JP2022040931A - Traffic monitoring device, traffic monitoring system, traffic monitoring method, and traffic monitoring program - Google Patents

Abstract

To support a safe movement by calling attention with respect to a person existing on a road at appropriate timing.SOLUTION: A traffic monitoring device includes an acquisition section, an analysis section, a storage section, an estimation section, a determination section, and a notification section. The acquisition section acquires monitoring information indicating a mobile body on a road. The analysis section identifies a position of the mobile body by using the monitoring information. The storage section stores mobile body position information indicating a position identified by the analysis section and mobile body time information indicating a time when the acquisition section has acquired the monitoring information. The estimation section estimates the position of the mobile body at a passage time point of a predetermined prediction time from the current point of time based on the mobile body position information and the mobile body time information. The determination section determines whether or not a distance between the respective positions of the two or more mobile bodies estimated by the estimation section is equal to or less than a threshold, and determines that calling attention is required with respect to at least one of the two or more mobile bodies when the distance is equal to or less than the threshold, then, the notification section performs calling attention to at least one of the two or more mobile bodies.SELECTED DRAWING: Figure 3

Description

The present invention relates to a traffic monitoring device for monitoring traffic conditions, a traffic monitoring system, a traffic monitoring method, and a traffic monitoring program.

Traffic monitoring that conventionally combines multiple images taken by multiple cameras installed around an intersection to generate and display an intersection image that looks down at the intersection or a vehicle that has entered the intersection from directly above. The device is known (see, for example, Patent Document 1). The image generated by the traffic monitoring device allows the user to easily grasp the traffic situation.

Japanese Unexamined Patent Publication No. 2001-118183

The image generated by the traffic monitoring device encourages the user to grasp the traffic situation, but it is not always possible to encourage the user to move safely.

The present invention has been made to solve the above problems, and is a traffic monitoring device, a traffic monitoring system, and a traffic that alerts a person existing on the road at an appropriate timing and supports safe movement. The purpose is to provide monitoring methods and traffic monitoring programs.

The traffic monitoring device according to the present invention is specified by an acquisition unit that acquires monitoring information indicating a moving body on a road, an analysis unit that specifies the position of the moving body using the monitoring information, and the analysis unit. A storage unit that stores the moving body position information indicating the position and the moving body time information indicating the time when the acquisition unit acquired the monitoring information, and the moving body position stored in the storage unit. Based on the information and the moving body time information, an estimation unit that estimates the position of the moving body at a predetermined time point for prediction from the present time, and two or more said moving bodies estimated by the estimation unit. It is determined whether or not the distance between each of the above positions is equal to or less than the threshold value, and if the distance is equal to or less than the threshold value, it is necessary to call attention to at least one of the two or more moving bodies. A determination unit that determines that the above is true, and a notification unit that issues the attention to at least one of the two or more moving bodies when the determination unit determines that the attention is required. Be prepared.

The traffic monitoring system according to the present invention is a traffic monitoring system having a terminal located on the road and a traffic monitoring device for monitoring the traffic condition on the road, and the traffic monitoring device is on the road. The monitoring information indicating the moving body is acquired, the position of the moving body is specified using the monitoring information, the moving body position information indicating the specified position, and the time when the monitoring information is acquired are shown. The moving body time information is stored, and the position of the moving body is estimated and estimated from the present time based on the stored moving body position information and the moving body time information at a time point in which a predetermined prediction time has elapsed. To determine whether or not the distance between the positions of each of the two or more moving objects is equal to or less than the threshold value, and if the distance is equal to or less than the threshold value, the terminal is to be alerted. The alert information is transmitted to the terminal possessed by at least one of the two or more moving objects, and the terminal outputs an alarm when the alert information is received.

The traffic monitoring method according to the present invention is a traffic monitoring method executed by a traffic monitoring device that monitors a traffic condition on a road, and includes an acquisition step for acquiring monitoring information indicating a moving object on the road and the monitoring method. An analysis step for specifying the position of the moving body using information, a moving body position information indicating the position specified in the analysis step, and a moving body time indicating the time when the monitoring information was acquired in the acquisition step. Based on the storage step for storing information and the moving body position information and the moving body time information stored in the storage step, the position of the moving body at a time point in which a predetermined prediction time has elapsed from the present time is determined. When it is determined whether or not the distance between the estimation step to be estimated and the position of each of the two or more mobile bodies estimated in the estimation step is equal to or less than the threshold value, and the distance is equal to or less than the threshold value. In the determination step for determining that attention to at least one of the two or more moving objects is necessary, and when it is determined in the determination step that the attention is required, the two or more Includes a notification step to alert at least one of the moving objects.

The traffic monitoring program according to the present invention is a traffic monitoring program executed by a computer that monitors traffic conditions on the road, and has an acquisition function for acquiring monitoring information indicating a moving object on the road from the computer, and the above-mentioned. An analysis function that identifies the position of the moving object using the monitoring information, a moving body position information indicating the position specified by the analysis function, and a movement indicating the time when the monitoring information is acquired by the acquisition function. Based on the storage function for storing body time information, the moving body position information and the moving body time information stored by the storage function, the moving body of the moving body at a time point of elapse of a predetermined prediction time from the present time. It is determined whether or not the distance between the estimation function for estimating the position and the position of each of the two or more moving objects estimated by the estimation function is equal to or less than the threshold value, and the distance is equal to or less than the threshold value. In some cases, the determination function for determining that at least one of the two or more moving objects needs to be alerted, and the determination function determining that the alerting is necessary, the said. A notification function for alerting at least one of two or more moving bodies is realized.

