JP2020154369A - Obstacle information management device, obstacle information management method, and obstacle information management program - Google Patents

Abstract

To provide an obstacle information management device, obstacle information management method, and obstacle information management program for correctly obtaining a travel hindrance factor which gives an influence on traveling of a vehicle.SOLUTION: A vehicle travel information acquisition section 42 of an obstacle information management device 200 acquires vehicle travel information including a travel speed and position information of a vehicle. An abnormality determination section 44 determines an abnormality of an operation state of the vehicle based on the vehicle travel information. An image acquisition section 48 acquires an image obtained by imaging the periphery of the vehicle. An obstacle extraction section 50 extracts an obstacle to be a hindrance to traveling of the vehicle from the image. An obstacle information management section 54 manages information related to the abnormality of the operation state and information related to the obstacle in association with the position information.SELECTED DRAWING: Figure 2

Description

The present invention relates to a technique for managing information on obstacles during vehicle traveling.

When driving a car, it is necessary to control the vehicle to move to the shoulder or decelerate in order to avoid collision with obstacles such as oncoming vehicles, parked vehicles on the road, people, bicycles, and telephone poles. Ideally, there should be no obstacles to make driving a car easier and safer. By taking measures to move or remove obstacles on the road, it is expected to realize a motorized society that is more efficient, consumes less energy, is safer, and shortens travel time.

Patent Document 1 discloses an obstacle detection device that prevents false detection of an obstacle. The obstacle detection device described in Patent Document 1 detects an object that has stopped for a predetermined duration as an obstacle, and when the traveling pattern of the vehicle is unnatural, the obstacle to the road administrator. Output a notification to prompt the response of.

Japanese Unexamined Patent Publication No. 2017-33479

When removing obstacles to vehicle driving, conventional investigations of various driving obstacle factors are performed with high accuracy but at high cost, and obstacles are investigated and predicted based on low cost but limited driving obstacle factors. Removal was performed, leading to low-accuracy results.

In the actual road environment, the degree of influence on vehicle running is not constant even with the same obstacle, traffic volume such as vehicles and pedestrians, ratio of large vehicles and commercial vehicles, parking frequency, road width, road slope, curve in curve Factors such as radius are intricately combined to change the degree of influence. For example, a telephone pole is one of the obstacles in driving a car, but the degree of deceleration when passing an oncoming vehicle differs between a straight line and a sharp curve. In addition, even in areas with many utility poles, it is difficult to specifically evaluate how effective the removal of utility poles is when there is heavy traffic and commercial vehicles stop frequently at all times. There was a problem. In addition, in order to derive more accurate evaluation results, it is not possible to sufficiently analyze whether or not there are unknown factors that hinder driving.

The present invention has been made in view of such a situation, and an object of the present invention is to provide an obstacle information management technique capable of more accurately grasping a driving obstacle factor affecting vehicle running.

In order to solve the above problems, the obstacle information management device (200) according to an aspect of the present invention includes a vehicle travel information acquisition unit (42) that acquires vehicle travel information including vehicle travel speed and position information, and the above. An abnormality determination unit (44) that determines an abnormality in the driving condition of the vehicle based on vehicle traveling information, an image acquisition unit (48) that acquires an image of the surroundings of the vehicle, and the vehicle from the image. An obstacle extraction unit (50) that extracts obstacles that hinder the driving of the vehicle, and an obstacle information management unit (54) that manages information on the abnormality of the driving situation and information on the obstacle in association with the position information. ) And.

Another aspect of the present invention is an obstacle information management method. This method includes a vehicle traveling information acquisition step of acquiring vehicle traveling information including vehicle traveling speed and position information, an abnormality determination step of determining an abnormality in the driving condition of the vehicle from the vehicle traveling information, and the vehicle. An image acquisition step of acquiring an image of the surroundings of the vehicle, an obstacle extraction step of extracting an obstacle that hinders the running of the vehicle from the image, information on the abnormality of the driving situation, and information on the obstacle. It is provided with an obstacle information management step for managing the vehicle in association with the location information.

