JP2010066120A - Device and system for guiding vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an improved device and system for guiding a vehicle which very efficiently indicates the optimum guidance on a destination to a guiding object vehicle. <P>SOLUTION: An emergency vehicle guiding device computes a predicted running route to the destination of the guiding object vehicle and displays, in a display, images of monitoring cameras located on the predicted running route, in suitable sequence from the nearest one. Based on that the guiding object vehicle passes through either a crossing or the monitoring camera, the predicted running route is recomputed and the image of the monitoring camera to be displayed afresh in the display is selected again. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a vehicle guidance device and a vehicle guidance system.
More specifically, the present invention relates to an emergency vehicle guidance system that automatically selects images of each monitoring camera installed in the traveling direction of a designated emergency vehicle.

In the event of a disaster or incident / accident, it is necessary to make emergency vehicles such as security, firefighting and police reach their destinations more quickly and safely. However, when a disaster occurs, the road may be cut off or the evacuation vehicle may be heavily congested, and it may be very difficult to guide the emergency vehicle to the destination through an optimal route.
As a conventional method for guiding an emergency vehicle, it is common to use an in-vehicle navigation device that displays the current position and travel route of the host vehicle on a preset road map. Therefore, the response to sudden events at the time of disaster is insufficient.

  In order to solve such a problem, in Patent Document 1, the headquarters creates optimal route information for guiding an emergency vehicle, transmits the route information created by wireless communication to the vehicle, and the vehicle side A method of receiving route information and displaying it on a vehicle-mounted device has been proposed.

  On the other hand, the number of video surveillance devices is rapidly increasing against the background of the development of high-speed communication networks such as broadband networks in recent years, the establishment of high-compression video technology, and the growing interest in security. In particular, in recent years, the price of surveillance cameras has fallen, and it has come to be installed in various places. For example, surveillance cameras are installed for intrusion security monitoring in major stores such as convenience stores and banks, street monitoring in shopping streets, nighttime monitoring of parking lots, entrances and exits of major intersections and expressways, and river flow monitoring. ing.

In the past, video from these surveillance cameras was only recorded on a video tape recorder or the like connected to the camera, but in recent years, collection and recording of video data via a network has become widespread.
As an example, in Patent Document 2, real-time images of a plurality of monitoring cameras arranged at each point are displayed on a large display monitor such as a video display device in the headquarters via a broadband network, Techniques such as storing the video in a video storage server are disclosed.
Patent Publication 2001-319297 Patent Publication 2003-289528

In the method for guiding an emergency vehicle disclosed in Patent Document 1 described above, for example, the planned travel road in the traveling direction of the emergency vehicle to be guided is severed, or there is a heavy traffic jam due to an evacuated vehicle. Guidance is performed in a state where real-time information is not grasped, and the guidance is not optimal and safe.
On the other hand, using the video monitoring device disclosed in Patent Document 2 described above, a method of displaying the images of the monitoring cameras on a plurality of roads on a large display monitor or the like and guiding the vehicle while watching the images can be considered.
In the current video monitoring method, there are multiple videos to be monitored, and the operator who monitors the video designates the video of the monitoring camera displayed on the large display monitor one by one and displays the video. It is an operation to display. Here, when efficiently guiding a plurality of emergency vehicles, it is necessary to switch the image of the monitoring camera for each emergency vehicle, but since all operations are performed manually, it is not efficient.

  The present invention has been made in view of the above points, and provides an improved vehicle guidance device and vehicle guidance system capable of instructing a guidance target vehicle to guide to an optimum destination extremely efficiently. With the goal.

  In order to solve the above problems, a vehicle guidance device of the present invention includes a map display unit that creates a map image based on a predetermined position and scale, a vehicle ID field that uniquely identifies the vehicle, and current position information of the vehicle The current position information and the target position of the designated record in a vehicle position table comprising a current position latitude / longitude field in which is recorded and a destination latitude / longitude field in which position information of the target position to which the vehicle is to be recorded are recorded A vehicle travel path calculation unit that creates predicted travel path information from the position information of the vehicle, and a vehicle position display that creates a vehicle position image indicating the position of the vehicle, the center position and scale of the map image of which coincide with each other from the vehicle position table Section, a camera ID field for uniquely identifying the surveillance camera, and an installation in which the location information where the surveillance camera is installed is recorded A camera position master comprising a longitude and longitude field; a camera selection unit that obtains a position of the monitoring camera belonging to the predicted travel route information from the camera position master and creates camera selection information; and A camera position display unit for creating a monitoring camera position image indicating a position of the monitoring camera, the map image center position and scale of which coincide with each other, and a video data display for selecting video data output from the monitoring camera from the camera selection information And a display control unit that superimposes and synthesizes the map image, the vehicle position image, and the monitoring camera position image, and synthesizes and transmits the selected video data to a display device.

