JP2021124920A - Road property estimation device and road property estimation method - Google Patents

Abstract

To provide a road property estimation device capable of easily estimating whether or not a road includes a rut, a gentle depression, or the like.SOLUTION: A road property estimation device 10 includes: for example, an acquisition unit 20 for acquiring actual travel information indicating a current travel state of a vehicle, position information indicating a current position of the vehicle, and weather information of an area in which the vehicle is present; a detection unit 22a for detecting presence or absence of a water pool of a road on which the vehicle travels based on comparison results between reference travel information indicating the travel state of the vehicle on a road surface where there is no water pool and the actual travel information and weather information; an estimation unit 22b for estimating road properties of the road where a water pool is formed based on a distribution mode of position information corresponding to the actual travel information when a water pool is detected on the road; and an output unit 22c for outputting property information including the road properties.SELECTED DRAWING: Figure 1

Description

An embodiment of the present invention relates to a road property estimation device and a road property estimation method.

Conventionally, a technique has been proposed in which an abnormality caused by an excessive input detected through a tire when a vehicle is running is quickly detected to prevent damage to a drive system or the like (for example, Patent Document 1). .. In this case, the excessive input detected through the tire is caused by, for example, the tire colliding with the unevenness of the road when the tire passes through the unevenness of the road. In this case, the property of the road can be estimated by utilizing the fact that the wheel speed fluctuates with a threshold value of a certain value or more at the time of a collision. For example, when the wheel speed fluctuates by a certain threshold value or more, it can be estimated that the road has unevenness of a certain level or more.

Japanese Unexamined Patent Publication No. 2011-217516

As described above, in the estimation of road properties using the fact that the tire collides with the unevenness of the road surface and the wheel speed fluctuates, it is necessary that the traveling direction of the tire and the changing direction of the unevenness intersect. For example, in the case of a dent extending in the same direction as the tire traveling direction such as a rut, it is considered that a change in unevenness intersecting with the tire traveling direction is unlikely to occur, so that a remarkable change in wheel speed may not be detected. As a result, although there is a dent on the road, it is difficult to estimate the existence of the dent as a road property. Further, when the dent of the road changes gently (when the dent is formed with a gentle slope), the change of the unevenness intersecting with the traveling direction of the tire is slight, and the wheel speed also fluctuates significantly. Is unlikely to occur. In this case as well, although there is a dent on the road, it is difficult to estimate the existence of the dent as a road property.

Therefore, one of the problems of the present invention is to provide a road property estimation device capable of easily estimating whether or not a road contains ruts, gentle dents, and the like.

The road property estimation device according to the embodiment of the present invention includes, for example, actual traveling information indicating the current traveling state of the vehicle, position information indicating the current position of the vehicle, and weather information in the area where the vehicle exists. Based on the comparison result of the reference driving information indicating the driving state of the vehicle on the road surface where there is no puddle, the actual driving information, and the weather information, the presence or absence of a puddle on the road on which the vehicle travels. And an estimation unit that estimates the road properties of the road on which the puddle is formed, based on the distribution mode of the position information corresponding to the actual driving information when a puddle is detected on the road. , An output unit that outputs property information including the above-mentioned road properties. According to this configuration, for example, even if there is no unevenness on the road that collides with the tire, if there is a dent on the road and a puddle is generated, the running state of the vehicle when passing through the puddle (actual running state). ) Changes. For example, slow down. Then, the dented state of the road, that is, the property of the road can be estimated based on the distribution mode of the position information when a puddle is detected on the road. By considering the weather information, it becomes easy to determine whether or not the change in the actual running state of the vehicle is due to rainfall, and the estimation accuracy can be improved.

In the estimation unit of the road property estimation device according to the embodiment of the present invention, for example, when the continuity of the distribution of the position information indicating the position of the water pool along the road is equal to or more than a predetermined distance, the road property is defined as the road. If the continuity of the distribution of the position information along the road is less than the predetermined distance, it is presumed that the road has a dent having a size less than the predetermined distance as the road property. May be good. According to this configuration, for example, the road properties can be estimated in more detail.

The estimation unit of the road property estimation device according to the embodiment of the present invention may estimate the road property based on, for example, the detection results of a puddle in a plurality of vehicles. According to this configuration, the accuracy of road property estimation can be improved.

The output unit of the road property estimation device according to the embodiment of the present invention may, for example, accumulate the property information in a storage unit to construct a road property database. According to this configuration, for example, the output unit may upload the property information sequentially or intermittently by the communication means, or may upload the property information to the storage unit using a storage medium or the like at a predetermined timing. good. Based on the road property data berth constructed by being uploaded to the storage unit, for example, it is possible to provide road repair information, repair information, caution information when passing through the road, and the like.

The road property estimation method according to the embodiment of the present invention includes, for example, actual traveling information indicating the current traveling state of the vehicle, position information indicating the current position of the vehicle, weather information in an area where the vehicle exists, and the like. Based on the acquisition step of acquiring A detection step for detecting a puddle and an estimation step for estimating the road properties of the road on which the puddle is formed based on the distribution mode of the position information corresponding to the actual driving information when a puddle is detected on the road. , An output step for outputting property information including the road property, and the like. According to this configuration, for example, the dented state of the road, that is, the property of the road can be estimated based on the distribution mode of the position information when a puddle is detected on the road. By considering the weather information, it becomes easy to determine whether or not the change in the actual running state (actual running state) of the vehicle is due to rainfall, and the estimation accuracy can be improved.

