JP2019079169A - Vehicle route generation device, vehicle route generation method, and vehicle route generation program - Google Patents

Abstract

To suppress an investigation load related to performance of an investigation when a state related to a road is investigated while traveling on a road together with general vehicles.SOLUTION: A vehicle route generation system (10) includes a vehicle route generation device (12) for performing determination (126) on investigation travel routes of investigation vehicles toward investigation places by dividing an investigation object area into areas including investigation places and performing classification for each investigation vehicle with the use of past traffic data (121, 122, 123) and investigation data (125) of an investigation result. Investigation travel routes of respective investigation vehicles in investigating investigation places by multiple investigation vehicles are generated and transmitted to the respective investigation vehicles, so that a state related to roads is efficiently investigated by the multiple investigation vehicles.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle route generation device, a vehicle route generation method, and a vehicle route generation program.

  Since the road on which the vehicle travels is deteriorated by the traffic volume of the vehicle and the action of the environment, the state of the road is maintained by repairing so as to suppress an adverse effect on the traveling of the vehicle. It is preferable to carry out repair of the road before it adversely affects the driving of the vehicle, but since the degree of deterioration of the road differs depending on the traffic volume of the vehicle and the effects of the environment, early detection of road deterioration is Required As a technology for detecting road deterioration at an early stage, a technology for efficiently instructing re-investigation of road surface deterioration is known (for example, see Patent Document 1). In this technology, any abnormality is detected at the position where an abnormality of the pavement of the road surface is detected from the image obtained by photographing the road and at the position where the abnormality of the pavement of the road surface is detected from the change of acceleration measured during traveling of the road. Identify the location of Then, a condition capable of detecting an abnormality not detected at the specified position is derived, and re-investigation of the specified position is instructed under the derived condition.

JP, 2013-139671, A

By the way, when investigating the condition related to the road such as the road surface condition such as the deterioration degree of the road and the structure condition around the road, while traveling on the road by the survey vehicle equipped with a device for detecting the condition related to the road investigate. In the survey by the survey vehicle, a general vehicle may travel on a road to be surveyed, and a traveling condition of the general vehicle (for example, traffic condition such as congestion) may affect the survey of the investigation vehicle. For example, in a traveling situation such as a so-called traffic jam in which a general vehicle stays on a road, the survey load such as extension of the survey time is increased as compared with the case where the survey vehicle normally travels.
The present invention relates to a vehicle route generation apparatus, vehicle route generation method, and vehicle route generation capable of suppressing survey load related to the execution of a survey when traveling along a road together with a general vehicle and surveying a situation related to the road. The purpose is to provide a program.

In order to achieve the above object, the vehicle route generation device according to claim 1 is:
Survey point information indicating each of a plurality of survey points for surveying the situation related to the road including at least one of the road surface condition of the road in the survey area and the structure status around the road; and traffic in the survey area An acquisition unit that acquires traffic situation information indicating the situation;
A classification unit that classifies at least one survey point among the plurality of survey points for each of a plurality of different survey vehicles based on the survey point information acquired by the acquisition unit;
A determination unit that determines each of the survey travel routes at at least one survey location classified for each of the plurality of survey vehicles based on the survey location information acquired by the acquisition unit and the traffic condition information;
Equipped with

The invention according to claim 2 is the vehicle route generation device according to claim 1.
It includes a transmission unit that transmits each of the survey travel routes determined by the determination unit to each of the plurality of survey vehicles classified by the classification unit.

The invention according to claim 3 is the vehicle route generation device according to claim 1 or 2,
The acquisition unit acquires the traffic condition information from a storage unit that accumulates traffic condition information indicating past traffic conditions in the survey area.

The invention according to claim 4 is the vehicle route generation device according to any one of claims 1 to 3.
When the traffic condition information includes traffic jam information indicating traffic congestion of a specific road, and the specific road is included in the survey travel route, the determination unit determines that the specific road is the survey travel route. Re-determining the survey travel path of the survey vehicle excluding the previous survey points according to the survey travel path of the particular road of the survey vehicle included, and determining the survey travel path of the particular road The survey destination according to the above-mentioned survey point is added to the survey points of the other survey vehicles to redetermine the survey travel route of the other survey vehicle.

The invention according to claim 5 is the vehicle route generation device according to any one of claims 1 to 4;
The acquisition unit further acquires vehicle information indicating the survey completion status of each of the plurality of survey vehicles and the current position,
The survey travel route of each of the plurality of survey vehicles is redetermined so that the number of remaining survey points is equal to or less than the threshold.

The invention according to claim 6 is the vehicle route generation device according to any one of claims 1 to 4,
Each of the plurality of survey vehicles is a communication unit for performing inter-vehicle communication of survey completion information indicating the survey completion status of each of the plurality of survey vehicles, and vehicle information indicating the current position, and the determination unit determined by the determination unit Derivation for deriving the survey travel route of the own survey vehicle based on the storage unit for storing each of the survey travel route, the survey information stored in the storage unit, and the vehicle information communicated between the vehicles by the communication unit And a unit.

The invention according to claim 7 is the vehicle route generation device according to claim 6.
The communication unit further acquires traffic condition information indicating traffic conditions in the survey area,
The derivation unit derives, based on the traffic condition information and the survey completion information, a survey travel route of the vehicle survey vehicle including a survey spot around the current position among the remaining survey spots.

The vehicle route generation method of the invention according to claim 8 is
On the computer
The processing of each part of the vehicle route generation device according to any one of claims 1 to 7 is performed.

The vehicle route generation program of the invention according to claim 9 is
A computer is made to function as each part of the vehicle route generation apparatus described in any one of Claims 1-7.

According to the inventions of claims 1, 8, and 9, when the vehicle travels with the general vehicle on the road to investigate the condition related to the road, it is possible to suppress the investigation load related to the execution of the investigation. Have an effect.
According to the second aspect of the present invention, compared to the case where the survey travel route is derived on the survey vehicle side, the calculation load for deriving the survey travel route can be suppressed on the survey vehicle side.
According to the third aspect of the present invention, it is possible to derive the survey travel route reflecting the tendency of the traffic status based on the past traffic status, as compared to the case where the survey travel route is derived in the real-time traffic status. Have an effect.
According to the invention as set forth in claim 4, the survey traveling route of the survey vehicle is comprehensively suppressed the survey load in the plurality of survey vehicles compared to the case of deriving the survey traveling route bypassing the road where the traffic congestion has occurred. It has the effect of being able to
According to the fifth aspect of the present invention, it is possible to comprehensively suppress the survey load on the plurality of survey vehicles as compared to the case where the survey of the survey points given to each of the plurality of survey vehicles is executed. .
According to the inventions of claims 6 and 7, compared with the case where the survey travel routes of a plurality of survey vehicles are derived at once, the survey travel route can be derived by the survey vehicle that has communicated between vehicles, and the survey travel route This has the effect of reducing the computational load to be derived.