It should be noted that any combination of the above components and the conversion of the expression of the present invention between methods, devices, systems, recording media, computer programs and the like are also effective as aspects of the present invention.

According to the present invention, it is possible to more accurately grasp the driving obstacle factors that affect the running of the vehicle.

It is a block diagram of the traveling information management device which concerns on embodiment. It is a block diagram of the obstacle information management apparatus which concerns on embodiment. It is a flowchart explaining the obstacle information management procedure by the obstacle information management apparatus of FIG.

The vehicle traveling support system of the embodiment includes a traveling information management device 100 provided in a plurality of vehicles and an obstacle information management device 200 provided in a server. The travel information management device 100 on the vehicle side and the obstacle information management device 200 on the server side can exchange data with each other by wireless communication, and manage the vehicle travel information and the road obstacle information in association with each other. An IoT (Internet of Things) system is constructed. The obstacle information management device 200 may be configured as a device for a vehicle instead of a server.

FIG. 1 is a configuration diagram of a travel information management device 100 according to an embodiment. The travel information management device 100 is a mobile phone or mobile terminal used as a part of a function of a vehicle device such as a car navigation system or a drive recorder mounted on a vehicle, or brought into a vehicle by a vehicle driver or a passenger. Implemented as part of the functionality of.

The position information acquisition unit 10 acquires the position information of the vehicle from a position information sensor such as GPS (Global Positioning System). The vehicle speed acquisition unit 12 acquires the traveling speed and acceleration of the vehicle from a vehicle speed sensor, an acceleration sensor, or an in-vehicle network such as CAN (Controller Area Network). The vehicle speed acquisition unit 12 may calculate the traveling speed and acceleration of the vehicle from the change in the position information acquired by the position information acquisition unit 10. The driving operation acquisition unit 14 acquires driving operation information such as accelerator operation, brake operation, and steering wheel operation. Accelerator operation information and brake operation information can be acquired from the stroke sensor, and steering wheel operation information can be acquired from the steering sensor and the like. The communication unit 20 transmits vehicle traveling information including vehicle position information, vehicle traveling speed or acceleration to the obstacle information management device 200. The communication unit 20 may transmit vehicle traveling information including vehicle position information and driving operation information to the obstacle information management device 200.

The image acquisition unit 16 acquires an image of the surroundings of the vehicle taken by the camera. A plurality of cameras may be provided in the vehicle, and the image acquisition unit 16 may acquire an image of the entire surroundings including images of the front, side, and rear of the vehicle. The captured vehicle surrounding image is encoded by a coding unit (not shown). When the communication unit 20 receives an abnormality signal notifying the abnormality of the driving situation from the obstacle information management device 200, the communication unit 20 transmits the coded data of the vehicle surrounding image to the obstacle information management device 200. The image acquisition unit 16 constantly transmits the coded data of the vehicle surrounding image to the obstacle information management device 200, and the obstacle information management device 200 performs image processing in response to an abnormality signal notifying the abnormality of the driving situation. You may.

In addition to transmitting the various information described above to the obstacle information management device 200, the communication unit 20 acquires obstacle information from the obstacle information management device 200. The notification unit 18 notifies the driver and passengers by displaying obstacle information on a display or outputting it by voice.

The travel information management device 100 recalculates the estimated time to arrive at the destination by using the obstacle information acquired from the obstacle information management device 200 according to the position information of the vehicle and the route information to the destination. , Can propose a route to avoid obstacles.

FIG. 2 is a configuration diagram of the obstacle information management device 200 according to the embodiment. The obstacle information management device 200 is implemented as part of the function of a server capable of communicating with the vehicle. The server can communicate with a plurality of vehicles, and the obstacle information management device 200 acquires vehicle traveling information and a vehicle surrounding image from one vehicle, extracts the obstacle information, and transmits the obstacle information to another vehicle. You can also do it.

The vehicle travel information acquisition unit 42 acquires vehicle travel information received from the travel information management device 100 by the communication unit 40. Vehicle traveling information includes vehicle position information and / or driving speed information and / or driving operation information of the vehicle. The vehicle travel information acquisition unit 42 records the vehicle travel information of each vehicle as a travel history in the vehicle travel information recording unit 62.

