JP2017167936A - Traveling determination device of vehicle and traveling determination program of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling determination device of a vehicle and a traveling determination program of a vehicle which can exactly determine the traveling possibility of a special vehicle or the like in a short time.SOLUTION: A traveling trajectory creation part 10 creates a three-dimensional traveling trajectory of a vehicle when assuming that a road has a horizontal face on the road which is designated as an object for performing traveling determination, and a three-dimensional point group data acquisition part 12 acquires three-dimensional point group data which are collected about objects on a road face of the designated road and in a circumferential space. A traveling trajectory correction part 14 calculates a gradient and undulation of the road face on the basis of point group data of the road face of the designated road, and corrects an altitude and an inclination of the three-dimensional traveling trajectory. A superimposing part 16 superimposes the corrected three-dimensional traveling trajectory and the three-dimensional point group data of the objects in the circumferential space of the road, and a collision information impartment part 18 imparts collision information to an attribute of a point included in the corrected three-dimensional traveling trajectory out of points of the three-dimensional point group of the objects in the circumferential space of the road.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle travel determination device and a vehicle travel determination program.

  When a large vehicle travels on a road, it is more likely to collide with buildings, structures, and other objects around the road, and it is more likely to protrude from the roadway outside line, center line, etc. Therefore, it is desirable to be able to determine in advance whether or not the vehicle can travel on the road (hereinafter referred to as travelability). In particular, the above determination is indispensable for an over-limit vehicle (hereinafter referred to as a special vehicle) for which an application based on Article 47-2 of the Road Act is required.

  For example, the following Patent Document 1 discloses a technique related to guidance management of such a special vehicle.

  However, the above prior art does not determine the travelability of a special vehicle or the like, but manages the legality of travel, and the determination of the travelability of a special vehicle is based on an application from the applicant. It was done by examining on paper. This kind of examination takes time and is only a paper examination, so it is a two-dimensional examination without height information, and there is little information on buildings, structures and other objects around the road. In some cases, it is difficult to accurately determine the possibility of collision with buildings, structures and other objects around the road, and the possibility of protrusion from the roadway outer line and the center line.

JP-A-9-245294

  An object of the present invention is to provide a vehicle travel determination device and a vehicle travel determination program capable of accurately determining the possibility of traveling of a special vehicle or the like in a short time.

  In order to achieve the above object, an embodiment of the present invention is a vehicle travel determination device that generates a three-dimensional travel locus of a vehicle when it is assumed that the road is a horizontal plane on a designated road. A traveling locus generating means, a three-dimensional point cloud data acquiring means for acquiring three-dimensional point cloud data collected for the road surface of the designated road and buildings, structures and other objects around the road; Based on the three-dimensional point cloud data, the road surface gradient and undulation are calculated, and the travel locus correcting means for correcting the height and inclination of the three-dimensional traveling locus, the corrected three-dimensional traveling locus, and the three-dimensional point cloud Collision information for superimposing data, and collision information for adding collision information to the attributes of the points of the three-dimensional point cloud data included in the corrected three-dimensional travel locus based on the result of the superimposition process of the superimposition means Granting means and Characterized in that it comprises a.

  In addition, the vehicle travel determination device detects a road outer line and a center line, and generates 3D point cloud data obtained by adding color information of the road outer line and the center line to the attribute of the road surface 3D point cloud data. Predetermined height information is given to the road marking detection means and the detected three-dimensional point cloud data of the roadway outer line and the center line, and the predetermined height is included in the three-dimensional traveling locus. When there is 3D point cloud data for the roadway outer line and the center line, the information for giving out information is added to the 3D point cloud data for the road outer line and the center line before the height information is added; It is preferable to further include

  In addition, it is preferable that the vehicle travel determination device further includes a display unit that changes a display area and / or a color of a point corresponding to the three-dimensional point cloud data to which the collision information and / or the protrusion information is given. .