The emergency vehicle guidance device calculates a predicted travel route for the destination of the guidance target vehicle, and displays the images of the monitoring cameras on the predicted travel route on the display device in an appropriate order from the closest one.
Then, the predicted travel route is recalculated depending on whether the guidance target vehicle has passed the intersection or the surveillance camera, and the video of the surveillance camera to be displayed on the display device is selected again.

  According to the present invention, it is possible to provide an improved vehicle guidance device and a vehicle guidance system capable of instructing a guidance target vehicle to guide to an optimum destination extremely efficiently.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

[overall structure]
FIG. 1 is an overall configuration diagram of an emergency vehicle guidance system as an example of an embodiment of the present invention.
The emergency vehicle guidance system 101 includes an emergency vehicle 102, a monitoring camera 104 installed beside a road 103 in an urban area where the emergency vehicle 102 travels, a network 105 to which the monitoring camera 104 is connected, and the position of the emergency vehicle 102. Similarly, the vehicle position server 106 that outputs information, the emergency vehicle guidance device 107 that is connected to the vehicle location server 106 and the network 105, and the display device 108 and the operation unit 109 that are connected to the emergency vehicle guidance device 107. Become.
An emergency vehicle 102 such as an ambulance, a fire engine, or a police car traveling in an urban area incorporates a car navigation device 110 that can be a position information acquisition unit and a mobile radio device 111 that can also be a position information transmission unit.

The car navigation device 110 has a function of grasping the latitude and longitude of the current position with an error of about 10 m by a known GPS (Global Positioning System). For this reason, a GPS antenna 112 is connected to the car navigation device 110.
The mobile wireless device 111 reads the latitude / longitude information of the current position from the car navigation device 110 at intervals of 1 second, for example, emits radio waves from the antenna 113, and transmits them to the vehicle position server 106 in the command center 114.

On the other hand, the command center 114 is provided with a vehicle position server 106 and an emergency vehicle guidance device 107 connected thereto.
The vehicle position server 106 receives a radio wave emitted from the emergency vehicle 102 by the antenna 115 and holds the current position of the emergency vehicle 102 in an internal storage device.
The emergency vehicle guidance device 107 displays a map of the area under jurisdiction on the display device 108 composed of a large display, receives information on the current location of the emergency vehicle 102 from the vehicle location server 106, and displays the current location of the emergency vehicle 102 on the map. Overlaid with an icon. Furthermore, the emergency vehicle guidance device 107 can instruct navigation by selecting the emergency vehicle 102 with a mouse and inputting a destination.

A large number of surveillance cameras 104 are installed at the intersections beside the roads in the area controlled by the command center 114.
The monitoring camera 104 is connected to a dedicated network 105 and transmits moving image data to the emergency vehicle guidance device 107 in the command center 114 through the network 105.
The emergency vehicle guidance device 107 predicts and calculates a travel route until the emergency vehicle 102 reaches the destination, and displays images of the plurality of monitoring cameras 104 existing on the route on the display device 108.
The video of the monitoring camera 104 displayed on the display device 108 reflects the road conditions. If the road is congested, it can be seen that the road is not suitable for passing the emergency vehicle 102. Therefore, another travel route is selected, and the emergency vehicle 102 is contacted by commercial wireless communication etc. to change the route. Instruct.

As the emergency vehicle 102 travels, the emergency vehicle 102 passes through the monitoring camera 104. Since the video of the surveillance camera 104 that has passed is no longer necessary, the video display of the surveillance camera 104 is stopped, and instead, the video of the surveillance camera 104 arranged further on the travel route is displayed.
In the prior art, since the selection and discarding of the video of the monitoring camera 104 is performed manually, the amount of work is enormous. In the present embodiment, selection and destruction of the video of the monitoring camera 104 are automatically performed as the emergency vehicle 102 moves.

[Emergency vehicle guidance device 107]
FIG. 2 is a functional block diagram of the emergency vehicle guidance device 107. However, the vehicle position server 106 connected to the emergency vehicle guidance device 107 is also described.
The hardware configuration of the emergency vehicle guidance device 107 is the same as that of a general personal computer. This is a very well-known configuration including a non-volatile storage such as a CPU, ROM, RAM, and hard disk device, a display, a keyboard, a mouse, a network, and a bus connected thereto. FIG. 2 is a block diagram mainly illustrating functions realized by the program.

A non-volatile storage 202 composed of a hard disk device is installed on the side of the road 103, map data 203 for displaying a map on the display device 108, road data 204 necessary for predicting and calculating the travel route of the vehicle, and so on. The camera position master 205 in which the installation location of the monitoring camera 104 is stored is stored.
The map data 203 is read into the map display unit 206 and draws a map image.
The center position and scale of the map are given from the control unit 207.
The center position and scale of the map are changed by an instruction from the operation unit 109 that is connected to the control unit 207 and includes a pointing device such as a keyboard 116 and a mouse 117. The map display unit 206 immediately redraws the map image when the center position and scale of the map given from the control unit 207 are changed.

