JP2020052909A - Provision device and provision method - Google Patents

Abstract

An object of the present invention is to provide a provision device and a provision method capable of detecting weather with high precision and alerting the surroundings. A provision device according to an embodiment includes an acquisition unit, a determination unit, and a provision unit. The acquisition unit acquires detection results of a plurality of sensors that detect surrounding conditions. The determination unit determines weather conditions based on the detection results of the plurality of sensors acquired by the acquisition unit. The providing unit provides the weather condition information regarding the weather conditions determined by the determining unit to the outside. [Selection drawing] Fig. 2

Description

  The present invention relates to a providing device and a providing method.

  2. Description of the Related Art Conventionally, there is a technique of detecting a surrounding situation such as a target with a sensor, executing vehicle control based on the detection result, or notifying a driver of the detected target. Examples of the above sensors include cameras, radars and lidars (LiDAR: Laser Imaging Detection and Ranging).

JP 2017-159789 A

  By the way, in the above-mentioned sensor, there is a possibility that the accuracy of the detection result is reduced due to the influence of the weather. Further, it is not easy for a driver of a vehicle not equipped with the above-mentioned sensor to immediately respond to such a sudden change when the weather suddenly changes.

  The present invention has been made in view of the above, and an object of the present invention is to provide a providing device and a providing method capable of detecting weather with high accuracy and calling attention to the surroundings.

  In order to solve the above-described problem and achieve the object, a providing device according to the present invention includes a sensor detection result obtaining unit, a weather condition determining unit, and a providing unit. The sensor detection result obtaining unit obtains detection results of a plurality of sensors that detect a surrounding situation. The weather condition determination unit determines a weather condition based on the detection results of the plurality of sensors acquired by the sensor detection result acquisition unit. The providing unit provides weather condition information, which is information on the weather condition determined by the weather condition determining unit, to the outside.

  ADVANTAGE OF THE INVENTION According to this invention, while detecting a weather with high precision, it can call attention around.

FIG. 1 is a diagram illustrating an outline of a providing method according to the embodiment. FIG. 2 is a block diagram illustrating a configuration of a vehicle including the providing device according to the embodiment. FIG. 3 is a diagram illustrating an example of the weight information. FIG. 4 is a diagram illustrating the details of processing of weather detection using white line detection by the determination unit. FIG. 5 is a flowchart illustrating a processing procedure of processing performed by the providing apparatus according to the embodiment.

  Hereinafter, an embodiment of a providing device and a providing method disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited by this embodiment.

  First, an outline of a providing method according to the embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating an outline of a providing method according to the embodiment. In FIG. 1, the providing device 1 according to the embodiment is mounted on a vehicle C, and executes the providing method according to the embodiment. The mounting target of the providing device 1 is not limited to a vehicle, and may be another mobile object such as a motorcycle, a bicycle, a ship, an aircraft, or the like. Alternatively, the providing device 1 may be mounted not only on a moving object but also on a stationary object such as a streetlight or a roadside object (guardrail, traffic signal, or the like).

  Further, the vehicle C is provided with a target detection device (not shown) that detects a target present in the surroundings by integrating detection results of a plurality of sensors that detect the surrounding situation. The plurality of sensors include, for example, a camera, radar, and LiDAR (Laser Imaging Detection and Ranging).

  In FIG. 1, a providing method in which the providing device 1 according to the embodiment detects a heavy fog generated in front of the vehicle C and provides weather condition information, which is information of alerting the detected heavy fog, to the outside will be described. .

  Specifically, the providing device 1 according to the embodiment first obtains the detection results of the plurality of sensors described above (Step S1). Subsequently, the providing device 1 determines a weather condition occurring around the vehicle C based on the obtained detection results of the plurality of sensors (step S2).

  Here, the weather refers to bad weather such as dense fog, rain, and snow. In other words, the weather detected by the providing device 1 is weather that reduces the accuracy of the detection result of the above-described sensor. The weather may be distinguished between day and night. That is, the providing device 1 may determine a weather condition in which the rainy weather is subdivided into daytime and nighttime, such as daytime rain and nighttime rain.

