JP2023027791A - Traffic information provision device, traffic information distribution device, traffic information provision method, traffic information distribution method, traffic information provision program, and traffic information distribution program - Google Patents

Abstract

To reduce a communication amount in transmitting dynamic information to another device, and to enhance accuracy of traffic information to be generated by the other device.SOLUTION: A traffic information provision device comprises: a detection section for detecting a peripheral object; an acquisition section for acquiring position information of a dead angle area to be a dead angle of a mobile body in an object area and object information related to the mobile object; a first identification section for identifying an overlap area of the dead angle area with a detection range of the detection section based on the position information acquired by the acquisition section; a second identification section for identifying a prediction area including a traffic line predicted that the mobile body moves based on the object information acquired by the acquisition section; and a transmission section for transmitting detection information which indicates a detection result of the detection section in an area to be identified based on the overlap area identified by the first identification section and the prediction area identified by the second identification section.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to a traffic information providing device, a traffic information distributing device, a traffic information providing method, a traffic information distributing method, a traffic information providing program, and a traffic information distributing program.

2. Description of the Related Art Conventionally, in order to support safe driving of a vehicle, techniques have been developed for delivering dynamic information such as objects existing around the vehicle to the vehicle. For example, Japanese Patent Application Laid-Open No. 2018-26009 (Patent Document 1) describes the following dynamic map construction method. That is, the roadside device 419 transmits the first detection data acquired by the first sensor 411 to the sensor integration server 400, and the sensor integration server 400 detects the blind spot of the first sensor 411 based on the received first detection data. The unobservable area is extracted, and unobservable area information indicating the unobservable area is transmitted to at least one mobile terminal 439 , and the mobile terminal 439 detects the second sensor 431 based on the second detection data acquired by the second sensor 431 . extract second dynamic information indicating an object existing in the sensing range of the second sensor, determine whether there is an overlapping area between the unobservable area indicated by the received unobservable area information and the sensing range of the second sensor, When it is determined that there is an area, the third dynamic information indicating an object existing in the overlapping area among the second dynamic information is transmitted to the sensor integrated server 400 .

Japanese Patent Application Laid-Open No. 2018-26009

In the dynamic map construction method described in Patent Literature 1 described above, it is possible to reduce the amount of communication when a mobile terminal such as an in-vehicle device uploads dynamic information to the sensor integrated server.

However, a communication delay may occur when dynamic information is uploaded to the sensor integrated server, and it may take time for the sensor integrated server to process the dynamic information. In such a case, there is a problem that the moving object in the target area moves before the traffic information is generated, and the accuracy of the traffic information deteriorates.

The present invention was made to solve the above problems, and its object is to reduce the amount of communication when transmitting dynamic information to other devices, and to reduce the amount of communication generated by other devices. A traffic information providing device, a traffic information distributing device, a traffic information providing method, a traffic information distributing method, a traffic information providing program, and a traffic information distributing program capable of increasing the accuracy of traffic information.

A traffic information providing device of the present disclosure includes a detection unit that detects surrounding objects, an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area, and object information related to the moving object, and a first identifying unit that identifies an overlapping area between the blind spot area and the detection range of the detecting unit based on the position information obtained by the unit; and based on the object information obtained by the obtaining unit, the a second identifying unit that identifies a predicted region including a flow line along which a moving object is predicted to move; the overlapping region identified by the first identifying unit; and the predicted region identified by the second identifying unit; and a transmitting unit that transmits detection information indicating a result of detection by the detecting unit in the area specified based on the above.

The traffic information distribution device of the present disclosure includes an acquisition unit that acquires position information of a blind spot area that is a blind spot of a moving object in a target area and object information related to the moving object, and the position information and a transmission unit that transmits the object information to another device; an overlap region between the blind spot region and the detection range of the object by the other device; a receiving unit that receives, from the other device, detection information indicating a detection result of an object in the region specified based on the above.

A traffic information providing method according to the present disclosure is a traffic information providing method in a traffic information providing device, comprising a step of acquiring position information of a blind spot area, which is a blind spot of a moving object in a target area, and object information related to the moving object; identifying an overlapping area between the blind spot area and the surrounding detection range of the traffic information providing device based on the acquired position information; and predicting that the moving object will move based on the acquired object information. and transmitting detection information indicating a detection result of an object in the area identified based on the identified overlapping area and the predicted area.

A traffic information distribution method of the present disclosure is a traffic information distribution method in a traffic information distribution device, and includes a step of acquiring position information of a blind spot area that is a blind spot of a moving object in a target area and object information related to the moving object; a step of transmitting the acquired position information and the object information to another device; an overlap region between the blind spot region and a detection range of the object by the other device; and a flow line along which the moving object is expected to move. receiving from the other device detection information indicative of a detection result of an object in the region identified based on the predicted region comprising:

A traffic information providing program according to the present disclosure is a traffic information providing program used in a traffic information providing device, in which a computer comprises a detection unit that detects surrounding objects, and a position of a blind area that is a blind spot for a moving object in a target area. an acquisition unit that acquires information and object information about the moving object; and a first identification that identifies an overlap region between the blind spot region and the detection range of the detection unit based on the position information acquired by the acquisition unit. a second specifying unit that specifies a prediction region including a flow line along which the moving object is expected to move based on the object information acquired by the acquiring unit; A program for functioning as a transmission unit that transmits detection information indicating a detection result by the detection unit in an area specified based on the overlap area and the prediction area specified by the second specification unit be.

