JP2009294812A - Risk travel information providing system and method for determining risk travel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a risk travel information providing system and a method for determining risk run, which detect a reverse traveling vehicle with sufficient accuracy and giving a driver that information. <P>SOLUTION: An on-board device 4 mounted in a vehicle 10 performs positioning moment by moment; accumulates time-series information (trajectory information) used as a travel trajectory in which a positioning location is associated with positioning time; and sends the trajectory information to an on-road communication device 1 when passing through a road-to-vehicle communication area set by a communication section 1b1 or a communication section 1b2 of the on-road communication device 1 installed on each traffic lane of a road R. An on-road processing device 2 receives the trajectory information from the on-road communication device 1; calculates travel direction of the vehicle 10 on the basis of the trajectory information; and compares the calculation result with travel direction of the vehicle that is traveling on the lane installed with the communication section 1b1 or the communication section 1b2 of the on-road communication device 1 which has sent the trajectory information stored in a memory. If both of them determine that it is substantially reversed, the on-road processing device 2 determines that the vehicle 10 is the reverse traveling vehicle. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a dangerous traveling information providing system and a dangerous traveling determination method for providing warning information or the like to a reverse traveling vehicle traveling in a direction opposite to the traveling direction of a vehicle on a road.

  In order to prevent traveling in the opposite direction on a one-way road such as an automobile-only road, two loop coils are embedded close to each other on the road, based on the time difference between the output currents of the two loop coils. A traffic information system for detecting a vehicle is known (Patent Document 1).

  In addition, a database with information on prohibited roads on motor vehicles is installed, and when a vehicle approaches or runs from the direction opposite to the direction of travel on a prohibited road, it is indicated to the driver by voice or screen display. Vehicle reverse running prevention systems that issue warnings are known.

JP 2007-072796 A

  However, in the traffic information system of Patent Document 1, a sensor for detecting a reverse running vehicle such as a loop coil must be installed on the road, and it is very expensive to install such a sensor on a wide range of roads. There is a problem.

  In addition, since the vehicle reverse running prevention system described above is a warning to determine reverse running when traveling from a direction opposite to the traveling direction of the vehicle with respect to a one-way road such as an automobile exclusive road, Warning cannot be issued for reverse running on a two-way road like a general road.

  Therefore, it may be possible to determine whether or not the vehicle runs backward by map-matching the trajectory information including the position information of the vehicle at a plurality of time points to the road map database. Even if it can be done easily, there is a risk of misjudging that the accuracy of map matching is poor on a two-way road such as a general road.

  The present invention has been made in view of such problems, and provides a dangerous traveling information providing system and a dangerous traveling determination method capable of accurately detecting a reverse running vehicle and providing the information to the driver. The purpose is to do.

  According to a first aspect of the present invention, there is provided a dangerous travel information providing system, an acquisition means for acquiring position information at a different time point of a vehicle moving on a lane in a predetermined traveling direction of a road, and the vehicle based on the acquired position information. Based on the calculation means for calculating the moving direction, and the calculated moving direction and the traveling direction, it is determined whether or not the vehicle is a reverse traveling vehicle moving in a direction opposite to the traveling direction. It comprises a judging means and an output means for outputting information based on a judgment result of the judging means (claim 1).

  According to this invention, the moving direction of the vehicle is calculated based on the position information of the vehicle moving on the lane in the predetermined traveling direction of the road at different time points, and the vehicle direction is reversed based on the moving direction and the traveling direction. It is determined whether the vehicle is a traveling vehicle. Since the type of road is not limited, it is a reverse running vehicle not only for vehicles moving on one-way roads such as automobile-only roads but also for vehicles moving on two-way roads such as general roads. Whether or not can be determined with high accuracy. Therefore, providing the information to that effect to the driver of the reverse running vehicle can contribute to the driver's safe driving. Note that the direction is a concept including not only a scalar amount such as an azimuth (for example, a value of 0 degree or more and less than 360 degrees clockwise with the north direction being 0 degree), but also a vector.

  The dangerous driving information providing system is further provided with a receiving unit that is installed at a predetermined point on the lane and receives the position information in the vicinity of the predetermined point transmitted by the vehicle, and the acquisition unit receives the receiving unit via the receiving unit. The position information is obtained, and the determining means is based on the moving direction of the vehicle near the predetermined point calculated by the calculating means and the traveling direction at the predetermined point. It is preferable that the vehicle is configured to determine whether or not the vehicle is a reverse running vehicle.

  For example, a receiving unit such as an optical beacon is installed at a predetermined point on the lane (for example, a point 500 m upstream from the stop line), and the position information immediately before passing the predetermined point transmitted by the vehicle via the receiving unit is obtained. get. Then, based on the moving direction of the vehicle in the vicinity of the predetermined point calculated from the position information and the traveling direction of the vehicle in the lane at the predetermined point, it is determined whether or not the vehicle is a reverse running vehicle. Accordingly, both the moving direction of the vehicle and the traveling direction of the vehicle in the lane are predetermined, even if the road is not linear and the traveling direction differs depending on the point on the road lane (for example, a curved shape such as a curve). Since a vehicle near the point is used, it can be accurately determined whether or not the vehicle is a reverse running vehicle.