The vehicle position display unit 208 reads a vehicle position table 209 described later from the vehicle position server 106 and draws the position of the emergency vehicle 102 on the map with an icon.
The vehicle position display unit 208 is also given a map center position and scale from the control unit 207, and generates a vehicle position image whose center position and scale match the map image generated by the map display unit 206.
In addition, for one emergency vehicle 102 (hereinafter abbreviated as “guidance target vehicle”) selected by the operation unit 109 as a target of the guidance instruction, the vehicle ID of the guidance target vehicle that performs the route instruction is acquired from the control unit 207. Then, the record of one vehicle selected by the operation unit 109 in the vehicle position table 209 is specified. Then, the emergency vehicle 102 is distinguished from the other emergency vehicles 102 by color coding or blinking display.

  The vehicle travel route calculation unit 210 reads the vehicle position table 209 from the vehicle position server 106, acquires the vehicle ID of the guidance target vehicle for which a route instruction is given from the control unit 207, and operates the operation unit 109 in the vehicle position table 209. The record of the guidance target vehicle selected in is identified. Then, a plurality of predicted travel routes are calculated for the guidance target vehicle. A route search known as so-called “route search” is performed by the car navigation device 110 or the like. The route search uses a well-known search technique such as an A * (Aster) search algorithm. Details of the search technique are omitted.

The vehicle travel route display unit 211 generates an image that displays the predicted travel route of one emergency vehicle 102 selected by the operation unit 109, which is calculated by the vehicle travel route calculation unit 210, as necessary.
The vehicle travel route display unit 211 is also given the map center position and scale from the control unit 207, and the map image generated by the map display unit 206 and the vehicle position image generated by the vehicle position display unit 208 coincide with the center position and scale. A predicted route image is generated.

  The predicted travel route information calculated by the vehicle travel route calculation unit 210 is input to the camera selection unit 212. The camera selection unit 212 reads the camera position master 205 and selects the monitoring camera 104 existing on the predicted travel route.

The camera position display part 213 produces | generates the image which displays the surveillance camera 104 arrange | positioned in the map with an icon. In particular, the display of the monitoring camera 104 existing on the predicted travel route of the guidance target vehicle selected by the operation unit 109 is distinguished by performing color coding or blinking display.
The camera position display unit 213 is also given a map center position and scale from the control unit 207, a map image generated by the map display unit 206, a vehicle position image generated by the vehicle position display unit 208, and a vehicle travel route display unit 211. A monitoring camera position image is generated in which the center position and the scale coincide with the predicted route image to be generated.

Information of the monitoring camera on the predicted travel route created by the camera selection unit 212 is input to the video data display unit 214.
The video data display unit 214 receives compressed video data output from a plurality of surveillance cameras via the network 105. As an example of the video data receiving function, the network 105 is a TCP / IP network, and a web server is operating at the interface portion of the video data display unit 214 with the network 105. That is, the video data emitted by the plurality of monitoring cameras 104a, 104b, 104c,... Is transmitted by HTTP (Hyper Text Transfer Protocol) and received by the video data display unit 214.
The video data display unit 214 selects and receives the compressed video data of the information of the monitoring camera 104 on the predicted travel route received from the camera selection unit 212 from the compressed video data of the plurality of monitoring cameras 104, and performs decoding processing. After application, this is sent to the display control unit 215.

The display control unit 215 generates a map image generated by the map display unit 206, a vehicle position image generated by the vehicle position display unit 208, a predicted route image generated by the vehicle travel route display unit 211, and a camera position display unit 213. An image composition process is performed in which the monitoring camera position images are superimposed and synthesized into one composite map image, and the monitoring camera video output from the video data display unit 214 is arranged around the composite map image.
The composite image created by the display control unit 215 is displayed on the display device 108 such as a large display.

  In accordance with the operation information of the operation unit 109, the control unit 207 a) changes the scale or center position of the map image displayed on the display device 108, b) inputs the destination to which the emergency vehicle 102 is directed, c) on the map image D) Designation of vehicles (one or more) to be directed to the destination among emergency vehicles 102 existing in the vehicle, d) Guidance target for instructing route guidance among the emergency vehicles 102 present on the map image toward the destination Specify a vehicle (one).

[Monitoring camera 104]
FIG. 3 is a functional block diagram of the monitoring camera 104.
The camera module 302 is composed of a CCD camera or a CMOS camera.
Digital image data output from the camera module 302 is sent to the encoder 303.
The encoder 303 performs compression processing on the input digital image data at a predetermined frame rate.
The compressed digital image data (compressed image data) is transmitted to the video data display unit 214 via the network 105 as stream format data by the communication unit 304.