A traffic information distribution program of the present disclosure is a traffic information distribution program used in a traffic information distribution device, wherein a computer receives position information of a blind spot area, which is a blind spot of a moving object in a target area, and object information about the moving object. an acquisition unit that acquires; a transmission unit that transmits the position information and the object information acquired by the acquisition unit to another device; , and a prediction region including a flow line along which the moving object is predicted to move. program.

One aspect of the present disclosure can be implemented not only as a traffic information providing device including such a characteristic processing unit, but also as a semiconductor integrated circuit that implements part or all of the traffic information providing device, It can be realized as a system including a traffic information providing device.

One aspect of the present disclosure can be realized not only as a traffic information distribution device including such a characteristic processing unit, but also as a semiconductor integrated circuit that realizes part or all of the traffic information distribution device, It can be realized as a system including a traffic information distribution device.

According to the present disclosure, it is possible to reduce the amount of communication when transmitting dynamic information to another device, and to further improve the accuracy of traffic information generated by the other device.

FIG. 1 is a diagram showing the configuration of a traffic information distribution system according to an embodiment of the present disclosure. FIG. 2 is a diagram showing a configuration of a distribution server according to an embodiment of the present disclosure; FIG. 3 is a diagram for explaining travel information generated by the distribution server according to the embodiment of the present disclosure. FIG. 4 is a diagram illustrating an example of a format of a frame storing driving information transmitted from the distribution server according to the embodiment of the present disclosure. FIG. 5 is a diagram showing the configuration of an in-vehicle device according to an embodiment of the present disclosure. FIG. 6 is a diagram illustrating an example of overlapping regions specified by the first specifying unit in the in-vehicle device according to the embodiment of the present disclosure. FIG. 7 is a diagram illustrating an example of a provision area determined by the information processing unit in the in-vehicle device according to the embodiment of the present disclosure; FIG. 8 is a diagram illustrating an example of a provision area determined by an information processing unit in an in-vehicle device according to an embodiment of the present disclosure; FIG. 9 is a diagram showing a modification of the provision area determined by the information processing section in the in-vehicle device according to the embodiment of the present disclosure. FIG. 10 is an example of a sequence defining operation procedures of each device in the traffic information distribution system according to the embodiment of the present disclosure. FIG. 11 is an example of a sequence defining operation procedures of each device in the traffic information distribution system according to the embodiment of the present disclosure.

First, the contents of the embodiments of the present disclosure will be listed and described.

(1) A traffic information providing device according to an embodiment of the present disclosure includes a detection unit that detects surrounding objects, position information of a blind spot area that is a blind spot for a moving object in a target area, and object information about the moving object. an acquiring unit for acquiring; a first specifying unit for specifying an overlap region between the blind spot region and the detection range of the detecting unit based on the position information acquired by the acquiring unit; a second identifying unit that identifies a predicted area including a flow line along which the moving object is predicted to move based on the object information; the overlapping area identified by the first identifying unit; and the second identifying unit. and a transmitting unit that transmits detection information indicating a result of detection by the detecting unit in the region specified based on the predicted region specified by.

With such a configuration, it is possible to appropriately reduce the data amount of detection information to be transmitted to other devices. In addition, even if there is a communication delay when transmitting the detection information to another device, or if it takes time for the other device to process the detection information, the blind spot area due to the movement of the moving object It is possible to transmit the detection result of the object in the area considering the change in the position of the . Therefore, it is possible to reduce the amount of communication when transmitting dynamic information to other devices, and to further improve the accuracy of traffic information generated by other devices.

(2) The acquisition unit may acquire speed information of the moving object as the object information.

With such a configuration, it is possible to predict the movement distance of the moving object and more accurately identify the prediction area.

(3) The acquisition unit may acquire orientation information of the moving object as the object information.

With such a configuration, it is possible to predict the moving direction of the moving object and more accurately identify the prediction region.

(4) The detection information may include an object detection result in a region including both the overlap region and the prediction region.

With such a configuration, it is possible to acquire object detection results in a range including not only the overlap region but also the prediction region in another device, so that highly accurate traffic information can be generated more reliably. .

(5) The transmitting unit may not transmit the detection information when the overlapping area specified by the first specifying unit does not exist.

In this way, with the configuration in which the object detection result is not transmitted when there is no overlapping area, it is possible to more appropriately reduce the amount of communication with other devices.

(6) A traffic information distribution device according to an embodiment of the present disclosure includes an acquisition unit that acquires position information of a blind spot area that is a blind spot of a moving object in a target area and object information related to the moving object, and a transmission unit configured to transmit the acquired position information and the object information to another device; an overlap region between the blind spot region and the detection range of the object by the other device; a receiving unit configured to receive, from the other device, detection information indicating a detection result of an object in the region specified based on the predicted region including the flow line.

With such a configuration, it is possible to appropriately suppress the data amount of the detection information transmitted from the in-vehicle device. In addition, even if there is a communication delay when transmitting detection information from the in-vehicle device, or if it takes time to process the detection information by the traffic information distribution device, which is another device, the detection of moving objects will not occur. It is possible to receive the detection result of the object in the area considering the change in the position of the blind spot area due to movement. Therefore, it is possible to reduce the amount of communication when transmitting dynamic information to other devices, and to further improve the accuracy of traffic information generated by other devices.

(7) A traffic information providing method according to an embodiment of the present disclosure is a traffic information providing method in a traffic information providing device, and includes position information of a blind spot area that is a blind spot of a moving object in a target area, and acquiring object information; identifying an overlapping area between the blind spot area and the surrounding detection range of the traffic information providing device based on the acquired position information; and based on the acquired object information, identifying a predicted area including a flow line along which the moving object is predicted to move; and transmitting detection information indicating a detection result of the object in the area identified based on the identified overlapping area and the predicted area. step.