It is a block diagram showing an example of composition of a vehicle course generating device concerning a 1st embodiment. It is a schematic diagram which shows an example of the survey location in the survey object area which concerns on 1st Embodiment, an integrated center, and a survey vehicle. It is an image figure which shows an example which divided | segmented the investigation object area which concerns on 1st Embodiment. It is an image figure which concerns on 1st Embodiment and shows an example of the investigation traveling route determined for every investigation vehicle. It is a block diagram showing an example which realized a vehicle course generating device concerning a 1st embodiment by composition including a computer. It is a flowchart which shows an example of the flow of the process by the traffic data storage process performed by the computer which operate | moves as a vehicle route generation apparatus which concerns on 1st Embodiment. It is a flow chart which shows an example of the flow of processing by investigation data storage process performed with a computer which operates as a vehicle course generating device concerning a 1st embodiment. It is a flowchart which shows an example of the flow of the processing by the information extraction process performed by the computer which operate | moves as a vehicle path | route production | generation apparatus which concerns on 1st Embodiment. It is a flowchart which shows an example of the flow of the process by the route determination process performed by the computer which operate | moves as a vehicle route production | generation apparatus which concerns on 1st Embodiment. It is a block diagram which shows an example which implement | achieved the vehicle-mounted apparatus which concerns on 1st Embodiment by the structure containing a computer. It is a flowchart which shows an example of the flow of the process by the investigation program run by the computer which operate | moves as a vehicle-mounted device which concerns on 1st Embodiment. It is a block diagram showing an example of composition of a vehicle course generating device concerning a 2nd embodiment. It is an image figure showing an example of a survey object area including a traffic congestion prediction area concerning a 2nd embodiment. It is an image figure which shows an example of the investigation area | region and the investigation travel route which were redetermined according to 2nd Embodiment. It is a flowchart which shows an example of the flow of the process by the route determination process contained in the information processing program which concerns on 2nd Embodiment. It is a block diagram which shows an example of a structure of the onboard equipment mounted in the survey vehicle in the vehicle route generation system which concerns on 3rd Embodiment. It is a flowchart which shows an example of the flow of the process by the update process contained in the investigation program which concerns on 3rd Embodiment. It is a block diagram which shows an example of a structure of the onboard equipment mounted in the investigation vehicle in the vehicle route generation system which concerns on 4th Embodiment. .

  Hereinafter, an example of a vehicle route generation system according to the present embodiment will be described in detail with reference to the drawings. In addition, the same code | symbol may be provided to the component and process in which an effect | action and a function bear the same function through all the drawings, and the overlapping description may be abbreviate | omitted suitably.

First Embodiment
FIG. 1 shows an example of the configuration of a vehicle route generation system 10 according to the first embodiment. The vehicle route generation system 10 efficiently investigates the situation related to the road included in the predetermined investigation target area AR with a plurality of investigation vehicles. As an example of the situation relating to the road, there is a road surface situation of the road indicating the degree of deterioration of the road and the like, and a structure situation indicating the position and shape of the structure installed around the road. In addition, the information which shows the road surface condition of a road can be effectively utilized as information for determining the necessity of maintenance of a road. Moreover, the information which shows the structure condition of a road periphery can be effectively utilized as information for the map production containing the structure of a road periphery. In the first embodiment, a case where at least one of a road surface condition and a structure condition is investigated will be described as a condition related to a road.

  Further, in the first embodiment, an example of the case where the investigation and management of the situation related to the road by a plurality of survey vehicles are performed in the integrated center CTR will be described. As shown in FIG. 1, the vehicle route generation system 10 includes a vehicle route generation device 12 installed at an integrated center CTR, and an on-vehicle device 14-mounted on each of a plurality of survey vehicles C1 to CN (N> 1). C1-14-CN (N> 1) is included.

  In addition, since each of the plurality of survey vehicles C1 to CN has substantially the same configuration, when the distinction between the plurality of survey vehicles C1 to CN is unnecessary, the plurality of survey vehicles C1 to CN will be collectively described as the survey vehicle C. On the other hand, when each of the plurality of survey vehicles C is described separately, any one of the survey vehicles C1 to CN is attached. In addition, since each of the on-board units 14-C 1 to 14-CN mounted on each of the plurality of survey vehicles C has substantially the same configuration, when it is not necessary to distinguish each of them, explain. On the other hand, when each of the plurality of vehicle-mounted devices 14 is described separately, any one of the symbols of the vehicle-mounted devices 14-1 to 14-CN is attached.

  The vehicle route generation device 12 is a functional unit that generates a survey travel route of the survey vehicle C when the survey vehicle C surveys the survey point SP. In detail, the vehicle route generation device 12 includes a vehicle information collection unit 121, a roadside information collection unit 122, a traffic data storage unit 123, an information extraction unit 124, a survey data storage unit 125, survey area sharing and routes The function units of the determination unit 126 are provided. The vehicle route generation device 12 determines the sharing of each of the survey areas of the plurality of survey vehicles C using traffic data related to traffic in the survey target area AR and survey data of survey points in the survey target area AR. And transmit to each of a plurality of survey vehicles. Next, each functional unit included in the vehicle route generation device 12 will be described in detail.

  The traffic data storage unit 123 is a functional unit that stores traffic data in the past. Examples of the traffic data include information indicating a change in traffic volume from the first point to the second point, and information indicating a travel time. The section from the first point to the second point includes at least a partial section of the road. The information indicating the traffic volume change is information related to the traffic volume corresponding to the degree of congestion of the road which changes from moment to moment. Therefore, in the information about traffic volume, for example, information indicating the traffic volume from the first point to the second point can be associated with time information such as the date and time when the information is obtained. Further, the information indicating the traveling time is also information that changes corresponding to the degree of congestion of the road which changes from moment to moment. Therefore, time information such as the date and time when the information is obtained can be associated with the information indicating the traveling time.

  The traffic data storage unit 123 acquires traffic data, and stores the acquired traffic data in a database. That is, for each of the information indicating the traffic volume change that changes every moment and the information indicating the traveling time, a data set in which time information such as the date and time when the information is obtained is associated is stored as a database record. .

  In the first embodiment, in order to obtain traffic data to be stored in the traffic data storage unit 123, a vehicle information collection unit 121 and a roadside information collection unit 122 are connected to the traffic data storage unit 123. That is, the traffic data storage unit 123 stores information including the vehicle information collected by the vehicle information collection unit 121 and the roadside information collected by the roadside information collection unit 122 as traffic data.

  The vehicle information collection unit 121 is a functional unit that collects vehicle information. An example of the vehicle information includes information including a passing time when the vehicle travels a predetermined section from a plurality of different first points to a second point, the distance of the predetermined section, and the time. The predetermined section from the first point to the second point may be a predetermined section from the traveling start position of the vehicle to the traveling end position, for example, a partial section on the road, and travels from the traveling start position where the vehicle traveled The section up to the end position can be targeted.

  Specifically, the vehicle information can include information related to the traveling of the survey vehicle C. For example, the transit time is the arrival time when the first point is the integrated center CTR and the second point is the survey point, and the first point is the first survey point, and the second point is the second survey point. It can be the arrival time in the case of Also, for the distance of the predetermined section, the first point is the integrated center CTR, the traveling distance when the second point is the investigation point, and the first point is the first investigation point, and the second point is the second investigation. It can be a running distance when it is a place. That is, the vehicle information includes the time required for the survey vehicle C to leave the integrated center CTR and return via the survey point, and the travel distance. Therefore, the traffic data storage unit 123 stores the traveling distance to the survey point and the required time.