The abnormality determination unit 44 determines the abnormality of the driving condition of the vehicle based on the vehicle travel information acquired by the vehicle travel information acquisition unit 42. For example, when it is determined from the vehicle traveling speed that the vehicle has been decelerated or accelerated by a predetermined threshold value or more, the abnormality determination unit 44 determines that the driving condition of the vehicle is abnormal. Deceleration or acceleration above a predetermined threshold means that the vehicle speed has been decelerated or accelerated to a predetermined value such as 20 km / h or more in a predetermined period, for example, 2 seconds, or sudden braking or sudden start is performed by an acceleration sensor. It means that the acceleration (deceleration) above the determined predetermined value is detected. When it is determined from the driving operation information that the accelerator operation amount, the brake operation amount, or the steering wheel operation amount is equal to or larger than a predetermined threshold value, the abnormality determination unit 44 determines that the driving condition of the vehicle is abnormal. The anomaly determination unit 44 may determine that the driving condition of the vehicle is abnormal due to the lighting of the hazard lamp, the stoppage of the vehicle, the reverse behavior, and the like. The abnormality determination unit 44 may determine the abnormality of the driving situation such as when avoiding a parked vehicle on the road by the combination of the steering wheel operation amount and the deceleration / acceleration. The predetermined threshold value can be set differently depending on the driver of the vehicle, and the accuracy of the abnormality judgment can be improved by making a setting that reflects the driver's driving operation habits and avoids excessively judging the abnormality. Can be enhanced.

Further, the abnormality determination unit 44 refers to the vehicle travel information during normal travel of the vehicle recorded as the travel history in the vehicle travel information recording unit 62, and the current vehicle travel information acquired by the vehicle travel information acquisition unit 42. Is different from the vehicle traveling information during normal traveling by exceeding a predetermined threshold value, it is determined that the driving condition of the vehicle is abnormal. For example, when the traveling speed exceeds the acceleration or deceleration during normal traveling, the abnormality determination unit 44 determines that the driving condition is abnormal. Further, although the accelerator operation, the brake operation, and the steering wheel operation differ depending on the driver, when the driving operation exceeds the operation amount during normal driving, the abnormality determination unit 44 determines that the driving condition is abnormal.

When the abnormality determination unit 44 determines that the driving condition is abnormal, the communication unit 40 transmits an abnormality signal to the traveling information management device 100. When the travel information management device 100 receives the abnormality signal from the obstacle information management device 200, the travel information management device 100 transmits the vehicle surrounding image acquired by the image acquisition unit 16 to the obstacle information management device 200. Only when the abnormality determination unit 44 determines that the driving condition is abnormal, the driving information management device 100 transmits the vehicle surrounding image to the obstacle information management device 200, thereby suppressing the processing amount and the communication amount to save power. can do.

The image acquisition unit 48 acquires the coded data of the vehicle surrounding image received from the travel information management device 100 by the communication unit 40. The encoded data of the vehicle surrounding image is decoded by the decoding unit (not shown) and recorded in the image recording unit 64.

The sign detection unit 46 detects signs related to vehicle travel, such as traffic signals and road signs, with reference to the vehicle surrounding image recorded in the image recording unit 64. When the sign related to vehicle running is detected, the sign detecting unit 46 does not determine the abnormality of the driving condition of the vehicle to the abnormality determining unit 44 within a predetermined period after the sign related to vehicle running is detected. Instruct. The predetermined period is set according to the type of sign. For example, in the case of a traffic signal, the interval at which the color of the signal changes is often determined by the location and time zone of the signal, so the time interval at which the color of the signal changes may be set as a predetermined time. If it is a stop sign or a speed limit sign, the time required to pass a place with the sign, for example, 5 m before and after the stop sign may be set as a predetermined period. As a result, it is possible to avoid erroneously determining a situation in which the vehicle must stop or decelerate due to a traffic signal, a stop sign, a speed limit sign, or the like as an abnormality in the driving situation. ..