With such a method, it is possible to appropriately reduce the data amount of detection information to be transmitted to other devices. In addition, even if there is a communication delay when transmitting the detection information to another device, or if it takes time for the other device to process the detection information, the blind spot area due to the movement of the moving object It is possible to transmit the detection result of the object in the area considering the change in the position of the . Therefore, it is possible to reduce the amount of communication when transmitting dynamic information to other devices, and to further improve the accuracy of traffic information generated by other devices.

(8) A traffic information distribution method according to an embodiment of the present disclosure is a traffic information distribution method in a traffic information distribution device, and includes position information of a blind spot area that is a blind spot of a moving object in a target area, and a step of acquiring object information; a step of transmitting the acquired position information and the object information to another device; an overlap region between the blind spot region and a detection range of the object by the other device; receiving from the other device detection information indicating a detection result of the object in the region specified based on the predicted region including the flow line predicted to move by the device.

With such a method, it is possible to appropriately reduce the amount of detection information transmitted from the in-vehicle device. In addition, even if there is a communication delay when transmitting detection information from the in-vehicle device, or if it takes time to process the detection information by the traffic information distribution device, which is another device, the detection of moving objects will not occur. It is possible to receive the detection result of the object in the area considering the change in the position of the blind spot area due to movement. Therefore, it is possible to reduce the amount of communication when transmitting dynamic information to other devices, and to further improve the accuracy of traffic information generated by other devices.

(9) A traffic information providing program according to an embodiment of the present disclosure is a traffic information providing program used in a traffic information providing device, comprising: a computer configured to detect a surrounding object; an acquisition unit that acquires position information of a blind area that is a blind spot and object information about the moving object; and a detection range of the blind area and the detection unit based on the position information acquired by the acquisition unit. a first specifying unit that specifies an overlapping region; a second specifying unit that specifies a predicted region including a flow line along which the moving object is predicted to move based on the object information acquired by the acquiring unit; A transmission unit that transmits detection information indicating a detection result by the detection unit in a region specified based on the overlapping region specified by the first specifying unit and the predicted region specified by the second specifying unit. , is a program for functioning as

With such a configuration, it is possible to appropriately reduce the data amount of detection information to be transmitted to other devices. In addition, even if there is a communication delay when transmitting the detection information to another device, or if it takes time for the other device to process the detection information, the blind spot area due to the movement of the moving object It is possible to transmit the detection result of the object in the area considering the change in the position of the . Therefore, it is possible to reduce the amount of communication when transmitting dynamic information to other devices, and to further improve the accuracy of traffic information generated by other devices.

(10) A traffic information distribution program according to an embodiment of the present disclosure is a traffic information distribution program used in a traffic information distribution device, in which a computer is provided with position information of a blind area that is a blind spot for a moving object in a target area, and an acquisition unit that acquires object information about the moving object, a transmission unit that transmits the position information and the object information acquired by the acquisition unit to another device, the blind area, and the other device Receiving, from the other device, detection information indicating a detection result of an object in an area specified based on an overlapping area with an object detection range and a prediction area including a flow line along which the moving object is predicted to move. It is a program for functioning as a receiving part that

With such a configuration, it is possible to appropriately suppress the data amount of the detection information transmitted from the in-vehicle device. In addition, even if there is a communication delay when transmitting detection information from the in-vehicle device, or if it takes time to process the detection information by the traffic information distribution device, which is another device, the detection of moving objects will not occur. It is possible to receive the detection result of the object in the area considering the change in the position of the blind spot area due to movement. Therefore, it is possible to reduce the amount of communication when transmitting dynamic information to other devices, and to further improve the accuracy of traffic information generated by other devices.

Embodiments of the present disclosure will be described below with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals, and the description thereof will not be repeated. Moreover, at least part of the embodiments described below may be combined arbitrarily.

<Configuration and basic operation>
[overall structure]
FIG. 1 is a diagram showing the configuration of a traffic information distribution system according to an embodiment of the present disclosure.

Referring to FIG. 1, a traffic information distribution system 300 includes a distribution server (traffic information distribution device) 100, one or more in-vehicle devices (traffic information providing devices) 200, and one or more A plurality of roadside units 60 are provided. In-vehicle device 200 is mounted in vehicle 40 . The target area includes, for example, an intersection or a fork in the road.

The roadside device 60 can communicate with the distribution server 100 via the radio base station 20 using ITS (Intelligent Transport System) radio, for example.

The roadside device 60 periodically or irregularly detects surrounding objects using sensors such as cameras, LiDAR (Light Detection and Ranging), and millimeter wave radar devices, and transmits detection information indicating detection results via the wireless base station 20. to the distribution server 100. Objects include vehicles and people. The detection information includes, for example, the type, position, speed and direction of movement of each detected object.

The in-vehicle device 200 mounted on the vehicle 40 uses the sensors mounted on the vehicle 40 to periodically or irregularly monitor surrounding objects when the vehicle 40 is present in the target area, similarly to the roadside unit 60 . It detects, and transmits detection information indicating the detection result to distribution server 100 via wireless base station 20 . Hereinafter, each of the roadside device 60 and the in-vehicle device 200 is also referred to as a detection device.

Each detection device may be configured to transmit detection information indicating the detection result of an object to distribution server 100 via wireless base station 20 when receiving a detection information request from distribution server 100 .