  As described above, the providing device 1 according to the embodiment originally determines the weather condition using the detection result of the sensor used for detecting the target. Note that a detailed weather condition determination method will be described later.

  Subsequently, the providing device 1 according to the embodiment provides the weather condition information regarding the determined weather condition to the road management terminal (road management server SV) handled by the road manager or the in-vehicle device mounted on the surrounding vehicle OC1 (step). S3-1, S3-2).

  Specifically, the providing device 1 according to the embodiment provides a road management terminal that manages a road on which the vehicle C travels, for example, information indicating a weather condition such as a weather code, the position and the current time of the vehicle C, and the like. Is provided (step S2-1).

  Thus, for example, the road manager can display an alert such as “Be careful of dense fog!” On an electronic bulletin board installed behind the vehicle C. Then, since the driver of the surrounding vehicle OC2 behind the vehicle can see in advance the preparation for the dense fog, the driver can respond to the generated dense fog without any confusion.

  Further, the providing device 1 according to the embodiment changes the weight given to the detection result of each of the plurality of sensors used by the above-described target detection device according to the determined weather, and the surroundings that travel behind the vehicle C. For the target detecting device of the vehicle OC1, the weather condition information (deletion at the time of application * including the information on the weight (hereinafter, sometimes referred to as weight information) including the information on the weight) (red underline is omitted below). Provided (step S2-2).

  Accordingly, for example, in the target detection device mounted on the surrounding vehicle OC1, the weight of the detection result of each of the plurality of sensors can be changed according to the weather. For example, in the case of dense fog, the weight of the detection result of the camera is reduced, and the weight of the detection result of the radar device is increased. Therefore, even when the surrounding vehicle OC1 enters the dense fog, the target can be detected by giving the optimum weight according to the dense fog, so that the accuracy of the target detection is prevented from being reduced by the dense fog. be able to.

  When the surrounding vehicle OC1 does not include the target detection device, the providing device 1 according to the embodiment may provide weather condition information indicating occurrence of dense fog to the navigation device or the like of the surrounding vehicle OC1 instead of the weight information. Can also. Thus, the driver of the peripheral vehicle OC1 can prepare for the dense fog in advance, and can cope with the generated dense fog without being confused.

  As described above, in the providing method according to the embodiment, the weather condition is determined using the detection results of the plurality of sensors, and the weather condition information is provided to the outside. Therefore, according to the providing method according to the embodiment, the weather can be detected with high accuracy, and the surroundings can be alerted.

  Next, the configuration of the providing device 1 according to the embodiment will be described in detail with reference to FIG. FIG. 2 is a block diagram illustrating a configuration of a vehicle C including the providing device 1 according to the embodiment. As illustrated in FIG. 2, the vehicle C according to the embodiment includes a providing device 1 and a target detection device 100. The providing device 1 and the target detecting device 100 are communicably connected by a predetermined in-vehicle network, and can transmit and receive information to and from each other. Note that FIG. 2 shows a case where the target detection device 100 and the providing device 1 are configured separately, but the target detection device 100 and the providing device 1 are integrally configured as one device. Is also good.

  The target detection device 100 includes a camera 10, a radar device 11, and a LiDAR 12, which are a plurality of sensors. The camera 10 is an imaging device that captures an external situation of the vehicle C. The camera 10 is provided on, for example, a windshield of the vehicle C and captures an image of the front of the vehicle C. The camera 10 may be provided at a position where the left and right side surfaces of the vehicle C are imaged and at a position where the camera C is imaged behind. The target detection device 100 detects a target existing around the vehicle C by analyzing the image of the camera 10.

  The radar device 11 detects a target around the vehicle C using radio waves such as millimeter waves. Specifically, the radar device 11 detects a target by transmitting radio waves to the vicinity of the vehicle C and receiving a reflected wave reflected by the target.