  The vehicle information collection unit 121 may acquire the vehicle information by receiving the information transmitted from the vehicle side, and may acquire the vehicle information by receiving the information input by the input device. .

  The roadside information collection unit 122 is a functional unit that collects roadside information. Examples of roadside information include information on traffic volume including the number of vehicles passing a predetermined position on the road within a predetermined time using a detection result by a sensor installed in the road infrastructure, and time. Therefore, the traffic data storage unit 123 stores information on traffic volume corresponding to the degree of congestion of the road which changes from moment to moment. Further, in the present embodiment, the roadside information includes map information of the survey target area AR.

  The roadside information collection unit 122 may acquire roadside information by receiving information transmitted from the roadside, and may acquire roadside information by receiving information input by an input device.

  The information extraction unit 124 is connected to the traffic data storage unit 123, the survey data storage unit 125, and the survey area sharing / route determination unit 126. The information extraction unit 124 is a functional unit that extracts information according to the set investigation purpose and outputs the information to the investigation area sharing / path determination unit 126. That is, the information extraction unit 124 extracts corresponding traffic data among the traffic data stored in the traffic data storage unit 123 based on the set investigation purpose. Further, the information extraction unit 124 extracts corresponding investigation data from among the investigation data accumulated in the investigation data accumulation unit 125 based on the set investigation purpose. The setting of the survey purpose may be a preset survey purpose, or may be set by receiving the information input by the input device.

  The survey data storage unit 125 is a functional unit that stores survey data which is information on a survey result obtained by survey vehicle C traveling on a survey traveling route and surveying a survey point. In the present embodiment, as an example of survey data, a case will be described in which image information indicating a captured image obtained by capturing a survey point SP at which a certain point on a road is set and related information related to the captured image. As an example of the survey data, image data showing a shot image I obtained by shooting the survey point SP as image information showing a shot image, shooting position P, shooting information J and shooting time t as related information related to the shot image The data set which matched each data is mentioned.

For example, when a certain investigation point SPi in the investigation target area AR is photographed, the investigation data storage unit 125 sets the photographing position P _i (x _i , y _i ) to the image data indicating the photographed image I _i The shooting information J _i such as the shooting range and the shooting direction, and data such as the shooting time t _i are recorded in association with each other. The photographed image I _i is given an evaluation value R _{i in} terms of the number of times used in the vehicle route generation system 10 according to the present embodiment and other systems, the degree of importance, and the like.

The evaluation value R _i is information indicating an evaluation of the captured image I _i . For example, when image information indicating a road image taken of a road and related information related to the road image are collected as survey data, image information indicating a road image taken so far and related information detected by a sensor at the time of shooting Is recorded along with the shooting time. For example, a road image is an image captured including a road and structures around the road. With this road image, it is possible to confirm the road surface condition of the road indicating the degree of deterioration of the road and the like, and the structure condition indicating the position and shape of the structure installed around the road. In addition, this road image is estimated to have more changes in the road surface condition and the surrounding structure condition than on a road with a large amount of traffic on roads with a large amount of traffic, and the road image becomes important. Is set high. In addition, the captured image of the survey point SP, which has not been captured frequently so far, is effective in confirming the road surface condition of the road and the surrounding structure condition, and it is desirable to investigate as a survey point. The value is to be set. The evaluation value R changes from time to time, as the use in the vehicle route generation system 10 and other systems, and traffic conditions change from time to time.

  By the way, when planning to investigate at least one of the road surface condition of the road and the surrounding structure condition included in the investigation target area AR, the investigation purpose is determined in advance. One example of the purpose of the investigation is that the investigation purpose is the investigation of the investigation site SP in which the investigation data is not updated for a predetermined period. In the survey of the survey point for this survey purpose, it is possible to exclude the survey data of the survey point SP for which the survey was completed most recently. Therefore, for the purpose of this investigation, the information extraction unit 124 may extract, for example, investigation data prior to a specific date.

On the other hand, in the survey data storage unit 125, respective data such as the shooting position P and the shooting information J are recorded as related information related to the shot image shot by the survey vehicle C. Therefore, data stored in the survey data storage unit 125, which survey points survey vehicle C, i.e., to obtain any point (x _i, y _i) the evaluation value R _i upon reaching a compensation It can be considered that a correspondence indicating whether it has been made is accumulated. Therefore, by representing this correspondence as, for example, database DB {= (x _i , y _i , R _i )} (i = 1,..., M: total number of survey points SP), this database DB It can be considered as survey data applicable to a certain survey purpose. That is, for example, when the investigation purpose of the investigation point SP whose investigation data is not updated for a predetermined period is the investigation purpose, the corresponding investigation data is extracted by generating the database DB by the investigation data before the specific date. Corresponds to Therefore, the extraction of investigation data according to the investigation purpose performed by the information extraction unit 124 may be performed by generating the database DB.

  Information according to the investigation purpose output from the information extraction unit 124 is input to the investigation area sharing / path determination unit 126. That is, the output side of the information extraction unit 124 and the input side of the investigation area sharing / path determination unit 126 are connected. The survey area sharing / route determination unit 126 is a functional unit that determines the sharing of the survey area of each of the plurality of survey vehicles C and the survey travel route of each of the plurality of survey vehicles C.

  The survey area sharing / route determination unit 126 determines a survey travel route indicating where to go the M survey points SP in the survey target area AR of the individual survey vehicle Ci (1 ≦ i ≦ N). Here, in order to simplify the description, the case where three survey vehicles C1 to C3 determine a survey travel route on which sixteen survey points SP01 to SP16 travel for survey will be described.

FIG. 2: is a schematic diagram which shows an example of the survey location in a survey object area, an integrated center, and a survey vehicle. In the example shown in FIG. 2, 16 survey points SP01 to SP16 in the survey target area AR, an integrated center CTR, and three survey vehicles C1 to C3 managed by the integrated center CTR are shown. Further, each of the 16 study locations SP01～SP16, each evaluation value _R 01 _{to R 16} is associated.

  The investigation area sharing / path determination unit 126 first divides the investigation target area AR into divided areas each including the investigation point SP by weighting according to the evaluation value R associated with the investigation point SP. As an example of weighting division into divided regions, weighting Voronoi division by an evaluation value R may be mentioned. The division of the survey target area AR uses roadside information extracted by the information extraction unit among the traffic data stored in the traffic data storage unit 123. The weighted division into divided regions is not limited to the weighted Voronoi division by the evaluation value R. For example, the survey target area AR may be divided to have a size corresponding to the evaluation value R.

  FIG. 3 shows an example in which the survey target area AR is divided by weighting Voronoi according to the evaluation value R. In the example shown in FIG. 3, the divided area AR01 including the investigation point SP01 obtained by Voronoi division of the investigation target area AR is shown as an example. Although FIG. 3 omits the representation of the divided areas AR02 to AR16, each of the divided areas AR02 to AR16 corresponds to a divided area including each of the investigation points SP02 to SP16.