Distribution server 100 receives detection information from each of one or a plurality of detection devices existing in the target area via wireless base station 20, and based on the received one or more detection information, from the detection range of each detection device. The detection result of the object in the wide target area, that is, the driving information including the dynamic information is generated. The travel information indicates the type, position, speed, direction of movement, etc. of each object present in the target area.

Further, the distribution server 100 transmits the generated travel information to the in-vehicle device 200 of the vehicle 40 existing in the target area via the radio base station 20 . Hereinafter, the vehicle 40 to which the travel information is transmitted is also referred to as a delivery destination vehicle.

The in-vehicle device 200 of the vehicle 40, which is the delivery destination vehicle, receives the position of the vehicle 40 obtained by a GNNS (Global Navigation Satellite System) such as a GPS (Global Positioning System) receiver (not shown) installed in the vehicle 40. Get information. In addition, the in-vehicle device 200 acquires the detection results of the surrounding objects detected using the sensors mounted on the vehicle 40 .

Then, the in-vehicle device 200 assists the driving of the vehicle 40 based on the acquired position information of the vehicle 40, the object detection result, the driving information from the distribution server 100, and the like. Specifically, as driving assistance, the in-vehicle device 200 performs, for example, control to display the driving route on the screen of the car navigation system, and automatic driving by controlling the driving of the vehicle 40 such as speed. .

[Distribution server]
FIG. 2 is a diagram showing a configuration of a distribution server according to an embodiment of the present disclosure;

Referring to FIG. 2 , distribution server 100 includes map generation unit 11 , storage unit 12 , reception unit 13 , identification unit (acquisition unit) 14 , and transmission unit 15 . The map generation unit 11 and the identification unit 14 are realized by processors such as a CPU (Central Processing Unit) and a DSP (Digital Signal Processor). Receiving unit 13 and transmitting unit 15 are realized by a communication circuit such as a communication IC (Integrated Circuit). Storage unit 12 is, for example, a non-volatile memory.

(storage unit, map generation unit and transmission unit)
The storage unit 12 stores map data of a target area, which is static information. The reception unit 13 receives the detection information transmitted from the detection device via the wireless base station 20 and outputs the received detection information to the map generation unit 11 .

The map generation unit 11 receives the detection information output from the reception unit 13 and generates driving information based on the detection information and the map data stored in the storage unit 12 .

FIG. 3 is a diagram for explaining travel information generated by the distribution server according to the embodiment of the present disclosure. Here, as an example, travel information generated based on detection information from the roadside device 60 will be described.

Referring to FIGS. 2 and 3, map generation unit 11 generates travel information indicating the state of each region, for example, when the target region is divided into grids. Each region is hereinafter also referred to as a grid.

The state of the grid includes, for example, an “unknown state” in which a detection result cannot be obtained because it is outside the detection range of the roadside unit 60 or no map data exists, and an “object present state” in which an object exists. , a “blind spot state” that is a blind spot for an object, and a “clear state” where no object exists.

Hereinafter, the area in the unknown state is also referred to as the "unknown area", the area in the presence of an object is also referred to as the "area with the object", the area in the blind spot state is also referred to as the "blind spot area", and the area in the cleared state is also referred to as the "clear area". called.

The map generation unit 11 determines the state of each grid based on the map data and detection information from the roadside unit 60, and generates travel information indicating the determined state of each grid and the position of each grid. Then, the map generation unit 11 saves the generated travel information in the storage unit 12 . The position of each grid is indicated using, for example, latitude and longitude.

It should be noted that even if the detection device determines the state of each grid included in the detection range and transmits detection information indicating the determined state of each grid and the position of each grid to the distribution server 100 via the wireless base station 20. good.

Further, the map generation unit 11 outputs the generated travel information to the transmission unit 15, for example. Upon receiving the travel information output from the map generation unit 11, the transmission unit 15 broadcasts the travel information to the plurality of vehicles 40 in the target area, for example.

FIG. 4 is a diagram illustrating an example of a format of a frame storing driving information transmitted from the distribution server according to the embodiment of the present disclosure.

Referring to FIG. 4, the travel information is stored in the data area of the frame, and includes, for example, a provision point management number, provision point coordinate information, object information, and state information.

The provision point management number is, for example, a code of the prefecture that includes the target area, a provision point type code indicating whether the target area is an intersection or a parking/stop area, a unique provision point ID for each target area ( Identification).

The provision point coordinate information includes, for example, the latitude and longitude of each grid included in the target area. The object information includes type information, position information, speed information, direction information, and the like for each object existing in the target area. State information indicates the state of each grid.

When the in-vehicle device 200 receives the travel information broadcast from the distribution server 100 via the wireless base station 20, for example, the in-vehicle device 200 confirms the provision point ID and the like included in the frame in which the travel information is stored, and determines the travel information. It is determined whether or not the content of the information is used for driving assistance of the vehicle 40 .

Specifically, for example, when the provision point ID is an intersection ID within a predetermined range from the position of the vehicle 40 in which the in-vehicle device 200 is mounted, the in-vehicle device 200 uses the contents of the travel information for driving assistance. and decide. Then, the in-vehicle device 200 assists the driving of the vehicle 40 based on the state of each grid indicated by the travel information, the position information of the vehicle 40, and the like.

The transmitting unit 15 may be configured to unicast the driving information to one or a plurality of vehicles 40 in the target area without being limited to the configuration of broadcasting the driving information to the plurality of vehicles 40 .

(specific part)
Referring to FIGS. 2 and 3 again, the specifying unit 14 acquires the position information of the blind spot area, which is the blind spot of the moving object in the target area, and the object information about the moving object.