  Another embodiment of the present invention is a vehicle travel determination program for generating a travel trajectory for generating a three-dimensional travel trajectory of a vehicle when the computer assumes that the road is a horizontal plane on a designated road. Means, three-dimensional point cloud data acquisition means for acquiring three-dimensional point cloud data collected for the road surface of the designated road and buildings, structures and other objects around the road, and the three-dimensional point cloud data of the road surface. Based on this, a traveling locus correction means for calculating the slope and undulation of the road surface and correcting the height and inclination of the three-dimensional traveling locus, and a superimposing means for superimposing the corrected three-dimensional traveling locus and the three-dimensional point cloud data. , Based on the result of the superimposing process of the superimposing means, functioning as collision information giving means for giving collision information to the attributes of the points of the three-dimensional point cloud data included in the corrected three-dimensional traveling locus And characterized in that.

  According to the present invention, it is possible to accurately determine the possibility of traveling of a special vehicle or the like in a short time.

It is a functional block diagram of the example of the traveling determination apparatus of the vehicle concerning an embodiment. It is explanatory drawing of the production | generation process of the driving | running track of a vehicle at the time of assuming that a road is a horizontal surface. It is explanatory drawing of the correction process which the traveling locus correction part concerning embodiment performs. It is explanatory drawing of the example which superimposed the vehicle and the three-dimensional point cloud data of the structure around the road where the three-dimensional traveling locus was produced | generated, a structure, and other objects. It is a flowchart of the operation example of the driving | running | working determination apparatus of the vehicle concerning embodiment.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 shows a functional block diagram of an example of a vehicle travel determination device according to an embodiment. In FIG. 1, the vehicle travel determination device includes a travel trajectory generation unit 10, a 3D point cloud data acquisition unit 12, a travel trajectory correction unit 14, a superimposition unit 16, a collision information addition unit 18, a road marking detection unit 20, and protrusion information. The adding unit 22, the display control unit 24, the communication unit 26, the storage unit 28, and the CPU 30 are configured. The vehicle travel determination device includes a CPU 30, a ROM, a RAM, a nonvolatile memory, an I / O, a communication interface, and the like, and is configured as a computer that controls the entire device and performs various calculations. This is realized by the CPU 30 and a program for controlling the processing operation of the CPU 30.

  Note that the travel determination device according to the embodiment may collide with a building, a structure, or other objects around the road when the vehicle that is the target of travel determination passes through the road that is the target of travel determination. , And the possibility of protrusion from the roadway outer line, the center line, and the like. Here, the buildings, structures and other objects around the road include trees around the road.

  The travel locus generation unit 10 generates a three-dimensional travel locus of a vehicle when it is assumed that the road is a horizontal plane on a road designated as a target for travel determination. “Assuming a horizontal plane” means that the undulation and slope of the road are not considered. In addition, the designation method of the road on which the traveling determination is performed is not particularly limited, and the user designates a road that exists on the map or the like by using an appropriate input means (a pointing device such as a mouse, a keyboard, a touch panel, etc.) This can be done by inputting information. Or it is good also as a structure which receives via the communication part 26 the information which designates a road, or the information of the designated road itself from another computer. The road at this time is information on a road existing as two-dimensional digital data, for example, information on a road registered as an attached drawing in a road ledger or the like. Such road information is stored in the storage unit 28 in advance. The generation process of the three-dimensional traveling locus will be described based on the following FIGS.

  FIGS. 2A and 2B are explanatory diagrams of a process for generating a travel locus of a vehicle when a road is assumed to be a horizontal plane. As illustrated in FIG. 2A, the travel locus generation unit 10 reads information on the road R set on the horizontal plane (two-dimensional) from the storage unit 28, and on the road R, the two-dimensional vehicle M (vehicle The vehicle M is advanced along the road R at a predetermined interval (one travel distance), and the vehicle M is superimposed on the road R each time. Is generated. Note that the vehicle M is a vehicle that is a target for travel determination. At this time, as shown in FIG. 2A, when the road R has, for example, a corner or an intersection, a traveling locus of the vehicle when the vehicle travels around the corner is generated. In the example of FIG. 2A, a traveling locus when the vehicle M is advanced in the direction of the arrow A, that is, a plan view of the vehicle M is advanced on the road R in a predetermined increment in the direction of the arrow A. An example of a traveling locus generated by superimposing is shown. In the example of FIG. 2A, the plan view of the vehicle M is shown as a rectangle. However, the present invention is not limited to this, and a plan view of an actual vehicle that is the object of travel determination can also be used. . Further, when a plan view of the vehicle M is superimposed on the road R, a value of plane coordinates (for example, xy coordinates) is assigned to each point constituting the plan view of the vehicle M. This plane coordinate is a coordinate of a point corresponding to each point constituting a plan view of the vehicle M (positions on the plane are coincident) among the coordinates of the road R on which the vehicle M is superimposed. Thereby, each said point functions as two-dimensional point group data.