According to the traffic monitoring device, the traffic monitoring system, the traffic monitoring method, and the traffic monitoring program according to the present invention, the traffic monitoring device acquires monitoring information indicating the moving object, and uses the monitoring information to obtain the monitoring information of the moving object. The position is specified, and the position of the moving body at the time when the prediction time elapses is estimated based on the stored moving body position information and the moving body time information. Then, when the distance between the positions of the two or more estimated moving objects is equal to or less than the threshold value, the traffic monitoring device alerts at least one of the two or more moving objects. The traffic monitoring device estimates the position of the moving body at the time when the prediction time elapses, based on the moving body position information indicating the position of the moving body and the moving body time information. The accuracy is improved. Then, the traffic monitoring device determines whether or not there is a need for alerting based on the estimated distance between the positions of the two or more moving objects, and when the alerting is necessary, the two or more. Since it alerts at least one of the moving objects, it is possible to alert people on the road at an appropriate timing. Thus, traffic monitoring devices, traffic monitoring systems, traffic monitoring methods, and traffic monitoring programs can support the safe movement of people on the road.

It is a figure which shows the configuration example of the traffic monitoring system which concerns on embodiment. It is a figure which illustrates the functional block of the traffic monitoring apparatus which concerns on embodiment. It is a flowchart which illustrates the traffic monitoring processing which concerns on embodiment.

Embodiment.
FIG. 1 is a diagram showing a configuration example of a traffic monitoring system according to an embodiment. The traffic monitoring system 1 has a traffic monitoring device 2 and one or more terminals 3. The traffic monitoring device 2 and the terminal 3 each have a wireless communication function, and wirelessly communicate with each other. Specifically, the traffic monitoring device 2 and the terminal 3 communicate based on communication protocols such as Bluetooth (registered trademark), Wi-Fi (registered trademark), Zigbee (registered trademark), and LPWA (Low Power Wide Area). Perform wireless communication to the extent possible.

The traffic monitoring device 2 monitors the traffic condition on the road. The traffic monitoring device 2 transmits warning information to a terminal 3 possessed by a pedestrian on the road or a terminal 3 mounted on a vehicle on the road, depending on the traffic condition. The alert information in the embodiment is information instructing the terminal 3 to alert the user of the terminal 3 about the traffic situation.

The terminal 3 is a portable or in-vehicle terminal such as a smartphone, a tablet, or a wearable computer. When the terminal 3 receives the alert information from the traffic monitoring device 2, the terminal 3 alerts the user of the terminal 3 based on the alert information. The terminal 3 outputs an alarm based on the alert information. The terminal 3 may emit an alarm sound or display an alarm message, for example.

FIG. 2 is a diagram illustrating a functional block of the traffic monitoring device according to the embodiment. The traffic monitoring device 2 includes an input unit 20, an analysis unit 21, a storage unit 22, a communication unit 23, an estimation unit 24, and a determination unit 25. The connection relationship between these parts is not limited to that shown in FIG. The traffic monitoring device 2 includes, for example, a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory), an input interface circuit, and the like. It can be configured using a communication interface circuit. The function of the input unit 20 can be realized by the input interface circuit. Each function of the analysis unit 21, the estimation unit 24, and the determination unit 25 can be realized by the processor reading and executing various programs such as a traffic monitoring program stored in the memory. The function of the storage unit 22 can be realized by the memory. However, the function of the storage unit 22 can be realized by a storage device such as an HDD (Hard Disk Drive) instead of the memory or together with the memory. The function of the communication unit 23 can be realized by the communication interface circuit. The traffic monitoring device 2 may be used in whole or in part as dedicated hardware.

The traffic monitoring device 2 is connected to one or more cameras 5 via a network 4 such as a LAN (Local Area Network). Although the traffic monitoring device 2 is shown separately from the one or more cameras 5 in FIG. 2, the traffic monitoring device 2 may include the one or more cameras 5.

The camera 5 is installed, for example, on the side of a road at an intersection or on the side of a road leading to an intersection, and photographs an object such as a vehicle on the road. The camera 5 may operate at all times, but may also operate in a predetermined time zone such as a time zone with heavy traffic. The camera 5 in the embodiment is an AI camera equipped with artificial intelligence, that is, AI (Artificial Intelligence), but is not limited thereto.

The camera 5 includes a lens 50, an image pickup unit 51, a conversion unit 52, a detection unit 53, and an output unit 54. The reflected light of the subject of the camera 5 is incident on the lens 50 and is focused on the image pickup unit 51 by the lens 50. The image pickup unit 51 includes a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and the like, and has, for example, a plurality of light receiving elements arranged in a matrix. The image pickup unit 51 converts light into an electric signal by a plurality of light receiving elements.

The conversion unit 52 includes an A / D (Analog-to-Digital Converter) conversion circuit, and converts an electric signal acquired from the image pickup unit 51 from an analog format to a digital format. In the following, the electric signal after conversion to the digital format, the data corresponding to the electric signal in the digital format, and the image represented by the data are also described as image data.

The detection unit 53 is configured by using, for example, a processor such as a CPU or MPU and a memory such as a ROM or RAM. When the image data includes a vehicle, the detection unit 53 detects the vehicle. The vehicle included in the image data refers to information indicating the vehicle, such as an image of the vehicle. Similarly, the object included in the image data refers to information indicating the object, such as an image of the object. The detection unit 53 stores, for example, learning models showing the shapes and colors of various vehicles, and detects the vehicle in the image data based on the learning model. The vehicle is not limited to a four-wheeled vehicle, but also includes, for example, a two-wheeled vehicle.

The detection unit 53 may detect a person other than the vehicle, such as a pedestrian, in the image data. In this case, the detection unit 53 stores, for example, a learning model showing the shape and color of a person. Vehicles and people such as pedestrians are examples of moving objects, respectively. The detection unit 53 may be included in, for example, the analysis unit 21 in the traffic monitoring device 2 instead of the camera 5.