For example, the identification unit 14 refers to the driving information stored in the storage unit 12, and determines that an object region R1 exists on the road and that the object region R1 exists on the road, as shown in FIG. If there is a blind spot area adjacent to the moving object, this area is identified as a blind spot area R2 that is a blind spot of the moving object.

In order to simplify the explanation, FIG. 3 shows an object presence region R1 where the moving object P is located and a blind spot region R2 which is a square of the moving object P, and an object presence region where another moving object is located. Areas, and other blind areas are not shown.

Further, the identifying unit 14 acquires object information indicating the type, position, speed, direction, etc. of the moving object and position information of the blind spot area R2 from the travel information, and acquires the acquired position information of the blind spot area R2 and The object information is output to the transmission unit 15 .

When the transmitting unit 15 receives the position information of the blind spot region R2 and the object information output from the specifying unit 14, for example, the transmitting unit 15 transmits information to a plurality of vehicles 40 existing in the blind spot region R2 or around the blind spot region R2. The location information of the region R2 and the object information are broadcast. At this time, the transmitting unit 15 requests detection information from the plurality of vehicles 40 together with, for example, the position information and the object information of the blind spot region R2.

In addition, the transmission unit 15 is not limited to the configuration of broadcasting the position information of the blind spot area R2 and the object information to the plurality of vehicles 40. For example, one or a plurality of vehicles existing in or around the blind spot area R2 40, the position information and object information of the blind area R2 may be unicast.

Further, the distribution server 100 may request detection information from the in-vehicle device 200 of the vehicle 40, which is a moving object that creates the blind spot region R2. In this case, the distribution server 100 may transmit the position information and the object information of the blind spot region R2 to the in-vehicle device 200, or may not transmit the position information and the object information.

Further, the object information of the moving object is not limited to the configuration including all of the type information, the position information, the speed information and the direction information, and includes at least one of the type information, the position information, the speed information and the direction information. It may be information.

[In-vehicle device]
FIG. 5 is a diagram showing the configuration of an in-vehicle device according to an embodiment of the present disclosure.

Referring to FIG. 5 , in-vehicle device 200 includes a receiver (obtainer) 31 , a detector 32 , an information processor 33 , a specifier 34 and a transmitter 35 . The information processing unit 33 and the specifying unit 34 are realized by processors such as a CPU and a DSP, for example. Reception unit 31 and transmission unit 35 are realized by a communication circuit such as a communication IC, for example. The identifying portion 34 includes a first identifying portion 51 and a second identifying portion 52 .

When the reception unit 31 receives the position information of the blind spot region R2, the object information, and the request for the detection information transmitted from the distribution server 100 via the wireless base station 20, the reception unit 31 notifies the detection unit 32 that the request for the detection information has been received. Notice. Further, receiving unit 31 outputs the position information and object information of blind spot region R2 from distribution server 100 to specifying unit 34 .

Upon receiving notification from the receiving unit 31 that the request for detection information has been received, the detecting unit 32 periodically or irregularly detects objects around the in-vehicle device 200 using sensors mounted on the vehicle 40, A detection result such as the position of each detected object is output to the information processing section 33 .

Based on the detection result held by the information processing unit 33 and the position information of the blind spot area R2 received from the receiving unit 31, the first specifying unit 51 in the specifying unit 34 determines the blind spot area R2 and the detection range of the detecting unit 32. to identify the overlapping region R3. Then, the first specifying unit 51 outputs the specified positional information of the overlapping region R3 to the information processing unit 33 .

FIG. 6 is a diagram illustrating an example of overlapping regions specified by the first specifying unit in the in-vehicle device according to the embodiment of the present disclosure.

Referring to FIG. 6, here, vehicle 40a exists within blind spot region R2 created by moving object P, and in-vehicle device 200a of vehicle 40a receives position information of blind spot region R2 and moving object from distribution server 100. Assume that a request for object information and detection information is received.

In this case, as shown in FIG. 6, the first specifying unit 51 in the in-vehicle device 200a detects an overlap region R3 between the blind spot region R2 and the detection range of the detection unit 32 in the vehicle 40a based on the position information of the blind spot region R2. identify.

Here, it is assumed that the in-vehicle device 200a transmits detection information indicating the detection result of the object in the overlapping area R3 to the distribution server 100 via the wireless base station 20. FIG. In this case, the distribution server 100 receives the detection information transmitted from the in-vehicle device 200a, and generates or updates the travel information based on the detection information.

Specifically, distribution server 100 generates more useful driving information by, for example, changing the state of an area that was in a blind spot state in the driving information before updating to a state with an object or a clear state. can be done.

However, a communication delay may occur when the detection information is uploaded from the in-vehicle device 200 to the distribution server 100, and it may take time for the distribution server 100 to update the travel information. In this case, there is a problem that the moving object that creates the blind spot region R2 moves and the accuracy of the driving information is lowered.

For this reason, the in-vehicle device 200 identifies a provision area based on an overlap region R3 between the blind spot region R2 and the object detection range and the object information of the moving object that creates the blind spot region R2, and in the identified provision region Detection information indicating the detection result of the object is transmitted to distribution server 100 via wireless base station 20 .

More specifically, the second specifying unit 52 in the specifying unit 34 specifies the predicted region R4 including the flow line along which the moving object that creates the blind spot is predicted to move, based on the object information received from the receiving unit 31. do.

7 and 8 are diagrams showing examples of provision areas determined by the information processing unit in the in-vehicle device according to the embodiment of the present disclosure.

2, 7 and 8, based on the object information, second specifying unit 52 determines that a moving object P traveling straight through an intersection has passed a predetermined time since the current time, as shown in FIG. 7, for example. Predict the flow line that runs between The predetermined time is, for example, the length of communication delay expected when the detection information is uploaded from the in-vehicle device 200 to the distribution server 100 .