  Note that the above-described plane (two-dimensional) travel locus generation processing can be performed by a function such as CAD software for creating a travel locus diagram of a conventionally known vehicle.

  Next, as shown in FIG. 2B, the travel locus generation unit 10 gives height information to the plan view of the vehicle M, generates a three-dimensional model (three-dimensional figure) of the vehicle M, A three-dimensional traveling locus is generated by disposing the vehicle at the position of each vehicle M shown in FIG. That is, in the example of FIG. 2A, the plan view of the vehicle M is superimposed on the road R while proceeding in the direction of the arrow A in a predetermined increment, but the three-dimensional model of the vehicle M is the road R It is arranged at the position of the plan view of each vehicle M superimposed on it. Note that the road R in FIG. 2A is set as two-dimensional digital data, but when a three-dimensional model of the vehicle M is arranged, the road R converted into three-dimensional digital data. Is used. In FIG. 2B, the road is displayed as “R ′”, which indicates that the road has been converted into three-dimensional digital data. Thereby, each point of the surface of the vehicle M, the road surface of the road R ′, the building around the road, the structure, and other objects can be captured as three-dimensional data. In this case, a value of a three-dimensional coordinate (for example, xyz coordinate) is given to each point constituting the three-dimensional model of the vehicle M. Thereby, each said point functions as three-dimensional point cloud data. As a result, a three-dimensional traveling locus of the vehicle M is generated as shown in FIG. Note that the three-dimensional traveling locus of the vehicle M shown in FIG. 2B may be a state in which height information is given only to the vehicle M. That is, the assumption that the road surface of the road R ′ is a horizontal plane is maintained. The generated three-dimensional travel locus of the vehicle M is stored in the storage unit 28. Further, the traveling locus generation unit 10 may output a drawing (traveling locus diagram) representing the generated two-dimensional and three-dimensional traveling locus from an appropriate printing apparatus.

  In the example of FIG. 2B, the three-dimensional model of the vehicle M is shown as a rectangular parallelepiped. However, the present invention is not limited to this, and the three-dimensional model of the actual vehicle that is the object of travel determination is used. You can also.

  The three-dimensional point cloud data acquisition unit 12 acquires the three-dimensional point cloud data collected for the road surface of the designated road and the objects in the surrounding space (buildings, structures, and other objects around the road). Here, the three-dimensional point group data is data in which each point of the object has three-dimensional coordinate information (for example, xyz coordinate information). Such three-dimensional point cloud data is obtained by, for example, irradiating a target with laser light or the like from a point whose coordinates are known, and based on the reflected light, the surface of a road surface, a building around the road, a structure or other object surface. It can be collected by determining the value of the three-dimensional coordinates of each point. The road surface, the buildings around the road, the positions and shapes of the structures and other objects are collected as three-dimensional point cloud data. The 3D point cloud data acquisition unit 12 may acquire 3D point cloud data from an external server or the like via the communication unit 26, or may read 3D point cloud data from an appropriate storage disk, USB, or the like. It is good also as a structure to acquire. The acquired three-dimensional point cloud data is stored in the storage unit 28.

  The travel locus correction unit 14 calculates the road surface gradient and undulation based on the specified road surface 3D point cloud data, and calculates the height and inclination of the 3D travel locus based on the calculated road surface gradient and undulation. Correct.