The obstacle extraction unit 50 extracts obstacles that hinder the running of the vehicle from the vehicle surrounding image recorded in the image recording unit 64 by using an image recognition technique such as pattern matching. Obstacles that hinder driving include, for example, vehicles parked on the street, telephone poles, oncoming vehicles, pedestrians, bicycles, puddles in the rain, road construction sites, falling objects, landslides, and the like. The obstacle extraction unit 50 includes a dictionary for pattern matching, and extracts these obstacles by collating the vehicle surrounding image recorded in the image recording unit 64 with the dictionary. The type of obstacle to be extracted differs depending on the type of the pattern matching dictionary of the obstacle extraction unit 50. Further, the obstacle extraction unit 50 determines that when the extracted obstacle is extracted in a predetermined area on the image, for example, an area other than the upper part and the left and right ends of the image, it hinders the running of the vehicle. ..

The travel locus prediction unit 52 receives vehicle travel information from the vehicle travel information acquisition unit 42, and predicts the vehicle travel prediction locus on the vehicle surrounding image based on the vehicle travel information. For example, the trajectory of the vehicle can be predicted on the image based on information such as the vehicle's traveling speed, traveling direction, and steering wheel operation amount. For example, when the amount of steering wheel operation is zero, the traveling locus prediction unit 52 determines that the vehicle is going straight, and predicts a predetermined central portion of the vehicle surrounding image of the front of the vehicle as the traveling locus of the vehicle. At this time, since the predetermined portion of the image differs depending on the vehicle width of the vehicle, the angle of view of the image, and the mounting angle of the camera provided on the vehicle, it is preferable to set it for each vehicle. The traveling locus prediction unit 52 also determines that the vehicle travels to the right or left depending on the amount of steering wheel operation, and predicts a predetermined portion on the image according to the amount of steering wheel operation as the trajectory on which the vehicle travels. The traveling locus prediction unit 52 may predict a predetermined distance as the moving range of the vehicle from the traveling speed, or may predict the traveling direction of the vehicle from the transition of the position information. The traveling locus prediction unit 52 instructs the obstacle extraction unit 50 to extract an object on or near the traveling prediction locus as an obstacle that hinders the traveling of the vehicle. As a result, for example, even if a vehicle parked on the road, a pedestrian, a bicycle, etc. is extracted from the vehicle surrounding image, if it is not on or near the travel prediction trajectory, it does not hinder the travel, so it is mistakenly regarded as an obstacle. It can be prevented from being extracted.

The obstacle information management unit 54 receives information on the abnormality of the driving situation from the abnormality determination unit 44, receives information on the obstacle from the obstacle extraction unit 50, and receives vehicle position information from the vehicle traveling information acquisition unit 42. The obstacle information management unit 54 generates obstacle information by associating information on abnormalities in driving conditions and information on obstacles with vehicle position information, and records and manages the obstacle information in the obstacle information recording unit 60. In other words, when the obstacle information management unit 54 indicates that the driving condition is abnormal, the obstacle information management unit 54 records the abnormality of the driving condition, the generated position information, and the extracted obstacle information in association with each other. And manage. The extracted obstacle information is information on factors that cause abnormal driving conditions, such as information on vehicles parked on the street, telephone poles, and pedestrians. By using these obstacle information as labeled obstacle information instead of an image, the recording capacity of the obstacle information recording unit 60 can be suppressed. The communication unit 40 transmits the obstacle information generated by the obstacle information management unit 54 to the travel information management device 100.

Here, the information regarding the abnormality of the driving situation is, for example, abnormal driving information such as deceleration and sudden braking, and the information regarding obstacles is, for example, information on the types of obstacles such as road parked vehicles and pedestrians that cause driving obstacles. It is also information on driving obstacles that are presumed to be difficult to pass by oncoming vehicles and group attendance of students. By accumulating such information, it is possible to generate map information that maps obstacles that hinder the running of the vehicle.

