JP2010231604A - Vehicle traffic congestion detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle traffic congestion detector capable of precisely detecting a tail position in vehicle congestion, detecting traffic congestion even in an environment with a small amount of light, and detecting traffic congestion for each shorter time period than conventional. <P>SOLUTION: The vehicle traffic congestion detector includes: a laser radar sensor for scanning a predetermined area; and a control unit for generating radar information from distance information based on a detection result of the laser radar sensor and information of a scanning direction of the laser radar sensor, detecting vehicles that is located in the predetermined area from the radar information; sequentially determining whether vehicles are in traffic congestion from vehicles at a travelling direction side to vehicles at a reverse-travelling direction side, and finally specifying the positions of the vehicles in traffic congestion at the trail of the reverse-travelling direction side as a tail position in the traffic congestion by specifying the positions of the vehicles as a traffic congestion tail position when the vehicles are determined to be in traffic congestion. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle congestion detection device.

Patent Document 1 below discloses a stopped low-speed vehicle detection device and a stopped low-speed vehicle detection method that can detect only a traffic obstruction factor that is necessary for a traffic administration system.
The stop low-speed vehicle detection device includes a stop low-speed vehicle recognition means for recognizing a stop low-speed vehicle in a stopped state or a low-speed state based on a captured image obtained by capturing a vehicle on a road with a camera, and a vehicle that monitors a predetermined area A traffic state quantity measuring means that measures the traffic state quantity based on the number of vehicles passing per unit time in the predetermined area, and compares the measured traffic state quantity and the congestion determination threshold value. When the traffic flow state in the predetermined area is a traffic jam state and a traffic jam judgment unit and a stopped low-speed vehicle are recognized, and the judgment by the traffic jam judgment unit is a traffic jam flow, And a traffic flow abnormality determining unit that determines that there is an abnormality in the traffic flow when the determination by the traffic flow determining unit is not a traffic jam flow.

  Patent Document 2 below discloses a traffic flow monitoring apparatus that can accurately monitor a traffic flow over a wide range from the vicinity of a TV camera to a distant place regardless of whether it is quiet or crowded. This traffic flow monitoring apparatus includes a means for digitally processing a road image captured every predetermined cycle by a TV camera to track a passing vehicle, a means for measuring an instantaneous speed of the passing vehicle, and a road image for each lane and distance. Means for calculating a small area speed that represents an average speed of a passing vehicle for each small area, and determining the presence and / or degree of congestion for each small area based on the small area speed. Means.

JP 2007-26301 A JP-A-10-154292

  By the way, in the above-described conventional technology, a traffic jam is determined based on a photographed image obtained by photographing a vehicle on a road with a camera or an overhead road image captured every predetermined cycle by a TV camera. However, it is very difficult to accurately detect the position of the end of the traffic jam in the method of judging the traffic jam based on the captured images of the camera and the TV camera. Further, in the above prior art, since the traffic jam is determined based on the captured images of the camera and the TV camera, it is very difficult to determine the traffic jam in an environment where the amount of light is low such as at night or during snowfall. Further, in Patent Document 1, the traffic state quantity is measured from the number of vehicles passing per unit time, and in Patent Document 2, the average speed of passing vehicles is calculated to determine the presence or absence of traffic congestion. , Traffic jams can only be detected in minutes.

  The present invention has been made in view of the above-described circumstances, can accurately detect the tail position of a traffic jam in a vehicle, can detect a traffic jam even in an environment where the amount of light is small, and is conventional. It is an object of the present invention to provide a vehicle traffic jam detection device that can detect traffic jams every shorter time.

  In order to achieve the above object, in the present invention, as a first solution means for a vehicle traffic jam detection device, a laser radar sensor that scans a predetermined area, distance information based on a detection result of the laser radar sensor, and the laser Radar information is generated from the scanning direction information of the radar sensor, vehicles existing in the predetermined region are detected from the radar information, and the detected vehicle in the traveling direction to the vehicle in the traveling direction in the reverse direction are sequentially When it is determined whether the vehicle is a congested vehicle, and the vehicle is determined to be a congested vehicle, the position of the vehicle that is the congested vehicle at the end on the reverse side in the direction of travel is specified by specifying the position of the vehicle as the congested tail position A means of including a control unit that is finally designated as the tail position is adopted.