  FIGS. 3A and 3B are explanatory diagrams of correction processing executed by the travel locus correction unit 14. In the correction process, the travel locus correction unit 14 reads out the 3D point locus data of the vehicle M and the 3D travel locus of the vehicle M when the road is assumed to be a horizontal plane from the storage unit 28. Three-dimensional coordinate information is acquired from the three-dimensional point cloud data on the road surface of the generated road (the designated road) R ′. Next, the travel locus correction unit 14 uses the acquired three-dimensional coordinate information to calculate the height and gradient of the road undulation, and based on this, the vehicle M used to generate the three-dimensional travel locus. The coordinates of each point (for example, the vertex of the bottom surface of the cube representing the vehicle M) are determined, and the height of each point and the slope between each point are calculated. In the example of FIG. 3A, three-dimensional coordinates (xyz coordinates) are set for the four vertices on the bottom surface of the vehicle M. These three-dimensional coordinates may also be calculated. The xy coordinates of the three-dimensional coordinates of the vertex of the bottom surface of the vehicle M can be determined as the coordinates of the corresponding point from the coordinates of the road R ′ where the vehicle M is superimposed. The z coordinate will be described later. Further, in FIG. 3A, as the inclination between the vertices of the bottom surface, that is, the inclination of the road surface of the road R ′, the vertical gradient that is the inclination in the traveling direction of the vehicle M and the inclination in the direction orthogonal to the traveling direction of the vehicle M are illustrated. An example of a cross slope is shown.

  The calculation for calculating the height of each point of the vehicle M and the inclination between the points is performed for all the vehicles M included in the three-dimensional traveling locus (that constitutes the three-dimensional traveling locus). As described above, coordinate information is given to the three-dimensional point group data and each point on the bottom surface of the vehicle M. Based on this coordinate information (for example, xy coordinates), the position of each point on the bottom surface of each vehicle M and 3 The height of each point on the bottom surface of each vehicle M (for example, the z coordinate) and the slope between the points are calculated while associating the position of the point on the road surface of the road R ′ where the dimension point group data is set. This calculation can be performed by setting the height of the road surface of the road R ′ as the height of each point on the bottom surface of each vehicle M corresponding to the position superimposed on the road R ′. As a result, the travel locus correction unit 14 performs correction for adding information on height and inclination based on the road undulation height and gradient to the three-dimensional travel locus of the vehicle M generated by the travel locus generation unit 10. . An example of the corrected three-dimensional traveling locus is shown in FIG. In the example of FIG. 3B, the longitudinal gradient and the crossing gradient of the road R ′ obtained in FIG. 3A are continuously displayed, and each vehicle M as a three-dimensional traveling locus is also displayed on the road surface. ing. As a result, a three-dimensional traveling locus with a gradient is provided. The corrected three-dimensional traveling locus is also stored in the storage unit 28.

  Moreover, it is preferable that the traveling locus correction unit 14 is configured to finely adjust a passing line (passing route) on the road surface of the three-dimensional traveling locus based on instruction information input by the user from the appropriate input unit. is there. Here, the fine adjustment means that the 3D traveling locus collides with a building, structure or other object around the road, or a problem occurs such that it protrudes from the roadway outer line and the center line drawn on the road surface. In addition, the three-dimensional traveling locus is changed to a passing line that may be able to avoid the passage of the problematic part. For example, in FIG. 2B, if the vertex on the right side in the traveling direction (arrow A direction) among the vertices on the bottom surface of the vehicle M passes through the passing line indicated by the arrow I, it protrudes from the center line Lc. At this time, if the passing line of the vehicle M is changed from the arrow I to the arrow II by the fine adjustment process of the travel locus correction unit 14, the protrusion may be avoided. Here, “possibility” means that the change from the arrow I to the arrow II of the passing line can be changed if there is no other problem such as a collision with a building, structure or other object around the road. Meaning. Thereby, there is a possibility that the collision determination of the collision information adding unit 18 described later and the protrusion determination by the protrusion information adding unit 22 can be avoided.

  The superimposing unit 16 stores the three-dimensional traveling locus corrected by the traveling locus correcting unit 14 and the three-dimensional point cloud data of buildings, structures, and other objects around the road R ′ where the three-dimensional traveling locus is generated. 28 and superimpose. When superimposing, the size of the vehicle M is matched with the size of the road R ′ that collects the three-dimensional point cloud data and the size of the buildings, structures, and other objects around the road R ′.