The output unit 54 includes an output interface circuit, and outputs image data in which the vehicle is detected by the detection unit 53 to the traffic monitoring device 2. The output unit 54 in the embodiment does not output the image data in which the vehicle is not detected to the traffic monitoring device 2. However, when the detection unit 53 is included in the traffic monitoring device 2, the output unit 54 also outputs image data not including the vehicle to the traffic monitoring device 2. The camera 5 repeatedly executes the above-mentioned process.

The input unit 20 in the traffic monitoring device 2 acquires image data from the camera 5. The combination of the input unit 20, the input unit 20 and the camera 5 is an example of the acquisition unit, respectively. Image data is an example of monitoring information.

The analysis unit 21 analyzes the image data and identifies the position of the vehicle. The analysis unit 21 may have an AI function separate from the detection unit 53 or the detection unit 53, or may specify the position of the vehicle by the AI function. Alternatively, the analysis unit 21 may, for example, perform edge detection processing on the image data to specify the position of the vehicle, or may specify the position of the vehicle in the color space, for example, R (Red), G (Green), B (Blue). The position of the vehicle may be specified based on each value of). In addition to these, the analysis unit 21 may specify the position of the vehicle by acquiring information indicating the position of the vehicle from the camera 5. In this case, the detection unit 53 generates information indicating the position of the vehicle detected in the image data and outputs the information to the traffic monitoring device 2 via the output unit 54. In this case, the combination of the information indicating the position of the vehicle and the image data generated by the detection unit 53 is an example of the monitoring information.

When the position of the vehicle is included in a predetermined range, the analysis unit 21 stores the image data or the position information indicating the position of the vehicle in the storage unit 22. The predetermined range is a range including an intersection and includes a road extending from the entrance or exit of the intersection by any length from, for example, 0 [m] to 10 [m]. .. The predetermined range is determined according to the situation of the intersection, the installation situation of the camera 5, and the like. In the following, the predetermined range may be described as a processing target range. Further, the position information indicating the position of the vehicle may be described as the vehicle position information. The vehicle position information is an example of the moving body position information.

The analysis unit 21 calculates the speed of the vehicle by using the vehicle position information stored in the storage unit 22. In this case, the analysis unit 21 is the time when the input unit 20 or the analysis unit 21 acquires the image data, the time when the camera 5 takes a picture of the vehicle, the time when the output unit 54 outputs the image data to the traffic monitoring device 2, and the like. The speed of the vehicle is calculated using the time information indicating. The time when the camera 5 takes a picture of the vehicle is, for example, the time when the imaging unit 51 generates the electric signal, or the time when the conversion unit 52 converts the format of the electric signal. In the following, the time information may be referred to as vehicle time information. The vehicle time information is an example of the moving body time information. The vehicle time information is output from the camera 5 to the traffic monitoring device 2 when the camera 5 indicates the time when the vehicle was photographed or the output unit 54 outputs the image data to the traffic monitoring device 2. Will be done.

Here, there may be a plurality of vehicles in the processing target range. In such a case, the analysis unit 21 calculates the speed of each vehicle as follows.

The analysis unit 21 identifies each of the plurality of vehicles by at least one of the numbers, vehicle types, colors, shapes, etc. on the license plate of each of the plurality of vehicles. Such identification processing of each vehicle may be performed by the detection unit 53 in the camera 5 instead of the analysis unit 21. Then, the analysis unit 21 may acquire information indicating the result of identifying each vehicle from the camera 5 via the input unit 20.

The analysis unit 21 uses vehicle identification information for identifying the vehicle, vehicle time information indicating the time when the vehicle was photographed in the processing target range, and vehicle position information indicating the position of the vehicle at the time. It is associated and stored in the storage unit 22. The vehicle identification information is information uniquely assigned to each vehicle by the analysis unit 21 or the detection unit 53. Vehicle identification information is an example of moving object identification information.

Here, one vehicle in the processing target range can be photographed one or more times by one or more cameras 5. Therefore, the analysis unit 21 associates one or more vehicle time information with the vehicle position information indicating the position of the vehicle at the time indicated by each of the one or more vehicle time information for one vehicle identification information. , Stored in the storage unit 22.

The analysis unit 21 calculates the speed of the vehicle indicated by the vehicle identification information stored in the storage unit 22 by using one or more vehicle time information and one or more vehicle position information associated with the vehicle identification information. Then, the analysis unit 21 stores the vehicle speed information indicating the speed of the vehicle at the time indicated by each of the one or more vehicle time information in association with each of the one or more vehicle time information. The analysis unit 21 may calculate the acceleration of the vehicle at the time indicated by each of the one or more vehicle time information and store it in the storage unit 22.

The communication unit 23 periodically receives radio waves indicating terminal identification information for identifying the terminal 3 from the terminal 3 in the communicable range including the processing target range. The radio wave may indicate only the terminal identification information or may indicate information including the terminal identification information. The terminal identification information is, for example, an IP address (Internet Protocol address), a MAC address (Media Access Control address), an IMSI (International Mobile Subscriber Identity), or the like of the terminal 3. The terminal identification information is an example of mobile identification information. The terminal identification information is also information that distinguishes the vehicle from the terminal 3, such as having a different data format from the vehicle identification information. By using the terminal identification information, the traffic monitoring device 2 can transmit the alert information to the terminal 3 to which the alert information is transmitted. The communication unit 23 is an example of an acquisition unit.

The analysis unit 21 identifies the position of the terminal 3 by the radio wave. There are various methods for specifying the position of the terminal 3 by the analysis unit 21, and examples thereof include the following methods.

When the communication unit 23 has a plurality of antennas, the analysis unit 21 uses an AoA (Angle of Arrival) method or an AoD (Angle of Departure) based on the strength of the radio wave received from the terminal 3 by each antenna. The position of the terminal 3 is specified by a method or the like. Alternatively, the analysis unit 21 obtains the radio wave indicating the position information of the terminal 3 acquired by the terminal 3 by an application such as GPS (Global Positioning System) from the terminal 3 via the communication unit 23. Specify the position of 3. The analysis unit 21 can periodically grasp the position of the terminal 3 by the radio wave periodically received by the communication unit 23. The strength of the radio wave and the position information of the terminal 3 indicated by the radio wave are examples of monitoring information.