  In the present invention, as a second solving means related to the vehicle traffic jam detection device, in the first solving means, the control unit is configured to determine whether the detected moving speed of the vehicle is equal to or lower than a predetermined moving speed. A means is adopted in which it is determined that the vehicle is a congested vehicle when the time continues.

  In the present invention, as a third solving means related to the vehicle traffic jam detection device, in the first solving means, the control unit is configured such that the distance between the vehicles on the traveling direction side is not more than a predetermined distance. If the vehicle continues for a period of time, a means for determining that the vehicle is a congested vehicle is adopted.

  In the present invention, as a fourth solving means related to the vehicle congestion detection device, in any one of the first to third solving means, the laser radar sensor scans a roadway, and the control unit A method of detecting the traffic jam end position is adopted.

  In the present invention, as a fifth solving means related to the vehicle congestion detection device, in any one of the first to fourth solving means, a transmission unit for transmitting a signal to the outside is provided, and the control unit includes the end of the congestion A means for causing the transmission unit to transmit the position as traffic jam information is adopted.

According to the present invention, a vehicle congestion detection device generates radar information from a laser radar sensor that scans a predetermined area, distance information based on a detection result of the laser radar sensor, and information on a scanning direction of the laser radar sensor. Then, the vehicle existing in the predetermined area is detected from the radar information, and it is determined whether the vehicle from the detected traveling direction side vehicle to the traveling direction opposite side vehicle is a congested vehicle in order. A controller that finally designates the position of the vehicle that is the congested vehicle at the end on the opposite side in the traveling direction as the traffic jam end position by designating the position of the vehicle as the traffic jam tail position when it is determined that the vehicle is a vehicle .
As described above, since the vehicle traffic jam detection device detects the vehicle based on the detection result of the laser radar sensor, it is possible to accurately detect the tail position of the traffic jam of the vehicle and detect the traffic jam even in an environment where the light quantity is small. In addition, it is possible to detect a traffic jam every hour shorter than in the past.

It is a functional block diagram of the vehicle traffic jam detection apparatus A which concerns on one Embodiment of this invention. It is a plane schematic diagram which shows the example of installation of the vehicle traffic congestion detection apparatus A which concerns on one Embodiment of this invention, and the monitoring area AR. It is a flowchart which shows operation | movement of the vehicle traffic congestion detection apparatus A which concerns on one Embodiment of this invention. It is a plane schematic diagram which shows the vehicle which exists in the lane B2 of the road B to which the vehicle traffic congestion detection apparatus A which concerns on one Embodiment of this invention allocated vehicle ID.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The present invention relates to a vehicle traffic jam detection device of the present invention.
FIG. 1 is a functional block diagram of a vehicle traffic jam detection apparatus A according to the present embodiment, and FIG. 2 is a schematic plan view showing an installation example of a vehicle traffic jam detection apparatus A according to the present embodiment and a monitoring area AR.

As shown in FIG. 1, the vehicle traffic jam detection apparatus A includes a three-dimensional laser radar sensor A1, a transmission unit A2, and a control unit A3.
The three-dimensional laser radar sensor A1 includes a polyhedral mirror 1, a main scanning motor 2 that rotationally drives the polyhedral mirror 1 at a constant speed, and a sub-mirror that swings the polyhedral mirror 1 at a predetermined speed in a direction orthogonal to the rotation axis of the main scanning motor 2. A scanning motor 3, a laser light source 4, a half mirror 5, a condenser lens 6, a light receiver 7, and the like are provided.

  In the three-dimensional laser radar sensor A 1, the laser pulse light emitted from the laser light source 4 is irradiated onto the polyhedral mirror 1 through the half mirror 5, so that the laser is irradiated on the monitoring area AR according to the rotation and tilt of the polyhedral mirror 1. The light receiver 7 is configured to irradiate the pulsed light and detect the reflected light of the laser pulsed light from the monitoring area AR from the polyhedral mirror 1 through the condenser lens 6.

