioning using the GPS signal but also the positioning using the link matching method using the direction sensor, the vehicle speed sensor, the electronic map data, etc., the “variation of the calculated traveling position” Is reduced. As described above, when the “variation” of the travel position is relatively small, the difference value is calculated over the travel section composed of continuous road links where the travel position of the measured vehicle is on the same side of the reference travel position in the travel direction. It is preferable to accumulate.

  A traffic information processing apparatus according to the present invention is a traffic information processing apparatus that calculates traffic information by dividing a road into a plurality of road links, the probe information acquiring means for acquiring probe information collected by a vehicle, and the probe Based on the probe information of the measured vehicle acquired by the information acquisition means, the standard deviation of the traveling position of the measured vehicle is calculated for each road link, and the standard deviation and the standard deviation serving as a reference at the traveling position are represented. A difference value with respect to the reference standard deviation is calculated, and a traveling position determination means for determining for each road link whether the difference value is equal to or greater than a preset reference difference value; and the difference value is equal to or greater than the reference difference value. If there is one road link or a plurality of continuous road links determined by the travel position determination means, the one road link or a plurality of continuous road links Or a road link in which the traveling speed of the measured vehicle is equal to or less than a preset reference speed is included in the measurement section including the traveling section, or the traveling of the measured vehicle in the measurement section Travel speed determination means for determining whether the speed fluctuation range is equal to or greater than a preset reference fluctuation range, and the road link in which the travel speed of the measured vehicle is equal to or less than the preset reference speed is the above measurement If the travel speed determining means determines that the travel speed variation range of the vehicle under measurement in the measurement section is equal to or larger than a preset reference fluctuation range, the travel section And a sudden event estimating means for estimating that a sudden event has occurred.

  When a sudden event such as an accident occurs, in addition to the lane change that the vehicle under measurement performs to avoid the sudden event, the vehicle under test can be expected to decelerate to avoid the sudden event. In this regard, according to the traffic information processing apparatus of the present invention, the difference value between the standard deviation of the travel position of the vehicle under measurement and the standard deviation representing the standard deviation serving as the reference of the travel position is calculated for each road link. For this reason, if the calculated standard deviation is used, it is possible to accurately estimate the lane change performed by the measured vehicle for avoiding the sudden event for each traveling section. Further, as the running state represented by the running speed of the vehicle to be measured, a road link whose running speed is lower than the reference speed is included in the measurement section, or the fluctuation width of the running speed in the measurement section is the reference fluctuation range. By using the determination result as described above, it is possible to accurately estimate the deceleration performed by the measured vehicle for avoiding the sudden event for each traveling section. Therefore, it is possible to accurately estimate whether or not a sudden event has occurred.

  According to the present invention, it can be accurately determined whether or not a sudden event has occurred on a road.

(First embodiment)
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. First, the configuration of the traffic information processing apparatus 1 according to the embodiment will be described with reference to FIG.

  The traffic information processing apparatus 1 includes a probe information acquisition unit 11, a DRM 13, an estimation unit 15, a reference travel position information DB 23, a storage unit 33, and a transmission unit 35. The probe information acquisition means 11 is connected to the roadside machine 3 installed on the road. The roadside device 3 acquires probe information from the vehicle 2 (measured vehicle 4) equipped with the vehicle-mounted device having a probe information collecting function and a transmission function. Here, the vehicle 2 means a vehicle including the measured vehicle 4 to be measured. The probe information is information collected by the vehicle 2 (measured vehicle 4), for example, at intervals of 15 m, for example, travel position information (latitude, longitude, and altitude) of the vehicle 2 (measured vehicle 4) and various travel states ( Speed) and the acquisition time of various information. When the roadside machine 3 acquires the probe information from the vehicle 2 (measured vehicle 4), the roadside machine 3 transmits the probe information to the traffic information processing apparatus 1.