FIG. 1 is an exemplary and schematic configuration diagram illustrating a configuration of a road property management system connected via a network including a road property estimation device according to an embodiment. FIG. 2 is an exemplary and schematic explanatory view showing a road on which a rut is formed as a road property that can be an estimation target of the road property estimation device according to the embodiment. FIG. 3 is an exemplary and schematic explanatory view showing a road in which a gentle dent is formed as a road property that can be an estimation target of the road property estimation device according to the embodiment. FIG. 4 is an exemplary and schematic diagram showing the relationship between the acceleration of the vehicle and the accelerator operation amount, which can be used as one of the methods for detecting a puddle on the road in the road property estimation device according to the embodiment. FIG. 5 is an exemplary and schematic diagram showing a distribution mode of the position information in the case of estimating the rut as the road property based on the position information in which the puddle is detected in the road property estimation device according to the embodiment. FIG. 6 is an exemplary and schematic diagram showing a distribution mode of the position information when the road property estimation device according to the embodiment estimates a gentle dent as the road property based on the position information in which a puddle is detected. be. FIG. 7 is an exemplary flowchart illustrating a road property estimation process in the road property estimation device according to the embodiment.

Hereinafter, exemplary embodiments of the present invention will be disclosed. The configurations of the embodiments shown below, as well as the actions, results, and effects produced by such configurations, are examples. The present invention can be realized by a configuration other than the configurations disclosed in the following embodiments, and at least one of various effects based on the basic configuration and derivative effects can be obtained. ..

The road property estimation device of the present embodiment estimates the road property based on the information acquired while the vehicle is traveling on the road. As the road properties, for example, it is estimated that there are ruts, gentle dents, etc. that do not cause a significant impact when the vehicle (tire) passes through. Normally, the road is prepared to be flat, or to raise the central part in the width direction of the road and to gently incline toward the road side in order to improve drainage. On such a road, "ruts" may be formed along the traveling line of the vehicle due to the repeated traveling of the vehicle. That is, as the tires repeatedly travel in substantially the same position, the asphalt may be scraped and a dent along the extending direction of the road may be formed. In addition, a gentle dent may be formed on the road due to some external force, ground change, road pavement condition, or the like. Road ruts and gentle dents formed in this way are unlikely to affect the stability of the traveling vehicle or cause discomfort to the passengers of the vehicle, but in road maintenance management. , It is an item to pay attention to. Therefore, the road property estimation device of the present embodiment detects the presence or absence of a puddle, paying attention to the fact that, for example, when a rut or a gentle dent is formed on the road surface, there is a high possibility that a puddle will be formed during rainfall. When a puddle is detected, the road properties (presence of ruts, gentle dents, etc.) are estimated based on the formation mode of the puddle. The road properties estimated by the road property estimation device of the present embodiment can be used as data for performing road maintenance management (data used for determining the position and range of repairs and repairs, determining priorities, etc.). In addition, it can be used as road property information (such as calling attention to the existence of a puddle or the possibility of a hydroplaning phenomenon) provided to a vehicle traveling on a road on which the road property is estimated.

FIG. 1 is an example and illustrates the configuration of an information sharing system 18 including a road property estimation device 10 according to an embodiment, a road property management device 14 connected via a network 12, a road manager terminal 16, and the like. It is a schematic block diagram.

FIG. 1 shows, as an example of the information sharing system 18, the road property estimation device 10 mounted on the vehicle V executes the road property estimation, and the road property information (presence or absence of ruts or gentle dents on the road R, and the presence or absence thereof) Information indicating the existence position) is generated and transmitted to the road property management device 14. Although not shown in FIG. 1, the road property estimation device 10 is mounted on each vehicle V, and the road property information estimated when each vehicle V travels at the same position on the same road R and each vehicle. An example is shown in which the road property management device 14 is provided with the road property information estimated when V travels on different positions and different roads R.

The road property estimation device 10 is composed of hardware such as a processor and a memory, and each functional module is realized by the processor reading and executing a program stored in a memory such as a storage unit. As a functional module, the road property estimation device 10 includes, for example, an acquisition unit 20 that acquires various information, a control unit 22 that executes various arithmetic processes based on the acquired information, and a transmission / reception unit that executes information transmission / reception regarding road property. 24, including the operation unit 26 and the like. The acquisition unit 20, the control unit 22, the transmission / reception unit 24, the operation unit 26, and the like may be configured by independent hardware. Further, each function module is an example, and the functions may be integrated or subdivided as long as the same functions can be realized.

In order to acquire the information necessary for estimating the road properties of the road R on which the vehicle V travels, the acquisition unit 20, for example, the front-rear acceleration acquisition unit 20a, the required driving force acquisition unit 20b, the position information acquisition unit 20c, It is equipped with a weather information acquisition unit 20d and the like.

The front-rear acceleration acquisition unit 20a acquires the front-rear acceleration received by the vehicle V during traveling. The front-rear acceleration acquisition unit 20a can acquire the acceleration in the front-rear direction from, for example, an acceleration sensor already installed in the vehicle V. As the existing acceleration sensor, for example, an acceleration sensor used for posture detection, skidding detection, etc. of the vehicle V, an acceleration sensor for impact detection used in an airbag system, etc. can be used, and acceleration can be used. Of these, the acceleration of the vehicle V in the front-rear direction is acquired. The front-rear acceleration acquisition unit 20a may acquire the acceleration in the front-rear direction from a sensor provided exclusively for estimating road properties. The front-rear acceleration acquisition unit 20a sequentially provides the acquired acceleration in the front-rear direction to the control unit 22.