  Next, the investigation area sharing / path determination unit 126 classifies the divided areas AR01 to AR16 obtained by dividing the investigation target area AR into the respective investigation vehicles C. That is, the 16 survey points SP are classified into three survey vehicles C1 to C3. In this classification, when the corresponding survey vehicle C surveys each of the survey points SP in the survey area corresponding to the classified survey vehicle, the survey load is equally applied to each of the three survey vehicles C1 to C3. To be classified. An example of survey load includes information related to travel at the time of survey, such as travel distance and travel time. In addition, the evaluation load R may be included in the survey load. By this, the investigation area which each of three investigation vehicles C1-C3 takes charge of is decided.

  In the example illustrated in FIG. 3, a survey area AR-C1 in which each of the divided areas including each of the survey points SP01 to SP06 is classified is shown as a person in charge of the survey vehicle C1. Similarly, a survey area AR-C2 in which each of the divisional areas including each of the survey points SP07 to SP11 is classified as a charge of the survey vehicle C2, and a split area including each of the survey points SP12 to SP16 as a charge of the survey vehicle C3. A survey area AR-C3 in which each is classified is shown.

  Next, the investigation area sharing / path determination unit 126 derives how to investigate the investigation point SP, that is, the investigation traveling route, of each of the three investigation vehicles C1 to C3. Since there are relatively few survey points SP where each of three survey vehicles C1 to C3 travels and surveys, for example, traveling salesman problem, Greedy order using evaluation value R, and shortest distance are used The survey travel route is determined by computations such as Greedy order. Then, the investigation area sharing / path determination unit 126 transmits each of the determined investigation traveling routes to each of the three investigation vehicles C1 to C3.

  FIG. 4 illustrates an example of the survey travel route of each of the three survey vehicles C1 to C3 determined by the survey area distribution / route determination unit 126. In the example shown in FIG. 4, each of the three survey vehicles C1 to C3 departs from the integrated center CTR, investigates the survey point SP in charge, and shows the survey travel route returning to the integrated center CTR.

  On the other hand, each of the three survey vehicles C1 to C3 is a vehicle for surveying at least one of the road surface condition of the road and the surrounding structure condition, and travels according to the survey travel route from the survey area sharing and route determination unit 126. Investigate the survey point SP that the self-study vehicle C is in charge of.

  As shown in FIG. 1, the vehicle-mounted devices 14-C 1 to 14 C-CN mounted on each of the plurality of survey vehicles C include route planning units 141-C 1 to 141-CN and road information investigation units 142-C 1 to 142. -Equipped with CN.

  In addition, the route planning unit 141-C1 to 141-CN and the road information investigation unit 142-C1 to 142-CN included in the on-vehicle devices 14-C1 to 14-CN mounted on each of the plurality of survey vehicles C1 to CN. Each has a similar configuration. For this reason, when it is not necessary to distinguish each of them, the route planning unit 141 and the road information investigation unit 142 will be described collectively. On the other hand, when each is distinguished and demonstrated, the code | symbol which shows a survey vehicle is attached | subjected and distinguished and demonstrated. Also, here, three survey vehicles C1 to C3 will be described as an example of the plurality of survey vehicles C1 to CN.

  The route planning unit 141 is a functional unit that plans a survey travel route for surveying a survey point SP that the self-study vehicle C takes charge of.

  For example, when an occupant drives and travels the survey vehicle C, the route planning unit 141 plans a survey travel route for surveying the survey point SP in charge, and travels according to the planned survey travel route. Execute a process to urge the driver to drive the vehicle. In detail, the information indicating the survey travel route from the survey area assignment / route determination unit 126 is received, and processing for prompting an occupant driving the survey vehicle C to travel along the survey travel route is executed. It is preferable that the survey area sharing and route determination unit 126 include a navigation system that displays the current position and the surrounding map of the survey vehicle C using a GPS (Global Positioning System) and presents it to the occupant. By displaying the survey travel route together with this navigation system, the occupant driving the survey vehicle C can confirm the current position of the self-survey vehicle C, the surrounding environment while traveling, and the survey travel route.

  In addition, when the survey vehicle C is automatically run by providing a support device (not shown) for supporting the driving of the survey vehicle C, the route planning unit 141 plans a survey travel route for surveying the survey point SP in charge, and plans Driving the vehicle according to the survey travel route is performed by a support device (not shown). In detail, the information indicating the survey travel route from the survey area sharing / route determination unit 126 is received, and processing of outputting traveling according to the survey travel route is executed to a support device (not shown).

  The road information investigation unit 142 is a functional unit that investigates a survey point SP that the self-study vehicle C is in charge of. That is, when the self-survey vehicle C reaches the investigation point SP that the self-examination vehicle C takes charge of, the road information investigation unit 142 photographs the investigation point SP, and relates to the image information and the photographed image indicating the photographed image Relevant information is acquired as survey data. Then, the road information investigation unit 142 outputs the acquired investigation data to the investigation data storage unit 125 included in the vehicle route generation device 12. For example, the road information investigation unit 142 sets each of the imaging position P, the imaging information J, and the imaging time t as the related information related to the captured image to the image information that is image data indicating the captured image I obtained by capturing the survey location SP. A data set associated with data is output as survey data.

  The vehicle route generation device 12 illustrated in FIG. 1 can be realized by a configuration including a computer that executes a process of generating a survey travel route of the survey vehicle C whose survey point SP is surveyed.

FIG. 5 shows an example in which the vehicle route generation device 12 is realized by a configuration including a computer 12X.
As shown in FIG. 5, the computer 12X includes a central processing unit (CPU) 12A, a random access memory (RAM) 12B, a read only memory (ROM) 12C, and an input / output interface (I / O) 12D via a bus 12E. The I / O 12D is connected to a communication unit 12F and a storage unit 12G such as a hard disk drive.

  The ROM 12C stores an information processing program 12P related to a process of generating a survey travel route of the survey vehicle C to be executed by the computer 12X. The CPU 12A reads the information processing program 12P from the ROM 12C and develops the information processing program 12P on the RAM 12B, and executes processing by the information processing program 12P. When the CPU 12A executes the processing by the information processing program 12P, the computer 12X operates as an execution device that executes the processing in the vehicle route generation device 12. The information processing program 12P includes a process for realizing various functions for generating the survey travel route of the survey vehicle C (details will be described later). The information processing program 12P may be provided by a recording medium such as a CD-ROM.

  Next, the operation of the computer 12X operating as the vehicle route generation device 12 will be described. In the computer 12X, each of the processes shown in FIGS. 6 to 9 included in the information processing program 12P is executed.

  FIG. 6 shows an example of the flow of processing by the traffic data storage process included in the information processing program 12P executed by the computer 12X. In the computer 12X, the traffic data storage process shown in FIG. 6 included in the information processing program 12P is read from the ROM 12C and expanded on the RAM 12B, and the CPU 12A executes the traffic data storage process expanded on the RAM 12B.

  In step S100, traffic data acquisition processing is performed. In step S100, information including vehicle information and roadside information is acquired as traffic data. The process of step S100 is an example of a process of acquiring information including the vehicle information collected by the vehicle information collection unit 121 shown in FIG. 1 and the roadside information collected by the roadside information collection unit 122. In the next step S102, processing for storing the traffic data acquired in step S100 in a database is executed.