The DRM 13 is a database that stores DRM (Digital Road Map) data. In the DRM data stored in the DRM 13, the road is divided into a plurality of road links. Hereinafter, the road used for the description is a road LK. For simplification of illustration and explanation, only five road links (road link L ₁ to road link L ₅ ) are used. The road LK represents a line (coordinates) at the center of the lane. The road LK represents an actual road, and actually includes not only a straight line portion but also a curved portion. However, the road LK used in the following description has been converted into a straight line for the sake of illustration and explanation. (See FIG. 3).

  The estimation unit 15 includes a CPU, a ROM, a RAM, and the like (all not shown), and controls the traffic information processing apparatus 1 by causing the CPU to execute various programs stored in the ROM, the RAM, and the like. To do. Various functions of the estimation unit 15 are schematically represented as a travel position calculation unit 17, a travel speed calculation unit 19, a reference travel position information calculation unit 21, a travel position determination unit 27, a travel speed determination unit 29, and a sudden event estimation unit 31. To express.

  In particular, the estimation means 15 uses the travel position calculation means 17, the travel speed calculation means 19, the reference travel position information calculation means 21, the travel position determination means 27, the travel speed determination means 29, and the sudden event estimation means 31 shown in FIG. The process shown in the flowchart is executed. That is, the estimation means 15 is based on the probe information of the measured vehicle 4 acquired by the probe information acquisition means 11 and travel position information characterizing the travel position of the measured vehicle 4 (for example, the travel position and the standard deviation of the travel position). And the reference traveling position information characterizing the reference traveling position (for example, the reference traveling position and the reference standard deviation of the traveling position), and the difference between the calculated difference and the traveling speed of the vehicle 4 to be measured. Based on the above, the presence or absence of a sudden event is estimated.

  The reference travel position information DB 23 stores the reference travel position information calculated by the reference travel position information calculation unit 21 based on the probe information of the vehicle 2 acquired by the probe information acquisition unit 11. The storage means 33 is a memory that can be freely read and written. The storage unit 33 stores probe information acquired by the probe information acquisition unit 11 and various types of information transmitted via the transmission unit 35. The transmission unit 35 is connected to an external road management organization, a police organization, or the like, and transmits various information calculated by the estimation unit 15 to these organizations.

Next, the operation of the traffic information processing apparatus 1 will be described with reference to FIG. First, when probe information is acquired from the vehicle 2 (measured vehicle 4) by the probe information acquisition means 11 (step S1), the travel position calculation means 17 is based on this probe information every time the probe information is acquired. The travel position for each road link L ₁ to road link L ₅ is calculated, and the travel speed calculation means 19 calculates the travel speed for each road link L ₁ to road link L ₅ (step S 2).

ここで、「Ｉ_ｒｉｊ」は、「ｉ」番目の車両２（被測定車両４）の走行位置であり、「ｉ」番目の車両２（被測定車両４）が道路リンクＬ_ｒ（以下、「ｒ」は１〜５の自然数）を通過する際に取得した「ｊ」番目のプローブ情報である。「Ｉ_ｒｉ」は、「ｉ」番目の車両２（被測定車両４）のプローブ情報に基づいて算出される道路リンクＬ_ｒにおける平均の走行位置である。「Ｉ_ｒｉｊ」及び「Ｉ_ｒｉ」は、道路ＬＫから道幅方向のズレを表す値である。以下、「ｉ」は１〜ｎの自然数であり、「ｎ」は、測定期間内に道路リンクＬ_ｒを通過する車両２（被測定車両４）の台数とする。「ｊ」は１〜ｍの自然数であり、「ｍ」は、測定期間内に車両２（被測定車両４）が道路リンクＬ_ｒを通過する際に収集したプローブ情報の数とする。 The travel position for each of the road links L ₁ to L ₅ is calculated according to the following mathematical formula (1).

Here, “I _rij ” is the travel position of the “i” th vehicle 2 (measured vehicle 4), and the “i” th vehicle 2 (measured vehicle 4) is road link L _r (hereinafter, “ “r” is “j” -th probe information acquired when passing through a natural number of 1 to 5. “I _ri ” is an average travel position on the road link L _r calculated based on the probe information of the “i” -th vehicle 2 (measured vehicle 4). “I _rij ” and “I _ri ” are values representing a deviation in the road width direction from the road LK. Hereinafter, “i” is a natural number of 1 to n, and “n” is the number of vehicles 2 (measured vehicles 4) that pass the road link L _r within the measurement period. “J” is a natural number of 1 to m, and “m” is the number of probe information collected when the vehicle 2 (measured vehicle 4) passes the road link L _r within the measurement period.