[Vehicle position server 106]
FIG. 4 is a functional block diagram of the vehicle position server 106.
Radio waves transmitted from each emergency vehicle are received by the receiving unit 402 through the antenna 115.
The receiving unit 402 demodulates the radio wave received from the emergency vehicle 102 and obtains the ID information and position information of the emergency vehicle 102 and outputs them to the control unit 403.
The control unit 403 obtains the ID information of the emergency vehicle 102 from the receiving unit 402 and the position information including the latitude and longitude, and at the same time obtains the current date and time information from the real-time clock 404, and the vehicle position provided in the RAM 405. Write to table 209.
A real time clock 404 is an integrated circuit that is mounted on a microcomputer or personal computer and outputs general date and time information.
The communication unit 406 transmits the vehicle position table 209 to the emergency vehicle guidance device 107 at regular intervals through the control unit 403. In addition, the communication unit 406 sends the vehicle ID, the target position information, and the state information transmitted from the emergency vehicle guidance device 107 to the control unit 403. The control unit 403 writes the information received from the communication unit 406 in the vehicle position table 209.

[Vehicle position table 209]
FIG. 5 is a schematic diagram of the vehicle position table 209. Each field name and sample record are described.
In the “vehicle ID” field, a number assigned to each emergency vehicle is recorded in order to uniquely identify the emergency vehicle 102.
In the “vehicle name” field, a name for individually identifying the emergency vehicle 102 is recorded.
In the “current latitude and longitude” field, current position information of the emergency vehicle 102 is recorded.
In the “state” field, the state of the emergency vehicle 102 is recorded. The value in the State field is
In the case of “Express”, it indicates that an order to go to the destination has been issued,
“Course” indicates that the destination has not been set and is traveling around the city,
“Waiting” indicates that the destination is not set, the city area is not visited, and the vehicle is waiting at the waiting place.
In the “destination latitude / longitude” field, position information of a destination position to which the emergency vehicle 102 should go is recorded. In this case, the position information is recorded only in the record in which the value of the “state” field is “express”.
In the “position acquisition date / time” field, the date / time when the current position information of the emergency vehicle 102 is recorded in the “current latitude / longitude” field is recorded.

The control unit 403 of the vehicle location server 106 receives the location information of each emergency vehicle including the latitude, longitude, and vehicle ID information from each emergency vehicle from the reception unit 402, and the “vehicle ID” field of the vehicle location table 209 The received vehicle ID is written in the “current latitude / longitude” field in the received current position information. At this time, the current date / time information acquired from the real-time clock 404 is written in the “position acquisition date / time” field.
The control unit 403 acquires a vehicle name corresponding to the vehicle ID from a vehicle master (not shown) in which the vehicle ID and the vehicle name are recorded in association with each other, and stores the vehicle name in the “vehicle name” field of the vehicle position table 209. Write the name. The vehicle master may be provided in the vehicle location server 106 or in the nonvolatile storage 202 of the emergency vehicle guidance device 107.
When the control unit 403 receives from the communication unit 406 the vehicle ID of the emergency vehicle, the state for each emergency vehicle, and the latitude / longitude information of the destination issued from the emergency vehicle guidance device 107, the control unit 403 uses the vehicle ID as a vehicle position table. 209 is searched, state information is written in the “state” field of the corresponding record, and latitude / longitude information of the destination is written in the “destination latitude / longitude” field.

The vehicle name in the “vehicle name” field is used as the vehicle name displayed on the emergency vehicle icon displayed on the display device 108 by the vehicle position display unit 208 of the emergency vehicle guidance device 107.
The status information in the “status” field is used to make it possible to visually check the status of each emergency vehicle by changing the display status, such as color coding or blinking display of an emergency vehicle icon.
The latitude / longitude information of the destination in the “destination latitude / longitude” field is used by the vehicle travel route calculation unit 210 to calculate the predicted travel route information.

[Camera position master 205]
FIG. 6 is a schematic diagram of the camera position master 205 in the non-volatile storage 202 of the emergency vehicle guidance device 107. Each field name and sample record are described.
In the “camera ID” field, a number assigned to each surveillance camera 104 is recorded in order to uniquely identify the surveillance camera 104.
In the “camera name” field, a name for individually identifying the surveillance camera 104 is recorded.
In the “installation latitude / longitude” field, position information where the monitoring camera 104 is installed is recorded.
In the “azimuth” field, the shooting direction of the monitoring camera 104 is recorded.
The “installed road ID” field is information for uniquely identifying a part of the road where the monitoring camera 104 is installed. Details of the “part of the road” will be described later with reference to FIG.
In the “installation date” field, the date on which the surveillance camera 104 is installed is recorded.

  The camera name in the “camera name” field is used as the name of the monitoring camera displayed on the icon of the monitoring camera displayed on the display device 108 by the camera position display unit 213 of the emergency vehicle guidance device 107.