  The LiDAR 12 detects a target around the vehicle C using the laser light. Specifically, the LiDAR 12 transmits the laser light to the vicinity of the vehicle C, and detects the target by receiving the light reflected by the target.

  The target detection device 100 detects the final target by integrating the detection results of the camera 10, the radar device 11, and the LiDAR 12. Specifically, the target detection device 100 detects a final target based on a result obtained by adding a predetermined weight to the detection result of each sensor. Note that the weight is provided by the providing device 1, and the details will be described later.

  The providing device 1 according to the embodiment includes a control unit 2 and a storage unit 3. The control unit 2 includes an acquisition unit 20 (an example of a sensor detection result acquisition unit), a determination unit 21 (an example of a weather condition determination unit), a determination unit 22, and a providing unit 23. The storage unit 3 stores the weight information 31.

  Here, the providing device 1 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a data flash, an input / output port, and various circuits.

  The CPU of the computer functions as the acquisition unit 20, the determination unit 21, the determination unit 22, and the provision unit 23 of the control unit 2 by reading and executing a program stored in the ROM, for example.

  In addition, at least one or all of the acquisition unit 20, the determination unit 21, the determination unit 22, and the provision unit 23 of the control unit 2 are implemented by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). It can also be configured.

  The storage unit 3 corresponds to, for example, a RAM or a data flash. The RAM and the data flash can store the weight information 31, information of various programs, and the like. Note that the providing device 1 may acquire the above-described programs and various information via another computer or a portable recording medium connected via a wired or wireless network.

  The weight information 31 is information on the weight used for the target detection processing of the target detection device 100. The weight information 31 includes information on the weight assigned to each of the plurality of sensors. FIG. 3 is a diagram illustrating an example of the weight information 31.

  As shown in FIG. 3, the weight information 31 is associated with items such as “sensor ID”, “sensor name”, and “weight”. “Sensor ID” is identification information for identifying each sensor. “Sensor name” is the name of the sensor. “Weight” is information indicating the weight given to the detection result of the sensor in the target detection process. As the “weight”, a weight determined by the providing unit 23 described below according to the weather is input.

  Note that FIG. 3 illustrates a case in which each sensor is one. However, for example, when a plurality of sensors having the same sensor name are mounted, a sensor ID may be assigned to each sensor. That is, when a plurality of cameras are mounted, a sensor ID and a weight may be assigned to each of the plurality of cameras.

  The control unit 2 determines a weather condition based on detection results of a plurality of sensors (for example, the camera 10, the radar device 11, and the LiDAR 12) that detect a surrounding condition, and outputs weather condition information that is information on the determined weather condition. provide.

  The acquisition unit 20 acquires detection results of a plurality of sensors that detect a surrounding situation. For example, the acquisition unit 20 acquires the detection result from each of the camera 10, the radar device 11, and the LiDAR 12. The detection result may be, for example, information on the target (information on the presence / absence of the target, relative speed, position, etc.) or original data used for target detection such as an image of the camera 10. You may.

  The determination unit 21 (deletion at the time of application * Hereinafter, red underline is omitted) determines the weather condition based on the detection results of the plurality of sensors acquired by the acquisition unit 20. Specifically, the determination unit 21 determines the weather condition based on the detection result of the target detected by each of the plurality of sensors.

  For example, when the target is not detected from the image of the camera 10 and the LiDAR 12 and the target is detected from the radar device 11 for the same target, the determination unit 21 determines that the weather condition is bad weather. I do. In such a case, the determination unit 21 further determines the type of bad weather, for example, based on the attached matter attached to the lens of the camera 10.

  That is, when raindrops adhere to the lens based on the image of the camera 10, the determination unit 21 determines that the bad weather is rain. In addition, when the determination unit 21 detects that the lens of the camera 10 is buried in snow based on the image of the camera 10, the determination unit 21 determines that the bad weather is snow. Then, the determination unit 21 determines that the bad weather is dense fog when no attached matter is attached to the lens or when mist-like water droplets are attached.