  The process shown in FIG. 6 is an example of the operation of the traffic data storage unit 123 shown in FIG. That is, when the computer 12X executes the process shown in FIG. 6, the computer 12X operates as the traffic data storage unit 123 shown in FIG.

  FIG. 7 shows an example of the process flow of the investigation data storage process included in the information processing program 12P executed by the computer 12X. In the computer 12X, the investigation data accumulation process shown in FIG. 7 included in the information processing program 12P is read from the ROM 12C and expanded on the RAM 12B, and the CPU 12A executes the investigation data accumulation process expanded on the RAM 12B.

  In step S110, road image data acquisition processing is performed. In step S110, the survey vehicle C travels the survey travel route and acquires survey data which is information on a survey result obtained by surveying a survey point. In this step S110, for example, in the road image data showing the photographed image I of the road where the investigation site SP is photographed as the image information showing the photographed image of the road, the photographing position P as photographing related information related to the photographed image of the road A data set in which each data of J and shooting time t is associated is acquired from the on-board unit 14 mounted on the survey vehicle C.

  In the next step S112, an evaluation value R indicating the importance of the road image data acquired in step S110 is calculated. In the next step S114, processing of storing the correspondence relationship in which the photographed image of the road is associated with the degree of importance in the database of the storage unit 12G is executed. That is, the importance is associated with the road image data and stored as a record of the database in the storage unit 12G. The process shown in FIG. 7 is an example of the operation of the survey data storage unit 125 shown in FIG. That is, as the computer 12X executes the process shown in FIG. 7, the computer 12X operates as the survey data storage unit 125 shown in FIG.

  FIG. 8 shows an example of the process flow of the information extraction process included in the information processing program 12P executed by the computer 12X. In the computer 12X, the information extraction process shown in FIG. 8 included in the information processing program 12P is read from the ROM 12C and expanded on the RAM 12B, and the CPU 12A executes the information extraction process expanded on the RAM 12B.

  In step S120, processing for acquiring information indicating a preset investigation purpose is executed. In the next step S122, processing is performed to extract and output information according to the investigation purpose of the information acquired in step S120. In this step S122, the traffic data corresponding to the investigation purpose of the information acquired in step S120 is extracted from the traffic data accumulated in the traffic data accumulation process. Further, relevant survey data is extracted from survey data accumulated in the survey data storage process. Then, the extracted traffic data and survey data are output. The process of outputting the extracted traffic data and survey data corresponds to storing a record of the traffic data and the survey data corresponding to the survey purpose in the database of the storage unit 12G.

  The process illustrated in FIG. 8 is an example of the operation of the information extraction unit 124 illustrated in FIG. That is, when the computer 12X executes the process shown in FIG. 8, the computer 12X operates as the information extracting unit 124 shown in FIG.

  FIG. 9 shows an example of the process flow of the path determination process included in the information processing program 12P executed by the computer 12X. In the computer 12X, the path determination process shown in FIG. 9 is read from the ROM 12C and expanded on the RAM 12B, and the CPU 12A executes the path determination process expanded on the RAM 12B.

  In step S130, a process of weighting each of the survey points SP corresponding to the survey purpose is executed. That is, each of the survey points SP is weighted by the evaluation value R corresponding to M (16 in the example shown in FIG. 2) survey points SP in the survey target area AR. In the next step S132, the survey target area AR is divided into divided regions each including the survey point SP, and a process of classifying each survey vehicle C is performed (see FIG. 3). In step S132, first, the survey target area AR is divided into divided areas AR01 to AR16 each including a survey point SP, and weighted Voronoi divided by the evaluation value R associated with each survey point SP. Next, the divided divided areas AR01 to AR16 are classified for each survey vehicle C. Thus, investigation areas AR-C1 to AR-C3 which each of the three investigation vehicles C1 to C3 takes charge of are determined (see FIG. 3).

  In the next step S134, a process of determining the survey travel route for each survey vehicle C is executed. That is, the survey travel route for each survey vehicle C is determined by deriving each of the survey travel routes that determine how each of the three survey vehicles C1 to C3 patrols the survey point SP (FIG. 4). reference). This step S134 includes processing for transmitting each of the determined survey travel routes to each of the three survey vehicles C1 to C3. That is, in step S134, information indicating the survey travel route is transmitted to each of the three survey vehicles C1 to C3 by outputting each of the information indicating the determined survey travel route to the communication unit 12F.

  The process illustrated in FIG. 9 is an example of the operation of the research area sharing / path determination unit 126 illustrated in FIG. 1. That is, when the computer 12X executes the process shown in FIG. 9, the computer 12X operates as the survey area sharing / path determination unit 126 shown in FIG.

  On the other hand, the vehicle-mounted device 14 mounted on the survey vehicle C shown in FIG. 1 also executes processing for acquiring and outputting survey data of the survey point SP that the self-survey vehicle C is in charge in the same manner as the vehicle route generation device 12 It can be realized by a configuration including a computer.

FIG. 10 shows an example in which the vehicle-mounted device 14 is realized by a configuration including the computer 14X.
As shown in FIG. 10, the computer 14X includes a central processing unit (CPU) 14A, a random access memory (RAM) 14B, a read only memory (ROM) 14C, and an input / output interface (I / O) 14D via a bus 14E. Are connected to each other. Further, to the I / O 14D, a communication unit 14F, a sensor 14G for investigating a road surface condition of a road and a surrounding structure condition, and a navigation system 14H are connected. As the sensor 14G, in the case of a survey vehicle which investigates each of the road surface condition or the surrounding structure condition alone, a sensor which investigates either the road surface condition or the surrounding structure condition can be used. As an example of the sensor 14G, a camera that captures an image of the survey point SP and outputs image data, a GPS that outputs the position of the self-survey vehicle C at the time of shooting, and the camera status at the time of shooting such as shooting range and shooting direction Sensor, and a timer that outputs the time of shooting.

  The ROM 14C stores a survey program 14P related to a process of outputting survey data indicating a result of survey by a survey vehicle C to be executed by the computer 14X. The CPU 14A reads the survey program 14P from the ROM 14C and expands it on the RAM 14B, and executes the processing by the survey program 14P. When the CPU 14A executes the processing by the survey program 14P, the computer 14X operates as an execution device that executes the processing in the on-vehicle unit 14. The survey program 14P may be provided by a recording medium such as a CD-ROM.

  Next, the operation of the computer 14X operating as the onboard unit 14 will be described. In the computer 14X, investigation processing is executed according to the flow of processing of the investigation program 14P.

  FIG. 11 shows an example of the flow of processing by the survey program 14P executed by the computer 14X. In the computer 14X, the investigation program 14P is read from the ROM 14C and expanded on the RAM 14B, and the CPU 14A executes the investigation program 14P expanded on the RAM 14B.

  In step S200, information indicating a survey travel route for surveying a survey point SP which the self-study vehicle C takes charge of is acquired. In this step S200, information indicating the survey travel route output from the vehicle route generation device 12 is acquired via the communication unit 14F. In the next step S202, the survey travel route based on the information acquired in step S200 is set in the self-survey vehicle C. Thus, the survey vehicle C starts traveling according to the survey travel route.

