JP2021061047A - Communication device, communication method and communication program - Google Patents

Abstract

To detect a fact that a traffic light stops and to notify another vehicle, etc. of the fact by communication.SOLUTION: A communication device detects a stopped traffic light, namely, the traffic light which is not in operation installed on a road, acquires a position of the traffic light, and transmits position information of the stopped traffic light to an external device. The external device includes, for example, an on-vehicle unit of another vehicle, and a center which centrally manages the information, etc. Thus, the position information of the stopped traffic light detected by one vehicle can be propagated to another vehicle, etc.SELECTED DRAWING: Figure 1

Description

The present invention relates to a method of communicating information indicating the state of a traffic light.

Traffic lights installed on the road may stop due to, for example, a power outage or other cause. Patent Document 1 describes a technique for causing a driver to recognize the existence of an intersection by blinking an LED installed in the vicinity of the traffic light by using the electric power of a storage body when the traffic light at the intersection disappears due to a power failure. doing.

Further, Patent Document 2 predicts the display state of a traffic light in the traveling direction based on the display state of the traffic light acquired by a camera mounted on a moving body or the like, and provides information on the predicted display state of the traffic light and the driver. The method of changing the output form of the notification information to be notified to the driver is described based on the behavior information of.

Japanese Unexamined Patent Publication No. 2013-41507 International Publication WO2008 / 038376 Gazette

However, in the method of Patent Document 1 described above, it is not possible to know that the traffic light is stopped unless the vehicle approaches a position where the traffic light can be visually recognized. Further, Patent Document 2 notifies the driver when the display state of the traffic light changes, but does not disclose the notification when the traffic light is stopped.

As an example of the problem to be solved by the present invention, the above is given as an example. An object of the present invention is to detect that a traffic light is stopped and notify other vehicles or the like by communication.

The invention according to claim is a communication device that moves with a vehicle, is a traffic light related to a road on which the vehicle moves, and a detection means for detecting a stopped traffic light and a traffic light detected by the detection means are stopped. It is characterized by including a first transmission means for transmitting traffic light stop information indicating that the vehicle is operating to a device outside the vehicle.

It is a figure which shows typically the communication method of the traffic light stop information by 1st Example. It is a block diagram which shows the structure of the navigation device mounted on a vehicle. It is a flowchart of information transmission processing. It is a flowchart of information reception processing. A display example of traffic light stop information is shown. It is a figure which shows typically the communication method of the traffic light stop information by 2nd Example.

In one preferred embodiment of the present invention, the communication device that moves with the vehicle is a traffic light related to the road on which the vehicle moves, that is, a detection means for detecting a stopped traffic light and a traffic light detected by the detection means. It includes an acquisition means for acquiring position information, and a first transmission means for transmitting the position information of the stopped traffic light acquired by the acquisition means to a device outside the vehicle.

The above-mentioned communication device detects a stopped traffic light installed on the road, that is, a non-operating traffic light, and acquires the position of the traffic light. Then, the position information of the stopped traffic light is transmitted to the external device. External devices include, for example, on-board units of other vehicles, centers for centralized information management, and the like. As a result, the position information of the stopped traffic light detected by one vehicle can be propagated to other vehicles and the like.

One aspect of the communication device includes a photographing means for capturing an image in front of the vehicle, and the detecting means detects the stopped traffic light based on the image captured by the photographing means. In this aspect, the stopped traffic light can be detected in real time based on the captured image obtained by the photographing means.

In another aspect of the communication device, the first transmitting means captures an image taken by the photographing means of the stopped traffic light when the detecting means detects the stopped traffic light. It is added to the location information and transmitted. In this aspect, a passenger such as another vehicle who has received the position information of the stopped traffic light can know the actual state of the stopped traffic light by looking at the captured image.

In another aspect of the communication device, the first transmitting means transmits the position information of the stopped traffic light to the following vehicle of the vehicle. As a result, the driver of the following vehicle can be careful when passing a stopped traffic light at an intersection, or change the traveling route so as to avoid the intersection.

In another aspect of the communication device, the first transmission means adds the time when the detection means detects the stopped traffic light to the position information of the stopped traffic light and transmits the time. In this aspect, when the position information of a stopped traffic light is received from a plurality of vehicles, the latest information can be specified based on the time information.

In another aspect of the communication device, the receiving means for receiving the position information of the stopped traffic light from an external device and the position indicated by the position information of the stopped traffic light are from the current position of the vehicle. It is provided with a second transmission means for transmitting the position information of the stopped traffic light to a device outside the vehicle when it is within a predetermined range. In this aspect, it is possible to transmit the information only to a vehicle or the like that can effectively utilize the position information of the stopped traffic light, and to prevent the information from propagating endlessly to a distant vehicle or the like that cannot utilize the information.