The date / time information acquisition unit 56 acquires the date / time information when the abnormality of the driving situation is determined and gives it to the obstacle information management unit 54. The weather information acquisition unit 58 acquires the weather information when the abnormality of the driving condition is determined and gives it to the obstacle information management unit 54. The obstacle information management unit 54 may further associate the obstacle information with the date and time information and the weather information, record the information in the obstacle information recording unit 60, and manage the information.

For example, on the school road, a group of students and other people may walk off the road and hinder driving when going to and from school, but by associating obstacle information with date and time information, it is possible to set a specific time zone. It becomes possible to provide the possibility that a group of people is walking as obstacle information to a vehicle passing through a school road. In other words, the occurrence of abnormalities in driving conditions such as deceleration of the vehicle, the location information where it occurred, the date and time information where it occurred, and the obstacle information called "group of people", which is the cause, were mapped in association with each other. Map information can be provided. Also, in rainy weather, a puddle may occur in a specific place on the road, which may hinder driving. However, by associating the obstacle information with the weather information, in the case of specific weather such as rainy weather, a specific place where a puddle occurs It is possible to provide obstacle information as to the possibility that a passing vehicle has a puddle in advance.

The obstacle information management unit 54 obtains obstacle information on the route to the current position or destination of each vehicle from the obstacle information recording unit 60 based on the position information of each vehicle acquired by the vehicle traveling information acquisition unit 42. Search for. The communication unit 40 transmits the obstacle information searched by the obstacle information management unit 54 to the traveling information management device 100 of each vehicle. To alert or warn the driver of another vehicle who is unaware of the presence of the obstacle, as it can provide information about obstacles encountered by one vehicle to another vehicle passing through the same location. Can be done.

In addition, the obstacle information accumulated in the obstacle information recording unit 60 can be provided to the road manager and used for the road infrastructure development plan. Based on the obstacle information accumulated in the obstacle information recording unit 60, the road manager identifies obstacles that are obstacles to the running of the vehicle and utilizes them in the infrastructure development plan. The road manager can recognize, for example, obstacle information that causes the deceleration of the vehicle frequently, for example, the presence of a specific telephone pole. In addition, it is possible to recognize detailed information such as which telephone poles often hinder the running of the vehicle and which telegraph poles often do not hinder the running of the vehicle.

FIG. 3 is a flowchart illustrating an obstacle information management procedure by the obstacle information management device 200 of the present embodiment.

The vehicle travel information acquisition unit 42 receives vehicle travel information from the travel information management device 100 of each vehicle (S10).

The sign detection unit 46 determines whether or not there is a sign related to vehicle running in the vehicle surrounding image already recorded in the image recording unit 64 (S12). When the sign is detected (Y in S12), the elapse of the predetermined period is waited (S14), and after the elapse of the predetermined period, the process returns to step S10. If no sign is detected (N in S12), the process proceeds to step S16. In this way, when the sign is detected by the sign detection unit 46, the abnormality determination unit 44 does not determine the abnormality of the driving condition within a predetermined period. The sign detection unit 46 is not an essential component of the obstacle information management device 200, and may proceed to step S16 after receiving vehicle travel information in step S10.

The abnormality determination unit 44 determines the abnormality of the driving situation based on the vehicle travel information received from the travel information management device 100 (S16). If the abnormality of the driving condition is not determined (N in S18), the process returns to step S10. When the abnormality of the driving condition is determined (Y in S18), the process proceeds to step S20.

The image acquisition unit 48 receives the vehicle surrounding image from the travel information management device 100 and records it in the image recording unit 64 (S20).

The travel locus prediction unit 52 predicts the travel prediction locus of the vehicle on the vehicle surrounding image based on the received vehicle travel information (S22). The traveling locus prediction unit 52 is not an essential component of the obstacle information management device 200, and may proceed to step S24 after receiving the vehicle surrounding image in step S20.

The obstacle extraction unit 50 extracts an object on the travel prediction trajectory or within a predetermined region of the image from the vehicle surrounding image as an obstacle that hinders the vehicle's travel (S24).