The analysis unit 21 indicates the terminal time information indicating the time when the communication unit 23 receives the radio wave from the terminal 3 or the time when the terminal 3 transmits the radio wave, the terminal identification information of the terminal 3, and the terminal time information. The terminal position information indicating the position of the terminal 3 at the time is stored in the storage unit 22 in association with the terminal position information. The terminal time information is an example of mobile time information. Further, the terminal position information is an example of the moving body position information. If the position of the specified vehicle is not within the processing target range, the analysis unit 21 may omit the process of storing the terminal time information, the terminal identification information, and the terminal position information in the storage unit 22.

The estimation unit 24 estimates the positions of the vehicle and the terminal 3 at a time when a predetermined time has elapsed from the present time. In the following, the predetermined time may be referred to as a prediction time. Further, the position estimated by the estimation unit 24 may be described as an estimated position. The estimation unit 24 estimates the position of each vehicle at the time when the prediction time has elapsed, using the vehicle time information, the vehicle position information, and the vehicle speed information associated with the vehicle identification information that identifies each vehicle. .. Further, the estimation unit 24 estimates the position of each terminal 3 at the time when the prediction time has elapsed, using the terminal time information and the terminal position information associated with the terminal identification information that identifies each terminal 3.

The determination unit 25 is at least one of the owner of the terminal 3 and the operator of the vehicle on which the other terminal 3 is mounted, based on the position of the vehicle and the position of the terminal 3 estimated by the estimation unit 24. Determine if there is a need to call attention to one side. Specifically, the determination unit 25 determines whether or not the distance between the estimated positions of the vehicle and the terminal 3 is equal to or less than the threshold value. Then, if the distance is equal to or less than the threshold value, the determination unit 25 determines that it is necessary to call attention to at least one of the owner of the terminal 3 and the operator of the vehicle.

The above threshold value is set in advance in order to suppress a collision between the vehicle and the owner of the terminal 3. However, the determination unit 25 may set a threshold value according to the speed of the vehicle or the like. In this case, the determination unit 25 increases the threshold value as the vehicle speed increases. In addition, the determination unit 25 may set a threshold value according to the relative speed between the vehicle and the terminal 3. In this case, the determination unit 25 increases the threshold value as the relative speed increases.

When the determination unit 25 determines that the distance between the vehicle and each estimated position of the terminal 3 is equal to or less than the threshold value and the alerting is necessary, the determination unit 25 generates the alerting information. Then, the determination unit 25 controls the communication unit 23 to transmit the generated attention alert information to at least one of the terminal 3 and the other terminal 3 in the vehicle. At this time, the determination unit 25 communicates to transmit the alert information using at least one of the terminal identification information of each of the terminal 3 and the other terminal 3 stored in the storage unit 22. The unit 23 is controlled.

The communication unit 23 transmits the attention alert information to at least one of the terminal 3 and the other terminal 3 according to the instruction from the determination unit 25. The terminal 3 that has received the alert information alerts the user of the terminal 3 based on the alert information. The communication unit 23 and the combination of the communication unit 23 and the terminal 3 are examples of the notification unit, respectively.

Here, when the terminal 3 is mounted on the vehicle, the traffic monitoring device 2 may confuse the vehicle and the terminal 3 with those of different mobile bodies. In this case, the determination unit 25 determines that the distance between the terminal 3 and the vehicle is equal to or less than the threshold value, and controls the communication unit 23 to transmit the attention alert information to the terminal 3. As a result, useless communication processing is executed, and attention is given to a user who does not need to be alerted, which may impair the comfort of the user. In order to prevent such a situation, the traffic monitoring device 2 according to the embodiment associates the terminal 3 mounted on the vehicle with the vehicle. Hereinafter, a specific description will be given.

The analysis unit 21 collates the combination of the vehicle position information and the vehicle time information stored in the storage unit 22 with the combination of the terminal position information and the terminal time information. Hereinafter, the matching process of the combination of the vehicle position information and the vehicle time information associated with one vehicle identification information and the combination of the terminal position information and the terminal time information associated with one terminal identification information is performed by the analysis unit 21. An example will be described. When the time indicated by the vehicle time information and the time indicated by the terminal time information are the same, the analysis unit 21 matches the position indicated by the vehicle position information and the position indicated by the terminal position information at that time. Judge whether or not. When the vehicle time information and the terminal time information are not stored in the storage unit 22, the analysis unit 21 uses the terminal time information indicating the time closest to the time indicated by the vehicle time information. It is determined whether or not the distance between the position indicated by the associated terminal position information and the position indicated by the vehicle position information associated with the vehicle time information is within a predetermined error range. When the distance is within the error range, the analysis unit 21 determines that the position of the vehicle and the position of the terminal 3 match. As described above, the analysis unit 21 determines whether or not the position of the vehicle at the time indicated by each of the one or more vehicle time information and the position of the terminal 3 at the time indicated by each of the one or more terminal time information match. If they match, it is determined that the vehicle has the terminal 3. When the analysis unit 21 in the embodiment determines that the vehicle has the terminal 3, the analysis unit 21 replaces the vehicle identification information of the vehicle in the storage unit 22 with the terminal identification information of the terminal 3. Instead of replacing the vehicle identification information with the terminal identification information, the analysis unit 21 may associate the vehicle identification information with the terminal identification information and store the vehicle identification information in the storage unit 22.