Then, the second specifying unit 52 specifies the predicted region R<b>4 including the predicted flow line, and outputs the position information of the specified predicted region R<b>4 to the information processing unit 33 .

Specifically, it is assumed that the speed of the moving object P is 18 km/h and the predetermined time is 300 milliseconds. In this case, the second identifying unit 52, for example, predicts that the moving distance of the moving object P is 1.5 m (=18 km/h×300 milliseconds) and identifies the predicted region R4.

As another example, assume that the second identifying unit 52 predicts a flow line of a moving object P that turns right at an intersection, as shown in FIG. Similarly in this case, the second specifying unit 52 specifies the predicted region R4 including the predicted flow line, and outputs the position information of the specified predicted region R4 to the information processing unit 33 .

The information processing section 33 identifies the provision area R5 based on the positional information of the overlapping area R3 received from the first identifying section 51 and the positional information of the predicted area R4 received from the second identifying section 52 .

For example, the information processing section 33 identifies a region including both the overlap region R3 and the prediction region R4 shown in FIGS. 7 and 8 as the provision region R5. Then, the information processing section 33 extracts the detection result of the object in the specified provision region R5 from the detection result received from the detection section 32 and outputs the extracted detection result to the transmission section 35 .

The transmission unit 35 receives the detection result output from the information processing unit 33 and transmits detection information indicating the detection result to the distribution server 100 via the wireless base station 20 .

(Modified example of provision area)
FIG. 9 is a diagram showing a modification of the provision area determined by the information processing section in the in-vehicle device according to the embodiment of the present disclosure.

Referring to FIG. 9, information processing section 33 is not limited to a configuration in which a region including both overlapping region R3 and predicted region R4 is specified as provision region R5. For example, the information processing section 33 may identify the overlap region R3 when the position of the overlap region R3 is shifted such that the predicted region R4 is included in the overlap region R3 as the provision region R5. Thereby, since the size of the provision area R5 becomes the same as the size of the overlap area R3, it is possible to suppress an increase in communication traffic.

In addition, the roadside device 60 specifies an overlap region R3 between the blind spot region R2 and the surrounding detection range of the roadside device 60, and a prediction region R4, and detects the object in the provision region R5 based on the specified overlap region R3 and prediction region R4. Information indicating the detection result may be transmitted to the distribution server 100 . In this case, the roadside device 60 includes a receiving unit 31, a detecting unit 32, an information processing unit 33, a specifying unit 34, and a transmitting unit 35, like the in-vehicle device 200 shown in FIG.

[Modified example of distribution server and in-vehicle device]
In-vehicle device 200 is not limited to the configuration of receiving the position information of blind spot region R2 and the object information of a moving object from distribution server 100 via radio base station 20. It may be configured to specify an object.

For example, the receiving unit 31 in the in-vehicle device 200 receives driving information broadcast from the distribution server 100 via the wireless base station 20 and outputs the received driving information to the identifying unit 34 .

The first specifying unit 51 in the specifying unit 34 receives the driving information output from the receiving unit 31, and based on the traveling information, for example, the same method as the method of specifying the blind spot region R2 by the specifying unit 14 of the distribution server 100. The blind spot area R2, which is the blind spot of the moving object, and the moving object are specified using the method of . In this case, the first identification unit 51 corresponds to an acquisition unit that acquires the position information of the blind spot region R2 and the object information of the moving object.

Then, the first identifying unit 51 identifies an overlap region R3 between the blind spot region R2 and the detection range of the detector 32 based on the acquired position information of the blind spot region R2.

Also, in this case, the first identifying unit 51 outputs the object information of the moving object acquired from the traveling information to the second identifying unit 52 . Based on the object information from the first identifying unit 51, the second identifying unit 52 identifies a predicted region R4 including a flow line along which the moving object is predicted to move.

Note that, in the case of the configuration as described above, the distribution server 100 does not need to include the specifying unit 14 .

Further, when there is no overlap region R3 between the blind spot region R2 and the detection range of the object by the detection unit 32, the first specifying unit 51, for example, determines the object information of the moving object that creates the blind spot region R2 as the second It is not output to the identification unit 52. In this case, the identification of the predicted region R4 by the second identification unit 52, the identification of the provision region R5 by the information processing unit 33, and the transmission of detection information indicating the detection result of the object in the provision region R5 by the transmission unit 35 are all performed. can't break

<Flow of operation>
Each device in the traffic information distribution system 300 has a computer including a memory, and an arithmetic processing unit such as a CPU in the computer reads out from the memory a program including part or all of each step of the following flowcharts and sequences. Execute. Programs for these multiple devices can each be installed from the outside. Programs for these devices are distributed in a state stored in recording media or via communication lines.

[Flow of operation of each device in the traffic information distribution system (example 1)]
FIG. 10 is an example of a sequence defining operation procedures of each device in the traffic information distribution system according to the embodiment of the present disclosure. Here, a case will be described in which distribution server 100 transmits position information of a blind spot area and object information of a moving object to in-vehicle device 200 .

Referring to FIG. 10, roadside device 60 first detects a surrounding object (step S10), and transmits detection information indicating the detection result to distribution server 100 (step S11).

Next, the distribution server 100 receives the detection information transmitted from the roadside device 60, and based on the detection information, generates travel information indicating the detection result of the object in the target area (step S12).

Next, the distribution server 100 acquires the position information of the blind spot region R2, which is the blind spot of the moving object, and the object information of the moving object from the generated travel information (step S13).