  The dangerous driving information providing system includes: a second acquisition unit configured to acquire vehicle identification information capable of identifying that the vehicle is an emergency vehicle; and whether the vehicle is an emergency vehicle based on the acquired vehicle identification information. It is preferable that the output means outputs information based on a determination result of the determination means when the second determination means determines that the vehicle is not an emergency vehicle. Item 3).

  This is because an emergency vehicle may run backward on the road in order to rush to the destination.

  The output means preferably outputs information indicating that the vehicle is a reverse running vehicle to the vehicle determined by the determination means as a reverse running vehicle.

  Thereby, since the driver of the reverse running vehicle can recognize that the own vehicle is a reverse running vehicle, it can contribute to the driver's safe driving.

  In addition, the output means may be configured such that a reverse running vehicle is a vehicle that may move toward the vehicle in the future in the lane in which the vehicle determined by the determination means is a reverse running vehicle. It is preferable to output information indicating the presence (claim 5).

  As a result, the driver of the vehicle traveling in the same lane as the reverse running vehicle toward the reverse running vehicle can recognize that there is a possibility of colliding with the reverse running vehicle in the future. It can be prevented in advance.

  According to a second aspect of the present invention, there is provided a dangerous driving determination method comprising: acquiring position information at different times of a vehicle moving on a lane in a predetermined traveling direction of a road; and a moving direction of the vehicle based on the acquired position information. And determining whether or not the vehicle is a reverse running vehicle moving in a direction opposite to the traveling direction based on the calculated moving direction and the traveling direction. (Claim 6).

  The dangerous driving determination method according to the second invention is substantially the same as the first invention.

  As described above, according to the present invention, not only a vehicle moving on a one-way road but also a vehicle moving on a two-way road is accurately determined whether or not it is a reverse running vehicle. be able to. In addition, by providing information to that effect to the driver of the reverse running vehicle, it is possible to contribute to the driver's safe driving.

Embodiment 1:
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram showing an outline of a dangerous driving information providing system according to the present invention. A road communication device 1, a road processing device 2, a central device 3, a vehicle 10, and an in-vehicle device 4 mounted on the vehicle 10. Is included. Road R has lanes 1-4, the traveling direction of lanes 1 and 2 is the direction from intersection I2 to intersection I1, and the traveling direction of lanes 3 and 4 is the direction from intersection I1 to intersection I2. .

  The road R has a predetermined point on the lane 1 (for example, a point 500 m upstream from the stop line of the lane 1) and a predetermined point on the communication unit 1b1 and the lane 2 (for example, a point 500 m upstream from the stop line of the lane 2). ) A communication unit 1b2 is provided on the road, and a road communication device 1 including a communication control device 1a that controls road-to-vehicle communication is installed. Further, the road R has a predetermined point on the lane 3 (for example, a point 500 m upstream from the stop line of the lane 3) and a predetermined point on the communication unit 1 b 2 and the lane 4 (for example, 500 m upstream from the stop line of the lane 4). The road communication device 1 including the communication control device 1a for controlling the road-to-vehicle communication is provided. These on-road communication devices 1 include a road-to-vehicle communication area (not shown) immediately below the communication unit 1b1 in the lane 1 and directly below the communication unit 1b2 in the lane 2, a communication unit 1b1 directly below the communication unit 1b2 in the lane 3, and in the lane 4. In the road-to-vehicle communication area (not shown) immediately below, a function of transmitting / receiving communication data to / from the in-vehicle device 4 mounted on the vehicle 10 is provided.

  Here, as the road communication device 1, any device can be used as long as it can realize road-to-vehicle communication wirelessly, such as an optical beacon, a radio wave beacon, and a DSRC, but the road-to-vehicle communication of the communication unit 1b1. In order to prevent the area and the road-to-vehicle communication area of the communication unit 1b2 from overlapping each other, it is desirable to use a road communication device that performs narrow area communication such as an optical beacon.

  In the road-to-vehicle communication area of the communication unit 1b1 and the communication unit 1b2, the communication data transmitted from the road communication device 1 to the vehicle 10 includes information on road conditions in the traveling direction (for example, which road is congested). Traffic congestion information, travel time information on travel time to a certain point, etc.), dangerous driving information described later, and the like. Information on the road condition in the traveling direction is sent through the communication line from the central device 3 installed in the traffic control center, and is stored in the storage unit of the road communication device 1 in advance.

  On the other hand, the uplink information transmitted from the in-vehicle device 4 to the road communication device 1 includes vehicle ID information for identifying the vehicle 10 and trajectory information described later.

  Further, the road communication device 1 is connected to the road processing device 2. The road processing device 2 has a function of acquiring the uplink information received from the in-vehicle device 4 by the road communication device 1.

  The road processing device 2 may be housed in the same housing as the communication control device 1a, or the communication control device 1a may have the same function as the road processing device 2. Further, the road processing device 2 may be housed in the same housing as other road devices installed in the vicinity (for example, traffic signal controllers installed at the intersection I1 or the intersection I2).

  FIG. 2 is a block diagram showing an example of the configuration of the in-vehicle device 4. The in-vehicle device 4 includes a control unit 401 that controls the entire processing, a communication unit 402, a positioning unit 403, an operation unit 404, a display unit 405, an audio output unit 406, a storage unit 407, and the like.