  FIGS. 4A and 4B are explanatory diagrams of an example in which the vehicle M and the 3D point cloud data of the building, the structure, and other objects around the road R ′ on which the 3D traveling locus is generated are superimposed. Is shown. 4 (a) and 4 (b), only one vehicle M is shown, but this is one of the plurality of vehicles M constituting the corrected three-dimensional traveling locus shown in FIG. 3 (b). 1 unit is shown. For the processing of the collision information adding unit 18 and the protrusion information adding unit 22 to be described later, a plurality of vehicles M constituting the corrected three-dimensional traveling locus are sequentially examined to determine the collision and the protrusion, respectively. In the example of FIGS. 4A and 4B, the roadway outer line Lo and the center line Lc are drawn on the road R ′ on which the vehicle M travels, that is, a three-dimensional travel locus is generated. A traffic light S, a guardrail G, a tree T, and the like exist around the road R ′. These are examples of buildings, structures, and other objects around the road R ', and the buildings, structures, and other objects around the road R' are not limited to these. For example, any building, structure, or other object that is present around a road such as a residence, a warehouse, a store, a fence, or the like is included.

  The collision information giving unit 18 gives the collision information to the attribute of the point of the three-dimensional point cloud data included in the corrected three-dimensional traveling locus based on the result of the superimposing process of the superimposing unit 16. The point that the points of the three-dimensional point group data are included in the corrected three-dimensional traveling locus is that the three-dimensional model of the vehicle M that constitutes the corrected three-dimensional traveling locus shown in FIGS. 4 (a) and 4 (b). The point of the three-dimensional point cloud data exists on either surface or inside. For example, in the example of FIG. 4B, the three-dimensional point cloud data representing the traffic light S does not have any points existing on the surface or inside the three-dimensional model of the vehicle M. On the other hand, the 3D point cloud data representing the tree T includes points existing on the surface and inside of the 3D model of the vehicle M. In this case, it means that the object (tree T in FIG. 4B) from which the three-dimensional point cloud data has been collected is colliding with the vehicle M. Determine (collision determination). At this time, the collision information giving unit 18 gives the collision information (collision flag) to a point of the three-dimensional point cloud data existing on or inside any one of the three-dimensional models of the vehicle M. In addition, when there is a point in the 3D point cloud data to which the collision information is added, the collision information adding unit 18 stores the collision information in the storage unit 28 and information that a collision occurs due to the traveling of the vehicle M. Is preferably displayed on an appropriate display means via the display control unit 24. This display is, for example, an area on the screen representing a point of 3D point cloud data to which collision information is added (a pixel or a set of pixels, which can be determined by the coordinates of the point of the 3D point cloud data). Examples include changing the area (for example, increasing the size) and changing the display color.

  The collision information giving unit 18 is a vehicle that configures the corrected three-dimensional traveling locus as a result of the traveling locus correcting unit 14 finely adjusting the passing line on the road surface of the three-dimensional traveling locus based on an instruction from the user. If there are no 3D point cloud data points of buildings, structures or other objects around the road on or inside any of the 3D models of M, the 3D point cloud data The collision information is not assigned to the point, or the collision information once given is deleted.

  The road marking detection unit 20 detects the road outer line and the center line drawn on the road surface of the designated road, and the three-dimensional point cloud data of the point on the road surface where the road outer line or the center line exists. Three-dimensional point cloud data is obtained by adding color information of the roadway outer line and the center line to the attribute. In addition, the said roadway outer side line is described as Lo in FIG. 2 (a), (b), and a center line is described as Lc in FIG. 2 (a). The road outer line Lo and the center line Lc drawn on the road surface are included in the information on the designated road, and the road surface marking detection unit 20 reads out from the storage unit 28 and uses them. In this case, the road marking detection unit 20 is configured to detect the types of the roadway outer line Lo and the center line Lc from the position of the line on the road surface, the color of the line, and the like. For example, the roadway outer line Lo can be detected as a white line arranged in the vicinity of the road edge of the road surface, and the center line Lc can be detected as a white line, a yellow line, etc. at the center of the road surface. Moreover, it is set as the structure which detects both a continuous line and a discontinuous line.

  The road marking is not limited to the roadway outer line and the center line, and includes, for example, a “safe zone or approaching obstacle on the road” called a zebra belt.