The required driving force acquisition unit 20b acquires information indicating the driving force required while the vehicle V is traveling. For example, the amount of operation of the accelerator pedal operated by the driver is acquired as information on the required driving force. When the vehicle V is a vehicle whose drive source is an internal combustion engine, the accelerator operation amount (required driving force) may be acquired based on the throttle opening degree. Further, when the vehicle V is a vehicle whose drive source is a motor, the accelerator operation amount (required driving force) may be acquired based on the output value of the motor, or the output value of the torque sensor provided in the drive system or the like may be used. Based on this, the required driving force may be acquired. Further, the required driving force acquisition unit 20b may acquire the driving force control amount required by the traveling control unit of the vehicle V based on the behavior of the vehicle V regardless of the driver's intention as the information of the required driving force. In the present embodiment, the acceleration in the front-rear direction acquired by the front-rear acceleration acquisition unit 20a and the required driving force acquired by the required driving force acquisition unit 20b are information indicating the current traveling state of the vehicle V (actual traveling information). ).

The position information acquisition unit 20c can acquire the current position information of the vehicle V from, for example, GPS (Global Positioning System). Further, the position information acquisition unit 20c may acquire the position information of the vehicle V acquired by another system such as a navigation system mounted on the vehicle V. The position information acquisition unit 20c sequentially provides the acquired position information to the control unit 22. When it is difficult to receive GPS signals, such as when traveling in a tunnel, the current position may be estimated by map matching or the like in consideration of the amount of movement from the position where the GPS signals can be received satisfactorily.

The weather information acquisition unit 20d acquires the weather information of the position (area) in which the vehicle V is traveling, which is transmitted from the external information center or the weather information providing system. The weather information acquisition unit 20d may acquire, for example, the amount of rainfall per unit time and the duration of rainfall, in addition to the current presence / absence information of rainfall, as the weather information. The weather information acquired by the weather information acquisition unit 20d is in a state where it is impossible to estimate the road properties due to flooding of the road R, whether or not there may be a puddle on the road R on which the vehicle V is traveling. It can be used to determine whether or not it is present.

Based on various information acquired by the acquisition unit 20, the control unit 22 detects (estimates) the presence or absence of a puddle and estimates the road properties of the traveling road R, and outputs the estimated road property information to the outside. do. In order to execute this process, the control unit 22 includes a detection unit 22a, an estimation unit 22b, an output unit 22c, and the like.

As described above, on the road R, as shown in FIG. 2, when the vehicle V repeatedly travels on the same traveling line L, the tires scrape the asphalt and follow the traveling line L (extension of the road R). Ruts W (along the direction) may be formed. Since the rut W is formed along the traveling line L, unevenness is less likely to be formed in a direction that intersects the traveling line. Therefore, if the tire of the vehicle V is traveling in the rut W, it is unlikely that the tire will be impacted or the behavior of the tire will be changed. Therefore, for example, it is difficult to detect road properties (unevenness) based on fluctuations in wheel speed due to collision with unevenness, as used in the prior art.

Further, as shown in FIG. 3, the road R has a gentle downhill slope Pa and a gentle slope with respect to the traveling direction F on the road R due to some external force applied, a change in the ground condition, a condition when the road is paved, and the like. A gentle dent P including the uphill slope Pb may be formed. The gentle dent P is unlikely to give an impact to the tire or change the behavior of the tire while the vehicle V is traveling. Therefore, as in the case of ruts, for example, it is difficult to detect road properties (unevenness) based on fluctuations in wheel speed due to collision with unevenness, as used in the prior art.

On the other hand, in the case of rainfall, rainwater also collects in the ruts W and the gentle dent P and becomes a puddle. Such a puddle can cause water splashes and hydroplaning phenomena. Therefore, when performing maintenance and management of road R, road property information indicating ruts, gentle dents, etc. is used for repairing or repairing road R. It is important as data for determining the position, work priority, etc.

Therefore, as described above, the road property estimation device 10 of the present embodiment considers that if a puddle exists on the road R, there is a possibility that a dent may exist on the road R, and determines the distribution mode of the position information indicating the puddle. Based on this, the presence or absence of "ruts" and "gentle dents" is estimated as road properties that were difficult to detect with the prior art.

The detection unit 22a detects (estimates) the presence or absence of a puddle on the road on which the vehicle V travels. The puddle existing on the road R can be detected by various well-known methods, but in the case of the road property estimation device 10 of the present embodiment, paying attention to the fact that the running resistance increases when the puddle exists on the road R. , Detects puddle (estimation of existence). That is, when there is a puddle on the road R, the tires of the vehicle V pass while pushing away the water in the puddle. As a result, the traveling resistance becomes larger as compared with the case of traveling on the road R in which no puddle exists, and for example, the vehicle decelerates (negative acceleration occurs). Then, when trying to maintain the speed of the vehicle V or to accelerate (positive acceleration), it is necessary to increase the required driving force (for example, stepping on the accelerator pedal). Therefore, the detection unit 22a has a puddle based on a comparison result between the reference running information indicating the running state of the vehicle V on the road R in which the puddle does not exist and the actual running information (actual running information) of the vehicle V currently acquired. Detects the presence or absence of. The traveling information in this case is acceleration information in the front-rear direction of the vehicle V and information on the required driving force at that time, for example, an accelerator operation amount.