[Relationship between surveillance camera and road]
7A, 7B, and 7C are diagrams schematically showing the relationship between the monitoring camera and the road.
FIG. 7A schematically shows a road and a surveillance camera installed on the side of the road 103.
In the road 702, intersections and the like are not necessarily laid at uniform intervals. Therefore, the positions at which the monitoring cameras 703a, 703b, 703c,... Are installed may not necessarily be evenly spaced depending on the road conditions, and do not necessarily have to be installed near the intersection.

FIG. 7B is a diagram schematically illustrating the road of FIG. 7A with lines.
Since the road has a width, it is schematically represented by a straight line or a curved line.
The surveillance camera 104 is considered as points 704a, 704b, 704c,.
FIG. 7C is a diagram schematically illustrating the relationship between the road and the camera schematically illustrated in FIG.
The road 702 can be considered as an assembly of line segments starting from a point where a camera is present and ending at a position immediately before the point where the next camera is present.
In FIG. 7C, an installation road ID of “National road 6_289” is given to the line segment from the start point 705c to the end point 706c.
Similarly, an installation road ID of “National road 6_290” is given to the line segment from the start point 705b to the end point 706b.
The meaning of the relationship between the monitoring camera 104 and the road classification will be described later.
Hereinafter, the segment from the monitoring camera 104 to the position immediately before the next monitoring camera 104 is referred to as a road segment.

The correspondence between the road line segment and the camera ID of the monitoring camera is stored in the road data 204.
Therefore, when the vehicle travel route calculation unit 210 calculates the predicted travel route of the guidance target vehicle, information on the road line segment corresponding to the predicted travel route can be obtained. And camera ID of the surveillance camera corresponding to a road line segment can also be obtained.

[Process to switch video selection]
FIG. 8 is a flowchart showing the flow of processing for switching the video selection of the monitoring camera 104 of the emergency vehicle guidance device 107.
When the process is started (S801), the vehicle position display unit 208 acquires the vehicle position table 209 from the vehicle position server 106 (S802). Next, the vehicle position display part 208 produces | generates the vehicle position image for arrange | positioning the position of each emergency vehicle currently recorded on the vehicle position table 209 on a map. In this vehicle position image, the position of each emergency vehicle is displayed on the display device 108 through the display control unit 215 (S803). At this time, the vehicle position display unit 208 acquires the vehicle ID of the guidance target vehicle from the control unit 207 when the control unit 207 holds the vehicle ID of the guidance target vehicle. And the record of the vehicle which performs the path | route instruction | indication in the vehicle position table 209 is specified, and the icon of the guidance object vehicle is color-coded or blinked.

Next, the control unit 207 confirms whether or not the operator has selected and designated the guidance target vehicle (S804). If no guidance target vehicle is specified by the operator (NO in S804), the process is terminated (S812).
If there is a guidance target vehicle (YES in S804), the control unit 207 next compares the position immediately before the guidance target vehicle stored in advance with the current position (S805). First, it is confirmed whether or not the guidance target vehicle has passed the intersection (S806). If the vehicle has not passed through the intersection (NO in S806), it is then checked whether or not the video camera that has been displayed on the display device 108 until immediately before has passed (S807).
When the guidance target vehicle does not pass the intersection (NO in S806) and the surveillance camera 104 does not pass (NO in S807), the control unit 207 stores the current position of the guidance target vehicle (S811). Thereafter, the process is terminated (S812).

If the vehicle to be guided has passed the intersection (YES in S806) or has passed through the monitoring camera 104 (YES in S807), the control unit 207 controls the vehicle travel route calculation unit 210 to The predicted travel route to the destination is calculated (S808).
Next, the camera selection unit 212 selects the monitoring camera 104 existing on the predicted travel route based on the predicted travel route recalculated by the vehicle travel route calculation unit 210 in step S808 (S809).
The list of monitoring cameras 104 selected by the camera selection unit 212 is supplied to the video data display unit 214. The video data display unit 214 displays the video of the monitoring camera 104 that has been selected (S810). Thereafter, the control unit 207 stores the current position of the guidance target vehicle (S811), and then ends the process (S812).

  A series of processing from step S801 to S812 is periodically executed, for example, at intervals of 1 second (from S812 to S801).

[Predicted travel route]
FIG. 9 is a diagram illustrating an example of the predicted travel route of the guidance target vehicle calculated by the vehicle travel route calculation unit 210.
The vehicle travel route calculation unit 210 calculates a plurality of travel routes from the guidance target vehicle 902 to the destination using a predetermined route search algorithm.
In FIG. 9, the first travel route 903, the second predicted route 904, and the third predicted route 905 are calculated by the vehicle travel route calculation unit 210 and displayed on the display device 108. The vehicle travel route calculation unit 210 calculates the first predicted route 903, the second predicted route 904, and the third predicted route 905 when acquiring the position information of the guidance target vehicle 902 and the destination specified from the vehicle position server 106. . The vehicle travel route display unit 211 generates a predicted route image from the calculated predicted route information. The generated predicted route image is superimposed and combined with the map image generated by the map display unit 206 by the display control unit 215, and a combined map image 906 is formed. This composite map image 906 is displayed on the display device 108.