As described above, the analysis unit 21 associates the mobile body with the terminal 3. The determination unit 25 calculates the distance between two or more moving bodies in which the terminal identification information or the moving body identification information which is the vehicle identification information for identifying the moving body such as the terminal 3 or the vehicle is different from each other. Determine if the distance is below the threshold. As a result, the determination unit 25 can omit unnecessary arithmetic processing, determination processing, and generation processing of alert information. Further, the communication unit 23 can omit the unnecessary transmission processing of the alert information. Therefore, the traffic monitoring device 2 can suppress unnecessary alerting. When the analysis unit 21 associates the terminal identification information for identifying the terminal 3 with the vehicle identification information of the vehicle on which the terminal 3 is mounted and stores it in the storage unit 22, the determination unit 25 identifies the vehicle. The distance between the vehicle and the terminal 3 to which the information and the terminal identification information are associated may not be calculated.

Hereinafter, the traffic monitoring process according to the embodiment will be described with reference to FIG. FIG. 3 is a flowchart illustrating the traffic monitoring process according to the embodiment. In step S1, the image pickup unit 51 of the camera 5 converts the light incident on the lens 50 into an electric signal, and the conversion unit 52 converts the electric signal into a digital signal. In step S2, the detection unit 53 executes a vehicle detection process in the image data which is the digital signal. If the detection unit 53 does not detect the vehicle (step S3: NO), the camera 5 returns the process to step S1. When the detection unit 53 detects the vehicle (step S3: YES), the output unit 54 outputs the image data in which the detection unit 53 detects the vehicle to the traffic monitoring device 2 in step S4. As a result, the input unit 20 acquires the image data.

The processes of steps S1 to S4 are repeated by the camera 5 while the following processes of steps S5 and subsequent steps are being executed. When the traffic monitoring device 2 is connected to the plurality of cameras 5, the processes of steps S1 to S4 are executed in parallel by each of the plurality of cameras 5.

When the detection unit 53 is included in the analysis unit 21 of the traffic monitoring device 2, the process in step S4 is executed following step S1. In this case, the output unit 54 outputs the electric signal converted into a digital format by the conversion unit 52 to the traffic monitoring device 2.

In step S5, the analysis unit 21 identifies the position of the vehicle in the image data. The analysis unit 21 may perform edge detection processing on the image data to specify the position of the vehicle, or may specify the position of the vehicle by each value of RGB or the like. Alternatively, the analysis unit 21 may specify the position of the vehicle by the AI function, or may specify the position of the vehicle by using the information indicating the position of the vehicle acquired from the camera 5.

In step S6, the analysis unit 21 determines whether or not the position of the vehicle specified in step S5 is within the processing target range. If the position of the vehicle is not within the processing target range (step S6: NO), the traffic monitoring device 2 ends the traffic monitoring processing. When the traffic monitoring process by the traffic monitoring device 2 is completed, the processes after step S1 are repeated again. When the position of the vehicle is within the processing target range (step S6: YES), the traffic monitoring device 2 executes the processing in step S7.

In step S7, the analysis unit 21 determines whether or not at least one of the following three conditions is satisfied. The first condition is that the image data includes another vehicle and the position of the other vehicle is within the processing target range. The second condition is that the image data acquired again from the camera 5 that outputs the image data in step S4 or the image data previously acquired includes another vehicle, and the position of the other vehicle is determined. It is within the processing target range. The third condition is that the image data acquired from the camera 5 other than the camera 5 in step S4 includes another vehicle, and the position of the other vehicle is within the processing target range.

The image data acquired again from the camera 5 under the second condition is predetermined, for example, a few seconds or a few minutes after the traffic monitoring device 2 acquires the image data including the vehicle. Refers to the one acquired by the traffic monitoring device 2 in time. Then, the image data previously acquired from the camera 5 under the second condition is predetermined, for example, a few seconds or a few minutes from the time when the traffic monitoring device 2 acquires the image data including the vehicle. It refers to the one acquired by the traffic monitoring device 2 at the time of going back within the time. Further, the image data under the third condition is the one acquired by the traffic monitoring device 2 within a period of several seconds or minutes before and after the time when the image data including the vehicle is acquired by the traffic monitoring device 2. Point to.

If all of the above three conditions are not satisfied (step S7: NO), the traffic monitoring device 2 shifts the process to step S10. When at least one of the above three conditions is satisfied (step S7: YES), in step S8, the analysis unit 21 associates the vehicle identification information, the vehicle position information, and the vehicle time information of each of the plurality of vehicles. It is stored in the storage unit 22.

In step S9, the analysis unit 21 calculates the speed of each vehicle using the vehicle time information and the vehicle time information of each of the plurality of vehicles stored in the storage unit 22. Prior to step S9, it is assumed that two or more combinations of vehicle position information and vehicle time information of each vehicle are stored in the storage unit 22. The combination of two or more vehicle position information and vehicle time information may be obtained by image data from one camera 5 or may be obtained by image data from each of a plurality of cameras 5. .. The analysis unit 21 stores the vehicle speed information indicating the speed of each vehicle in association with the vehicle position information and the vehicle time information of each vehicle.

In step S10, the analysis unit 21 determines whether or not the communication unit 23 receives radio waves from at least one terminal 3. When there is no radio wave from the terminal 3 received by the communication unit 23 (step S10: NO), the traffic monitoring device 2 ends the traffic monitoring process. When the communication unit 23 receives radio waves from at least one terminal 3 (step S10: YES), the analysis unit 21 acquires the terminal identification information of the terminal 3 in step S11. Further, the analysis unit 21 identifies the position of the terminal 3 which is the transmission source of the radio wave.

In step S12, the analysis unit 21 stores the terminal identification information, the terminal position information, and the terminal time information of the terminal 3 in the storage unit 22 in association with each other. In step S13, the analysis unit 21 performs an association process between the vehicle and the terminal 3 mounted on the vehicle. It should be noted that the communication unit 23 receives radio waves from only one terminal 3, and there is only one vehicle located in the processing target range, and as a result of the association processing by the analysis unit 21, the one vehicle is present. When the one terminal 3 is associated with the vehicle, the traffic monitoring device 2 ends the traffic monitoring process.