FIG. 4 is an exemplary and schematic diagram showing the relationship between the acceleration of the vehicle V and the accelerator operation amount, which can be used as one of the methods for detecting a puddle on the road R in the road property estimation device 10. In FIG. 4, the vertical axis represents the acceleration A in the front-rear direction of the vehicle V, and the horizontal axis represents the accelerator operating amount S corresponding to the required driving force of the vehicle V. In FIG. 4, the relationship between the acceleration A and the accelerator operation amount S when the vehicle V travels on the road R during non-rainfall is shown by the reference travel information line NP. The reference traveling information line NP is information (reference traveling information) indicating the traveling state of the vehicle V during non-rainfall (for example, when there is no puddle on the road surface in fine weather or when there is no rainfall for a predetermined period). As shown by the reference driving information line NP in FIG. 4, for example, when the vehicle V is traveling on the road R at a vehicle speed of 40 km / h when it is not raining, when the accelerator operation amount S is set to "0" (driving). When a person removes his / her foot from the accelerator pedal), the vehicle V generates a negative acceleration A due to the running resistance due to the road surface resistance and the air resistance received by the vehicle body. Then, when the driver depresses the accelerator pedal, a positive acceleration A is generated. In this case, the acceleration A increases in proportion to the accelerator operation amount S (accelerator pedal depression amount) at the initial stage, but the rate of increase gradually decreases. Since the relationship between the acceleration A and the accelerator operating amount S changes depending on the performance, weight, etc. of the vehicle V, it is set in advance for each vehicle (vehicle type, specification) by a test or the like. Then, the relationship between the acceleration A and the accelerator operation amount S according to each vehicle V is stored in a storage unit or the like of the road property estimation device 10 mounted on each vehicle V. Since the relationship between the acceleration A and the accelerator operating amount S changes depending on the vehicle-mounted weight of the vehicle V (the number of occupants, the amount of luggage, etc.), it is desirable to set and determine a standard vehicle-mounted weight, for example. Further, the relationship between the acceleration A and the accelerator operating amount S also changes depending on the traveling speed of the vehicle V. In this case, the front-rear acceleration acquisition unit 20a may correct the reference travel information line NP based on the speed of the vehicle V and use it, or may retain the reference travel information for each speed.

In FIG. 4, for example, an example of the relationship between the actual acceleration A and the accelerator operation amount S when the vehicle V travels on the road R during rainfall (when there is a puddle in the rut W or the gentle dent P) is actually shown. It is shown by the driving information line OP. The reference travel information line NP and the actual travel information line OP are basically the difference between whether or not the tires of the vehicle V have received resistance to push out rainwater. Therefore, the reference driving information line NP and the actual driving information line OP are substantially parallel to each other, and the actual driving information line OP appears in a state of being shifted to the side where the acceleration A decreases with respect to the reference driving information line NP. .. The shift amount d of the actual driving information line OP with respect to the reference driving information line NP is determined by, for example, the depth of rainwater (the amount of water to be pushed away) accumulated in the rut W or the gentle dent P. Therefore, it is also possible to estimate the depth of the puddle based on the shift amount d.

The relationship between the acceleration A and the accelerator operation amount S changes depending on whether the vehicle V is traveling on a flat road or a slope, but the on-board acceleration sensor detects the degree of inclination of the road R. Some have the ability to do. Therefore, the front-rear acceleration acquisition unit 20a of the road property estimation device 10 may acquire the corrected acceleration A in consideration of the inclination of the road R. In this case, regardless of whether the road R is a slope or not, the change in acceleration with respect to the accelerator operation amount can be obtained by using the same relationship between the acceleration A and the accelerator operation amount S (reference driving information line NP). ..

Then, the detection unit 22a should be obtained at the time of non-rainfall with the actual acceleration (acceleration in the actual driving information line OP) obtained with respect to the current accelerator operation amount (required driving force) and the current accelerator operation amount. When the deviation (shift amount d) from the acceleration (acceleration in the reference driving information line NP) is equal to or greater than the predetermined threshold value D, the tire of the vehicle V pushes water away during traveling, that is, there is a puddle on the road R. Can be estimated. That is, a puddle can be detected.

When comparing the reference travel information (reference travel information line NP) and the actual travel information (actual travel information line OP), the shift amount d may be equal to or greater than the predetermined threshold value D even when there is no puddle. For example, when the road R is a road other than an asphalt paved road, for example, an uneven terrain road. Therefore, the detection unit 22a refers to the weather information acquired by the weather information acquisition unit 20d, compares the reference driving information with the actual driving information only when it is currently in a rainy state, and sets a predetermined threshold value D for the acceleration. Whether or not there is a shift amount d exceeding the above is detected. By detecting the presence or absence of a puddle in consideration of the weather information in this way, the accuracy of detecting the puddle can be improved. If the road R is submerged by acquiring the rainfall amount and the rainfall duration per unit time, the puddle detection for estimating the road property indicating the rut W or the gentle dent P is temporarily performed. It may be non-execution. That is, in the case where the tire of the vehicle V pushes away the rainwater and runs regardless of the presence or absence of the rut W or the gentle dent P, the estimation of the road property indicating the rut W or the gentle dent P is stopped. , The deterioration of the estimation accuracy of the road property may be suppressed.