  For example, when the occupant drives and travels the survey vehicle C, information indicating the survey travel route is output to the navigation system 14H such that the survey travel route is displayed on the display unit of the navigation system 14H. When the survey vehicle C is provided with a support device for supporting the driving of the survey vehicle C instead of the navigation system 14H and the survey device C is automatically run by the support device, the information indicating the survey travel route is sent to the support device You can output it. The process of these step S200 and step S202 is an example of the process which plans the investigation driving route which investigates investigation part SP which self investigation vehicle C takes charge of.

  The processes in steps S200 and S202 shown in FIG. 11 are an example of the operation of the route planning unit 141 shown in FIG. That is, as the computer 14X executes the processing of step S200 and step S202 shown in FIG. 11, the computer 14X operates as the route planning unit 141 shown in FIG.

  In the next step S204, it is determined whether or not the position of the survey vehicle C has reached the survey point SP while traveling according to the survey travel route. In step S204, a negative determination is repeated until the position of the survey vehicle C reaches the survey point SP, and when an affirmative determination is made, the process proceeds to step S206.

  In step S206, after the imaging process for imaging the survey point SP in charge of the self-examination vehicle C is performed, the process proceeds to step S208. In step S206, the investigation site SP is photographed, image information indicating the photographed image and the related information related to the photographed image are acquired, and investigation data in which the image information and the related information are associated is generated. In this step S206, the generated survey data is temporarily stored.

  In the next step S208, it is determined whether or not the investigation is completed by determining whether or not the investigation point SP whose photographing processing is not completed remains among the investigation points SP which the self-examination vehicle C takes charge of. If a negative determination is made in step S208, the process returns to step S204, and the photographing process of the investigation portion SP whose photographing process is not completed is executed. On the other hand, when an affirmative determination is made in step S208, the process proceeds to step S210.

  In step S210, the survey data temporarily stored in step S206 is transmitted to the vehicle route generation device 12 via the communication unit 14F.

  In the above, an example of processing for temporarily storing the generated survey data and transmitting the survey data temporarily stored to the vehicle route generation device 12 when the survey is completed has been described. It is not limited to processing. For example, the generated survey data may be sequentially transmitted to the vehicle route generation device 12 via the communication unit 14F.

  Also, in the first embodiment, the case where at least one of the road surface condition and the structure condition is investigated as the condition related to the road has been described, but the condition related to the road is the road surface condition and the structure condition of the road. It is not limited to at least one.

  As described above, according to the first embodiment, when a road is traveled with a general vehicle and a situation related to the road is surveyed, the survey load related to the implementation of the survey is suppressed.

Second Embodiment
Next, a second embodiment will be described. Note that the second embodiment has substantially the same configuration as the first embodiment, so the same reference numerals are given to the same parts and a detailed description will be omitted.

  In the second embodiment, at least one of the change of the survey travel route and the change of the survey point SP which each survey vehicle C is in charge of is performed in accordance with the traffic situation which changes from moment to moment in the survey target area AR.

  For example, so-called congestion may occur in which vehicles stay on at least a part of the road in the survey target area AR. When the road where the traffic congestion is occurring is included in the investigation travel route of a certain investigation vehicle Ci, the investigation load is significantly increased compared to the investigation load when the investigation travel route of a certain investigation vehicle Ci is determined. That is, the time required for all the surveys of the survey points SP included in the survey area AR-Ci classified as in charge of a certain survey vehicle Ci is different from the planned survey time when the survey travel route is determined. It is expected to increase. The increase of the time required for the survey may make it difficult to complete the survey of the survey point SP included in the survey area AR-Ci classified as being in charge of a certain survey vehicle Ci.

  Therefore, in the second embodiment, a traffic congestion prediction area having a high possibility of occurrence of traffic congestion is predicted, and a survey travel route bypassing the traffic congestion prediction area is redetermined.

FIG. 12 shows an example of the configuration of a vehicle route generation device 13 according to the second embodiment.
As shown in FIG. 12, the vehicle route generation device 13 according to the second embodiment adds a traffic congestion occurrence map generation unit 127 and a bypass route generation unit 128 to the configuration of the vehicle route generation device 12 shown in FIG. 1. Configure.

  The congestion occurrence map generation unit 127 and the detour route generation unit 128 are connected to the traffic data storage unit 123, and are configured to receive traffic data.

  The traffic congestion occurrence map generation unit 127 is a functional unit that predicts a traffic congestion prediction area where there is a high possibility of traffic congestion using the input traffic data, and generates a traffic congestion occurrence map including the predicted traffic congestion prediction area. The congestion occurrence map generation unit 127 is connected so as to output information indicating the generated congestion occurrence map to each of the research area sharing / route determination unit 126 and the bypass route generation unit 128.

  The bypass route generation unit 128 is a functional unit that generates a bypass route that bypasses the traffic congestion prediction area predicted by the traffic congestion occurrence map generation unit 127. The bypass route generation unit 128 is connected to output the information indicating the generated bypass route to the investigation area sharing / route determination unit 126.

  The investigation area sharing / path determination unit 126 considers each of the investigation areas of each of the plurality of investigation vehicles C in consideration of the information indicating the congestion occurrence map from the congestion occurrence map generation unit 127 and the detour route from the detour route generation unit 128. And redetermine the survey travel route of each of the plurality of survey vehicles C.

FIG. 13 shows an example of a survey target area AR including a traffic congestion prediction area ARx where there is a high possibility of occurrence of traffic congestion.
In the example illustrated in FIG. 13, the investigation area AR-C2 classified as the person in charge of the investigation vehicle C2 and the investigation area AR-C3 classified as the person in charge of the investigation vehicle C3 are shown. Further, in the example shown in FIG. 13, as the traffic congestion occurrence map generated by the traffic congestion occurrence map generation unit 127, a traffic congestion prediction area ARx exists between the survey point SP13 and the survey point SP14.

  The bypass route generation unit 128 generates a bypass route bypassing the traffic jam prediction area ARx. That is, the bypass route generation unit 128 generates a bypass route excluding the congestion prediction area ARx from the survey travel route. Then, in consideration of the congestion occurrence map by the congestion occurrence map generation unit 127 and the detour route by the detour route generation unit 128, the investigation area sharing / route determination unit 126 shares the respective investigation regions of the plurality of investigation vehicles C. Along with the redetermination, the survey travel route of each of the plurality of survey vehicles C is redetermined.

  In the investigation area sharing / path determination unit 126 according to the second embodiment, another investigation vehicle C having high relevance to the traffic congestion prediction area ARx, for example, only the other investigation vehicle C closest to the traffic congestion prediction area ARx is added It is preferable to re-determine. By doing this, the calculation load in the investigation area sharing / path determination unit 126 is suppressed. For example, in the example illustrated in FIG. 13, the survey area where the survey vehicle C3 in charge of the survey area including the traffic jam prediction area ARx and the survey vehicle C2 closest to the traffic jam prediction area ARx are in charge set to target.