In step S14, the estimation unit 24 estimates the position of the moving body at the time when the prediction time has elapsed from the present time. Here, the position of the moving body refers to any one of the position of the vehicle, the owner of the terminal 3, and the position of the vehicle having the terminal 3. The position of the holder of the terminal 3 coincides with the position of the terminal 3. Then, the position of the vehicle having the terminal 3 coincides with the position of the terminal 3.

In step S15, the determination unit 25 determines whether or not the distance between the estimated positions of the two or more moving objects is equal to or less than the threshold value. If the distance is larger than the threshold value (step S15: NO), the traffic monitoring device 2 ends the traffic monitoring process. If the distance is equal to or less than the threshold value (step S15: YES), the determination unit 25 generates alert information in step S16. In step S17, the determination unit 25 transmits the attention alert information generated in step S16 to the terminal 3 possessed by at least one of the two or more moving objects whose distances from each other are equal to or less than the threshold value after the elapse of the predicted time. To control. The communication unit 23 transmits the attention alert information to the terminal 3 based on the terminal identification information according to the instruction of the determination unit 25.

By the process in step S17, the terminal 3 that has received the alert information alerts the user of the terminal 3 by issuing an alarm sound, displaying an alarm message on the screen, and the like. After the process of step S17, the traffic monitoring device 2 ends the traffic monitoring process.

The traffic monitoring device 2 according to the above embodiment identifies the position of the vehicle after the elapse of the prediction time when the vehicle is detected within the processing target range in the image data, and calls attention based on the position. It was to perform the processing for. However, even when a person such as a pedestrian is detected in the image data, the traffic monitoring device 2 identifies the position of the person after the elapse of the prediction time, and processes for calling attention based on the position. It may be the one that does.

In the traffic monitoring system 1 according to the above embodiment, the communication unit 23 transmits the alert information to the terminal 3, and the terminal 3 issues the alert based on the alert information. However, the communication unit 23 is used. And instead of the terminal 3, the traffic monitoring device 2 may be provided with a notification unit. The notification unit has, for example, a screen for displaying an image, is installed in a conspicuous place such as a roadside at an intersection, and displays an alarm image including an alarm message on the screen based on alert information. , Notify people who come and go at the intersection. Alternatively, the notification unit may have a speaker or the like and output an alarm sound based on the alert information to notify a person who comes and goes at the intersection. The notification unit is an example of the notification unit.

The traffic monitoring device 2 according to the above embodiment transmits alert information to a terminal 3 possessed by at least one of two or more moving objects whose distances from each other are equal to or less than a threshold value after the elapse of the prediction time. .. However, the traffic monitoring device 2 may transmit the alert information by broadcasting to the terminal 3 in the communicable range.

Hereinafter, the effect of the traffic monitoring device 2 according to the embodiment will be described. The traffic monitoring device 2 according to the embodiment includes an acquisition unit, an analysis unit 21, a storage unit 22, an estimation unit 24, a determination unit 25, and a notification unit. The acquisition unit acquires monitoring information indicating a moving object on the road. The analysis unit 21 identifies the position of the moving object using the monitoring information. The storage unit 22 stores the mobile body position information indicating the position specified by the analysis unit 21 and the mobile body time information indicating the time when the acquisition unit acquires the monitoring information. The estimation unit 24 estimates the position of the moving body at a time point in which a predetermined prediction time has elapsed from the present time, based on the moving body position information and the moving body time information stored in the storage unit 22. The determination unit 25 determines whether or not the distance between the positions of the two or more moving objects estimated by the estimation unit 24 is equal to or less than the threshold value. When the distance is equal to or less than the threshold value, the determination unit 25 determines that it is necessary to call attention to at least one of the two or more moving objects. When the determination unit 25 determines that attention is required, the notification unit issues attention to at least one of the two or more moving objects. The determination unit 25 determines the necessity of alerting based on the distance between the positions of the two or more moving objects after the elapse of the prediction time, and the notification unit determines the necessity of alerting. , Pedestrians, people in vehicles, etc., so that people on the road can be alerted at an appropriate timing. Therefore, the traffic monitoring device 2 can support the safe movement of a person on the road.

The analysis unit 21 in the embodiment calculates the speed of the moving body using the moving body position information and the moving body time information stored in the storage unit 22. The estimation unit 24 estimates the position of the moving body from the present time to the time when the prediction time has elapsed, using the moving body position information, the moving body time information, and the moving body speed information indicating the speed. As a result, the accuracy of estimating the position of the moving body by the estimation unit 24 is improved. Therefore, the determination unit 25 can more accurately determine whether or not there is a need for alerting. Therefore, the notification unit can alert people on the road at a more appropriate timing. As a result, the traffic monitoring device 2 can ensure further safety on the road.

The analysis unit 21 in the embodiment is a case where two or more moving bodies are located in a predetermined processing target range, and when a moving body which is a vehicle is located in the processing target range, the moving body position information. And the moving body time information are stored in the storage unit 22. As a result, when there is a possibility that the moving bodies collide with each other and the influence of the collision is large, the traffic monitoring device 2 can call attention to the moving bodies. Therefore, the traffic monitoring device 2 can reduce unnecessary processing.

The acquisition unit in the embodiment includes a camera 5 and an input unit 20. The camera 5 is equipped with artificial intelligence that detects a moving object. The input unit 20 acquires monitoring information, which is image data in which a moving object is detected, from the camera 5. Since the camera 5 detects the moving object by artificial intelligence, the detection accuracy of the moving object is improved. As a result, the traffic monitoring device 2 can further improve the safety of the moving body. Further, since the camera 5 outputs the image data in which the moving object is detected to the input unit 20, the traffic monitoring device 2 can suppress unnecessary communication.