That is, the three-dimensional laser radar sensor A1 deflects and scans the irradiation direction of the laser pulse light in the main scanning direction (x direction) at high speed by rotating and swinging the polyhedral mirror 1, while scanning the scanning surface in the sub scanning direction. Deflection scanning is performed in the (y direction).
The three-dimensional laser radar sensor A1 receives reflected light from various objects existing in the monitoring area AR in synchronization with the irradiation of the laser pulse light, and receives the light reception timing (the reflected light from the irradiation timing of the laser pulse light). It is possible to obtain distance information from an elapsed time until the light reception timing) to an object (reflection point).

  The scanning range by the three-dimensional laser radar sensor A1 is set to 60 degrees (± 30 degrees) in the main scanning (horizontal) direction and 30 degrees (± 15 degrees) in the sub-scanning (vertical) direction, for example. The three-dimensional laser radar sensor A1 is set so that, for example, each time the scanning direction changes by 0.1 degree, the laser pulse light is irradiated and the reflected light is received to sequentially detect the reflected light information. Has been.

  As shown in FIG. 2, the vehicle congestion detection device A according to the present embodiment is located at the center of the road B of three lanes (lane B1, lane B2, and lane B3) and is installed at a predetermined height. . That is, the three-dimensional laser radar sensor A1 of the vehicle traffic jam detection apparatus A deflects and scans the scanning surface in the sub-scanning direction (y direction) while scanning the laser pulse light at high speed in the main scanning direction (x direction). Thus, the vehicle is installed at a position where a vehicle such as an automobile traveling on the three-lane road B can be detected. Then, as shown in FIG. 2, the vehicle congestion detection device A irradiates the three-dimensional laser radar sensor A1 with laser pulse light from behind the vehicle traveling on the road B. In the vehicle traffic jam detection apparatus A, as described above, the monitoring area AR of the three-dimensional laser radar sensor A1, that is, the angle of view is 60 degrees in the horizontal direction (main scanning direction) and 30 degrees in the vertical direction (sub-scanning direction). Is set to

The transmission unit A2 transmits various information to a vehicle such as a traveling car under the control of the control unit A3.
The control unit A3 is a computer composed of a CPU, a ROM, and a RAM, generates 3D radar information from reflected light information detected by using the 3D laser radar sensor A1, and based on the 3D radar information. It detects the presence or absence of a traffic jam in the vehicle, and includes a sensor control unit 11, a vehicle detection unit 12, a traffic jam tail detection unit 13, and a transmission control unit 14.
In addition, the sensor control part 11, the vehicle detection part 12, and the traffic jam end detection part 13 comprise the traffic jam tail designation means in this embodiment.

  The sensor control unit 11 is a drive control circuit for the three-dimensional laser radar sensor A1 that drives the laser light source 4, and is based on a synchronization signal corresponding to the driving of the three-dimensional laser radar sensor A1 and the reflected light received by the light receiver 7. The reflected light information is output to the vehicle detection unit 12. The sensor control unit 11 also outputs main scanning angle information indicating the main scanning angle of the three-dimensional laser radar sensor A1 and sub-scanning angle information indicating the sub-scanning angle to the vehicle detection unit 12.

  The vehicle detection unit 12 calculates the light reception time of the reflected light by the object of the laser pulse light based on the synchronization signal and the reflected light information input from the sensor control unit 11, and converts the calculated light reception time into distance information. The three-dimensional radar information is created by sequentially mapping the distance information on the image memory included in the distance information according to the main scanning angle information and the sub-scanning angle information input from the sensor control unit 11.

  That is, the vehicle detection unit 12 writes the distance information obtained at that time into the coordinates (image memory address) specified by the main scanning angle and the sub-scanning angle indicating the scanning direction of the laser pulse light, so that the image memory The three-dimensional radar information that three-dimensionally represents the reflection point of the laser pulse light on the road B is generated.

  Further, the vehicle detection unit 12 recognizes a group of reflection points as one object having a certain size when a predetermined number or more of the reflection points consecutive in space coordinates exist from the three-dimensional radar information. Then, from the temporal change in the position of the detected object, it is determined whether the object is a fixed object or a moving object, and the moving object is detected as a vehicle.