Another aspect of the above-mentioned communication device is an operation of a receiving means for receiving the position information of the stopped traffic light from an external device and an operation of the traffic light indicated by the position information of the stopped traffic light received by the receiving means. It is provided with a recovery detecting means for detecting the recovery of the above, and a third transmitting means for transmitting the position information of the traffic light whose operation has been recovered to an external device when the recovery of the operation is detected by the recovery detecting means. .. In this aspect, when the vehicle that receives the position information of the stopped traffic light detects that the traffic light has recovered, the position information of the recovered traffic light is transmitted to another vehicle or the like, so that between a plurality of vehicles. You can share the information that the traffic light has recovered.

In another preferred embodiment of the invention, the communication method performed by the communication device moving with the vehicle is a traffic light relating to the road on which the vehicle travels, the detection step of detecting a stopped traffic light, and the detection. It has an acquisition step of acquiring the position information of the traffic light detected by the process, and a first transmission step of transmitting the position information of the stopped traffic light acquired by the acquisition step to a device outside the vehicle. Also by this method, the position information of the stopped traffic light detected by one vehicle can be propagated to other vehicles and the like.

Another preferred embodiment of the present invention is a communication program including a computer and executed by a communication device moving with a vehicle, which is a traffic light related to a road on which the vehicle is moving and detects a stopped traffic light. A detection means, an acquisition means for acquiring the position information of the traffic light detected by the detection means, a first transmission means for transmitting the position information of the stopped traffic light acquired by the acquisition means to an external device of the vehicle, and the like. To make the computer function as. The above-mentioned communication device can be realized by executing this program by a computer. This program can be stored and handled in a storage medium.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[First Example]
(basic action)
FIG. 1 shows a method of communicating traffic light stop information according to the first embodiment. As shown in FIG. 1, the vehicles 1A to 1C include a navigation device 3. Further, the vehicle 1A is equipped with a camera 32 and photographs the scenery in front of the vehicle. Assuming that the traffic light 2 is stopped for some reason, that is, none of the red, green, and yellow lamps of the traffic light is lit, the vehicle 1A is based on the image taken by the camera 32. Detects that is stopped. Then, the vehicle 1A transmits the traffic light stop information indicating that the traffic light is stopped to the surrounding vehicles 1B. The traffic light stop information includes at least the position information of the stopped traffic light, and preferably further includes the time when the vehicle 1A detects that the traffic light is stopped.

The vehicle 1B, which has received the traffic light stop information from the vehicle 1A, notifies the driver that the traffic light 2 is stopped. For example, the navigation device 3 mounted on the vehicle 1B displays a mark indicating a stopped traffic light or the like on a map displayed on the display unit. As a result, the driver of the vehicle 1B can know that the traffic lights existing around the current position are stopped.

Further, the vehicle 1B transmits, that is, transfers the signal stop information received from the vehicle 1A to other vehicles in the vicinity under certain conditions. When the vehicle 1C also receives the traffic light stop information, it displays a mark indicating the stopped traffic light on the map displayed on the display unit of the navigation device 3, and further displays the traffic light stop information in the surrounding area under certain conditions. Send to the vehicle. In this way, the information of the stopped traffic light detected by the vehicle 1A is diffused to other vehicles in the vicinity.

(Navigation device)
FIG. 2 shows the configuration of the navigation device 3 mounted on the vehicles 1A to 1C. As shown in FIG. 2, the navigation device 1 includes an autonomous positioning device 10, a GPS receiver 18, a system controller 20, a camera 32, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, and a voice output unit. 50, the input device 60 is provided.

The system controller 20, the camera 32, the data storage unit 36, the communication interface 37, the display unit 40, the audio output unit 50, and the input device 60 are connected to each other via the bus line 30.

The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is composed of, for example, a piezoelectric element, detects the acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibration gyro, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative orientation data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the wheels of the vehicle.

The GPS receiver 18 receives radio waves 19 that carry downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle (hereinafter, also referred to as "current position") from the latitude and longitude information and the like.

The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.

The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. Then, from these, vehicle speed pulse, acceleration data, relative orientation data, angular velocity data, GPS positioning data, absolute orientation data, and the like are input to the system controller 20.

The CPU 22 controls the entire system controller 20. The ROM 23 has a non-volatile memory (not shown) or the like in which a control program or the like for controlling the system controller 20 is stored. The RAM 24 readablely stores various data such as route data preset by the user via the input device 60, and provides a working area to the CPU 22.