The acquisition unit in the embodiment is connected to a camera 5 equipped with artificial intelligence for detecting a moving object. The acquisition unit acquires monitoring information, which is image data in which a moving object is detected by the camera 5, from the camera 5. Since the camera 5 detects the moving object by artificial intelligence, the detection accuracy of the moving object is improved. As a result, the traffic monitoring device 2 can further improve the safety of the moving body. Further, since the camera 5 outputs the image data in which the moving object is detected to the input unit 20, the traffic monitoring device 2 can suppress unnecessary communication.

The acquisition unit in the embodiment is connected to a camera 5 that captures a moving object. The acquisition unit acquires monitoring information, which is image data captured and generated by the camera 5, from the camera 5. The analysis unit 21 is equipped with artificial intelligence that detects a moving object from image data. Since the analysis unit 21 detects the moving object by artificial intelligence from the image data acquired from the camera 5, the detection accuracy of the moving object is improved. As a result, the traffic monitoring device 2 can further improve the safety of the moving body.

Artificial intelligence in the embodiment detects a moving object that is a vehicle. As a result, the traffic monitoring device 2 can alert a person in a vehicle that is a moving body that is greatly affected by a collision, and can support safe movement on the road.

The notification unit in the embodiment wirelessly communicates with the terminal 3 of the mobile body. When the determination unit 25 determines that the alert is necessary, the determination unit 25 generates the alert information for causing the terminal 3 to alert the terminal 3. Then, the determination unit 25 controls the notification unit to transmit the generated attention alert information to the terminal 3 possessed by at least one of the two or more moving objects. The notification unit sends attention information to the terminal 3 of the mobile body that needs attention, and the terminal 3 calls attention, so that the traffic monitoring device 2 is appropriate for the person who needs attention. Can be alerted to. Therefore, the traffic monitoring device 2 enables further improvement of human safety when moving.

The analysis unit 21 in the embodiment acquires terminal identification information for identifying the terminal 3 from the radio wave received from the terminal 3 by the notification unit. When the determination unit 25 determines that alerting is necessary, the determination unit 25 is notified to transmit the alerting information to the terminal 3 possessed by at least one of the above two or more moving bodies by using the terminal identification information. To control. The analysis unit 21 acquires the terminal identification information from the radio wave from the terminal 3, and the determination unit 25 uses the terminal identification information of the terminal 3 to call attention to the terminal 3 of the mobile body requiring attention. In order to control the notification unit to transmit, the traffic monitoring device 2 can accurately call attention to the moving body. In addition, the traffic monitoring device 2 can suppress unnecessary transmission of alert information to the terminal 3 of the mobile body that does not require attention.

The acquisition unit in the embodiment wirelessly communicates with the terminal 3 and acquires mobile identification information for identifying the terminal 3 from the terminal 3. The analysis unit 21 acquires moving object identification information for identifying the vehicle based on the monitoring information indicating the vehicle. Then, the analysis unit 21 indicates the moving body identification information for identifying the vehicle, the moving body position information indicating the position of the vehicle, and the moving body time information indicating the time when the acquisition unit acquires the monitoring information indicating the vehicle. And are stored in the storage unit 22 in association with each other. Further, the analysis unit 21 identifies the position of the terminal 3 based on the information indicated by the radio wave from the terminal 3 or the monitoring information which is the intensity of the radio wave. Then, the analysis unit 21 includes mobile identification information for identifying the terminal 3, mobile position information indicating the position of the terminal 3, and mobile time information indicating the time when the acquisition unit receives a radio wave from the terminal 3. Is associated and stored in the storage unit 22. The analysis unit 21 combines the mobile body position information indicating the position of the terminal 3, the mobile body time information indicating the time when the acquisition unit receives the radio wave from the terminal 3, and the mobile body position information indicating the position of the vehicle. , And the analysis unit 21 that determines whether or not the vehicle has the terminal 3 by collating with the combination of the moving body time information indicating the time when the acquisition unit acquired the monitoring information indicating the vehicle. When the vehicle has the terminal 3, the mobile identification information for identifying the vehicle is replaced with the mobile identification information for identifying the terminal 3. The determination unit 25 calculates the distance between two or more moving objects having different moving object identification information. As a result, the determination unit 25 can omit unnecessary arithmetic processing, determination processing, and generation processing of alert information. Further, the communication unit 23 can omit the unnecessary transmission processing of the alert information. Therefore, the traffic monitoring device 2 can suppress unnecessary processing when the alerting is unnecessary, and can appropriately execute the alerting when the alerting is necessary.

1 Traffic monitoring system, 2 Traffic monitoring device, 3 terminals, 4 networks, 5 cameras, 20 inputs, 21 analysis units, 22 storage units, 23 communication units, 24 estimation units, 25 judgment units, 50 lenses, 51 imaging units, 52 conversion unit, 53 detection unit, 54 output unit.

Claims (12)