  The communication unit 402 has a communication function for communicating with the roadside communication device 1, and the vehicle 10 equipped with the in-vehicle device 4 passes through the roadway-to-vehicle communication area of the roadside communication device 1, the communication unit 1 b 1 or the communication unit 1 b 2. At this time, predetermined information (for example, vehicle ID information, trajectory information, etc.) stored in the storage unit 407 configured by a semiconductor memory or a hard disk is transmitted to the road communication device 1 as uplink information.

  The communication unit 402 receives the downlink information from the road communication device 1 after transmitting the uplink information to the road communication device 1. In the downlink information, in addition to the above-mentioned traffic jam information and travel time information, the vehicle 10 equipped with the in-vehicle device 4 is a vehicle (reverse running vehicle) that runs in the direction opposite to the traveling direction of the vehicle in the lane. In some cases, dangerous traveling information indicating that there is a reverse traveling vehicle that may collide with the vehicle 10 in the future may be included.

  The positioning unit 403 measures the position of the vehicle from time to time (for example, every time 0.5 seconds, 1 second, etc., every 5 m, 10 m, etc.) (determines the positioning position), and determines the positioning position and positioning. It is stored in the storage unit 407 as time-series information (trajectory information) that is a travel locus associated with time.

  The GPS 4031 receives radio waves from a plurality of GPS satellites and measures the position of the vehicle. In addition to GPS 4031, DGPS (differential GPS) can also be mounted. The DGPS can receive FM broadcasts or medium waves transmitted from a reference station whose position is known in advance, can correct the positioning position shift obtained by the GPS 4031, and can improve the accuracy of the position of the vehicle.

  The distance sensor 4032 measures the distance traveled by the vehicle. The measurement result is output to the control unit 401 and stored in the storage unit 407.

  The azimuth sensor 4033 includes an angular velocity sensor or an angular acceleration sensor (relative azimuth sensor), a two-dimensional or three-dimensional geomagnetic sensor (absolute azimuth sensor), and measures the traveling azimuth of the vehicle. The measurement result is output to the control unit 401 and stored in the storage unit 407.

  The operation unit 404 includes various operation buttons and functions as a user interface between the vehicle occupant and the in-vehicle device 4. For example, the operation unit 404 receives an operation start or stop operation of a function provided in the in-vehicle device 4 by a driver's operation.

  The display unit 405 is a liquid crystal display panel, for example, and displays a processing result processed by the in-vehicle device 4. Further, the display unit 405 includes the dangerous traveling information included in the downlink information received by the communication unit 402, and the vehicle ID included in the dangerous traveling information is the vehicle 10 on which the in-vehicle device 4 is mounted. If the vehicle ID matches, warning information indicating that the vehicle 10 is a reverse running vehicle is displayed to the driver. For example, an image drawn such as “running backward on the road!” Is displayed.

  Further, the display unit 405 includes the dangerous traveling information included in the downlink information received by the communication unit 402, and the vehicle ID included in the dangerous traveling information is the vehicle 10 on which the in-vehicle device 4 is mounted. If the vehicle ID does not match, warning information indicating that there is a reverse running vehicle that may collide with the vehicle 10 is displayed to the driver. For example, an image drawn such as “a reverse running vehicle is approaching!” Is displayed.

  The voice output unit 406 outputs the notification contents by voice or sound in order to notify the driver of the processing result processed by the in-vehicle device 4. Further, the voice output unit 406 includes the vehicle 10 in which the dangerous information is included in the downlink information received by the communication unit 402, and the vehicle ID included in the dangerous vehicle information includes the in-vehicle device 4. If the vehicle ID coincides with the vehicle ID, warning information indicating that the vehicle 10 is a reverse running vehicle is output to the driver by voice or sound. For example, a sound such as “I am running backward on the road. Please make a U-turn urgently” is output.

  Further, the voice output unit 406 includes the vehicle 10 in which the dangerous information is included in the downlink information received by the communication unit 402, and the vehicle ID included in the dangerous vehicle information includes the in-vehicle device 4. If the vehicle ID does not match the vehicle ID, warning information indicating that there is a reverse running vehicle that may collide with the vehicle 10 is displayed to the driver. For example, a sound such as “a reverse vehicle is approaching this vehicle. Please drive with caution” is output.

  FIG. 3 is a block diagram showing an example of the configuration of the communication control device 1a of the roadside communication device 1. The communication control device 1a includes a control unit 101 that controls overall processing, a transmission / reception unit 102, a storage unit 103, a road-to-vehicle communication unit 104, a downlink information creation unit 105, and the like.

  The communication control device 1a is connected to the road processing device 2 and exchanges information with the road processing device 2. The transmission / reception unit 102 has a function of transmitting / receiving data to / from the road processing device 2 and receives the traffic jam information, travel time information, and the like sent from the central device 3 via the road processing device 2. The received information is stored in the storage unit 103.

  The road-to-vehicle communication unit 104 continues to transmit downlink information to the road-to-vehicle communication areas of the communication unit 1b1 and the communication unit 1b2. This downlink information is transmitted mainly to inform the in-vehicle device 4 that it has entered the road-to-vehicle communication area of the communication unit 1b1 or the communication unit 1b2, and to prompt the transmission of the uplink information from the in-vehicle device 4. Only basic information is included.