FIG. 14 illustrates an example of the survey area redetermined by the survey area sharing / route determination unit 126 and the survey travel route.
In the example shown in FIG. 14, the divided area AR14 including the investigation point SP14 is from the investigation area AR-C3 classified as the person in charge of the investigation vehicle C3 initially determined to the investigation area AR-C2 in charge of the investigation vehicle C2. The classification has been changed. In addition, as the survey travel route of survey vehicle C3, a route related to survey point SP14 (the dotted line connecting survey points SP13 and SP14 in FIG. 14 and the dotted line linking survey points SP14 and SP15) is excluded, and a new route (figure At 14 an alternate long and short dash line connecting inspection points SP13 and SP15 is determined. The survey travel route of the survey vehicle C2 excludes the route initially determined (the dotted line connecting the survey point SP11 and the integrated center CTR in FIG. 14), and a new route (dashed line connecting the survey points SP11 and SP14 in FIG. 14) And the dashed-dotted line connecting the investigation point SP14 and the integrated center CTR is determined.

The re-determination process performed by the investigation area sharing / path determination unit 126 according to the second embodiment can be realized by executing the path determination process shown in FIG.
FIG. 15 shows an example of the flow of processing by the route determination process included in the information processing program 12P executed by the computer 12X according to the second embodiment. In the computer 12X, the path determination process shown in FIG. 15 is read from the ROM 12C and expanded on the RAM 12B, and the CPU 12A executes the path determination process expanded on the RAM 12B. That is, the process shown in FIG. 15 is an example of the operation of the research area sharing / path determination unit 126 according to the second embodiment, and the computer 12X executes the redetermination process shown in FIG. It operates as the investigation area sharing / path determination unit 126 according to the second embodiment. The CPU 12A periodically executes the re-determination process shown in FIG.

  In step S130A, information indicating each of the congestion occurrence map and the detour route is acquired, and in the next step S130B, at least one of redetermination of sharing of the survey area and redetermination of the survey travel route is performed or not To judge. The process of acquiring the information indicating the traffic jam occurrence map in step S130A is an example of the process of acquiring the information indicating the traffic jam occurrence map generated by the traffic jam occurrence map generation unit 127. Further, the process of acquiring the information indicating the detour path in step S130A is an example of the process of acquiring the information indicating the detour path generated by the detour path generation unit 128. The step S130B makes an affirmative judgment if the traffic congestion prediction area ARx, which is highly likely to cause traffic congestion, exceeds a predetermined threshold value. That is, if the traffic congestion prediction area ARx exceeds a predetermined threshold value, it is determined that there is a region where there is a high possibility that traffic congestion will occur, and redetermination of the sharing of the survey area bypassing the traffic congestion prediction area ARx Move to processing to re-determine the survey travel route. On the other hand, when a negative judgment is carried out by step S130 B, this processing routine is ended.

  If an affirmative determination is made in step S130B, the survey location SP is weighted in step S130, and the survey target area AR is divided into divided regions each including the survey location SP in the next step S132. A classification process is performed (see FIG. 13). In the next step S134, after the process of redetermining the survey travel route for each survey vehicle C is executed, the present processing routine is ended.

  As described above, according to the second embodiment, the survey travel route of the survey vehicle C is compared with the case where the survey travel route for bypassing the road where traffic congestion has occurred is derived and executed, the survey in a plurality of survey vehicles The load can be totally suppressed.

Third Embodiment
Next, a third embodiment will be described. Note that the third embodiment has substantially the same configuration as the first embodiment, so the same reference numerals are given to the same parts and a detailed description will be omitted.

  For example, when changing the survey travel route according to the traffic situation that changes from moment to moment and the change of the survey point SP that each survey vehicle C takes charge of the entire area of the survey target area AR, the vehicle route generation device 12 The amount of operations performed is enormous. Therefore, in the third embodiment, the plurality of survey vehicles C exchange information with each other, update the classification of the survey area that each is in charge of, and update the determined survey travel route, a plurality of survey vehicles C Execute at By this, the calculation in the vehicle route generation system 10 can be efficiently performed.

FIG. 16 illustrates an example of the configuration of each of the on-board units 14-C1 to 14-CN mounted on each of the plurality of survey vehicles C1 to CN in the vehicle route generation system 10 according to the third embodiment.
As shown in FIG. 16, the route planning unit 141 included in the on-board unit 14 mounted on the survey vehicle C according to the third embodiment includes a host vehicle condition detection unit 141A, a plan updating unit 141B, and a communication unit 141C. ing.

  The own vehicle condition detection unit 141A is a functional unit that detects the investigation condition of the own investigation vehicle C. As an example of the information which shows the investigation condition of self-investigation vehicle C, the information which shows the completion region of investigation carried out with self-investigation vehicle C, and the current position of self-investigation vehicle C is mentioned. The detection of the completion area of the investigation performed by the self-examination vehicle C in the own-vehicle situation detection unit 141A counts, for example, the investigation places SP for which the examination such as photographing has been completed, and identifies the divided areas including the counted investigation places SP. Can be detected. Further, the detection of the current position of the self-examination vehicle C can be detected using the detection result from the self-vehicle position detection device such as a navigation system.

  The communication unit 141C is a functional unit that communicates information indicating the survey status of the survey vehicle C with another survey vehicle C. The communication unit 141C can exchange information indicating the investigation status with each other between the self-examination vehicle C and the other investigation vehicle C.

  The plan update unit 141B has the same configuration as the survey area sharing / route determination unit 126 (FIG. 1), and is a functional unit that updates the initial plan for the survey area that the survey vehicle C takes charge of and the survey travel route. That is, the plan update unit 141B uses information indicating the investigation situation of the own investigation vehicle C detected by the own vehicle situation detection unit 141A and information showing the investigation situation of the other investigation vehicle C delivered and received by the communication unit 141C. Then, the investigation area which the investigation vehicle C takes charge of, and the investigation traveling route are redetermined. Investigate the survey area which the other survey vehicle changed by this re-determination is in charge and the survey travel route. As a result, in the other survey vehicle C, the survey area and the survey travel route which the other survey vehicle is in charge can be easily changed and updated.

The processing executed by the onboard unit 14 according to the third embodiment can be realized by execution of the update process shown in FIG.
FIG. 17 shows an example of the flow of processing by the update process included in the investigation program 14P executed by the computer 14X according to the third embodiment. In the computer 14X, the update process shown in FIG. 17 is read from the ROM 14C and expanded on the RAM 14B, and the CPU 14A executes the update process expanded on the RAM 14B. That is, the process shown in FIG. 17 is an example of the operation of the route planning unit 141 according to the third embodiment, and the computer 14X executes the update process shown in FIG. The route planning unit 141 operates as such. The CPU 14A periodically executes the update process shown in FIG.

  In step S220, information indicating the investigation status of the self-examination vehicle C is acquired, and in the next step S222, redetermination of sharing of the investigation area and / or redetermination of the investigation travel route is performed or not To judge. In step S220, the process of acquiring the information indicating the investigation status of the self-examination vehicle C is the completion region of the investigation performed by the self-examination vehicle C detected by the own-vehicle status detection unit 141A, and the current position of the self-examination vehicle C Is an example of processing for acquiring information indicating.

  Further, in step S222, it is determined whether or not resetting is to be performed by determining whether or not the predetermined redetermining condition is met. As an example of the predetermined re-decision condition, the survey status of the self-survey vehicle C indicated by the information acquired in step S220 is compared with the survey plan of the self-survey vehicle C received from the vehicle route generation device 12 There is a condition that it is decided to re-determine when the value exceeds the predetermined threshold value. In addition, as another example of the redetermination condition, there is a condition in which redetermination is to be performed when another investigation vehicle C requests redetermination. If a negative determination is made in step S222, the present processing routine is ended, and if a positive determination is made, the processing proceeds to step S224.