The camera 32 is attached to the front of the vehicle and photographs the scenery in front of the vehicle. The captured image is used for AR (Augmented Reality) display using a live-action image, and is also used for detecting a stopped traffic light.

The data storage unit 36 is composed of, for example, an HDD or the like, and stores various data used for navigation processing such as map data. The communication device 38 performs wireless communication with a server or the like via a network, or performs vehicle-to-vehicle communication with surrounding vehicles. Alternatively, both may be done. The communication device 38 may be a dedicated wireless communication unit built in the navigation device 1, and is a unit that connects to a mobile phone by wire or wirelessly and connects to a network by using the communication function of the mobile phone. There may be.

The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays map data or the like read from the data storage unit 36 by the system controller 20 on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30, and a memory such as VRAM (Video RAM), and can display image information immediately. It includes a buffer memory 42 that is temporarily stored, a display control unit 43 that controls the display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44. .. The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

The audio output unit 50 is a D / A converter 51 that performs D / A (Digital to Analog) conversion of audio digital data transmitted from the data storage unit 36 or the RAM 24 or the like via the bus line 30 under the control of the system controller 20. An amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into audio and outputs it into the vehicle. ..

The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is arranged around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is of the touch panel type, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

In the above configuration, the camera 32 is an example of the photographing means of the present invention, the system controller 20 is an example of the detecting means and the acquiring means of the present invention, and the communication device 38 is an example of the transmitting means and the receiving means of the present invention. is there.

(Information transmission process)
Next, the information transmission process will be described. FIG. 3 is a flowchart of information transmission processing. As shown in FIG. 1, the information transmission process is repeatedly executed at predetermined time intervals by the navigation device 3 of the vehicle 1A, which is an information transmitting vehicle. Specifically, the CPU 22 of the navigation device 3 executes a program prepared in advance.

First, the CPU 22 determines whether or not the vehicle 1A has reached the vicinity of the traffic light (step S11). The position of the traffic light installed on the road is included in the map data stored in the data storage unit 36. Therefore, the CPU 22 acquires the position information of the traffic light existing around the current position of the vehicle 1A from the map data, and determines whether or not the current position of the vehicle 1A has reached within a predetermined distance from the position of the traffic light.

When the vehicle 1A has not reached the vicinity of the traffic light (step S11: No), the process ends. On the other hand, when the vehicle 1A reaches the vicinity of the traffic light (step S11: Yes), the CPU 22 predicts the area including the traffic light in the captured image of the camera 32 (step S12). Specifically, the CPU 22 predicts the area where the traffic light is located in the captured image based on the current position and traveling direction of the vehicle 1A and the map data.

Next, the CPU 22 determines whether or not a traffic light exists in the area in the captured image predicted in step S12 (step S13). Specifically, the CPU 22 determines the presence or absence of a traffic light in the captured image by using a template showing the outer shape of the traffic light prepared in advance. As a method of detecting a traffic light in a captured image, various known image recognition methods can be applied.

If the captured image does not include a traffic light (step S13: No), the process ends. On the other hand, when a traffic light is included in the captured image (step S13: Yes), the CPU 22 determines whether or not any of the three color lamps of red, green, and yellow is lit in the traffic light in the captured image. (Step S14). When none of the three colors is lit (step S14: No), the CPU 22 determines that the traffic light is stopped (step S15). The lighting color of the traffic light changes from moment to moment, and in the case of a signal switching timing or a blinking signal, all the colors may be temporarily turned off. Therefore, in step S14, the CPU 22 has a predetermined time. When none of the lamps of the three colors are continuously lit, it is determined that the traffic light is stopped.

If it is determined that the traffic light is stopped, the CPU 22 transmits the traffic light stop information to another vehicle (step S16). The traffic light stop information includes at least the position information of the traffic light determined to be stopped, and preferably further includes the time determined to be stopped.

On the other hand, in step S14, when it is determined that any one of the three colors of red, green, and yellow is lit (step S14: Yes), the CPU 22 is operating the traffic light, that is, not stopped. (Step S17), and the process is terminated.

As described above, the information transmitting vehicle such as the vehicle 1A in FIG. 1 can detect the stopped traffic light and transmit the traffic light stop information to the surrounding vehicles.

Next, in step S16, a specific method for the information transmitting vehicle such as the vehicle 1A to transmit the traffic light stop information will be described. One method is a so-called broadcast method in which information is simply transmitted from the current position of the information transmitting vehicle to an unspecified number of vehicles within a predetermined distance. In this case, in reality, a vehicle that cannot always effectively utilize the signal stop information, for example, a vehicle traveling on a road different from the road on which the stopped signal exists, or a vehicle traveling on a road on which a stopped signal exists. However, the traffic light stop information will be transmitted to vehicles that do not pass the stopped traffic light because they are driving in the opposite lane, but this does not have a particularly adverse effect on the vehicle and is not a particular problem. It doesn't become.