  When the same target is detected by each of the camera 10, the radar device 11, and the LiDAR 12, the determination unit 21 determines that the weather is fine. As described above, by determining the weather condition based on the detection result of the target, the weather can be detected with high accuracy.

  In addition, the determination unit 21 can determine the weather condition based on a detection result of a marking line that separates a road on which the vehicle C travels, such as a white line, as a target. This will be described with reference to FIG.

  FIG. 4 is a diagram showing the processing content of the weather situation determination using the white line detection by the determination unit 21. FIG. 4 shows a solid lane marking L that divides the left and right sides of the road on which the vehicle C travels straight (the steering angle is substantially zero). The dividing line L is not limited to a solid line, and may be an intermittent dividing line such as a broken line. Further, the division line L may be a white line or a yellow line. In FIG. 4, it is assumed that the degree of deterioration of the white lines (or yellow lines) of the division lines L is equal, and the fading and dirt of the division lines L are the same.

  The presence of the lane marking L is determined by image recognition processing based on the detection data of each sensor, lane marking position determination processing based on the map data (lane marking data included in the map data) of the navigation device, and the vehicle position data. it can.

  As illustrated in FIG. 4, the determination unit 21 first obtains a detection result of the division line L detected by each of the plurality of sensors. Subsequently, the determination unit 21 determines the weather condition based on the lane marking L detected by each of the plurality of sensors.

  Specifically, as illustrated in FIG. 4, the determination unit 21 determines, for each of the plurality of sensors, a demarcation line L existing at a long distance that is a predetermined distance or more from the vehicle C, and a near line L that is less than a predetermined distance from the vehicle C The weather is detected based on the result of comparing the detection result with the lane marking L existing at a distance.

  For example, the determination unit 21 detects only the short-distance lane L for the camera 10 and the LiDAR 12, or the detection accuracy of the long-distance lane L is significantly lower than a predetermined threshold value. If both the short and long distance lane markings L are detected, it is determined that the weather condition is dense fog. This is a determination method utilizing the fact that the visibility at a long distance decreases when dense fog occurs. By such a determination method, dense fog can be accurately determined.

  The detection accuracy of the lane marking L is determined by the continuity of the edge (part where the contrast changes rapidly (part of the image at the object boundary)) obtained by the image processing of the lane marking (the length of the edge straight line at the lane marking existing position) : In the case of a lane marking on a straight road, a high accuracy results in a long straight line, and a low accuracy results in a finely divided straight line) and changes in edge intensity (contrast intensity) (in the case of a lane marking on a straight road, high accuracy) And a straight line having a high edge strength and a stable line, and a low accuracy results in an unstable straight line having a low edge strength).

  In addition, for example, the determination unit 21 recognizes that the recognition accuracy of the long-distance lane L is lower than the recognition accuracy of the short-distance lane L for the camera 10 and the LiDAR 12, while the short distance and the long distance for the radar device 11 are both low. When the recognition accuracy of the lane marking L is substantially the same, it is determined that the weather condition is rain. This is a determination method using the fact that, when it is raining, it is not possible to detect a long-distance lane L as in the case of dense fog, and the long-distance lane L can be detected to some extent. By such a determination method, rain can be detected with high accuracy.

  Further, for example, when the lane markings L at both the short distance and the long distance are not detected for the camera 10 and the lane markings L both at the short distance and the long distance are detected for the radar device 11 and the LiDAR 12, the determination unit 21 may determine whether the weather The situation is determined to be sunny and backlit, or night. It should be noted that it is possible to determine whether it is sunny backlight or night by acquiring time information. This is a determination method using the fact that the image of the camera 10 becomes a white or black image in a backlight or at night and a target cannot be detected. Thereby, it is possible to accurately detect fine backlight and night.

  Such weather determination can be realized by processing using a table indicating the relationship between the output state of each sensor and the weather, and the type of weather determination depends on the type of weather information to be provided and the processing device using the weather information. And set it.