After step S <b> 2, the reference travel position information calculation unit 21 calculates the reference travel position ( _{R) for} each road link L _r based on the plurality of travel positions “I _ri ” calculated by the travel position calculation unit 17 from the plurality of probe information. Reference travel position information) is calculated (step S3).

ここで、「Ｂ_ｒ」は、道路リンクＬ_ｒにおける基準走行位置であり、道路ＬＫから道幅方向のズレを表す値である。得られた基準走行位置「Ｂ_ｒ」を順次結ぶと、基準走行ラインＴ１が得られる（図３（ａ）を参照）。 The reference travel position for each road link L _r is calculated according to the following mathematical formula (2).

Here, “B _r ” is a reference travel position on the road link L _r and is a value representing a deviation in the road width direction from the road LK. By sequentially connecting the obtained reference travel positions “B _r ”, a reference travel line T1 is obtained (see FIG. 3A).

そして、基準走行位置情報算出手段２１は、算出した基準走行位置「Ｂ_ｒ」や標準偏差「σ_Ｂｒ」を基準走行位置情報ＤＢ２３に格納する。なお、基準走行位置情報算出手段２１は、予め設定された基準値よりも大きな標準偏差「σ_Ｂｒ」に係る基準走行位置「Ｂ_ｒ」を破棄し、基準走行位置情報ＤＢ２３には格納しない。 The reference travel position information calculating unit 21 calculates the reference travel position according to the formula (2) and calculates the standard deviation “σ _Br ” related to the reference travel position “B _r ” according to the following formula (3).

Then, the reference travel position information calculation unit 21 stores the calculated reference travel position “B _r ” and standard deviation “σ _Br ” in the reference travel position information DB 23. The reference travel position information calculation unit 21 discards the reference travel position “B _r ” related to the standard deviation “σ _Br ” larger than a preset reference value and does not store it in the reference travel position information DB 23.

After step S3, the travel position determination unit 27 calculates the travel position “I _ra ” and the reference travel position “B _r ” of the vehicle 4 to be measured (referred to as the “a” th vehicle) calculated by the travel position calculation unit 17. The difference value “I _ra −B _r ” is calculated for each road link L _r (step S4). The travel position “I _ra ” is one of the travel positions calculated by the travel position calculation means 17 in step S2, and is a value representing a deviation in the road width direction from the road LK. Further, when the obtained travel positions “I _ra ” are sequentially connected, a travel line T2 of the vehicle 4 to be measured is obtained (see FIG. 3B).

ここで、「Ｉ_ｋａ」は、道路リンクＬ_ｋ（「ｋ」は、ｐ〜ｑまでの自然数）における「ａ」番目の被測定車両４の走行位置であり、「Ｂ_ｋ」は、基準走行位置情報ＤＢ２３に格納された道路リンクＬ_ｋにおける基準走行位置であり、「Ｄ_ｋ」は、道路リンクＬ_ｋのリンク長である。 After step S4, the travel position determination means 27 uses the difference value calculated as described above as the road link L _p to the road link L _q (“p” is 1 in the travel direction) according to the following mathematical formula (4). is a natural number of to 3, "q" is accumulated in the travel segment L _pq consisting "p + 2" is a natural number obtained by calculation), the absolute cumulative value of the difference value (accumulation differential value "SL _a") It is determined whether the value is greater than or equal to a preset reference difference accumulated value “SL ₀ ” (step S5). Here, the traveling section means a section composed of a plurality of continuous road links.

Here, “I _ka ” is the travel position of the “a” th vehicle under measurement 4 on the road link L _k (“k” is a natural number from p to q), and “B _k ” is the reference travel. The reference travel position in the road link L _k stored in the position information DB 23, and “D _k ” is the link length of the road link L _k .