  The protrusion information adding unit 22 gives predetermined height information to the three-dimensional point cloud data of the points on the road surface where the roadway outer line Lo and the center line Lc exist detected by the road marking detection unit 20, and When there is 3D point cloud data of the roadway outer line Lo and the center line Lc included in the three-dimensional traveling locus corrected by the traveling locus correction unit 14 at the determined height, before the height information is given. The protrusion information is given to the three-dimensional point cloud data of the roadway outer line Lo and the center line Lc. That is, predetermined height information is given to any surface or inside of the three-dimensional model of the vehicle M constituting the corrected three-dimensional traveling locus shown in FIG. 4A at a predetermined height. When there is a point of the road outer line Lo and the center line Lc that has been (increased to a predetermined height), the vehicle M is traveling beyond the road outer line Lo or the center line Lc (for example, In the case of the arrow I in FIG. 2B, the protrusion information adding unit 22 determines (protrusion determination). At this time, the protrusion information adding unit 22 adds protrusion information (protrusion flag) to the three-dimensional point cloud data of the roadway outer line Lo and the center line Lc before the height information is added. Further, when there is a point of the three-dimensional point cloud data to which the protrusion information is added, the protrusion information adding unit 22 stores the protrusion information in the storage unit 28 and information that the protrusion occurs due to the traveling of the vehicle M. Is preferably displayed on an appropriate display means via the display control unit 24. This display is, for example, an area on the screen representing a point of the 3D point cloud data to which the protrusion information is added (a pixel or a set of pixels, which can be determined by the coordinates of the point included in the 3D point cloud data). Examples include changing the area (for example, increasing the size) and changing the display color.

  The protrusion information adding unit 22 is a three-dimensional after correction at a predetermined height as a result of the travel locus correction unit 14 finely adjusting the passage line on the road surface of the three-dimensional travel locus based on an instruction from the user. If there are no points in the three-dimensional point cloud data of the roadway outer line Lo and the center line Lc on any surface or inside of the three-dimensional model of the vehicle M constituting the traveling locus, the three-dimensional point The protrusion information is not added to the point of the group data, or the protrusion information once added is deleted.

  The display control unit 24 controls a liquid crystal display element and other appropriate display devices to display, for example, information that a collision occurs due to the traveling of the vehicle M, information that a protrusion occurs due to the traveling of the vehicle M, and other information. To do.

  The communication unit 26 includes an appropriate interface, and is used by the CPU 30 to exchange data with an external server or the like via a wireless or wired communication line.

  The storage unit 28 is configured by a nonvolatile memory such as a hard disk device or a solid state drive (SSD), and stores information necessary for each process performed by the vehicle travel determination device, such as the above-described various information, and an operation program of the CPU 30. Remember. As the storage unit 28, a digital versatile disk (DVD), a compact disk (CD), a magneto-optical disk (MO), a flexible disk (FD), a magnetic tape, an electrically erasable / rewritable read-only memory ( EEPROM), flash memory or the like may be used. In addition, the storage unit 28 includes a random access memory (RAM) that mainly functions as a work area of the CPU 30 and a read-only memory (ROM) that stores control programs such as BIOS and other data used by the CPU 30. Is preferred.

  FIG. 5 shows a flowchart of an operation example of the vehicle travel determination device according to the embodiment. In FIG. 5, the travel locus generation unit 10 generates a three-dimensional travel locus of the vehicle when it is assumed that the road is a horizontal plane on a road designated as a target for travel determination (S <b> 1).

  Further, the three-dimensional point cloud data acquisition unit 12 acquires the three-dimensional point cloud data collected for the road surface of the designated road and the objects in the surrounding space (S2).

  Next, the travel locus correction unit 14 calculates the road surface slope and undulation based on the road surface point cloud data of the designated road, and calculates the height of the three-dimensional travel locus and the calculated road surface gradient and undulation. The inclination is corrected (S3).

  The superimposing unit 16 superimposes the three-dimensional traveling locus corrected by the traveling locus correcting unit 14 and the three-dimensional point cloud data of buildings, structures, and other objects around the road where the three-dimensional traveling locus is generated (S4). ).