The traffic jam end detection unit 13 calculates the moving speed of the vehicle detected by the vehicle detection unit 12 from the three-dimensional radar information, and detects the tail of the traffic jam along with the presence or absence of the traffic jam based on the moving speed of the vehicle.
The transmission control unit 14 causes the transmitting unit A2 to transmit the presence / absence of the traffic jam detected by the traffic jam tail end detection unit 13 and the tail of the traffic jam as traffic jam information to the traveling vehicle at predetermined time intervals.

Next, the operation of the vehicle congestion detection device A according to the present embodiment having the above-described configuration will be described in detail with reference to FIG. FIG. 3 is a flowchart showing the operation of the vehicle traffic jam detection apparatus A according to this embodiment.
First, the sensor control unit 11 causes the three-dimensional laser radar sensor A1 to irradiate the entire radar area AR with 300 ms as one cycle, and sequentially reflects information on the reflected light of the radar laser light to the three-dimensional laser radar sensor A1. Detection is performed, and a synchronization signal corresponding to the driving of the three-dimensional laser radar sensor A1 and reflected light information based on the reflected light are output to the vehicle detection unit 12. Further, the sensor control unit 11 outputs main scanning angle information and sub-scanning angle information to the vehicle detection unit 12.
The vehicle detection unit 12 generates three-dimensional radar information based on the synchronization signal, reflected light information, main scanning angle information, and sub-scanning angle information, and a moving object existing on the road B based on the three-dimensional radar information. Is detected as a vehicle.

  Based on the detection result of the vehicle detection unit 12, the traffic jam end detection unit 13 determines whether or not a vehicle is present on the lane B2 of the road B (step S1). If the determination is “NO” in step S1, That is, if there is no vehicle in the lane B2 of the road B, the traffic detection is terminated as if there is no traffic in the lane B2, and if “YES” is determined in step S1, that is, the road If there are vehicles on the B lane B2, the moving speed of each vehicle is detected (step S2). In addition, the traffic jam end detection unit 13 assigns a vehicle ID to each vehicle in step S2, and detects the moving speed of the vehicle assigned the vehicle ID.

After step S2, the traffic jam end detection unit 13 selects a vehicle that is far from the vehicle traffic jam detection device A, that is, a vehicle that exists at the head of the traveling direction side as a processing target vehicle (step S3), and the vehicle selected as the processing target vehicle It is determined whether or not the moving speed of the vehicle is equal to or less than a predetermined threshold value (for example, 10 km / h) (step S4), and if “YES” is determined in step S4, that is, the vehicle selected as the processing target vehicle Is less than a predetermined threshold value, the value of the traffic congestion counter of the vehicle selected as the processing target vehicle is incremented, that is, "1" is added to the value of the traffic congestion counter (step S5). It is determined whether or not the value of the traffic congestion counter of the vehicle selected as the target vehicle is greater than a predetermined threshold value (for example, “30”) (step S6). The traffic jam counter is assigned to each vehicle together with the vehicle ID.
Further, when it is determined “NO” in step S4, that is, when the moving speed of the vehicle is higher than a predetermined threshold value, the traffic jam tail end detection unit 13 does not execute step S5 but performs the above step. S6 is executed.

The processes in steps S3 to S5 will be specifically described with reference to FIG. FIG. 4 is a schematic plan view showing vehicles existing in the lane B2 of the road B to which the vehicle congestion detection device A according to the present embodiment has assigned a vehicle ID.
For example, when the traffic jam end detection unit 13 of the vehicle traffic jam detection device A assigns a number in the 2000s as a vehicle ID to a vehicle existing in the lane B2 of the road B as shown in FIG. A vehicle 2001 to which “2001” existing at a position far from the detection device A, that is, the head in the traveling direction side is assigned as a vehicle ID is selected as a processing target vehicle, and the moving speed of the vehicle 2001 is set to a predetermined threshold ( For example, it is determined whether it is 10 km / h or less. When the vehicle congestion detection device A determines that the movement speed of the vehicle 2001 is 10 km / h or less in step S4, the vehicle congestion detection device A sets “1” to the value of the congestion counter of the vehicle 2001 assigned “2001” as the vehicle ID in step S5. Is added.