The absolute value of “(I _ka −B _k ) × D _k ” corresponds to the area of the hatched portion of the road link L _k shown in FIG. Note that “q” may be a natural number obtained by the calculation of “p + s” (“s” is a natural number of 1 or 3 or more). In addition, when the difference accumulated value “SL _a ” is calculated, if there is a reference travel position “B _k ” that is not stored in the reference travel position information DB 23 (that is, discarded), the travel position determination unit 27 The difference accumulated value “SL _a ” is calculated without adding “(I _ka −B _k ) × D _k ” related to the reference travel position “B _k ”.

When the travel position determination means 27 determines in step S5 that the absolute value of the difference accumulated value “SL _a ” in the travel section L _pq is equal to or greater than the reference difference accumulated value “SL ₀ ” (step S5; Yes) The travel speed determination means 29 determines that the road link where the travel speed “V” of the vehicle 4 to be measured is equal to or lower than a preset reference speed “V ₀ ” is the measurement section L _xy (the road link L _x to the travel direction). it contains in consecutive intervals) of the road link L _y, or, in this setting the running speed of the fluctuation width of the measurement interval L measured in _{the xy} vehicle 4 "[Delta] V" in advance criteria fluctuation width "[Delta] V ₀ 'or It is further determined whether it exists (step S6). Here, “x” indicates a road link adjacent to the road link L _{p in the} direction opposite to the travel direction, and “y” indicates a road link adjacent to the road link L _{q in the} travel direction. . Further, the variation width of the running speed of "ΔV", of the running speed "V" in the road link L _{x ~} road link L _y, which is the difference between the maximum speed and minimum speed.

In the stage of step S6, whether a road link travel speed of the measured vehicle 4 "V" is a reference speed "V _0" or less is included in the measurement interval L _xy, or, to be measured in the measurement interval L _xy When the travel speed determination means 29 determines that the travel speed fluctuation range “ΔV” of the vehicle 4 is greater than or equal to the reference fluctuation width “ΔV ₀ ” (step S6; Yes), the sudden event estimation means 31 It is estimated that a sudden event has occurred in the section L _pq (step S7).

For example, referring to FIG. 3 (b), when the traveling speed determination means 29 determines that the absolute value of the difference accumulated value “SL _a ” is equal to or greater than the reference difference accumulated value “SL ₀ ” in the traveling section L ₂₄ . or road link travel speed of the measured vehicle 4 "V" is a reference speed "V _0" or less is included in the measurement interval L _15, or the running speed of the measured vehicle 4 in the measuring section L ₁₅ When the travel speed determination means 29 determines that the fluctuation range “ΔV” of the vehicle is equal to or greater than the reference fluctuation range “ΔV ₀ ”, the sudden event estimation means 31 estimates that a sudden event has occurred in the travel section L _24. To do.

「Ｉ_ｔａ」は、道路リンクＬ_ｔ（「ｔ」は、「ｐ」〜「ｚ」までの自然数）における「ａ」番目の被測定車両４の走行位置であり、「Ｂ_ｔ」は、基準走行位置情報ＤＢ２３に格納された道路リンクＬ_ｔにおける基準走行位置であり、「Ｄ_ｔ」は、道路リンクＬ_ｔのリンク長である。ここで、「ｚ」番目の道路リンクＬ_ｚは、「（Ｉ_ｔａ−Ｂ_ｔ）×Ｄ_ｔ」を道路リンクＬ_ｐから道路リンクＬ_ｚまで順次加えることにより差分累積値「ＳＬ_ａ」を算出していく過程において、「（Ｉ_ｔａ−Ｂ_ｔ）」の符号（正負）が変化しない範囲を表している。換言すれば、道路リンクＬ_ｐ〜道路リンクＬ_ｚによって成る走行区間は、被測定車両４の走行位置が走行方向からみて基準走行位置に対して同一側にある道路リンクが連続して成る走行区間である。この場合、「ｚ＋１」（「ｓ」と表す）番目の道路リンクＬ_ｓにおける「（Ｉ_ｓａ−Ｂ_ｓ）」の符号は、道路リンクＬ_ｐから道路リンクＬ_ｚまでの「（Ｉ_ｔａ−Ｂ_ｔ）」の符号の逆になっている。そして、走行位置判定手段２７は、道路リンクＬ_ｐから道路リンクＬ_ｚまで順次加えて差分累積値「ＳＬ_ａ」を算出した後、道路リンクＬ_ｓから「（Ｉ_ｕａ−Ｂ_ｕ）×Ｄ_ｕ」（「ｕ」は、「ｓ」以上の自然数）を順次加えて新たな差分累積値「ＳＬ_ａ」を算出していく（「（Ｉ_ｕａ−Ｂ_ｕ）」の符号は同一である）。 The difference accumulated value “SL _a ” calculated in step S5 may be calculated according to the following mathematical formula (5).