The estimation unit 22b is based on the distribution mode of the position information corresponding to the actual driving information when the detection unit 22a detects a puddle on the road R (estimated that there is a puddle), and the road property of the road R on which the puddle is formed. To estimate. Since the position information acquisition unit 20c sequentially acquires the position information of the vehicle V, the estimation unit 22b stores the position information when a puddle is detected by the detection unit 22a together with, for example, a puddle detection flag and a storage unit (not shown). Can be saved in. The shape of the puddle (continuity of the puddle in the traveling direction of the vehicle V) can be estimated from the distribution mode of the position information indicating the puddle.

5 and 6 are exemplary and schematic views showing the distribution mode of the position information t in which a puddle is detected in the road property estimation device 10 according to the embodiment. The shortest storage interval of the position information t indicating the puddle is, for example, a comparison processing cycle between the reference travel information and the actual travel information by the detection unit 22a. In FIGS. 5 and 6, the vertical axis represents the detection position of the puddle in the road width direction of the road R, and the horizontal axis represents the detection position of the puddle in the extending direction of the road R (the traveling direction of the vehicle V).

As shown in FIG. 5, when the distribution mode of the position information t indicating the position of the puddle is along the extending direction of the road R, the continuity of the distribution is a predetermined distance or more (for example, several tens of meters or more, specifically. Specifically, in the case of (for example, 20 m or more), the estimation unit 22b estimates that "rut W" exists on the road R as a road property. Normally, the ruts W formed by the repeated passage of the vehicle V correspond to the left and right tires of the vehicle V and are substantially parallel to the traveling direction of the vehicle V (extending direction of the road R). Two are formed. In addition, one of the two ruts W may be partially interrupted. Further, depending on the pavement state of the road R (for example, the inclined state of the road R in the road width direction), one rut W corresponding to either the left or right tire may be formed. In any case, if a puddle is formed continuously for a predetermined distance or more, it can be considered that a dent along the extending direction of the road R is formed, so that the estimation unit 22b has a rut. It can be presumed that it is formed.

On the other hand, as shown in FIG. 6, when the distribution mode of the position information t indicating the position of the puddle is along the extending direction of the road R, the continuity of the distribution is less than a predetermined distance (for example, less than several tens of meters). Specifically, in the case of (for example, less than 20 m), the estimation unit 22b estimates that there is a "gentle dent P" on the road R as a road property. In the case of the gentle dent P, it is not always present at the position where the left and right tires of the vehicle V pass, and it may be formed at the portion where either the left or right tire passes. Therefore, as shown in FIG. 6, position information t indicating a puddle may be scattered along the extending direction of the road R. The estimation unit 22b estimates that a gentle dent P exists on the road R when the distribution of the position information t indicating the puddle is less than a predetermined distance, but sets a lower limit value for estimating that a gentle dent P exists. May be good. For example, when the continuous distance of the position information t indicating the puddle is less than 2 m, for example, the estimation unit 22b determines that the dent is not sufficient to repair the road R, and the estimation unit 22b has no dent in the road property (no abnormality). May be determined (estimated).

Returning to FIG. 1, the output unit 22c outputs the property information including the road property of the road R estimated by the estimation unit 22b to the transmission / reception unit 24.

The transmission / reception unit 24 includes a transmission unit 24a and a reception unit 24b. The transmission unit 24a transmits the estimation result of the estimation unit 22b output from the output unit 22c to the road property management device 14 via the outside of the vehicle V, for example, the network 12. In addition, the receiving unit 24b appropriately receives the road property information of the road R accumulated in the road property management device 14. For example, it is possible to receive road property information about the road (road surface in the traveling direction) on which the vehicle V (own vehicle) is going to travel, and perform vehicle control and alert the driver. For example, because there is a rut W, it may be notified that the steering may be taken, or in the case of rain, a puddle may be formed in the rut W or a gentle dent P, and water is given to pedestrians and the like. It is possible to give a warning to call attention not to splash. In addition, it may be notified that the presence of a puddle may cause a hydroplaning phenomenon.

The transmission unit 24a may sequentially transmit the property information (existence information of the rut W and the gentle dent P) estimated by the estimation unit 22b, or may be performed at a predetermined timing (for example, when the vehicle V is stopped, etc.). ), Or it may be transmitted by the transmission operation of the driver. Further, the output unit 22c outputs the property information estimated by the estimation unit 22b to a portable recording medium such as USB (Universal Serial Bus) that can be read by a computer, and provides the property information to the road property management device 14 by the driver or the like. You may do so. For example, when the vehicle V is a taxi, a bus, a truck for transportation, or the like, the road property management device 14 may collectively provide property information regarding the road R traveled during the business after the business is completed.

The operation unit 26 is, for example, a switch that can be operated by a driver or the like, and outputs a request signal requesting the estimation of the road property of the currently traveling road R to the control unit 22. As described above, in the case of the road property estimation device 10, the road property of the road R is estimated by the puddle formed by the rainfall. Therefore, when the driver recognizes the rainfall, the estimation process may be executed via the operation unit 26. In this case, it is possible to avoid executing the estimation process at all times, and it is possible to reduce the processing load of the road property estimation device 10. The operation unit 26 may be a dedicated switch for starting the operation of the road property estimation device 10, or may be, for example, a switch operated when it rains, such as a wiper switch. Further, the operation unit 26 may be configured to receive a control signal from a sensor that detects raindrops and operate the wiper and output a request signal to the control unit 22.

Next, the configuration of the road property management device 14 will be described. The road property management device 14 is provided in, for example, a base station capable of wireless communication with an edge, a cloud, and a vehicle V. The road property management device 14 is composed of a personal computer having hardware such as a processor and a memory.