  Note that, for example, in the case of night, the light of the vehicle C is turned on in the night, so it is preferable to execute the above-described determination method in consideration of the influence of the light. In this way, by comparing the detection results of the plurality of sensors with the detection results of the short-distance lane L and the long-distance lane L, it is possible to accurately determine the weather condition.

  Further, in FIG. 4, the detection result of the division line L is divided into two types (short distance and long distance) and compared. However, the detection result is divided into predetermined distances, that is, the detection result is divided into three or more types and compared. Good.

  Returning to FIG. 2, the determining unit 22 will be described. The determining unit 22 determines the weight to be assigned to each of the plurality of sensors in the target detection process of the target detection device 100 based on the weather condition determined by the determination unit 21.

  For example, when the determination unit 21 determines that the dense fog is determined, the determination unit 22 sets the weight of the detection result of the camera 10 and the LiDAR 12 in the target detection process to be smaller than the weight of the detection result of the radar device 11. Thus, when dense fog occurs, target detection processing is performed with emphasis on the detection result of the radar device 11 over the detection results of the camera 10 and the LiDAR 12, so that it is possible to prevent the detection accuracy of the target from deteriorating.

  Further, when rain or snow is determined by the determination unit 21, the determination unit 22 makes the weight of the detection result of the camera 10 and the LiDAR 12 lighter than the weight of the detection result of the radar device 11. Thus, when rain or snow occurs, the target detection processing is performed with more emphasis on the detection result of the radar device 11 than the detection results of the camera 10 and the LiDAR 12, so that the detection accuracy of the target can be prevented from being reduced.

  The determination unit 22 stores the information on the determined weight of each sensor as the weight information 31 in the storage unit 3 and outputs the information on the weight to the providing unit 23.

  The providing unit 23 provides the weather condition information related to the weather condition detected by the determination unit 21 to the outside.

  For example, the providing unit 23 provides the weather situation information to the surrounding vehicle OC1 existing around the vehicle C. Specifically, the providing unit 23 provides the weather condition information to the peripheral vehicle OC1 that is going to pass the position where the vehicle C is present (the bad weather occurrence position).

  In addition, it is preferable that the content of the weather condition information in such a case is changed depending on whether or not the surrounding vehicle OC1 is equipped with the target detection device 101. Specifically, when the surrounding vehicle OC1 is equipped with the target detection device 101, the providing unit 23 provides the surrounding vehicle OC1 with weather condition information including the weight information 31 determined by the determining unit 22.

  Thus, the target detection device 101 of the surrounding vehicle OC1 can change the setting in advance to a weight corresponding to the dense fog, so that the detection accuracy of the target when the dense fog enters can be prevented from lowering.

  Note that the providing unit 23 is not limited to providing the weight information 31 to the surrounding vehicle OC1, but may provide the detection result of each sensor when bad weather is detected as it is as weather condition information. In such a case, the target detection device 101 of the surrounding vehicle OC1 can determine the weight to be assigned to each of its own sensors based on the detection result of each sensor included in the weather condition information.

  On the other hand, when the surrounding vehicle OC1 is not equipped with the target detection device 101, the providing unit 23 sets the weather condition information including the type of weather (for example, heavy fog, rain, snow, and the like), the position of the vehicle C, the current time, and the like. I will provide a. Thus, the driver of the surrounding vehicle OC1 that has received the weather condition information can prepare for bad weather in advance, and can cope with the occurrence of bad weather without being perplexed.

  In addition, the providing unit 23 may provide the weather condition information to a road management terminal (road management server SV) handled by a road manager who manages the road on which the vehicle C runs, in addition to the surrounding vehicle OC1. Specifically, the providing unit 23 provides weather condition information including the type of weather (for example, dense fog, rain, snow, and the like), the position of the vehicle C, the current time, and the like. Thus, for example, the road manager can display an alert for bad weather on an electronic bulletin board or the like installed behind the vehicle C.

  Next, a processing procedure of a process executed by the providing device 1 according to the embodiment will be described with reference to FIG. FIG. 5 is a flowchart illustrating a processing procedure of a process executed by the providing device 1 according to the embodiment.