  Note that the predicted travel route can be set not to display according to the display state of the map image displayed on the display device 108.

[Relationship between vehicle position and video display]
FIG. 10 is a diagram illustrating a map image and an image of the monitoring camera 104 displayed on the display device 108.
On the right half of the display device 108, the map image is displayed in a wide area. In this map image, the guidance target vehicle 902, the destination, and the surveillance camera 104 arranged along the road are displayed as icons.
Note that the screen layout of the display device 108 in FIG. 10 and FIG. 11 to be described later is merely an example, and the arrangement of the monitoring camera video is not particularly limited to this.

The composite map image 906 in FIG. 10 displays a monitoring camera, a guidance target vehicle 902, an emergency vehicle 1013 that is not a guidance target, and a destination 907.
In the composite map image 906, “monitoring camera A” 1002, “monitoring camera B” 1003, “monitoring camera C” 1004, “monitoring camera D” 1005, “monitoring camera E” 1006, “monitoring camera F” are displayed as monitoring cameras. "Monitoring camera G" 1008, "Monitoring camera H" 1009, "Monitoring camera I" 1010, "Monitoring camera J" 1011 and "Monitoring camera K" 1012 are displayed.
On the left side of the composite map image 906, the video of the surveillance camera is displayed. The video of each surveillance camera is displayed in a first video display area 1021, a second video display area 1022, a third video display area 1023, a fourth video display area 1024, a fifth video display area 1025, and a sixth video display area 1026. Is displayed.

  As shown in FIG. 10, the video of “monitoring camera A” 1002 is displayed in the first video display area 1021, the video of “monitoring camera B” 1003 is displayed in the second video display area 1022, and the video of the third video display area 1023 is displayed. Shows the video of “Monitoring Camera C” 1004, the video of “Monitoring Camera D” 1005 in the fourth video display area 1024, the video of “Monitoring Camera E” 1006 in the fifth video display area 1025, and the sixth video. In the display area 1026, images of the “monitoring camera F” 1007 are displayed.

These surveillance cameras are arranged in the order closest to the guidance target vehicle 902 in order of the surveillance cameras located on the first prediction route 903, the second prediction route 904, and the third prediction route 905 shown in FIG. They are arranged in order from the surveillance camera on the travel route. That is, the order in which the video of the surveillance camera is displayed is determined by calculating in consideration of the distance from the guidance target vehicle and the priority order of the predicted travel route.
The order of the plurality of predicted travel routes calculated by the vehicle travel route calculation unit 210 can be determined in order of increasing distance. Therefore, for example, the coefficient of the first predicted route that is the shortest distance is “1”, the coefficient of the second predicted route that is the next shortest distance is “1.5”, and the next shortest distance is 3 The coefficient is determined in advance such that the coefficient of the second prediction path is “2”. The evaluation value is calculated by multiplying this coefficient by the distance between the surveillance camera and the guidance target vehicle. And it sorts by evaluation value and determines the display order of the video of a surveillance camera.

FIG. 11 is a diagram illustrating a map image and an image of the monitoring camera 104 displayed on the display device 108. It is a figure which shows the state which passed predetermined time from FIG.
As shown in FIG. 11, the video of “Monitoring Camera B” 1003 is displayed in the first video display area 1021, and the video of “Monitoring Camera C” 1004 is displayed in the second video display area 1022. Shows the video of “Monitoring Camera D” 1005, the video of “Monitoring Camera F” 1007 in the fourth video display area 1024, the video of “Monitoring Camera G” 1008 in the fifth video display area 1025, and the sixth video. In the display area 1026, images of the “monitoring camera H” 1009 are displayed.

Compared to FIG. 10, the guidance target vehicle 902 exists at a position where the “surveillance camera A” 1002 has passed. When the guidance target vehicle 902 passes through the “surveillance camera A” 1002, it is no longer necessary to see the video of the “surveillance camera A” 1002. Therefore, when the predicted travel route is calculated again, the “monitoring camera A” 1002 that has passed does not exist on the predicted travel route. Similarly, “monitoring camera E” 1006 does not exist in the predicted travel route.
In addition, the monitoring camera images displayed on the display device 108 are a total of six locations from the first video display area 1021 to the sixth video display area 1026. If “surveillance camera A” 1002 and “surveillance camera E” 1006 are excluded from the image display targets, it is necessary to newly add two surveillance camera images. Therefore, the camera selection unit 212 adds a new video of the monitoring camera based on the predicted travel route. The monitoring cameras corresponding to this are “monitoring camera G” 1008 and “monitoring camera H” 1009.
Therefore, the camera selection unit 212 selects a monitoring camera based on the predicted travel route calculated by the vehicle travel route calculation unit 210, and causes the vehicle travel route calculation unit 210 to recalculate the predicted travel route when passing the monitoring camera. Thus, it is possible to automatically exclude the video of the surveillance camera that no longer needs to be viewed, and to automatically add the video of the surveillance camera that needs to be newly viewed.