The continuation of the flowchart shown in FIG. 3 will be described.
If it is determined “YES” in step S6, that is, if the value of the traffic congestion counter of the vehicle selected as the vehicle to be processed is larger than a predetermined threshold, the traffic congestion end detection unit 13 The vehicle rear end of the vehicle selected as the processing target vehicle is designated as the traffic jam end position (step S7), and the vehicle closest to the vehicle traffic jam detection device A, that is, the rear end in the direction of travel is reversed. It is determined whether or not the vehicle has been selected as the processing target vehicle (step S8). If “NO” is determined in step 8, the last vehicle on the opposite side in the traveling direction is still selected as the processing target vehicle. If not, the vehicle on the opposite side of the traveling direction of the vehicle currently selected as the processing target vehicle is selected as the next processing target vehicle (step S9), and the above steps are performed. S4 to the execution. If it is determined as “YES” in Step 8 above, that is, if the last vehicle on the opposite side in the traveling direction has been selected as the vehicle to be processed, the traffic jam tail detecting unit 13 waits for 100 msec (Step S10). ) When 100 msec has elapsed, the processing is executed again from step S1. That is, the traffic jam end detection unit 13 repeatedly executes the above steps S1 to S10 every 100 msec.

If the traffic jam tail detecting unit 13 determines “NO” in step S6, that is, if the value of the traffic jam counter of the vehicle is smaller than a predetermined threshold value, the traffic jam end detecting unit 13 does not execute the step S7. Step S8 is executed.
In addition, although the traffic jam tail end detection part 13 is performing the said step S1-said step S10 for the vehicle which exists in the lane B2 of the road B, it is the said for the vehicle which exists in the lane B1 and the lane B3. By executing the same processing as in steps S1 to S10 at the same time, the traffic jam end positions of the lane B1 and the lane B3 are obtained.

The processes in steps S6 to S10 will be specifically described with reference to FIG.
When the traffic jam end detection unit 13 of the vehicle traffic jam detection device A selects the vehicle 2001 shown in FIG. 4 as a processing target vehicle, the traffic jam counter of the vehicle 2001 is set to a predetermined threshold value (for example, “30” in step S6). When the determination is “YES” in step S6, the vehicle 2001 is determined to be a traffic jam vehicle in step S7, and the rear end of the vehicle body of the vehicle 2001 is designated as the traffic jam tail position. The case where the congestion counter of the vehicle 2001 is larger than “30” is a case where the state where the moving speed of the vehicle 2001 is 10 km / h or less continues for 3 seconds (100 msec × 30).

  Then, after step S7, the traffic jam end detection unit 13 determines whether or not the vehicle closest to the vehicle traffic jam detection device A in step S8, that is, the last vehicle 2009 on the opposite side in the traveling direction has been selected as the processing target vehicle. If the determination is “NO” in step 8, the vehicle 2002 is selected as a processing target vehicle in step S9, and the moving speed of the vehicle 2002 selected as the processing target vehicle in step S4 is determined.

Further, when the traffic jam tail detecting unit 13 selects the vehicle 2009 shown in FIG. 4 as a processing target vehicle, it determines “YES” in Step 8 and waits for 100 msec in Step S10. The process is executed from step S1.
In this way, the traffic jam end detection unit 13 sequentially selects the processing target vehicle from the leading vehicle 2001 on the traveling direction side to the last vehicle 2009 on the reverse traveling direction side, and the processing target vehicle is a congested vehicle (10 km / h). For example, when the vehicle to be processed is determined as a traffic jam vehicle, the rear end of the vehicle body is designated as the traffic jam end position. As shown in FIG. 4, the rear end of the vehicle body of the vehicle 2003 that is closest to the vehicle traffic jam detection device A, that is, the traffic jam vehicle at the end on the opposite side in the traveling direction, can be finally designated as the traffic jam tail position DP.

  Then, the transmission control unit 14 causes the transmission unit A2 to transmit the presence / absence of the traffic jam detected by the traffic jam end detection unit 13 and the traffic jam tail position DP to the traveling vehicle as traffic jam information at predetermined time intervals.