  The collision information giving unit 18 is included in the corrected three-dimensional traveling locus among the points of the three-dimensional point cloud data of the buildings, structures, and other objects around the road based on the result of the superimposing process of the superimposing unit 16. The collision information is given to the attribute of the point to be played (S5).

  Further, the road marking detection unit 20 detects the road outer line and the center line drawn on the road surface of the designated road, and a three-dimensional point of the point on the road surface where the road outer line or the center line exists. In addition to the attribute of the group data, it is set as three-dimensional point group data including color information such as the roadway outer line and the center line (S6).

  Next, the protrusion information giving unit 22 gives predetermined height information to the three-dimensional point cloud data of the points on the road surface where the roadway outer line, the center line, etc. exist detected by the road marking detection unit 20, Before adding height information when there is 3D point cloud data such as a roadway outer line and a center line included in the 3D travel locus corrected by the travel locus correction unit 14 at the predetermined height. The protruding information is given to the three-dimensional point cloud data such as the roadway outer line and the center line (S7).

  When there is a point in the 3D point cloud data to which the collision information giving unit 18 has given the collision information, the display control unit 24 displays information on the occurrence of a collision by the traveling of the vehicle M on an appropriate display device. Let If there is a point in the 3D point cloud data to which the protrusion information adding unit 22 has added the protrusion information, information indicating that the protrusion is caused by the traveling of the vehicle M is displayed on an appropriate display device (S8).

  The above-described program for executing the steps of FIG. 5 can be stored in a recording medium, and the program may be provided by communication means. In that case, for example, the above-described program may be regarded as an invention of a “computer-readable recording medium recording a program” or an invention of a “data signal”.

  DESCRIPTION OF SYMBOLS 10 Traveling track production | generation part, 12 3D point cloud data acquisition part, 14 Traveling track correction | amendment part, 16 Superimposition part, 18 Collision information provision part, 20 Road surface marking detection part, 22 Extrusion information provision part, 24 Display control part, 26 Communication Part, 28 storage part, 30 CPU.

Claims (4)

Traveling locus generating means for generating a three-dimensional traveling locus of the vehicle when the road is assumed to be a horizontal plane on the designated road;
Three-dimensional point cloud data acquisition means for acquiring three-dimensional point cloud data collected for the road surface of the designated road and buildings, structures and other objects around the road;
Based on the three-dimensional point cloud data of the road surface, a traveling locus correction means for calculating the slope and undulation of the road surface and correcting the height and inclination of the three-dimensional traveling locus;
Superimposing means for superimposing the corrected three-dimensional traveling locus and the three-dimensional point cloud data;
Based on the result of the superimposing process of the superimposing means, collision information giving means for giving collision information to the attribute of the point of the three-dimensional point cloud data included in the corrected three-dimensional traveling locus;
A vehicle travel determination device comprising: Road marking detection means for detecting a roadway outer line and a centerline, and adding the color information of the roadway outer line and the centerline to the attribute of the road surface 3D point cloud data,
Predetermined height information is given to the detected three-dimensional point cloud data of the road outer line and the center line, and the road outer line and the center line included in the three-dimensional travel locus at the predetermined height. When the 3D point cloud data is present, the protruding information adding means for adding the protruding information to the 3D point cloud data of the roadway outer line and the center line before adding the height information;
The vehicle travel determination device according to claim 1, further comprising:   The vehicle travel determination device according to claim 2, further comprising display means for changing a display area and / or color of a point corresponding to the three-dimensional point cloud data to which the collision information and / or protrusion information is given. Computer
Traveling locus generating means for generating a three-dimensional traveling locus of the vehicle when the road is assumed to be a horizontal plane on the designated road;
3D point cloud data acquisition means for acquiring 3D point cloud data collected for the road surface of the designated road and buildings, structures and other objects around the road;
Based on the three-dimensional point cloud data of the road surface, a traveling locus correction means for calculating the slope and undulation of the road surface and correcting the height and inclination of the three-dimensional traveling locus;
Superimposing means for superimposing the corrected three-dimensional traveling locus and the three-dimensional point cloud data;
Collision information giving means for giving collision information to the attributes of the points of the three-dimensional point cloud data included in the corrected three-dimensional travel locus based on the result of the superposition processing of the superposition means;
A vehicle running determination program that functions as a vehicle.