The other method is a method of transmitting information only to a vehicle that can effectively utilize the signal stop information, mainly a vehicle following the own vehicle. Specifically, for example, a method of transmitting using a communication method that can give directivity to the transmission direction such as optical communication, or preliminary communication with surrounding vehicles to acquire position information, traveling direction information, and the like. , A method is conceivable in which a position within a predetermined distance behind the own vehicle is limited to a vehicle traveling in the same direction as the own vehicle and transmitted.

(Information reception processing)
Next, the information reception process will be described. FIG. 4 is a flowchart of information reception processing. The information reception process is executed by the vehicle navigation device 3 that receives the traffic light stop information transmitted from the information transmitting vehicle, as in the vehicles 1B and 1C shown in FIG. Specifically, the CPU 22 of the navigation device 3 executes a program prepared in advance.

First, the CPU 22 determines whether or not the traffic light stop information has been received from another vehicle (step S21). If the traffic light stop information has not been received (step S21: No), the process ends. On the other hand, when the signal stop information is received (step S21: Yes), the CPU 22 temporarily stores the received signal stop information in the RAM 24 or the like (step S22).

Next, the CPU 22 determines whether or not the position of the stopped traffic light is within the range of the map displayed on the display 44 of the navigation device 3 at that time, based on the received traffic light stop information (step). S23). When the position of the stopped traffic light is within the range of the map being displayed (step S23: Yes), the CPU 22 displays on the map that the traffic light is stopped (step S24). For example, the CPU 22 displays the mark 71 shown in FIG. 5A on the map. At the same time, it may be notified by a voice message or the like. Then, the process proceeds to step S25.

On the other hand, when the position of the stopped traffic light is out of the range of the displayed map (step S23: No), the process proceeds to step S25. Even in this case, since the traffic light stop information 22 is stored in the RAM 24 or the like, the CPU 22 stops the traffic light when the stopped traffic light enters the range of the displayed map due to the subsequent running of the vehicle. Display a mark indicating that the vehicle is inside.

Next, the CPU 22 determines whether or not the stopped traffic light is within a predetermined range from the current position of the vehicle (step S25). This predetermined range is a range in which it is expected that the signal stop information can be effectively used, and is set within a radius of 1 km, for example. When the stopped traffic light is within a predetermined range from the current position (step S25: Yes), the CPU 22 transmits the temporarily stored traffic light stop information to another vehicle (step S26). On the other hand, when the stopped traffic light is out of the predetermined range from the current position (step S25: No), the process ends without transmitting the traffic light stop information to another vehicle. This makes it possible to prevent the traffic light stop information from propagating endlessly and to provide the traffic light stop information only to vehicles existing in the vicinity of the stopped traffic light.

As described above, the traffic light stop information preferably includes the detection time when the stopped traffic light is detected. The received traffic light stop information is temporarily stored in step S22, but the CPU 22 may discard the traffic light stop information when a predetermined time has elapsed from the detection time included in the traffic light stop information.

As described above, since the traffic light stop information is transferred to another vehicle under certain conditions, the traffic light stop information related to the same traffic light once received from one vehicle is also received from the other vehicle. Sometimes. In this case, the CPU 22 compares the detection times included in the plurality of received signal stop information, and if the detection time of the signal stop information received later is newer, transmits the signal stop information to another vehicle. On the other hand, if the signal stop information received later is older, the signal stop information may be discarded without being transmitted to another vehicle. Whether or not the traffic light stop information belongs to the same traffic light can be determined by comparing the position information included in the traffic light stop information. That is, it may be determined that the traffic light stop information having the same position information is for the same traffic light.

In a vehicle that has received traffic light stop information from another vehicle, if the navigation device 3 is executing route guidance and the position of the stopped traffic light indicated by the received traffic light stop information exists on the guidance route, navigation The device 3 may automatically search for a route that bypasses the position of the stopped traffic light. Instead, the navigation device 3 informs the driver that the stopped traffic light is on the current guidance route and asks the driver whether to re-search for a route that bypasses it. You may do so.