The obstacle information management unit 54 generates obstacle information in which information on abnormalities in driving conditions and information on obstacles that cause driving obstacles are associated with vehicle position information, and stores and manages the information in the obstacle information recording unit 60. (S26).

The obstacle information management unit 54 notifies the driver of the vehicle that has encountered the obstacle by transmitting the generated obstacle information to the travel information management device 100, and also on the travel route of each vehicle. Obstacle information is searched from the obstacle information recording unit 60 and transmitted to the traveling information management device 100 of each vehicle to provide obstacle information to drivers of other vehicles in advance (S28).

As described above, according to the obstacle information management device 200 of the present embodiment, the vehicle surrounding image taken from each vehicle at the position where the position information, the vehicle speed information, the driving operation information, and the abnormality of the driving situation are determined. Can be obtained, and the anomaly of the driving situation and the obstacle recognized from the image can be linked and managed as obstacle information, and the obstacle information can be provided to the driver and the manager.

By analyzing the obstacle information, the manager who is provided with the obstacle information can grasp the more accurate obstacle removal effect in advance, and implement more efficient and low-cost road infrastructure development. can do. For example, when undergrounding an electric wire to eliminate utility poles, it is possible to specifically evaluate the traffic improvement effect when the electric wire is buried and to estimate the appearance when the electric wire is buried from the acquired image. In addition, since it is possible to infer from the image whether it is easy to secure a replacement place for infrastructure such as electric wires and transformers attached to utility poles, the advantages and disadvantages of undergrounding electric wires in which multiple factors are complicatedly involved. Will be able to grasp more concretely and intuitively.

In addition, obstacle information extracted as a factor that causes abnormal driving conditions can be used for infrastructure development such as road expansion work and no telephone poles, and the extracted obstacle information can be used for each vehicle as driving obstacle factor information for each road. By notifying, it is possible to support smooth driving.

The present invention has been described above based on the embodiments. Embodiments are examples, and it is understood by those skilled in the art that various modifications are possible for each of these components and combinations of each processing process, and that such modifications are also within the scope of the present invention. ..

At least a part of the functions of the obstacle information management device 200 can be provided in the vehicle travel information management device 100. For example, when an abnormality determination unit 44 is provided in the travel information management device 100 and the travel information management device 100 determines an abnormality in the driving situation, the travel information management device 100 sends the vehicle travel information to the obstacle information management device 200. It may be configured to transmit a vehicle surrounding image. When at least a part of the functions of the obstacle information management device 200 is provided in the vehicle traveling information management device 100 in this way, the information communicated by the communication unit 20 is appropriately changed, or some functions of the communication unit are omitted. To.

The function of the obstacle information management device 200 may be mounted on the vehicle. At this time, the obstacle information management device 200 includes a vehicle traveling information acquisition unit 42 including a position information acquisition unit 10 and a vehicle speed acquisition unit 12, an abnormality determination unit 44, and an image acquisition unit 16. The image acquisition unit 48, the obstacle extraction unit 50, and the obstacle information management unit 54 are included. The above-mentioned functions such as the driving operation acquisition unit 14 and the sign detection unit 46 may be further included.

The voice of the driver of the vehicle is included in the vehicle travel information and transmitted from the travel information management device 100 to the obstacle information management device 200, and the abnormality determination unit 44 of the obstacle information management device 200 says "telephone pole (telephone pole) is jammed". You may determine the anomaly of the driving situation by analyzing the driver's utterances such as "not yet", "dangerous", and "crash!". Biological information such as the driver's heart rate and the driver's face image may be included in the vehicle driving information. The abnormality determination unit 44 can estimate the degree of tension of the driver based on the driver's biological information and the facial image, and determine the abnormality of the driving situation.

The functional configuration of each device described in the embodiment can be realized by hardware resources or software resources, or by collaboration between hardware resources and software resources. Processors, ROMs, RAMs, and other LSIs can be used as hardware resources. Programs such as operating systems and applications can be used as software resources.