An acquisition unit that acquires monitoring information indicating moving objects on the road,
An analysis unit that identifies the position of the moving object using the monitoring information,
A storage unit that stores moving body position information indicating the position specified by the analysis unit and moving body time information indicating the time when the acquisition unit acquired the monitoring information.
An estimation unit that estimates the position of the moving body at a predetermined time point for prediction from the present time based on the moving body position information and the moving body time information stored in the storage unit.
It is determined whether or not the distance between the positions of the two or more moving bodies estimated by the estimation unit is equal to or less than the threshold value, and if the distance is equal to or less than the threshold value, the distance is 2 or more. Judgment unit that determines that it is necessary to call attention to at least one of the moving objects of
When the determination unit determines that the attention is required, the notification unit that issues the attention to at least one of the two or more moving objects, and the notification unit.
A traffic monitoring device. The analysis unit
The speed of the moving body is calculated using the moving body position information and the moving body time information stored in the storage unit.
The estimation unit
The first aspect of the present invention is to estimate the position of the moving body at the time point when the prediction time has elapsed from the present time by using the moving body position information, the moving body time information, and the moving body speed information indicating the speed. The described traffic monitoring device. The analysis unit
When two or more moving bodies are located in a predetermined processing target range and the moving body which is a vehicle is located in the processing target range, the moving body position information and the moving body time information The traffic monitoring device according to claim 1 or 2, wherein the and is stored in the storage unit. The acquisition unit
A camera equipped with artificial intelligence to detect the moving object,
An input unit that acquires the monitoring information, which is image data in which the moving object is detected, from the camera, and
The traffic monitoring device according to any one of claims 1 to 3, wherein the traffic monitoring device has. The acquisition unit
Claims 1 to 3 are connected to a camera equipped with artificial intelligence for detecting the moving object, and the monitoring information, which is image data obtained by the camera, is acquired from the camera. The traffic monitoring device according to any one of the above. The acquisition unit
It is connected to a camera that shoots the moving object, and monitoring information, which is image data captured and generated by the camera, is acquired from the camera.
The analysis unit
The traffic monitoring device according to any one of claims 1 to 3, which is equipped with artificial intelligence that detects the moving object from the image data. The artificial intelligence is
The traffic monitoring device according to any one of claims 4 to 6, which detects the moving body which is a vehicle. The notification unit
Wireless communication is performed with the terminal of the mobile body to perform wireless communication.
The determination unit
When it is determined that the alert is necessary, the alert information for causing the terminal to perform the alert is generated, and the alert information is generated in the terminal possessed by at least one of the two or more mobile bodies. The traffic monitoring device according to any one of claims 1 to 7, which controls the notification unit to transmit the alert information. The acquisition unit
Wireless communication is performed with the terminal, and mobile identification information for identifying the terminal is acquired from the terminal.
The analysis unit
Acquiring moving object identification information for identifying the vehicle based on the monitoring information indicating the vehicle,
The moving body identification information for identifying the vehicle, the moving body position information indicating the position of the vehicle, and the moving body time information indicating the time when the acquisition unit acquired the monitoring information indicating the vehicle. Is associated and stored in the storage unit,
The position of the terminal is specified based on the information indicated by the radio wave from the terminal or the monitoring information which is the intensity of the radio wave.
The mobile identification information for identifying the terminal, the mobile position information indicating the position of the terminal, and the mobile time information indicating the time when the acquisition unit receives the radio wave from the terminal. It is associated and stored in the storage unit,
A combination of the mobile body position information indicating the position of the terminal, the mobile body time information indicating the time when the acquisition unit receives the radio wave from the terminal, and the mobile body position information indicating the position of the vehicle. And, by collating with the combination of the moving body time information indicating the time when the acquisition unit acquired the monitoring information indicating the vehicle, it is determined whether or not the vehicle has the terminal.
When the vehicle has the terminal, the moving body identification information for identifying the vehicle is replaced with the moving body identification information for identifying the terminal.
The determination unit
The traffic monitoring device according to claim 8, which calculates the distance between the two or more moving bodies having different moving body identification information. A traffic monitoring system having a terminal located on the road and a traffic monitoring device for monitoring the traffic condition on the road.
The traffic monitoring device is
Obtaining monitoring information indicating a moving object on the road,
The position of the moving body is specified by using the monitoring information, and the position of the moving body is specified.
The moving body position information indicating the specified position and the moving body time information indicating the time when the monitoring information was acquired are stored.
Based on the stored moving body position information and the moving body time information, the position of the moving body at a time point in which a predetermined prediction time has elapsed is estimated from the present time.
It is determined whether or not the distance between the positions of the two or more estimated moving objects is equal to or less than the threshold value, and if the distance is equal to or less than the threshold value, the terminal is alerted. The alert information for the purpose is transmitted to the terminal possessed by at least one of the two or more mobile bodies.
The terminal is
A traffic monitoring system that outputs an alarm when the alert information is received. It is a traffic monitoring method executed by a traffic monitoring device that monitors traffic conditions on the road.
An acquisition step to acquire monitoring information indicating a moving object on the road,
An analysis step for identifying the position of the moving object using the monitoring information, and
A storage step for storing the moving body position information indicating the position specified in the analysis step and the moving body time information indicating the time when the monitoring information was acquired in the acquisition step.
Based on the moving body position information and the moving body time information stored in the storage step, an estimation step for estimating the position of the moving body at a time point of elapse of a predetermined prediction time from the present time, and an estimation step.
It is determined whether or not the distance between the positions of the two or more mobile bodies estimated in the estimation step is equal to or less than the threshold value, and if the distance is equal to or less than the threshold value, the distance is 2 or more. A determination step that determines that it is necessary to call attention to at least one of the moving objects of
When it is determined in the determination step that the attention is required, at least one of the two or more moving objects is notified of the notification step and the notification step.
Traffic monitoring methods, including. A traffic monitoring program executed by a computer that monitors traffic conditions on the road.
An acquisition function that acquires monitoring information indicating moving objects on the road,
An analysis function that identifies the position of the moving object using the monitoring information, and
A storage function for storing mobile body position information indicating the position specified by the analysis function and moving body time information indicating the time when the monitoring information was acquired by the acquisition function.
Based on the moving body position information and the moving body time information stored by the storage function, an estimation function for estimating the position of the moving body at a time point of elapse of a predetermined prediction time from the present time, and an estimation function.
It is determined whether or not the distance between the positions of the two or more moving bodies estimated by the estimation function is equal to or less than the threshold value, and if the distance is equal to or less than the threshold value, the distance is 2 or more. A judgment function that determines that it is necessary to call attention to at least one of the moving objects of
When the determination function determines that the attention is required, the notification function for issuing the attention to at least one of the two or more moving objects and the notification function.
A traffic monitoring program that realizes.

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