Specifically, the road property management device 14 includes a transmission / reception unit 30, an information processing unit 32, a road property storage unit 34, and the like. In the present embodiment, the road property management device 14 realizes various functional modules such as the transmission / reception unit 30 and the information processing unit 32 by reading and executing a program stored in the memory by the processor.

In the present embodiment, various functional modules such as the transmission / reception unit 30 and the information processing unit 32 are realized by the processor reading and executing a program stored in the memory, but the present invention is not limited thereto. For example, various functional modules such as the transmission / reception unit 30 and the information processing unit 32 can be realized by independent hardware. Further, various functional modules such as the transmission / reception unit 30 and the information processing unit 32 are examples, and each functional module may be integrated or subdivided as long as the same function can be realized.

The road property storage unit 34 is a storage unit that is realized by the memory included in the road property management device 14 and stores the property information of the road R received by the reception unit 30b described later.

The transmission / reception unit 30 is a communication unit that controls communication with an external device such as a vehicle V or a road administrator terminal 16 connected via a network 12. In the present embodiment, the transmission / reception unit 30 includes a transmission unit 30a and a reception unit 30b. The transmission unit 30a transmits various information such as property information of each road R stored in the road property storage unit 34 to the vehicle V and the road manager terminal 16 via the network 12. The receiving unit 30b receives the property information of the road R from the vehicle V via the network 12, and writes the received property information in the road property storage unit 34.

When the information processing unit 32 acquires the property information of the road R estimated by the vehicle V via the transmission / reception unit 30 or via a portable storage medium such as USB, the information processing unit 32 searches for the road property storage unit 34 and acquires the information. It is determined whether or not there is property information indicating the same position on the same road R as the property information. When there is property information indicating the same position on the same road R as the acquired property information, it is accumulated as property information for the same position. Further, when the property information indicating the same position on the same road R as the acquired property information does not exist in the road property storage unit 34, the information processing unit 32 considers that a new rut W or a gentle dent P has been found. .. Then, the information processing unit 32 registers the acquired property information in the road property storage unit 34 as new property information.

Further, the information processing unit 32 searches the road property storage unit 34 when the vehicle V or the road manager terminal 16 requests the provision of property information of a specific road R. Then, when the property information corresponding to the requested specific road R exists, the information processing unit 32 corresponds to the vehicle V or the road manager terminal 16 that has requested the provision of the property information via the transmission unit 30a. Provide property information. Further, when the corresponding property information does not exist, the transmission unit transmits information indicating that the road R requested to provide the road property does not have a rut W or a gentle dent P to be recognized or is unconfirmed. It is transmitted to the vehicle V or the road administrator terminal 16 that has requested the provision of the property information via the 30a.

In the case of the above-mentioned example, the road property estimation device 10 is mounted on the vehicle V, and the road property (there is a rut W and a gentle dent P) is estimated in the vehicle V, but the road property estimation process is performed on the road property. It may be executed by the management device 14 (information processing unit 32). In this case, the vehicle V includes, for example, a front-rear acceleration acquisition unit 20a, a required driving force acquisition unit 20b, a position information acquisition unit 20c, and a transmission / reception unit 24, and is a position indicating the actual travel information and the position where the actual travel information is acquired. Information is provided to the information processing unit 32 of the road property management device 14. That is, in the vehicle V, the detection unit 22a and the estimation unit 22b are omitted. On the other hand, the information processing unit 32 is provided with a function module that realizes the same functions as the detection unit 22a and the estimation unit 22b, and the actual driving information (front-rear acceleration information and required driving force information (for example, accelerator) acquired from the vehicle V). The road properties of the road R on which the vehicle V is traveling are estimated based on the operation amount)) and the position information corresponding to the information. Then, the information processing unit 32 may sequentially accumulate the estimated property information in the road property storage unit 34 to construct a road property database. In this case, the configuration on the vehicle V side can be simplified, and information for constructing the road property database can be easily collected from more vehicles V.

When the property of the road R is estimated on the side of the road property management device 14 (information processing unit 32), the actual traveling information when passing through the same position on the same road R can be acquired from a plurality of vehicles V. For example, if the property information indicating the existence of the rut W can be obtained from the actual traveling information of a plurality of vehicles V, it can be estimated that the vehicle has passed the rut W even if the traveling line is deviated in the vehicle width direction. As a result, it can be estimated that a relatively wide rut W is formed. On the contrary, when the property information indicating the existence of the dent is intermittently acquired over a long distance, it can be estimated that the rut W may be formed intermittently. Further, when a gentle dent P is formed and a puddle exists, there is a vehicle V that passes through the puddle as it is, a vehicle V that avoids the puddle, and the like. Therefore, if property information indicating the existence of a gentle dent P can be obtained from the actual traveling information of a plurality of vehicles V, the gentle dent P becomes large in the road width direction of the road R so that the dent P will pass even if the traveling line is changed. It can be estimated that it is a wide and gentle dent P. On the contrary, when the property information indicating the existence of the gentle dent P can be obtained intermittently, there is a possibility that the vehicle V traveling avoiding the puddle exists, and the gentle dent P having a small spread in the road width direction is present. Can be presumed to be. In this way, detailed estimation of road properties becomes possible based on statistics of trends in actual traveling information acquired from a plurality of vehicles V, which can contribute to improvement in estimation accuracy and reliability. Even in the case of the configuration of FIG. 1 in which the road property is estimated on the vehicle V side and the property information is provided to the road property management device 14, the information processing unit 32 is provided by the plurality of vehicle Vs and is provided from the road property storage unit. It is possible to perform statistical processing of a plurality of property information constructed in 34. In this case as well, detailed estimation of road properties is possible, and similarly, it is possible to contribute to improvement of estimation accuracy and reliability.