  The in-vehicle device 4 of the vehicle 10 that has entered the road-to-vehicle communication area of the communication unit 1b1 or the communication unit 1b2 receives uplink information including vehicle ID information and trajectory information of the vehicle 10 on the road in response to reception of the downlink information. It transmits with respect to the communication apparatus 1. When the vehicle 10 is an emergency vehicle, information indicating that the vehicle 10 is an emergency vehicle is stored in the uplink information. The received uplink information is transmitted to the road processing device 2 by the transmission / reception unit 102.

  When the road-to-vehicle communication unit 104 receives the uplink information, the road-to-vehicle communication unit 104 performs downlink switching in response to the reception of the uplink information, and notifies the in-vehicle device 4 of the lane in which the in-vehicle device 4 travels. The transmission of downlink information after execution of switching including information, the above-described traffic jam information, travel time information, dangerous driving information, and the like is started. The downlink information is created by the downlink information creation unit 106 from the lane notification information, traffic jam information, travel time information, dangerous driving information, and the like.

  When the vehicle 10 travels in the lane 2 of the road R in the direction opposite to the traveling direction of the vehicle in the lane 2 as shown in FIG. Since the communication unit 1b2 performs road-vehicle communication, the communication unit 1b2 receives the uplink information from the in-vehicle device 4. The communication control device 1a recognizes the traveling lane of the vehicle that has transmitted the uplink information depending on which communication unit the uplink information is received, and the vehicle included in the received uplink information. Lane notification information in which the ID and the lane 2 are associated is created and transmitted to the in-vehicle device 4. And the vehicle-mounted apparatus 4 which received the lane notification information can recognize that the traveling lane is the lane 2 based on own vehicle ID.

  Here, the number of lanes traveling in the same direction is two, but may be one, or may be three or more. Moreover, no matter which lane the vehicle 10 is traveling on, the road communication device 1 can execute the same operation as described above.

  The transmission / reception unit 102 transmits the uplink information received from the in-vehicle device 4 and the above-described lane notification information to the road processing device 2.

  FIG. 4 is a block diagram showing an example of the configuration of the road processing device 2. The road processing device 2 includes a control unit 201 that controls the overall processing, a road device communication unit 202, a central device communication unit 203, a storage unit 204, an uplink information determination unit 205, a dangerous traveling information creation unit 206, and the like.

  The road processing device 2 exchanges information with the central device 3 through a communication line. The central device communication unit 203 has a function of transmitting and receiving data to and from the central device 3. The central device communication unit 203 receives traffic information, travel time information, and the like transmitted by the central device 3 and stores them in the storage unit 204. Further, the road communication device 1 transmits the uplink information received from the vehicle and sent to the central device 3. In communication with each device, devices may be directly connected to each other through a communication line, or may be communicated via a communication device such as a router.

  The roadside device communication unit 202 exchanges information with the roadside communication device 1. The road communication device 1 transmits the traffic jam information, travel time information, etc. received from the central device 3 and stored in the storage unit 204. Further, uplink information and lane notification information sent from the road communication device 1 are received and stored in the storage unit 204.

  Further, the road processing device 2 is a vehicle traveling direction for each lane in which the vehicle 10 capable of communicating with each road communication device 1 is traveling (in the example of FIG. 1, the road communication device 1 installed in the lanes 1 and 2). Are stored in the storage unit 204 in the lanes 1 and 2, and in the road communication device 1 installed in the lanes 3 and 4, the vehicle azimuths in the lanes 3 and 4 are stored in the storage unit 204.

  The uplink information determination unit 205 determines the traveling direction of the vehicle 10 based on the trajectory information included in the uplink information, and determines whether or not the vehicle 10 is a reverse traveling vehicle. Specifically, the uplink information determination unit 205 calculates the traveling azimuth of the vehicle 10 from the two most recent positioning positions and positioning times included in the trajectory information, and stores the above up and stored in the storage unit 204. The traveling direction of the vehicle in the lane in which the vehicle 10 of the road communication device 1 that has sent the link information is traveling is compared. For example, in the example of FIG. 1, uplink information and lane notification information are sent from the roadside communication device 1 installed in lanes 1 and 2, and the lane in which the vehicle 10 indicated by the lane notification information travels is lane 2. The traveling direction of the vehicle 10 is compared with the traveling direction of the vehicle in the lane 2. If the difference between the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane is equal to or less than a first threshold (for example, 45 degrees), it is determined that the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane are substantially the same. Then, it is determined that the vehicle 10 is not a reverse running vehicle (that is, the vehicle 10 is determined to be a vehicle that travels in the traveling direction of the vehicle in the lane). On the other hand, if the difference between the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane is greater than or equal to a second threshold (for example, 135 degrees), the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane are substantially opposite. The vehicle 10 is determined to be in the direction, and the vehicle 10 is determined to be a reverse running vehicle (that is, the vehicle 10 is determined to be a vehicle traveling in a direction opposite to the traveling direction of the vehicle in the lane).