There are two types of surveillance cameras excluded from the display target.
One is a surveillance camera that does not exist on the predicted travel route. That is, it is a surveillance camera that has deviated from the predicted travel route as a result of a change in the predicted travel route, such as passing through an intersection, as the guidance target vehicle advances its travel. In FIG. 11, “monitoring camera E” 1006 corresponds to this.
The other is a surveillance camera that exists in the predicted travel route but belongs to the road segment where the current vehicle to be guided is located. In FIG. 11, “monitoring camera A” 1002 corresponds to this.

  The need for the vehicle travel route calculation unit 210 to recalculate the predicted travel route is not limited to when the vehicle travel route is passed through the monitoring camera 104. When the guidance target vehicle 902 passes through the intersection, the predicted travel route may change at that time. Therefore, the recalculation process of the predicted travel route is performed both when passing through the monitoring camera 104 and when passing through the intersection.

By the emergency vehicle guidance device 107 having the function described above, the display device 108 appropriately displays the guidance target vehicle 902 and the video of the monitoring camera on the predicted travel route from the order close to the guidance target vehicle 902. Then, the video of the monitoring camera that is no longer required to be displayed as the guidance target vehicle 902 travels is not automatically displayed from the display device 108, and a new video of the monitoring camera is additionally displayed instead. .
The operator of the emergency vehicle guidance device 107 looks at the video and map of the surveillance camera displayed on the display device 108 and visually determines which road is congested or vacant and optimal for driving. The instructions can be communicated to the crew of the guidance target vehicle 902 wirelessly. At this time, since the video of the monitoring camera displayed automatically as the guidance target vehicle 902 travels is automatically switched, the manual selection of the video of the monitoring camera required by the conventional emergency vehicle guidance device is performed. There is no need to do.

The following application examples can be considered in the present embodiment.
(1) To reduce the load, the video data display unit 214 of the emergency vehicle guidance device 107 can be an independent device. In this case, two display devices 108 are prepared, one that displays a composite map image and the other that displays a video of a surveillance camera.

(2) The vehicle position server 106 may be integrated with the emergency vehicle guidance device 107.
(3) The vehicle position server 106 can also be configured as a peripheral device connected to the emergency vehicle guidance device 107 via a USB interface.

In the present embodiment, an emergency vehicle guidance system has been disclosed.
When the emergency vehicle guidance device 107 designates one of the emergency vehicles traveling in an urban area as a guidance target vehicle, the emergency vehicle guidance device 107 immediately calculates a predicted travel route for the destination of the guidance target vehicle, and monitors on the predicted travel route. The camera images are displayed on the display device in an appropriate order from the closest one.
Then, the predicted travel route is recalculated depending on whether the guidance target vehicle has passed the intersection or the surveillance camera, and the video of the surveillance camera to be displayed on the display device is selected again.
Due to the configuration and operation of the emergency vehicle guidance device 107, it is possible to eliminate the trouble of manually switching the video of the surveillance camera in the past, and to perform guidance to the optimum destination with high efficiency. You can instruct the vehicle.

  The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and other modifications may be made without departing from the gist of the present invention described in the claims. Includes application examples.

1 is an overall configuration diagram of an emergency vehicle guidance system that is an example of an embodiment of the present invention. It is a functional block diagram of an emergency vehicle guidance device. It is a functional block diagram of a surveillance camera. It is a functional block diagram of a vehicle position server. It is the schematic of a vehicle position table. It is the schematic of a camera position master. It is a figure which shows typically the relationship between a surveillance camera and a road. It is a flowchart which shows the flow of the process which switches selection of the image | video of the surveillance camera of an emergency vehicle guidance device. It is a figure which shows an example of the estimated driving | running route of the guidance object vehicle which a vehicle driving | running route calculation part calculates. It is a figure which shows the map image displayed on a display apparatus, and the image of a surveillance camera. It is a figure which shows the map image displayed on a display apparatus, and the image of a surveillance camera.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 101 ... Emergency vehicle guidance system, 102 ... Emergency vehicle, 103 ... Road, 104 ... Surveillance camera, 105 ... Network, 106 ... Vehicle position server, 107 ... Emergency vehicle guidance device, 108 ... Display device, 109 ... Operation part, 110 ... Car navigation device, 111 ... mobile radio, 112 ... GPS antenna, 113 ... antenna, 114 ... command center, 115 ... antenna, 202 ... non-volatile storage, 203 ... map data, 204 ... road data, 205 ... camera position master, 206 ... Map display unit, 207 ... Control unit, 208 ... Vehicle position display unit, 209 ... Vehicle position table, 210 ... Vehicle travel route calculation unit, 211 ... Vehicle travel route display unit, 212 ... Camera selection unit, 213 ... Camera position Display unit 214 ... Video data display unit 215 ... Display control unit 302 ... Camera Joule, 303 ... encoder, 304 ... communication unit, 402 ... receiving unit, 403 ... control unit, 404 ... real time clock, 405 ... RAM, 406 ... communication unit, 702 ... road, 703a, 703b, 703c ... monitoring camera, 704a, 704b, 704c ... Point, 705b, 705c ... Start point, 706b, 706c ... End point, 902 ... Guidance target vehicle, 903 ... First prediction route, 904 ... Second prediction route, 905 ... Third prediction route, 906 ... Composite map image , 907 ... Destination, 1013 ... Emergency vehicle, 1002 ... "Monitoring camera A", 1003 ... "Monitoring camera B", 1004 ... "Monitoring camera C", 1005 ... "Monitoring camera D", 1006 ... "Monitoring camera E" , 1007 ... "Monitoring camera F", 1008 ... "Monitoring camera G", 1009 ... "Monitoring camera H", 1010 ... " Viewing camera I ”, 1011...“ Monitoring camera J ”, 1021... First video display area, 1022... Second video display area, 1023 ... Third video display area, 1024. Display area, 1026 ... sixth video display area