“I _ta ” is the travel position of the “a” -th measured vehicle 4 on the road link L _t (“t” is a natural number from “p” to “z”), and “B _t ” is the reference The reference travel position in the road link L _t stored in the travel position information DB 23, and “D _t ” is the link length of the road link L _t . Here, the “z” -th road link L _z calculates the difference accumulated value “SL _a ” by sequentially adding “(I _ta −B _t ) × D _t ” from the road link L _p to the road link L _z. In the process, the sign (positive / negative) of “(I _ta −B _t )” does not change. In other words, the travel section composed of the road link L _p to the road link L _z is a travel section in which the road links of the vehicle under test 4 are continuously located on the same side with respect to the reference travel position when viewed from the travel direction. It is. In this case, the sign of “(I _sa −B _s )” in the “z + 1” (represented as “s”) th road link L _s is “(I _ta −B) from the road link L _p to the road link L _{z. t} ) ”is reversed. Then, the travel position determination unit 27 sequentially adds the road link L _p to the road link L _z to calculate the difference accumulated value “SL _a ”, and then calculates “(I _ua −B _u ) × D _u from the road link L _s. ”(“ U ”is a natural number greater than or equal to“ s ”) is sequentially added to calculate _a new difference accumulated value“ SL _a ”(the sign of“ (I _ua −B _u ) ”is the same).

In this case, at the stage of step S5, the travel section L _pq (“p” and “q” formed by road links in which the sign (positive / negative) of “(I _ta −B _t )” does not change is defined at both ends of the travel section. When the travel position determination means 27 determines that the absolute value of the difference accumulated value “SL _a ” in the road link (showing a road link) is equal to or greater than the reference difference accumulated value “SL ₀ ” (step S5; Yes), the travel speed determining means 29, whether a road link travel speed of the measured vehicle 4 "V" is a reference speed "V _0" or less is included in the measurement interval L _xy, or, to be measured in the measurement interval L _xy vehicle It is further determined whether the travel speed fluctuation range “ΔV” of 4 is equal to or greater than the reference fluctuation range “ΔV ₀ ” (step S6). The travel position determination means 27 determines that the number of road links included in the travel section L _{pq in} which the sign (positive / negative) of “(I _ta −B _t )” does not change exceeds the preset reference number in step S5. The process of step S5 is not performed using the difference accumulated value “SL _a ” calculated in such a travel section L _pq .

For example, referring to FIG. 3 (b), the road link _{L 1} ~ road link _{L 3,} symbol _"(I ta -B _t)" is positive, the road link _{L 4, "(I ta} - The sign of “B _t )” is negative, and in the road link L ₅ , the sign of “(I _ta −B _t )” is positive. Accordingly, the traveling speed determination means 29 calculates one difference cumulative value “SL _a ” by sequentially adding “(I _ta −B _t ) × D _t ” in the road link L ₁ to the road link L ₃ , “(I _ta −B _t ) × D _t ” in the link L ₄ is calculated as one difference cumulative value “SL _a ”, and “(I _ta −B _t ) × D _t ” in the road link L ₅ is calculated as one Calculated as the difference accumulated value “SL _a ”. That is, for the road link L ₁ to the road link L ₅ , three difference accumulation values “SL _a ” are calculated. When the traveling speed determination unit 29 determines that the absolute value of the difference accumulated value “SL _a ” in the road link L ₄ is equal to or larger than the reference difference accumulated value “SL ₀ ”, the traveling speed “V” of the measured vehicle 4 "Do preset reference speed" road link which is to V ₀ 'or less is included in the running section L _35, or, the variation width of the running speed of the measured vehicle 4 for the travel route L ₃₅ "ΔV" Is determined to be greater than or equal to a preset reference fluctuation range “ΔV ₀ ” by the travel speed determination means 29, the sudden event estimation means 31 causes a sudden event to occur in the road link L 4 (travel section L ₄₄ ). Estimated.