  As described above, when the vehicle 10 runs backward in the lane 2 of the road R as shown in FIG. 1 and transmits uplink information to the communication unit 1b2 of the road communication device 1 provided on the lane 2 of the road R. The uplink information determination unit 205 compares the traveling direction of the vehicle 10 with the traveling direction of the vehicle in the lane 2 (the direction from the intersection I2 toward the intersection I1). If the difference between the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2 is equal to or smaller than the first threshold value, it is determined that the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2 are substantially the same. It is determined that the vehicle is not a running vehicle. On the other hand, if the difference between the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2 is equal to or greater than the second threshold, it is determined that the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2 are substantially opposite. The vehicle 10 is determined to be a reverse running vehicle.

  FIG. 5 is an explanatory diagram for explaining a comparison between the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2 on which the vehicle 10 travels. In FIG. 5, an arrow A indicates a traveling direction of the vehicle in the lane 2, which is 270 degrees when represented by a value of 0 degree or more and less than 360 degrees clockwise with the north direction being 0 degree. In FIG. 5, six black circles indicate the trajectory information of the vehicle 10, and the positioning position and positioning time pairs ((X1, Y1), T1), ((X2, Y2), T2), ( (X3, Y3), T3), ((X4, Y4), T4), ((X5, Y5), T5), (X6, Y6, T6). X1 to X6 indicate the longitude of the positioning position, Y1 to Y6 indicate the latitude of the positioning position, and T1 to T6 indicate the positioning time. T1 is the newest and is older in the order of T2, T3, T4, T5, and T6. Since the two most recent positioning positions and positioning times included in the trajectory information are ((X1, Y1), T1) and ((X2, Y2), T2), the travel direction of the vehicle 10 is calculated from these. As shown by the arrow B in FIG. 5, when the north direction is 0 degree and represented by a value of 0 degree or more and less than 360 degree, it becomes 93 degree. Since the difference between the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2 is 177 degrees, the uplink information determination unit 205 is substantially opposite to the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 2. It is determined that there is a vehicle, and it is determined that the vehicle 10 is a reverse running vehicle that travels in a direction opposite to the traveling direction of the vehicle in the lane 2.

  Note that the uplink information determination unit 205 is not limited to the configuration in which the traveling direction of the vehicle 10 is calculated from the two most recent positioning positions and positioning times included in the trajectory information, and any two sets of positioning included in the trajectory information. The traveling direction of the vehicle 10 may be calculated from the position and the positioning time (for example, ((X1, Y1), T1) and ((X3, Y3), T3) in FIG. 5), and any information included in the trajectory information The two driving positions of the vehicle 10 determined from the positioning position and positioning time and the driving direction of the vehicle 10 determined from any other two positioning positions and positioning time are averaged (for example, (((X1, Y1)) , T1), the traveling direction of the vehicle 10 obtained from ((X2, Y2), T2) and the traveling direction of the vehicle 10 obtained from ((X2, Y2), T2), ((X3, Y3), T3) May be used as the traveling direction of the vehicle 10.

  When the uplink information determination unit 205 determines that the vehicle is a reverse traveling vehicle, the dangerous traveling information creation unit 206 includes the uplink information and the information indicating that the vehicle 10 that transmitted the uplink information is a reverse traveling vehicle and the uplink information. The dangerous traveling information including the vehicle ID information of the vehicle 10 is created.

  The road device communication unit 202 transmits the dangerous driving information created by the dangerous driving information creation unit 206 to the road communication device 1 that has sent the uplink information. When the road communication device 1 receives the dangerous driving information, the road communication device 1 creates downlink information from the dangerous driving information, the above-described lane notification information, traffic jam information, travel time information, and the like, and the vehicle 10 ( The downlink information is transmitted to the reverse running vehicle.

  The road device communication unit 202 transmits the dangerous traveling information to the road communication device 1 installed further upstream of the road communication device 1 that has sent the uplink information. Upon receiving this dangerous driving information, the road communication device 1 creates downlink information from the dangerous driving information, the above-described lane notification information, traffic jam information, travel time information, and the like, and can travel toward the reverse running vehicle in the future. The downlink information is transmitted to the vehicle 10 having the characteristics.

  When the uplink information includes information indicating that the vehicle is an emergency vehicle, the road device communication unit 202 does not transmit the dangerous traveling information to the road communication device 1 that has transmitted the uplink information. This is because an emergency vehicle may run backward on the road in order to rush to the destination.

  The central device communication unit 203 transmits the uplink information received by the road device communication unit 202 to the central device 3.

  As described above, on the road processing device 2, the vehicle 10 that has transmitted the uplink information based on the trajectory information included in the uplink information received and transmitted from the vehicle 10 by the road communication device 1 is a reverse running vehicle. If it is determined whether the vehicle is a reverse running vehicle, information to that effect can be provided to the vehicle 10. Therefore, since the driver of the vehicle 10 can recognize that the host vehicle is a reverse running vehicle, it can contribute to the driver's safe driving.

  Moreover, when it determines with it being a reverse running vehicle, the road processing apparatus 2 can provide the information to that effect to the vehicle 10 which may drive | work toward the said reverse running vehicle in the future. Therefore, since the driver of the vehicle 10 can recognize that there is a possibility of colliding with a reverse running vehicle in the future, a collision accident can be prevented in advance.