Claims (3)

A map display unit for creating a map image based on a predetermined position and scale;
A vehicle comprising a vehicle ID field for uniquely identifying a vehicle, a current location latitude / longitude field in which current location information of the vehicle is recorded, and a destination latitude / longitude field in which location information of a destination location to which the vehicle should go is recorded A vehicle travel route calculation unit that creates predicted travel route information from the current position information of the designated record and the position information of the target position of the position table;
From the vehicle position table, a vehicle position display unit that creates a vehicle position image indicating the position of the vehicle, the center position and scale of the map image match,
A camera position master comprising a camera ID field for uniquely identifying a surveillance camera, and an installation latitude / longitude field in which location information where the surveillance camera is installed is recorded;
A camera selection unit that obtains the position of the monitoring camera belonging to the predicted travel route information from the camera position master and creates camera selection information;
A camera position display unit for creating a monitoring camera position image indicating a position of the monitoring camera, the center position and scale of the map image match from the camera selection information;
A video data display unit for selecting video data output from the surveillance camera from the camera selection information;
A vehicle guidance device comprising: a display control unit that superimposes and synthesizes the map image, the vehicle position image, and the monitoring camera position image, and synthesizes the selected video data and sends it to a display device. Furthermore,
A camera position display unit that creates a predicted route image indicating a predicted travel route in which a center position and a scale of the map image coincide with each other from the predicted travel route information;
The vehicle guidance device according to claim 1, wherein the display control unit superimposes and combines the map image, the vehicle position image, the predicted route image, and the monitoring camera position image. A vehicle comprising: a position information acquisition unit that acquires current position information; and a position information transmission unit that wirelessly transmits the current position information;
A congestion state of a road through which the vehicle passes, comprising: a camera module; an encoder that compresses and encodes video data generated by the camera module; and a communication unit that transmits the compressed video data output by the encoder to a predetermined transmission destination A plurality of surveillance cameras installed at positions where
A network to which the plurality of surveillance cameras are connected;
A receiving unit that receives and demodulates the current position information wirelessly transmitted from the vehicle, a vehicle ID field that uniquely identifies the vehicle, a current latitude / longitude field in which the current position information is recorded, and the vehicle A vehicle position server including a vehicle position table including a destination latitude / longitude field in which position information of a target position to which the vehicle should go is recorded, and a communication unit that transmits the vehicle position table to a predetermined transmission destination;
A map display unit for creating a map image based on a predetermined position and scale, the vehicle position table received from the vehicle position server, and the current position information and the position of the target position of a specified record of the vehicle position table A vehicle travel route calculation unit that creates predicted travel route information from the information, and a vehicle position display unit that creates a vehicle position image indicating the position of the vehicle with the center position and scale of the map image matching from the vehicle position table; A camera position master that includes a camera ID field that uniquely identifies the surveillance camera, and an installation latitude / longitude field in which location information where the surveillance camera is installed is recorded, and the surveillance camera belonging to the predicted travel route information A camera selection unit that obtains the position of the camera from the camera position master and creates camera selection information; and A camera position display unit that creates a monitoring camera position image indicating the position of the monitoring camera, the center position and scale of which corresponds to the map image from information, and the compression that the monitoring camera outputs from the camera selection information through the network A video data display unit that selects and decodes video data, a display that superimposes and combines the map image, the vehicle position image, and the monitoring camera position image, and combines and transmits the selected video data to a display device. A vehicle guidance system comprising a vehicle guidance device comprising a control unit.

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