The road manager terminal 16 is a terminal that can be operated by a manager who manages the maintenance of the road R. The road manager terminal 16 can refer to the road property database constructed in the road property storage unit 34 of the road property management device 14. As a result, the road manager can acquire the information necessary for selecting the road R that needs repair or repair, determining the scope and degree of repair or repair work, and determining the priority of repair or repair. Work efficiency can be improved. In addition, the road administrator terminal 16 may have a puddle due to a rut W or a gentle dent P on an information board or the like installed on the road R, or a water splash or a hydroplaning phenomenon may occur when it rains or the like. It is possible to provide information indicating that there is sex.

An example of the processing flow in the road property estimation device 10 configured as described above will be described with reference to the flowchart of FIG. 7. FIG. 7 is a flowchart in the case where the property information of the road R is estimated on the vehicle V side.

When a request for the property estimation process of the road R is made via the operation unit 26 or the like (Yes in S100), the acquisition unit 20 of the road property estimation device 10 acquires the actual driving information, the position information, and the weather information. Acquisition is sequentially started (S102: acquisition step). The acquisition unit 20 acquires the current front-rear acceleration output by the acceleration sensor mounted on the vehicle V as one of the actual traveling information via the front-rear acceleration acquisition unit 20a. When the acceleration sensor determines that the vehicle V is currently traveling on a slope, the accelerometer corrects the front-rear acceleration output according to the angle of the slope to the front-rear acceleration when traveling on a flat road and outputs the result. do. Further, the acquisition unit 20 acquires the current required driving force (for example, the accelerator operation amount obtained from the vehicle control system) as one of the actual driving information via the required driving force acquisition unit 20b. Further, the acquisition unit 20 acquires the position information in which the vehicle V currently exists via the position information acquisition unit 20c. Further, the acquisition unit 20 acquires the weather information of the position where the vehicle V is currently traveling via the weather information acquisition unit 20d. If the property estimation process of the road R is not requested in S100 (No in S100), this flow is temporarily terminated. For example, it is a case where a puddle cannot occur on the road R when traveling in fine weather. The road property estimation device 10 may automatically disable the property estimation process in the case of fine weather based on the weather information. Similarly, the road property estimation device 10 automatically discontinues the property estimation process when it is estimated that the road R is submerged based on the amount of rainfall per unit time, the duration of rainfall, and the like. It may be.

When the actual travel information can be acquired in S102, the detection unit 22a of the control unit 22 compares the reference travel information held in advance with the actual travel information, and executes the puddle detection process (S104). For example, as described in FIG. 4, the actual acceleration (acceleration in the actual driving information line OP) obtained with respect to the current accelerator operating amount (required driving force) and the current accelerator operating amount obtained during non-rainfall. When the deviation (shift amount d) from the acceleration that should be achieved (acceleration in the reference driving information line NP) is equal to or greater than the predetermined threshold value D, the tire of the vehicle V pushes water away during traveling, that is, a puddle is accumulated on the road R. Is presumed to exist (Yes in S106).

When the detection unit 22a detects a puddle (estimated that there is a puddle), the estimation unit 22b stores the position information acquired by the position information acquisition unit 20c together with the puddle detection flag as information indicating the position of the puddle. Hold in the unit (S108). Then, the estimation unit 22b determines whether or not the detection position estimated by the detection unit 22a to have a puddle is detected at the time of rainfall based on the weather information acquired by the weather information acquisition unit 20d (S110). For example, when it is estimated that a puddle exists and it is raining at that position (Yes in S110), it is determined that there is a dent at the position where the puddle is estimated and rainwater is accumulated. The dent flag for confirming the existence of the dent on the road R is turned ON (S112). In addition, S104 to S112 correspond to the detection step of the puddle in the road property estimation process.

When the state in which the dent flag is turned on is visualized and expressed, the dent flag corresponds to the position information t described in FIGS. 5 and 6. When the dent flag is turned on, the estimation unit 22b determines whether or not the dent flag (position information t) that has already been turned on is continuous along the extending direction of the road R together with the distribution. When the continuity of the distribution of the dent flag (position information t) continues for a predetermined first distance (for example, 2 m) or more (Yes in S114), the estimation unit 22b needs to be repaired or repaired on the road R. It is determined that there is a dent. Further, when the continuity of the distribution of the dent flag (position information t) continues for a predetermined second distance (for example, 20 m) or more (Yes in S116), the estimation unit 22b is repaired or repaired on the road R. The necessary dent is determined to be a "rut" (S118). On the other hand, in S116, when the continuity of the distribution of the dent flag (position information t) is equal to or greater than the predetermined first distance and less than the second distance (No in S116), the estimation unit 22b is repaired or repaired on the road R. The necessary dent is determined to be a "gentle dent" (S120). In addition, S114 to S120 correspond to the estimation step in the road property estimation process.

As described above, when it is estimated that the road R has a rut W or a gentle dent P, the output unit 22c outputs the road property information indicating the result to the transmission / reception unit 24 (S122: output step), and the transmission / reception unit 22c. The transmission unit 24a of the 24 transmits the road property information to the road property management device 14. The road property estimation device 10 (control unit 22) confirms whether or not a request for terminating the road property estimation process has been made (S124), and if the end request is not confirmed (No in S124), the process proceeds to S102. Each information is acquired in the next control cycle, the subsequent processing is repeatedly executed, and the road property estimation processing is continued.