  FIG. 6 is a block diagram showing an example of the configuration of the central device 3. The central device 3 includes a control unit 301 that controls the overall processing, a communication unit 302, a traffic condition acquisition unit 303, a storage unit 304, and the like.

  The communication unit 302 has a communication function for exchanging information with various devices installed on the road through a communication line. The communication unit 302 can receive uplink information and the like from the road processing device 2 and store them in the storage unit 304, and can transmit traffic information and the like to be stored in the road communication device 1 to the road processing device 2.

  In addition, the method of arrange | positioning the function which the roadside processing apparatus 2 and the central apparatus 3 each have to each apparatus is not restricted to the case described here. For example, the central device 3 may have a vehicle traveling direction determination function and a reverse traveling determination function realized by the uplink information determination unit 205 of the road processing device 2. In this case, the road processing device 2 may immediately transmit the uplink information received from the road communication device 1 unconditionally to the central device 3, and the central device 3 may communicate with the communication unit 1b1 of each road communication device 1 or the communication. The traveling direction of the vehicle in the lane where the unit 1b2 is provided may be stored in the storage unit 304. Moreover, the structure which puts the central apparatus provided with all the functions which both the road processing apparatus 2 and the central apparatus 3 have, and the structure with which the central apparatus and the road communication apparatus 1 each communicate may be sufficient.

  The traffic condition acquisition unit 303 collects sensor information transmitted from one or a plurality of vehicle sensors (not shown) installed on the road, and accumulates them in the storage unit 304 as a traffic information database. Based on these sensor information, the traffic situation on the road where the vehicle sensor is installed and the surrounding area is grasped. In this case, the grasping of the traffic situation is performed at a cycle such as every 5 minutes or every traffic signal cycle time. In grasping the traffic situation, indicators such as traffic volume, occupation time, average travel speed, queue length of a group of vehicles on each road are used.

  For example, the traffic volume ratio on the main road side and the secondary road side fluctuated significantly at one intersection, and the inflow traffic exceeded the saturation traffic flow rate at the intersection and reached saturation at another intersection. Know the situation.

  Various devices such as the road processing device 2 and the central device 3 according to the present invention may be housed in a single housing or may be realized by a combination of a plurality of housings. Each of these may be realized by one computer device, or may be realized by combining a plurality of computer devices.

  In the above-described embodiment, the road communication device 1 transmits the dangerous traveling information to the in-vehicle device 4, and the on-vehicle device 4 that has received the dangerous traveling information collides with the vehicle 10 that the vehicle 10 is traveling backward. Although it was the structure which alert | reports to the driver | operator of the said vehicle 10 the warning information that there exists a possibility of a reverse running vehicle, it is not limited to this, The road communication apparatus 1 carries out dangerous driving information on a road. The road information board that is transmitted to the road information board (not shown) installed on the road, and the road information board that has received the dangerous running information displays warning information that a reverse running vehicle exists and notifies the driver of the vehicle 10 It may be.

  In addition, the roadside communication device 1 has a middle road communication function such as a wireless LAN such as a UHF band or a VHF band installed in the vicinity of the intersection I1. The other road communication device that has received the dangerous traveling information and transmits the dangerous traveling information to all the vehicles 10 traveling in the respective lanes flowing into the intersection I1 may be used. In this case, when the in-vehicle device 4 receives the dangerous traveling information from the other road communication device, the in-vehicle device 4 determines whether or not the vehicle ID included in the dangerous traveling information matches the own vehicle ID. If it is determined that the warning information indicating that the vehicle 10 is running backwards does not match, the warning information indicating that there is a backward running vehicle around the vehicle 10 is displayed. It can be set as the structure notified to a person.

Embodiment 2:
In the above-described embodiment, the in-vehicle device 4 accumulates a plurality of positioning positions and positioning times as trajectory information in time series, and the in-vehicle device 4 passes the communication unit 1b1 of the roadside communication device 1 or the road-to-vehicle communication area of the communication unit 1b2. In this case, the trajectory information is transmitted to the road communication device 1, but the present invention is not limited to this. The vehicle-mounted device 4 may be configured to transmit the positioning position and the positioning time to the road communication device 1 every time the positioning is performed.

  FIG. 7 is a schematic diagram showing an outline of a traffic system according to Embodiment 2 of the present invention. The roadside communication device 1 is a communication device having a mid-range communication function such as a wireless LAN such as a UHF band or a VHF band. The roadside communication device 1 may be a communication device having a wide-area communication function such as a mobile phone, PHS, multiple FM broadcasting, or Internet communication.

  The on-road communication device 1 installed in the vicinity of the stop line of the lane 1 and the lane 2 of the road R at the intersection I1 can communicate with all the vehicles 10 traveling on the lane 1 or the lane 2 by the communication unit 1b. The road communication device 1 installed in the vicinity of the lane 3 on the road R and the stop line on the lane 4 can communicate with all the vehicles 10 traveling on the lane 3 or the lane 4 by the communication unit 1b. In the example of FIG. 7, the vehicle 10 travels in the lane 2 (reverse running), so that the vehicle 10 can communicate with the lane 1 at the intersection I <b> 1 and the on-road communication device 1 installed near the stop line of the lane 2. The in-vehicle device 4 performs positioning (for example, every time 0.5 seconds, 1 second, etc., every time it moves 5 m, 10 m, etc.) (determines the positioning position), and associates the positioning position with the positioning time. The position information is transmitted to the road communication device 1 together with the vehicle ID information of the vehicle 10. When the road communication device 1 receives the vehicle ID information and the position information from the in-vehicle device 4, the road communication device 1 transmits it to the road processing device 2.