Such a calculation method of the difference accumulated value “SL _a ” according to the equation (5) is used when the “variation” of the travel position is smaller than the calculation method of the difference accumulated value “SL _a ” according to the equation (4). Is preferred. In the vehicle 2 (measured vehicle 4), the traveling position in the probe information is calculated based on position measurement using a GPS signal from a GPS satellite. When the travel position is calculated based only on the position measurement using the GPS signal, the reception status of the GPS signal deteriorates if there is a high-rise building or the like in the vicinity. The “variation” increases. When the “variation” of the travel position is relatively large as described above, it is preferable to calculate the cumulative difference value “SL _a ” using Equation (4). On the other hand, when not only the position measurement using the GPS signal but also the position measurement by the link matching method using the azimuth sensor, the vehicle speed sensor, the electronic map data, etc., the travel position “ Variation "is reduced. When the “variation” of the travel position is relatively small in this way, it is preferable to calculate the cumulative difference value “SL _a ” using Equation (5).

(Second Embodiment)
In addition, the estimation means 15 may perform each process of step S3-step S6 shown in FIG. 2 instead of step S3a-step S6a shown below. First, after step S1 and step S2 (refer to the flowchart of FIG. 2), the reference travel position information calculation unit 21 determines the reference standard deviation for each road link L _r based on “I _rij ” and “I _ri ”. (Reference travel position information) “SB _r ” is calculated (step S3a). The standard standard deviation “SB _r ” for each road link L _r is calculated according to the following mathematical formula (6).

ここで、「ＳＩ_ｒａ」は、道路リンクＬ_ｒにおける「ａ」番目の被測定車両４の走行位置の標準偏差である。走行位置判定手段２７は、この「ＳＩ_ｒａ」と基準標準偏差「ＳＢ_ｒ」との差分値「ＳＩ_ｒａ−ＳＢ_ｒ」を道路リンクＬ_ｒ毎に算出する（ステップＳ４ａ）。 After step S3a, the traveling position determination means 27 calculates the standard deviation of the traveling position of the vehicle under measurement 4 (referred to as “a” th vehicle) according to the following equation (7).

Here, “SI _ra ” is the standard deviation of the travel position of the “a” th vehicle under measurement 4 on the road link L _r . The traveling position determination unit 27 calculates a difference value “SI _ra −SB _r ” between the “SI _ra ” and the reference standard deviation “SB _r ” for each road link L _r (step S <b> 4 a).

After step S4a, the traveling position determination means 27 determines whether the difference value calculated as described above is equal to or greater than a preset reference difference value “SL ₁ ”, that is, equal to or greater than the reference difference value “SL ₁ ”. It is determined whether or not there is a road link (step S5a).

When the travel position determination means 27 determines that there is a road link in which the difference value calculated in step S4a is greater than or equal to the reference difference value “SL ₁ ” at step S5a (step S5a; Yes) The speed determination unit 29 includes a road link in which the travel speed “V” of the measured vehicle 4 is equal to or lower than a preset reference speed “V ₀ ” included in the measurement section L _xy , or the measurement section L It is further determined whether or not the fluctuation range “ΔV” of the traveling speed of the measured vehicle 4 in _xy is equal to or larger than a preset reference fluctuation range “ΔV ₀ ” (step S6a). Here, “x” is a travel section L _pq (“p” and “q” is defined by one road link or a plurality of continuous road links that have a difference value greater than or equal to the reference difference value “SL ₁ ”. ( _Representing road links at both ends of the travel section L _pq ), the road links adjacent to the direction opposite to the travel direction are indicated, and “y” is adjacent to the travel section in the travel direction. Shows road links.