  As shown in FIG. 5, first, the acquisition unit 20 acquires detection results of a plurality of sensors that detect a surrounding situation from the target detection device 100 (Step S101). Subsequently, the determination unit 21 determines the weather condition based on the obtained detection result (Step S102).

  Subsequently, the providing unit 23 determines whether the weather condition determined by the determining unit 21 is bad weather (Step S103). When the weather condition determined by the determination unit 21 is bad weather (Step S103, Yes), the providing unit 23 determines whether to provide the weather condition information to the surrounding vehicle OC1 (Step S104).

  When providing the weather condition information to the surrounding vehicle OC1 (Step S104, Yes), the providing unit 23 provides the weather condition information including the weight information 31 regarding the weight of each sensor determined by the determining unit 22 to the surrounding vehicle OC1. (Step S105). Next, the providing unit 23 provides the road management server SV with weather condition information including the type of weather, the position of the vehicle C, the current time, and the like (step S106), and ends the process.

  On the other hand, in step S103, the providing unit 23 does not provide the weather condition information to the outside when the weather condition determined by the determination unit 21 is not bad weather (No in step S103), that is, when the weather is fine. , And the process ends.

  Further, in step S104, when the providing unit 23 does not provide the weather condition information to the surrounding vehicle OC1 (step S104, No), the process proceeds to step S106.

  As described above, the providing device 1 according to the embodiment includes the obtaining unit 20, the determining unit 21, and the providing unit 23. The acquisition unit 20 acquires detection results of a plurality of sensors that detect a surrounding situation. The determination unit 21 determines the weather condition based on the detection results of the plurality of sensors acquired by the acquisition unit 20. The providing unit 23 provides weather condition information regarding the weather condition determined by the determining unit 21 to the outside. As a result, the weather can be detected with high accuracy, and the surroundings can be alerted.

  Further effects and modifications can be easily derived by those skilled in the art. For this reason, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Provision apparatus 2 Control part 3 Storage part 10 Camera 11 Radar apparatus 12 LiDAR
Reference Signs List 20 acquisition unit 21 determination unit 22 determination unit 23 providing unit 31 weight information 100, 101 target detection device C vehicle L division line OC1, OC2 peripheral vehicles

Claims (7)

A sensor detection result acquisition unit that acquires detection results of a plurality of sensors that detect a surrounding situation,
A weather condition determination unit that determines a weather condition based on the detection results of the plurality of sensors acquired by the sensor detection result acquisition unit,
A providing unit that externally provides weather condition information that is information on the weather condition determined by the weather condition determining unit. The plurality of sensors,
A sensor that detects a target existing in the vicinity,
The weather condition determination unit includes:
The providing device according to claim 1, wherein the weather condition is determined based on a detection result of the target detected by each of the plurality of sensors. A providing device mounted on a vehicle,
The plurality of sensors,
The lane marking that separates the road on which the vehicle travels is detected as a target,
The weather condition determination unit includes:
The providing device according to claim 2, wherein a weather condition is determined based on a lane marking detected by each of the plurality of sensors. The weather condition determination unit includes:
For each of the plurality of sensors, based on a result of comparing the detection result of the lane marking present at a long distance that is equal to or greater than the predetermined distance from the vehicle and the lane marking present at a short distance that is less than the predetermined distance. The providing device according to claim 3, wherein a weather condition is determined. The providing unit,
The provision device according to claim 3 or 4, wherein weather information is provided to an in-vehicle device mounted on a peripheral vehicle existing around the vehicle or a road management terminal that manages a road on which the vehicle runs. The providing unit,
The providing device according to claim 5, wherein weather condition information including weight information relating to a weight given to a detection result of each sensor is provided to a surrounding vehicle. A sensor detection result acquisition step of acquiring detection results of a plurality of sensors for detecting a surrounding situation,
A weather condition determination step of determining a weather condition based on the detection results of the plurality of sensors acquired by the sensor detection result acquisition step,
Providing a weather condition information, which is information on the weather condition determined in the weather condition determination step, to the outside.

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