  In step S224, another survey vehicle C redetermining each other is searched as a coordinated vehicle. In this step S224, the communication unit 141C searches for a cooperative vehicle, for example, by searching for another research vehicle C whose research region is adjacent.

  In the next step S226, the survey point SP is weighted with respect to the area obtained by combining the survey area of another survey vehicle and the survey area of the own survey vehicle in the search result of step S224. In this step S226, processing similar to that of step S130 shown in FIG. 15 is performed. In the next step S228, the survey area synthesized in step S226 is divided into divided areas each including the survey point SP, and a process of reclassifying the survey area into the own survey vehicle C and another survey vehicle C is executed. In this step S228, processing similar to that of step S132 shown in FIG. 15 is performed.

  In the next step S230, a process of redetermining the survey travel route of the self-study vehicle C and the other survey vehicle C is executed. In this step S230, processing similar to that of step S134 shown in FIG. 15 is performed. In step S230, a process of redetermining the survey travel route of only the self-survey vehicle C may be executed. In this case, in order to execute the process of redetermining the survey travel route of the other survey vehicle C by the on-board unit 14 of the other survey vehicle C, the information indicating the survey area reclassified to the other survey vehicle C is another survey Transmit to vehicle C. In the next step S232, the current survey travel route is updated with the survey travel route redetermined in step S230.

  As described above, in the third embodiment, compared with the case where the survey travel routes of a plurality of survey vehicles are derived collectively, the survey travel route can be derived by the survey vehicle in which the inter-vehicle communication is performed, and the computation for deriving the survey travel route The load can be reduced.

Fourth Embodiment
Next, a fourth embodiment will be described. 4th Embodiment is an example in the case of reducing the calculation load in investigation vehicles. Note that the fourth embodiment is configured substantially the same as the third embodiment, so the same reference numerals are given to the same parts and a detailed description will be omitted.

In FIG. 18, the survey vehicle C1 is an example of the configuration of each of the on-board units 14-C1 to 14-CN mounted on each of the plurality of survey vehicles C1 to CN in the vehicle route generation system 10 according to the fourth embodiment. An example of a structure of onboard equipment 14-C1 mounted is shown.
As shown in FIG. 18, the route planning unit 141-C1 included in the vehicle-mounted device 14-C1 mounted on the survey vehicle C1 according to the fourth embodiment includes a difference comparison unit 141D-C1.

  In the fourth embodiment, the communication unit 141C communicates with the traffic data storage unit 123 of the vehicle route generation device 12. That is, traffic data in accordance with the ever-changing traffic condition is communicated.

  The difference comparison unit 141D-C1 is a functional unit that derives difference information between the traffic data from the traffic data storage unit 123 and the investigation status of the own investigation vehicle C detected by the own vehicle information detection unit 141A-C1. An example of the difference information includes information indicating a remaining area obtained by subtracting the completion area of the investigation performed by the self-examination vehicle C among the investigation areas which the self-examination vehicle C takes charge of.

  The plan update unit 141B redetermines the investigation region which the investigation vehicle C1 takes charge of and the investigation traveling route for the remaining region derived by the difference comparison unit 141D-C1. By this redetermination, the survey of the remaining area can be carried out according to the ever-changing traffic conditions. Moreover, the calculation load in onboard equipment 14-C1 is suppressed by using difference information.

  As described above, in the fourth embodiment, the calculation load in the on-vehicle device 14 can be suppressed by using the difference information.

  As mentioned above, although it demonstrated using each embodiment, the technical scope of the technique of an indication is not limited to the range as described in the said embodiment. Various changes or modifications can be added to the above-described embodiment without departing from the scope of the invention, and forms to which the changes or improvements are added are also included in the technical scope of the disclosed technology.

10 vehicle route generation system 12 vehicle route generation device 12P information processing program 14 vehicle-mounted device 14P survey program 121 vehicle information collection unit 122 roadside information collection unit 123 traffic data storage unit 124 information extraction unit 125 survey data storage unit 126 survey area allocation and route Decision unit 127 Congestion occurrence map generation unit 128 Detour route generation unit 141 Route planning unit 142 Road information investigation unit AR Investigation target area ARx Congestion prediction area C Investigation vehicle CTR integrated center SP Investigation point

Claims (9)

Survey point information indicating each of a plurality of survey points for surveying the situation related to the road including at least one of the road surface condition of the road in the survey area and the structure status around the road; and traffic in the survey area An acquisition unit that acquires traffic situation information indicating the situation;
A classification unit that classifies at least one survey point among the plurality of survey points for each of a plurality of different survey vehicles based on the survey point information acquired by the acquisition unit;
A determination unit that determines each of the survey travel routes at at least one survey location classified for each of the plurality of survey vehicles based on the survey location information acquired by the acquisition unit and the traffic condition information;
Vehicle route generator equipped with The vehicle route generation device according to claim 1, further comprising: a transmission unit configured to transmit each of the survey travel routes determined by the determination unit to each of the plurality of survey vehicles classified by the classification unit. The vehicle route generation device according to claim 1 or 2, wherein the acquisition unit acquires the traffic condition information from a storage unit that accumulates traffic condition information indicating a past traffic condition in the survey area. When the traffic condition information includes traffic jam information indicating traffic congestion of a specific road, and the specific road is included in the survey travel route, the determination unit determines that the specific road is the survey travel route. Re-determining the survey travel path of the survey vehicle excluding the previous survey points according to the survey travel path of the particular road of the survey vehicle included, and determining the survey travel path of the particular road The vehicle route generation device according to any one of claims 1 to 3, wherein the survey destination according to the survey destination is added to the survey position of the other survey vehicle to redetermine the survey travel route of the other survey vehicle. The acquisition unit further acquires vehicle information indicating the survey completion status of each of the plurality of survey vehicles and the current position,
The vehicle route generation device according to any one of claims 1 to 4, wherein the survey travel route of each of the plurality of survey vehicles is redetermined so that the number of remaining survey points is equal to or less than a threshold. Each of the plurality of survey vehicles is a communication unit for performing inter-vehicle communication of survey completion information indicating the survey completion status of each of the plurality of survey vehicles, and vehicle information indicating the current position, and the determination unit determined by the determination unit Derivation for deriving the survey travel route of the own survey vehicle based on the storage unit for storing each of the survey travel route, the survey information stored in the storage unit, and the vehicle information communicated between the vehicles by the communication unit The vehicle route generation device according to any one of claims 1 to 4, comprising: The communication unit further acquires traffic condition information indicating traffic conditions in the survey area,
The vehicle according to claim 6, wherein the deriving unit derives, based on the traffic condition information and the survey completion information, a survey traveling route of a self-survey vehicle including a survey spot around a current position among remaining survey spots. Path generator. On the computer
A vehicle route generation method including performing processing of each part of the vehicle route generation device according to any one of claims 1 to 7.   A vehicle route generation program for causing a computer to function as each unit of the vehicle route generation device according to any one of claims 1 to 7.