10 Position information acquisition unit, 12 Vehicle speed acquisition unit, 14 Driving operation acquisition unit, 16 Image acquisition unit, 18 Notification unit, 20 Communication unit, 40 Communication unit, 42 Vehicle travel information acquisition unit, 44 Abnormality determination unit, 46 Marker Detection unit, 48 image acquisition unit, 50 obstacle extraction unit, 52 travel locus prediction unit, 54 obstacle information management unit, 56 date and time information acquisition unit, 58 weather information acquisition unit, 60 obstacle information recording unit, 62 vehicle travel information Recording unit, 64 image recording unit, 100 driving information management device, 200 obstacle information management device.

Claims (9)

A vehicle travel information acquisition unit that acquires vehicle travel information including vehicle travel speed and position information,
An abnormality determination unit that determines an abnormality in the driving condition of the vehicle based on the vehicle traveling information,
An image acquisition unit that acquires an image of the surroundings of the vehicle,
An obstacle extraction unit that extracts obstacles that hinder the running of the vehicle from the image,
An obstacle information management device comprising: an obstacle information management unit that manages information on anomalies in operating conditions and information on obstacles in association with the position information. The claim is characterized in that the abnormality determination unit determines that the driving condition of the vehicle is abnormal when deceleration or acceleration equal to or higher than the threshold value of the vehicle is detected from the vehicle travel information within a predetermined period. Item 1. Obstacle information management device according to item 1. The vehicle traveling information further includes driving operation information including at least one of an accelerator operation amount, a brake operation amount, and a steering wheel operation amount of the vehicle.
When at least one of the accelerator operation amount, the brake operation amount, and the steering wheel operation amount equal to or higher than the threshold value of the vehicle is detected from the driving operation information, the abnormality determination unit determines that the driving condition of the vehicle is abnormal. The obstacle information management device according to claim 1, wherein the obstacle information management device is provided. Further provided with a vehicle travel information recording unit that records the vehicle travel information during normal travel of the vehicle as a travel history.
In the abnormality determination unit, the vehicle travel information during normal driving recorded in the vehicle travel information recording unit and the vehicle travel information acquired by the vehicle travel information acquisition unit exceed a predetermined threshold value. The obstacle information management device according to claim 1, wherein if they are different, it is determined that the driving condition of the vehicle is abnormal. It also has at least one of the date and time information acquisition unit for acquiring date and time information and the weather information acquisition unit for acquiring weather information.
The obstacle information management unit is characterized in that it manages information on the abnormality of the driving situation and information on the obstacle in association with at least one of the date and time information and the weather information in addition to the position information. The obstacle information management device according to any one of claims 1 to 4. A traveling locus prediction unit for predicting the traveling locus of the vehicle on the image is further provided.
The obstacle extraction unit according to any one of claims 1 to 5, wherein the obstacle extraction unit extracts an object on or near the predicted traveling locus as an obstacle that hinders the traveling of the vehicle. Obstacle information management device. A sign detection unit for detecting a sign related to vehicle running from the image is further provided.
The obstacle information according to any one of claims 1 to 6, wherein the abnormality determination unit does not determine an abnormality in the driving condition of the vehicle within a predetermined period after the sign is detected. Management device. A vehicle travel information acquisition step for acquiring vehicle travel information including vehicle travel speed and position information,
An abnormality determination step for determining an abnormality in the driving condition of the vehicle from the vehicle traveling information,
An image acquisition step of acquiring an image of the surroundings of the vehicle, and
An obstacle extraction step of extracting an obstacle that hinders the running of the vehicle from the image,
An obstacle information management method comprising: an obstacle information management step for managing information on anomalies in operating conditions and information on obstacles in association with location information. A vehicle travel information acquisition step for acquiring vehicle travel information including vehicle travel speed and position information,
An abnormality determination step for determining an abnormality in the driving condition of the vehicle from the vehicle traveling information,
An image acquisition step of acquiring an image of the surroundings of the vehicle, and
An obstacle extraction step of extracting an obstacle that hinders the running of the vehicle from the image,
An obstacle information management program comprising causing a computer to execute an obstacle information management step of managing information on anomalies in operating conditions and information on obstacles in association with location information.

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