In S114, when the continuity of the distribution of the dent flag (position information t) is less than the predetermined first distance (for example, 2 m) (No in S114), the estimation unit 22b detects the dent on the road R. Determines that the size (length) required for repair or repair has not been reached, shifts to the processing of S124, and continues the road property estimation processing in the next control cycle.

Further, in S110, when it is estimated that a puddle exists, but it is not raining at that position (region) (No in S110), the puddle detection result based on the actual running information in this processing cycle is not adopted, and S124 To acquire each information in the next control cycle, and continue the road property estimation process. That is, in the puddle detection process of S104, it is presumed that the cause of the decrease in acceleration with respect to the required driving force (accelerator operation amount) is not due to pushing away the rainwater on the road R, but due to other causes. For example, it is presumed that the road surface resistance has increased and the vehicle has decelerated because the vehicle has traveled on an unpaved road, and the actual driving information acquired in this control cycle is not adopted as information for estimating the road properties.

Further, when no puddle is detected in S106 (No in S106), the estimation unit 22b decides that the actual driving information acquired in this control cycle is not adopted as the information for estimating the road property, and shifts to the processing of S124. .. That is, when the estimation unit 22b compares the actual driving information acquired in S102 with the reference driving information and the acceleration does not decrease by a predetermined threshold value D or more with respect to the required driving force (accelerator operation amount), this In the control cycle, the road property estimation process is not executed.

As described above, the road property estimation device 10 of the present embodiment, for example, even when there is no unevenness on the road that collides with the tire, if there is a dent on the road and a water pool is formed, the road property estimation device 10 passes through the water pool. By utilizing the change in the traveling state (actual traveling state) of the vehicle, it is possible to estimate the dented state of the road, that is, the property of the road (for example, the presence of a rut W or a gentle dent P). As a result, it is possible to improve the accuracy of judgment when repairing the road R, determining the position and range of repairs, and determining the priority.

In addition, the technique of estimating the existence of ruts W and gentle dents P by the road property estimation device 10 of the present embodiment and the technique of detecting unevenness based on the change in the behavior of the vehicle V due to the collision of the tire with the unevenness are used in combination. You may. In this case, in addition to the discovery of ruts W and gentle dents P, cracks and irregularities can be discovered, and more detailed road property estimation can be performed.

The program that realizes each functional module of the road property estimation device 10 described above is a file in an installable format or an executable format, such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk). It may be configured to be recorded and provided on a computer-readable recording medium.

Further, the above-mentioned program may be stored on a computer connected to a network such as the Internet and provided by downloading via the network. Further, the program executed in the present embodiment may be configured to be provided or distributed via a network such as the Internet.

Although the embodiments and modifications of the present invention have been described, these embodiments and modifications are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

10 ... Road property estimation device, 12 ... Network, 14 ... Road property management device, 16 ... Road manager terminal, 18 ... Information sharing system, 20 ... Acquisition unit, 20a ... Front-rear acceleration acquisition unit, 20b ... Required driving force acquisition unit , 20c ... position information acquisition unit, 20d ... weather information acquisition unit, 22 ... control unit, 22a ... detection unit, 22b ... estimation unit, 22c ... output unit, 24, 30 ... transmission / reception unit, 24a, 30a ... transmission unit, 24b , 30b ... Receiver unit, 26 ... Operation unit, 32 ... Information processing unit, 34 ... Road property storage unit.

Claims (5)

An acquisition unit that acquires actual running information indicating the current running state of the vehicle, position information indicating the current position of the vehicle, and weather information in the area where the vehicle exists.
A detection unit that detects the presence or absence of a puddle on the road on which the vehicle travels, based on a comparison result between the reference driving information indicating the traveling state of the vehicle on a road surface where no puddle exists, the actual driving information, and the weather information.
An estimation unit that estimates the road properties of the road on which the puddle is formed, based on the distribution mode of the position information corresponding to the actual driving information when a puddle is detected on the road.
An output unit that outputs property information including the road properties, and
A road property estimation device equipped with. When the continuity of the distribution of the position information indicating the position of the water pool along the road is equal to or more than a predetermined distance, the estimation unit presumes that a rut exists on the road as the road property, and the road of the position information. The road property estimation device according to claim 1, wherein when the continuity of the distribution along the road is less than the predetermined distance, it is estimated that the road has a dent having a size less than the predetermined distance as the road property. The road property estimation device according to claim 1 or 2, wherein the estimation unit estimates the road property based on the detection results of a puddle in a plurality of vehicles. The road property estimation device according to any one of claims 1 to 3, wherein the output unit accumulates the property information in a storage unit to construct a road property database. An acquisition step for acquiring actual driving information indicating the current traveling state of the vehicle, position information indicating the current position of the vehicle, and weather information in the area where the vehicle exists.
A detection step for detecting the presence or absence of a puddle on the road on which the vehicle travels, based on a comparison result between the reference driving information indicating the traveling state of the vehicle on a road surface where no puddle exists, the actual driving information, and the weather information.
An estimation step of estimating the road properties of the road on which the puddle is formed based on the distribution mode of the position information corresponding to the actual traveling information when a puddle is detected on the road, and an estimation step.
An output step that outputs property information including the road property, and
A method for estimating road properties.

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