Next, distribution server 100 broadcasts the acquired position information and object information of blind spot area R2 and a request for detection information to, for example, a plurality of vehicles 40 existing in or around blind spot area R2. Here, it is assumed that the in-vehicle device 200a corresponding to the vehicle 40a receives a request for position information, object information, and detection information of the blind spot area R2 from the distribution server 100 (step S14).

Next, the in-vehicle device 200a detects surrounding objects (step S15), and based on the detection result and the position information of the blind area received from the distribution server 100, the overlap area R3 between the blind area R2 and the detection range of the object. is specified (step S16).

Next, based on the object information received from the distribution server 100, the in-vehicle device 200a identifies a predicted area R4 including a line of flow that the moving object creating the blind spot is predicted to move (step S17).

Next, the in-vehicle device 200a determines, for example, a region including both the identified overlap region R3 and the predicted region R4 as the provision region R5, and from the detection result of the object performed in step S15, the object in the determined provision region R5 is extracted (step S18).

Next, the in-vehicle device 200a transmits detection information indicating the extracted detection result to the distribution server 100 (step S19).

Next, the distribution server 100 receives the detection information transmitted from the in-vehicle device 200a, and updates the travel information based on the received detection information (step S20).

Next, distribution server 100 broadcasts the updated travel information, for example, to one or more vehicles 40 in the target area. Here, it is assumed that the in-vehicle device 200b of the vehicle 40b receives the travel information (step S21).

Next, the in-vehicle device 200b detects surrounding objects (step S22).

Next, it is assumed that the in-vehicle device 200b confirms the provision point ID and the like included in the driving information from the distribution server 100 and determines to use the contents of the driving information for driving assistance. In this case, the in-vehicle device 200b extracts, for example, state information indicating the state of the area around the vehicle 40b from the travel information as information used for driving assistance (step S23).

Next, the in-vehicle device 200b determines whether the vehicle 40b can travel based on the object detection result performed in step S22, the state information extracted from the travel information, the position information of the vehicle 40b, and the like.

For example, when the vehicle 40b turns right at an intersection, the in-vehicle device 200b detects the area included in the flow line from the current position of the vehicle 40b to the right turn at the intersection, and the traveling lane of the oncoming straight vehicle heading for the intersection. When it is confirmed that all of the areas are cleared, it is determined that the vehicle 40b can turn right.

On the other hand, when the vehicle 40b turns right at the intersection, the in-vehicle device 200b detects the area included in the flow line from the current position of the vehicle 40b to the right turn at the intersection, and the traveling lane of the oncoming straight vehicle heading for the intersection. If at least part of the area is a blind spot area or an object presence area, it is determined that the vehicle 40b should not turn right (step S24).

Then, the in-vehicle device 200b assists the driving of the vehicle 40b according to the determination result of whether or not the vehicle 40b can travel.

For example, when the in-vehicle device 200b determines that the vehicle 40b can turn right, it controls the vehicle 40b to turn right at the intersection. On the other hand, when the in-vehicle device 200b determines that the vehicle 40b should not turn right, it performs control such as decelerating the vehicle 40b or stopping the vehicle 40b (step S25).

Note that the in-vehicle device 200a may be configured to detect surrounding objects (step S15) before receiving a request for detection information from the distribution server 100. FIG.

Further, the in-vehicle device 200b may be configured to detect surrounding objects (step S22) before receiving the travel information from the distribution server 100. FIG.

[Flow of operation of each device in the traffic information distribution system (example 2)]
FIG. 11 is an example of a sequence defining operation procedures of each device in the traffic information distribution system according to the embodiment of the present disclosure. Here, a case will be described in which in-vehicle device 200 acquires position information of a blind spot area and object information of a moving object based on travel information received from distribution server 100 .

Referring to FIG. 11, operations from step S30 to step S32 are the same as the operations from step S10 to step S12 shown in FIG. 10, and thus detailed description will not be repeated here.

Next, distribution server 100 broadcasts the generated travel information to, for example, one or more vehicles 40 in the target area. Here, it is assumed that the in-vehicle device 200a of the vehicle 40a receives the travel information (step S33).

Next, the in-vehicle device 200a detects surrounding objects (step S34).

Next, based on the driving information received from the distribution server 100, the in-vehicle device 200a determines whether or not there is a blind spot region R2, which is the blind spot of the moving object, and an overlapping region R3 of the detection range of the object. (Step S35).

Next, when the in-vehicle device 200a determines that the overlapping region R3 does not exist ("NO" in step S35), for example, the object detection result performed in step S34 is not transmitted to the distribution server 100.

On the other hand, when the in-vehicle device 200a determines that the overlapping region R3 exists ("YES" in step S35), the position information of the blind spot region R2 and the object of the moving object generating the blind spot region R2 are obtained from the travel information. Information is acquired (step S36).

Next, the in-vehicle device 200a specifies a predicted area R4 including a flow line along which the moving object that creates the blind spot is predicted to move, based on the acquired object information (step S37).

Next, the in-vehicle device 200a specifies, for example, a region including both the specified overlapping region R3 and the predicted region R4 as a provision region R5, and detects an object in the provision region R5 from the object detection result performed in step S34. A result is extracted (step S38).

Next, the in-vehicle device 200a transmits detection information indicating the extracted detection result to the distribution server 100 (step S39). Since the operations from step S40 to step S45 are the same as the operations from step S20 to step S25 shown in FIG. 10, detailed description will not be repeated here.