  The road processing device 2 classifies the vehicle ID information and the position information received from the road communication device 1 for each vehicle ID, rearranges the position information in time series, and accumulates the information in the storage unit 204 as trajectory information. The road processing device 2 is a vehicle traveling direction in a lane in which a vehicle 10 capable of communicating with each road communication device 1 travels (in the example of FIG. 8, the road communication device 1 installed near the stop line of the lane 1 and the lane 2. Is stored in the storage unit 204 for the azimuths of the vehicles in the lanes 1 and 2 and the azimuths of the vehicles in the lanes 3 and 4 for the road communication device 1 installed in the vicinity of the lanes 3 and 4. Yes. As in the first embodiment, the road processing device 2 calculates the travel direction of the vehicle 10 from the trajectory information, and the lane on which the vehicle 10 that can communicate with the road communication device 1 that has transmitted the travel direction and position information travels. Is compared with the traveling direction of the vehicle, and it is determined whether or not the vehicle 10 is a reverse traveling vehicle traveling in a direction opposite to the traveling direction in the lane.

  For example, the traveling direction of the vehicle in the lane 1 and the lane 2 corresponding to the road communication device 1 installed near the stop line of the lane 1 and the lane 2 stored in the storage unit 204 is 270 degrees (north direction is 0 degree) The direction of travel of the vehicle in the lane 3 and the lane 4 corresponding to the roadside communication device 1 installed in the vicinity of the stop line of the lane 3 and the lane 4 Is 90 degrees (assuming that the north direction is 0 degree and is represented by a value of 0 degree or more and less than 360 degrees clockwise). As shown in the example of FIG. 7, the vehicle 10 is traveling backward on the lane 2 of the road R, and the vehicle 10 has road ID information and position information installed on the lanes 1 and 2 near the stop line. It is assumed that the information transmitted to the device 1 and received by the road communication device 1 is transmitted to the road processing device 2. The road processing device 2 compares the calculated traveling direction of the vehicle 10 with the traveling direction of the vehicle in the lane 1 and the lane 2 corresponding to the road communication device 1 that has sent the positional information of the vehicle 10 and the vehicle 10 It is determined whether the vehicle is a reverse running vehicle. When the traveling direction of the vehicle 10 calculated by the road processing device 2 is 93 degrees, the difference between the traveling direction of the vehicle in the lane 1 and the lane 2 is 177 degrees, which is equal to or greater than a second threshold (for example, 135 degrees). Therefore, the road processing device 2 determines that the traveling direction of the vehicle 10 is substantially opposite to the traveling direction of the vehicle in the lane 1 and the lane 2, and determines that the vehicle 10 is a reverse traveling vehicle.

  On the other hand, although different from the example of FIG. 8, the vehicle 10 is traveling on the lane 2 of the road R along the traveling direction, and the vehicle 10 stops the lane 1 and the lane 2 according to the vehicle ID information and the position information. It is assumed that the information is transmitted to the road communication device 1 installed near the line and the information received by the road communication device 1 is transmitted to the road processing device 2. The road processing device 2 compares the calculated traveling direction of the vehicle 10 with the traveling direction of the vehicle in the lane 1 and the lane 2 corresponding to the road communication device 1 that has sent the positional information of the vehicle 10 and the vehicle 10 It is determined whether the vehicle is a reverse running vehicle. When the traveling direction of the vehicle 10 calculated by the road processing device 2 is 275 degrees, the difference between the traveling direction of the vehicle in the lane 1 and the lane 2 is 5 degrees and is equal to or less than a first threshold (for example, 45 degrees). Therefore, the road processing device 2 determines that the traveling direction of the vehicle 10 and the traveling direction of the vehicle in the lane 1 and the lane 2 are substantially the same, and determines that the vehicle 10 is not a reverse traveling vehicle.

  When the road processing device 2 determines that the vehicle 10 is a reverse running vehicle, the road processing device 2 creates dangerous running information including information indicating that the vehicle 10 is a reverse running vehicle and vehicle ID information of the vehicle 10, and the vehicle 10 position information and the like are transmitted to the road communication device 1 that has sent them. The road communication device 1 that has received this dangerous driving information transmits the dangerous driving information to all vehicles 10 that can communicate. When the in-vehicle device 4 mounted on the vehicle 10 receives the dangerous driving information, it determines whether or not the vehicle ID included in the dangerous driving information matches its own vehicle ID. If it is determined that the warning information indicating that the vehicle is running backward does not match, the warning information that a reverse running vehicle exists around the vehicle 10 is notified to the driver of the vehicle 10.