As described above, in the vehicle congestion detection device A according to the present embodiment, the vehicle detection unit 12 generates 3D radar information based on the detection result of the 3D laser radar sensor A1 and exists in the lane B2 of the road B. Based on the detection result of the vehicle detection unit 12, the traffic jam end detection unit 13 determines whether or not the vehicle from the leading vehicle on the traveling direction side to the vehicle on the reverse side in the traveling direction is a congested vehicle. When the vehicle is determined to be a congested vehicle, the rear end position of the congested vehicle on the opposite side in the traveling direction is finally set as the end position of the traffic jam by designating the rear end position of the vehicle body as the traffic end position. specify.
As described above, since the vehicle traffic jam detection device A detects the vehicle based on the detection result of the three-dimensional laser radar sensor A1, it is possible to accurately detect the tail position of the traffic jam of the vehicle, and the environment with a small amount of light. However, it is possible to detect a traffic jam, and further, it is possible to detect a traffic jam every hour shorter than the conventional one.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, For example, the following modifications can be considered.
(1) In the above embodiment, as shown in FIG. 2, the laser pulse light is emitted from the rear of the vehicle traveling on the road B by the three-dimensional laser radar sensor A1, but the present invention is not limited to this. .
For example, the vehicle traffic jam detection device A may emit laser pulse light from the front of a vehicle traveling on the road B by the three-dimensional laser radar sensor A1. Further, the vehicle congestion detection device A may be configured to irradiate the laser pulse light from above the vehicle traveling on the road B with the three-dimensional laser radar sensor A1.

(2) In the above embodiment, when the traffic jam end detection unit 13 continues for 3 seconds when the movement speed of the vehicle to be processed is 10 km / h or less, the vehicle to be processed is a traffic jam vehicle. However, the present invention is not limited to this.
For example, when the traffic jam end detection unit 13 detects the inter-vehicle distance of each vehicle and the state where the inter-vehicle distance on the traveling direction side of the processing target vehicle is equal to or less than a predetermined distance continues for a predetermined time, the processing target vehicle is You may make it determine with it being a traffic jam vehicle.

(3) In the above-described embodiment, the three-dimensional laser radar sensor A1 is used as the sensor. However, if the sensor detects a vehicle with a small amount of light, the sensor can be substituted for the three-dimensional laser radar sensor A1. .

  DESCRIPTION OF SYMBOLS A ... Vehicle traffic jam detection apparatus, A1 ... Three-dimensional laser radar sensor, A2 ... Transmission part, A3 ... Control part, 1 ... Polyhedral mirror, 2 ... Main scanning motor, 3 ... Sub scanning motor, 4 ... Laser light source, 5 ... Half Mirror, 6 ... Condensing lens, 7 ... Light receiver, 11 ... Sensor control unit, 12 ... Vehicle detection unit, 13 ... Congestion tail detection unit, 14 ... Transmission control unit

Claims (5)

A laser radar sensor that scans a region through which the vehicle passes;
Radar information is generated from the distance information based on the detection result of the laser radar sensor and the scanning direction information of the laser radar sensor, and the vehicle existing in the region through which the vehicle passes is detected and detected from the radar information. Based on the distance between the vehicle and the laser radar sensor, each vehicle from the traveling direction side to the traveling direction opposite side is identified, and whether or not the vehicle from the traveling direction side to the vehicle opposite to the traveling direction is a congested vehicle in order. Judgment and a traffic jam tail designation means for designating a traffic jam vehicle on the opposite side in the final traveling direction as the traffic jam tail position,
A vehicle traffic jam detection device comprising:   2. The control unit according to claim 1, wherein the controller determines that the vehicle is a congested vehicle when a state in which the detected moving speed of the vehicle is equal to or lower than a predetermined moving speed continues for a predetermined time. The vehicle traffic jam detection device described.   The said control part determines that the said vehicle is a congestion vehicle, when the state where the inter-vehicle distance by the side of the advancing direction of the said vehicle is below a predetermined distance continues for a predetermined period of time. The vehicle traffic jam detection device according to claim 1. The laser radar sensor scans the roadway,
The vehicle traffic jam detection device according to claim 1, wherein the control unit detects the traffic jam tail position for each lane. A transmission unit for transmitting a signal to the outside;
The vehicle traffic jam detection apparatus according to claim 1, wherein the control unit causes the transmission unit to transmit the traffic jam tail position as traffic jam information.

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