In step S6a, a road link in which the traveling speed “V” of the measured vehicle 4 is equal to or lower than a preset reference speed “V ₀ ” is included in the measurement section L _xy , or the measurement section L _{When the} traveling speed determining means 29 determines that the fluctuation range “ΔV” of the traveling speed of the vehicle 4 to be measured in _xy is equal to or larger than the preset reference fluctuation range “ΔV ₀ ” (step S6a; Yes), The sudden event estimation means 31 estimates that a sudden event has occurred in the travel section L _pq (step S7).

For example, the travel speed determination means 29 determines that each of the standard deviations of the travel positions in the road link L ₃ and the road link L ₄ (travel section L ₃₄ ) is greater than or equal to the standard standard deviations “SB ₃ ” and “SB ₄ ”. If either road link is equal to or less than reference speed running speed of the measured vehicle 4 "V" is set in advance "V _0" is included in the measurement interval L _25, or, be in the measurement interval L ₂₅ When the travel speed determination means 29 determines that the travel speed fluctuation range “ΔV” of the measurement vehicle 4 is greater than or equal to a preset reference fluctuation width “ΔV ₀ ”, the sudden event estimation means 31 estimating an accident occurs in the L _34.

As described above, according to the traffic information processing apparatus 1, the travel position information (for example, the travel position and the standard deviation of the travel position) of the measured vehicle 4 and the reference travel position information ( For example, a difference from a reference travel position and a reference standard deviation is calculated, and it is determined whether the difference satisfies a preset reference. Based on the determination result, the lane change of the vehicle 4 to be measured can be accurately estimated. Furthermore, when the difference satisfies the reference, there is a road link in which the traveling speed “V” is equal to or lower than the reference speed “V ₀ ” as the traveling state represented by the traveling speed of the vehicle 4 to be measured, or It is determined whether the fluctuation range “ΔV” of the traveling speed “V” is equal to or larger than the reference fluctuation range “ΔV ₀ ”. Based on this determination result, the speed change of the measured vehicle 4 can be accurately estimated. Therefore, when a sudden event such as an accident occurs, in addition to the lane change that the measured vehicle 4 performs in order to avoid the sudden accident, a deceleration that the measured vehicle 4 performs in order to avoid the sudden matter can be expected. However, according to the traffic information processing apparatus 1, it is possible to accurately estimate whether or not such a sudden event has occurred and where it occurred (occurrence location in units of travel sections and road links).

In the first and second embodiments, the measurement section L _xy is a section including the travel section L _pq and each road link before and after the travel section L _pq . The measurement section L _xy may be a section including the travel section L _pq and two or more road links before and after the travel section L _pq.

It is a block diagram which shows the structure of the traffic information processing apparatus which concerns on embodiment. It is a flowchart for demonstrating operation | movement of the traffic information processing apparatus which concerns on embodiment. It is a figure for demonstrating the traffic information processing by the traffic information processing apparatus which concerns on embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Traffic information processing apparatus, 2 ... Vehicle, 3 ... Roadside machine, 4 ... Vehicle to be measured, 11 ... Probe information acquisition means, 13 ... DRM, 15 ... Estimation means, 17 ... Travel position calculation means, 19 ... Travel speed calculation Means, 21: Reference travel position information calculation means, 23: Reference travel position information DB, 27 ... Travel position determination means, 29 ... Travel speed determination means, 31 ... Sudden event estimation means, 33 ... Storage means, 35 ... Transmission means.