  Further, the road processing device 2 transmits the dangerous traveling information to the road communication device 1 installed further upstream of the road communication device 1 that has sent the position information and the like. The road communication device 1 that has received this dangerous driving information transmits the dangerous driving information to all vehicles 10 that can communicate. When the in-vehicle device 4 mounted on the vehicle 10 receives the dangerous traveling information, it determines whether or not the vehicle ID included in the dangerous traveling information matches its own vehicle ID. The driver of the vehicle 10 is notified of warning information that there is a reverse running vehicle around the vehicle 10.

  As described above, the road processing device 2 determines whether the vehicle 10 that transmitted the position information is a reverse running vehicle based on the trajectory information obtained by rearranging the position information received by the road communication device 1 in time series. If the vehicle is determined to be a reverse running vehicle, information to that effect can be provided to the vehicle 10. Therefore, since the driver of the vehicle 10 can recognize that the host vehicle is a reverse running vehicle, it can contribute to the driver's safe driving.

  Moreover, when it determines with the road processing apparatus 2 being a reverse running vehicle, the information to that effect can be provided to the vehicle 10 of the periphery of a reverse running vehicle. Therefore, since the driver of the vehicle 10 can drive while paying attention to the reverse running vehicle, it can contribute to the driver's safe driving.

  In the above-described embodiment, the road processing device 2 is configured to determine whether or not the vehicle 10 is a reverse running vehicle based on the trajectory information transmitted from the in-vehicle device 4 (vehicle 10). However, the present invention is not limited to this. Time series information (trajectory) that is a traveling locus in which an image processing device or the like installed on the road detects the position of the vehicle 10 traveling on a lane in a predetermined traveling direction every moment and associates the detected position with the detection time. Information) is generated, and the trajectory information is transmitted to the road processing device 2. And the structure by which the road processing apparatus 2 determines whether the said vehicle 10 is a reverse running vehicle based on the received locus | trajectory information may be sufficient.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a schematic diagram which shows the outline | summary of the traffic system which concerns on this invention. It is a block diagram which shows an example of a structure of a vehicle-mounted apparatus. It is a block diagram which shows an example of a structure of the communication control apparatus of a roadside communication apparatus. It is a block diagram which shows an example of a structure of a roadside processing apparatus. It is explanatory drawing for demonstrating the comparison with the traveling direction of a vehicle, and the advancing direction of the vehicle in the lane which the said vehicle drive | works. It is a block diagram which shows an example of a structure of a central apparatus. It is a schematic diagram which shows the outline | summary of the traffic system which concerns on Embodiment 2 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Road communication apparatus 1a Communication control apparatus 1b, 1b1, 1b2 Communication part 101 Control part 102 Transmission / reception part 103 Storage part 104 Road-to-vehicle communication part 105 Downlink information creation part 2 Road processing apparatus 201 Control part 202 Road apparatus communication part 203 Central apparatus Communication unit 204 Storage unit 205 Uplink information determination unit 206 Dangerous travel information creation unit 3 Central device 301 Control unit 302 Communication unit 303 Traffic condition acquisition unit 304 Storage unit 4 Onboard device 401 Control unit 402 Communication unit 403 Positioning unit 4031 GPS
4032 Distance sensor 4033 Direction sensor 404 Operation unit 405 Display unit 406 Audio output unit 407 Storage unit 10 Vehicles I1, I2 Intersection R Road

Claims (6)

Acquisition means for acquiring position information at different time points of a vehicle moving on a lane in a predetermined traveling direction of the road;
Calculating means for calculating a moving direction of the vehicle based on the acquired position information;
Determination means for determining whether the vehicle is a reverse running vehicle moving in a direction opposite to the traveling direction based on the calculated moving direction and the traveling direction;
An unsafe travel information providing system comprising: output means for outputting information based on a determination result of the determination means. A receiving unit installed at a predetermined point on the lane and receiving the position information near the predetermined point transmitted by the vehicle;
The acquisition means is configured to acquire the position information via the reception means,
The determination means determines whether the vehicle is a reverse running vehicle based on the moving direction of the vehicle in the vicinity of the predetermined point calculated by the calculating means and the traveling direction at the predetermined point. The dangerous driving information providing system according to claim 1, wherein the dangerous driving information providing system is provided. Second acquisition means for acquiring vehicle identification information capable of identifying that the vehicle is an emergency vehicle;
Second determination means for determining whether or not the vehicle is an emergency vehicle based on the acquired vehicle identification information;
The dangerous driving information according to claim 1 or 2, wherein the output unit outputs information based on a determination result of the determination unit when the second determination unit determines that the vehicle is not an emergency vehicle. Offer system.   The said output means outputs the information which shows that the said vehicle is a reverse running vehicle with respect to the vehicle which the said determination means determined to be a reverse running vehicle, The Claim 1 thru | or 3 characterized by the above-mentioned. The dangerous driving information providing system according to any one of the above.   The output means includes a reverse running vehicle with respect to a vehicle that may move toward the vehicle in the future in the lane in which the vehicle determined by the determining means is a reverse running vehicle. The dangerous driving information providing system according to any one of claims 1 to 4, wherein information indicating that is output. Obtaining position information at different points in time of a vehicle moving on a lane in a predetermined direction of travel on the road;
Calculating a moving direction of the vehicle based on the acquired position information;
Determining whether the vehicle is a reverse running vehicle moving in a direction opposite to the traveling direction based on the calculated moving direction and the traveling direction. Dangerous driving judgment method.

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