Note that part or all of the functions of distribution server 100 according to the embodiment of the present disclosure may be provided by cloud computing. That is, distribution server 100 according to the embodiment of the present disclosure may be configured by a plurality of cloud servers or the like.

The above-described embodiments should be considered as illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

The above description includes the features appended below.
[Appendix 1]
a detection unit that detects surrounding objects;
an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area and object information about the moving object;
a first identifying unit that identifies an overlapping area between the blind spot area and the detection range of the detecting unit based on the position information obtained by the obtaining unit;
a second identifying unit that identifies a predicted area including a flow line along which the moving object is predicted to move, based on the object information obtained by the obtaining unit;
Transmission of detection information indicating a detection result by the detection unit in the region identified based on the overlap region identified by the first identification unit and the predicted region identified by the second identification unit and
The transmission unit receives an object detection result in a region including both the overlap region and the prediction region, or the overlap region when the position of the overlap region is shifted so that the prediction region is included in the overlap region. A traffic information providing device that transmits detection information indicating a detection result of an object in

[Appendix 2]
an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area and object information about the moving object;
a transmission unit that transmits the position information and the object information acquired by the acquisition unit to another device;
A detection result of an object in an area specified based on an overlap area between the blind spot area and an object detection range by the other device, and a prediction area including a flow line along which the moving object is predicted to move. A receiving unit that receives detection information indicating from the other device,
The transmitting unit requests the detection information together with the position information and the object information from one or more other devices existing in or around the blind area,
moreover,
a map generation unit that generates driving information including a detection result of an object in the target area based on the detection information received by the reception unit;
The traffic information distribution device, wherein the other device is an in-vehicle device or a roadside device.

11 map generation unit 12 storage unit 13 reception unit (acquisition unit)
14 identifying unit 15 transmitting unit 20 radio base station 31 receiving unit (acquiring unit)
32 detection unit 33 information processing unit 34 identification unit 35 transmission unit 40, 40a, 40b vehicle 51 first identification unit 52 second identification unit 60 roadside unit 100 distribution server (traffic information distribution device)
200, 200a in-vehicle device (traffic information providing device)
200b In-vehicle device 300 Traffic information distribution system P Moving object R1 Object presence area R2 Blind spot area R3 Overlap area R4 Prediction area R5 Provision area

Claims (10)

a detection unit that detects surrounding objects;
an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area and object information about the moving object;
a first identifying unit that identifies an overlapping area between the blind spot area and the detection range of the detecting unit based on the position information obtained by the obtaining unit;
a second identifying unit that identifies a predicted area including a flow line along which the moving object is predicted to move, based on the object information obtained by the obtaining unit;
Transmission of detection information indicating a detection result by the detection unit in the region identified based on the overlap region identified by the first identification unit and the predicted region identified by the second identification unit and a traffic information providing device. The traffic information providing apparatus according to claim 1, wherein said acquisition unit acquires speed information of said moving object as said object information. 3. The traffic information providing apparatus according to claim 1, wherein said acquisition unit acquires azimuth information of said moving object as said object information. 4. The traffic information providing apparatus according to any one of claims 1 to 3, wherein said detection information includes detection results of an object in an area including both said overlap area and said prediction area. The traffic information providing device according to any one of claims 1 to 4, wherein the transmission section does not transmit the detection information when the overlapping area specified by the first specifying section does not exist. . an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area and object information about the moving object;
a transmission unit that transmits the position information and the object information acquired by the acquisition unit to another device;
A detection result of an object in an area specified based on an overlap area between the blind spot area and an object detection range by the other device, and a prediction area including a flow line along which the moving object is predicted to move. A traffic information distribution device, comprising: a receiving unit that receives the detection information indicated by the other device from the other device. A traffic information providing method in a traffic information providing device,
a step of acquiring position information of a blind spot area that is a blind spot of a moving object in a target area and object information about the moving object;
identifying an overlap region between the blind spot region and the surrounding detection range of the traffic information providing device based on the acquired position information;
a step of identifying a prediction region including a flow line along which the moving object is predicted to move, based on the obtained object information;
and transmitting detection information indicating a detection result of an object in an area identified based on the identified overlapping area and the predicted area. A traffic information distribution method in a traffic information distribution device,
a step of acquiring position information of a blind spot area that is a blind spot of a moving object in a target area and object information about the moving object;
a step of transmitting the obtained position information and the object information to another device;
A detection result of an object in an area specified based on an overlap area between the blind spot area and an object detection range by the other device, and a prediction area including a flow line along which the moving object is predicted to move. and receiving from the other device the indicated detection information. A traffic information providing program used in a traffic information providing device,
the computer,
a detection unit that detects surrounding objects;
an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area and object information about the moving object;
a first identifying unit that identifies an overlapping area between the blind spot area and the detection range of the detecting unit based on the position information obtained by the obtaining unit;
a second identifying unit that identifies a predicted area including a flow line along which the moving object is predicted to move, based on the object information obtained by the obtaining unit;
Transmission of detection information indicating a detection result by the detection unit in the region identified based on the overlap region identified by the first identification unit and the predicted region identified by the second identification unit part,
Traffic information provision program to function as A traffic information distribution program used in a traffic information distribution device,
the computer,
an acquisition unit that acquires position information of a blind spot area that is a blind spot for a moving object in a target area and object information about the moving object;
a transmission unit that transmits the position information and the object information acquired by the acquisition unit to another device;
A detection result of an object in an area specified based on an overlap area between the blind spot area and an object detection range by the other device, and a prediction area including a flow line along which the moving object is predicted to move. a receiving unit that receives detection information indicating from the other device;
Traffic information distribution program to function as

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