(Modification example)
When a vehicle that has received traffic light stop information from another vehicle has already recovered and is in operation when passing through the traffic light, and analyzes the image taken by the camera 32 to detect the return of the traffic light operation. The vehicle may transmit traffic light recovery information to another vehicle indicating that the operation of the traffic light has been restored. The traffic light recovery information includes at least the position information of the traffic light, and preferably includes the time when the recovery of the traffic light is detected. As a result, when the other vehicle receives the traffic light recovery information, it erases the mark indicating that the traffic light is stopped, or notifies the driver of the recovery of the traffic light operation by a voice message. Can be done.

[Second Example]
In the first embodiment, the navigation device 3 of the information transmitting vehicle transmits the signal stop information to other vehicles in the vicinity. Instead, in the second embodiment, the navigation device 3 of the information transmitting vehicle transmits the signal stop information to the center via road-to-vehicle communication, a telephone line, or the like.

FIG. 6 schematically shows a communication method of traffic light stop information in the second embodiment. When the navigation device 3 of the vehicle 1A, which is an information transmitting vehicle, detects a stopped traffic light based on the captured image of the traffic light 2, the traffic light stop information is transmitted to the roadside unit 5 for road-to-vehicle communication. The roadside unit 5 transmits the signal stop information to the center (server) 7. The content of the traffic light stop information includes at least the position information of the stopped traffic light, and preferably further includes the detection time of the stopped traffic light, as in the first embodiment.

The center 7 receives traffic light stop information from a plurality of information transmitting vehicles, and aggregates the position information of the stopped traffic light included in them. The information obtained by the aggregation can be transmitted to, for example, a police station and can be used as information for arranging police officers who perform traffic control.

Further, the center 7 determines, for example, an area within a predetermined range from the stopped traffic light as a distribution area based on the position information of the stopped traffic light, and transmits the traffic light stop information to the roadside unit 5 in the distribution area. .. As shown in FIG. 6, the vehicle 1D traveling in the distribution area can receive the traffic light stop information from the roadside unit 5. As described above, according to the second embodiment, it is possible to transmit the traffic light stop information to the vehicle traveling in a wide range in a short time.

In a vehicle that has received traffic light stop information from the center 7, the navigation device 3 is executing route guidance, and if the position of the stopped traffic light indicated by the received traffic light stop information exists on the guidance route, the navigation device 3 may automatically search for a route that bypasses the position of the stopped traffic light. Instead, the navigation device 3 informs the driver that the stopped traffic light is on the current guidance route and asks the driver whether to re-search for a route that bypasses it. You may do so.

(Modification example)
In the second embodiment, the information transmitting vehicle may transmit the signal stop information including the captured image of the stopped signal. That is, when the information transmitting vehicle detects a stopped traffic light, the information transmitting vehicle includes the image data of the captured image that is the target of the image processing for detection in the traffic light stop information and transmits it to the center 7. This image data shows the actual state of the stopped traffic light.

When transmitting the traffic light stop information to another vehicle 1D in the distribution area, the center 7 attaches information indicating that there is image data of the stopped traffic light. When the navigation device 3 of the other vehicle 1D that has received the signal stop information displays a mark or the like indicating a stopped signal, an icon indicating that there is image data, for example, as illustrated in FIG. 5 (B). By displaying 72, the driver is informed of the existence of the image data.

When the driver wants to see an image of a stopped traffic light in the vehicle 1D that has received the traffic light stop information, the driver performs an operation such as touching the icon to request the center 7 to transmit the image data. The center 7 transmits the image data of the stopped traffic light to the vehicle 1D upon request. The navigation device 3 of the vehicle 1D displays the received image of the stopped traffic light on the display 44. As a result, the driver of another vehicle that has received the traffic light stop information can confirm in advance the actual state of the stopped traffic light and the intersection where the traffic light is located. For example, when the driver sees the received image and determines that the vicinity of the intersection is congested, the driver can change the traveling route so as to avoid the intersection.

In the above example, the center 7 attaches information indicating that there is an image of the stopped traffic light to the traffic light stop information, and transmits the image data when there is a request from another vehicle 1. Instead, when the center 7 receives the traffic light stop information including the image data of the stopped traffic light from the information transmitting vehicle, the center 7 outputs the image data of the stopped traffic light without waiting for a request from another vehicle. The traffic light stop information including the signal stop information may be transmitted.

1 Vehicle 2 Traffic light 3 Navigation device 5 Roadside unit
7 Center 22 CPU
36 Data storage unit 38 Communication device

Claims (1)

A communication device that moves with a vehicle
A detection means for detecting a stopped traffic light, which is a traffic light related to the road on which the vehicle moves.
A first transmission means for transmitting traffic light stop information indicating that the traffic light detected by the detection means is stopped to a device outside the vehicle, and a first transmission means.
A communication device characterized by comprising.

Images