Claims (8)

A traffic information processing apparatus that calculates traffic information by dividing a road into a plurality of road links,
Probe information acquisition means for acquiring probe information collected by the vehicle;
Based on the probe information of the measured vehicle acquired by the probe information acquisition means, the difference between the traveling position information that characterizes the traveling position of the measured vehicle and the reference traveling position information that characterizes the reference traveling position is calculated. A traffic information processing apparatus comprising: estimation means for estimating the occurrence of a sudden event based on the calculated difference and the traveling speed of the vehicle under measurement. The travel position information is information indicating a travel position of the measured vehicle,
The traffic information processing apparatus according to claim 1, wherein the reference travel position information is information indicating a reference travel position. A traffic information processing apparatus that calculates traffic information by dividing a road into a plurality of road links,
Probe information acquisition means for acquiring probe information collected by the vehicle;
Based on the probe information of the measured vehicle acquired by the probe information acquisition means, a difference value between the traveling position of the measured vehicle and a reference traveling position representing a reference traveling position is determined by a plurality of continuous road links. Traveling position determination means for determining whether or not the accumulated value of the difference value is equal to or greater than a preset reference difference accumulated value;
A road link in which the travel speed of the measured vehicle is equal to or less than a preset reference speed is included in the measurement section including the travel section, or the fluctuation range of the travel speed of the measured vehicle in the measurement section Traveling speed determination means for determining whether or not is equal to or greater than a preset reference fluctuation range;
When the traveling position determination means determines that the accumulated value of the difference values in the traveling section is equal to or greater than the reference difference accumulated value, the traveling speed of the measured vehicle is equal to or less than the preset reference speed. It is determined by the travel speed determination means that a road link is included in the measurement section, or that the travel speed fluctuation range of the measured vehicle in the measurement section is equal to or greater than a preset reference fluctuation width. And a sudden event estimating means for estimating that a sudden event has occurred in the travel section. The travel position determination means includes
The traffic information processing apparatus according to claim 3, wherein the difference value is accumulated over a travel section composed of a predetermined number of continuous road links. The travel position determination means includes
4. The traffic according to claim 3, wherein the difference value is accumulated over a travel section composed of continuous road links in which the travel position of the measured vehicle is in the same direction of the reference travel position in the travel direction. Information processing device. The travel position information is information indicating a standard deviation of the travel position of the measured vehicle,
The traffic information processing apparatus according to claim 1, wherein the reference travel position information is information indicating a standard deviation serving as a reference at the travel position. A traffic information processing apparatus that calculates traffic information by dividing a road into a plurality of road links,
Probe information acquisition means for acquiring probe information collected by the vehicle;
Based on the probe information of the measured vehicle acquired by the probe information acquisition means, the standard deviation of the traveling position of the measured vehicle is calculated for each road link, and the standard deviation and the standard deviation serving as a reference at the traveling position are calculated. Driving position determination means for calculating a difference value with a reference standard deviation that represents, and determining for each road link whether the difference value is equal to or greater than a preset reference difference value;
When there is one road link or a plurality of continuous road links determined by the travel position determination means that the difference value is equal to or larger than the reference difference value, the difference value is constituted by the one road link or a plurality of continuous road links. The measurement section including the travel section includes a road link in which the travel speed of the measured vehicle is equal to or lower than a preset reference speed, or the travel speed of the measured vehicle in the measurement section Traveling speed determination means for determining whether the fluctuation range is equal to or larger than a preset reference fluctuation range;
A road link in which the traveling speed of the measured vehicle is equal to or lower than the preset reference speed is included in the measurement section, or the variation width of the traveling speed of the measured vehicle in the measurement section is And a sudden event estimation unit that estimates that a sudden event has occurred in the travel section when it is determined by the travel speed determination unit to be equal to or greater than a set reference fluctuation range. . A traffic information processing method for calculating traffic information by dividing a road into a plurality of road links,
A probe information acquisition step of acquiring probe information collected by the vehicle;
Based on the probe information of the measured vehicle acquired in the probe information acquisition step, the difference between the traveling position information characterizing the traveling position of the measured vehicle and the reference traveling position information characterizing the reference traveling position is calculated. A traffic information processing method comprising: an estimation step of estimating the occurrence of a sudden event based on the calculated difference and the traveling speed of the vehicle under measurement.

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