JP2023141981A - Traffic facility visibility determination device and traffic facility visibility determination program - Google Patents

Abstract

To provide a traffic facility visibility determination device and a traffic facility visibility determination program with which it is possible to determine the visibility of a traffic facility that a vehicle drive should visually recognize while driving, by a simple process with good accuracy.SOLUTION: A traffic facility visibility determination device comprises a traffic facility information acquisition unit, a three-dimensional map information acquisition unit, and a visibility determination unit. The traffic facility information acquisition unit acquires the position information of a prescribed traffic facility. The three-dimensional map information acquisition unit acquires three-dimensional map information that indicates the shape and position information of an object existing in an area that includes the traffic facility and a first determination target section that is the travel section of a vehicle in which the visibility of the traffic facility is to be determined. The visibility determination unit determines, for each vehicle position that the vehicle in the first determination target section could take, whether or not there exists any object in the first determination target area that is identified on the basis of a straight line from the viewpoint position of the vehicle driver to the traffic facility, and determines that the vehicle position where it is determined that there exists any object is a position where the traffic facility visibility is low.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a transportation equipment visibility determination device and a transportation equipment visibility determination program.

Transportation facilities such as railways and roads have transportation equipment such as traffic lights and signs that provide instructions regarding vehicle operation. These are necessary equipment to ensure traffic safety and smooth traffic flow, so they are visible to drivers of vehicles traveling in the instruction recognition section, which is the section where the relevant instructions should be recognized. It will be set up so that

However, after a long period of time has passed since the installation of these transportation facilities, trees near the facilities may grow or new buildings are constructed in the surrounding area, making it difficult to install corresponding transportation facilities even within the designated recognition section. There may be locations that are invisible or difficult to see.

In order to determine whether such a position occurs, we analyze the image information taken from the camera device mounted on the vehicle in the direction of travel, detect the part of the light-emitting device such as a traffic light, and determine the degree of inclination of the angle of the light-emitting surface. There is a technique for determining the visibility of the light emitting device based on the light emitting device.

Japanese Patent Application Publication No. 2019-151181

However, some transportation equipment that drivers should be aware of does not have a light emitting device, such as road signs, so in order to determine the visibility of these transportation equipment, workers must visually observe them while moving on roads or railroad tracks. There was a problem in that it required a great deal of effort and time.

The present disclosure has been made in view of the above circumstances, and provides a visibility determination method for transportation equipment that allows a driver of a vehicle to accurately determine the visibility of transportation equipment that should be visible while driving with simple processing. The purpose is to provide a visibility determination program for equipment and transportation equipment.

A transportation equipment visibility determination device according to the present disclosure includes a transportation equipment information acquisition unit that acquires position information of a predetermined transportation equipment, and a travel section of the transportation equipment and a vehicle whose visibility of the transportation equipment is to be determined. a three-dimensional map information acquisition unit that acquires three-dimensional map information indicating shape information and position information of objects in an area including a certain first determination target section; and a position of the transportation equipment acquired by the transportation equipment information acquisition unit. Based on the information and the three-dimensional map information acquired by the three-dimensional map information acquisition unit, for each possible vehicle position of the vehicle within the first determination target section, from the vehicle driver's viewpoint position to the traffic facility. It is determined whether any object is present in the first determination target area specified based on the straight line of and a visibility determination unit that determines.

The visibility determination unit also acquires information from the height of the vehicle driver's viewpoint to the height of the transportation equipment from the three-dimensional map information acquired by the three-dimensional map information acquisition unit. a two-dimensional map information generation unit that generates two-dimensional map information horizontal to the ground based on the information; and a vehicle within the first determination target section based on the two-dimensional map information generated by the two-dimensional map information generation unit. Determines whether any object is present in a second determination target area specified based on the straight line to the transportation facility for each possible vehicle position, and determines the vehicle position where it is determined that any object is present. a visibility prediction unit that determines a position where the visibility of the transportation equipment may be low, and identifies a second determination target section where the visibility of the transportation equipment may be low based on the determined position. Furthermore, the visibility determination section makes a first determination specified for each possible vehicle position of the vehicle within the second determination target section based on the three-dimensional map information acquired by the three-dimensional map information acquisition section. It may be determined whether or not there is any object within the target area, and the vehicle position where it is determined that any object is present may be determined to be a position where the visibility of the transportation facility is low.

Furthermore, the transportation equipment visibility determination program according to the present disclosure provides a computer with a function of acquiring position information of a predetermined transportation equipment, and a driving section of the transportation equipment and the vehicle whose visibility of the transportation equipment is to be determined. A function of acquiring three-dimensional map information indicating the shape information and position information of an object in an area including a certain first determination target section, and based on the acquired position information of the transportation equipment and the three-dimensional map information, For each possible vehicle position of the vehicle within the first determination target section, any object is located within the first determination target area specified based on the straight line from the vehicle driver's viewpoint position to the traffic facility. A function is executed to determine whether or not an object is present, and to determine a vehicle position where it is determined that any object is present as a position where visibility of the transportation equipment is low.

According to the transportation equipment visibility determination device and the transportation equipment visibility determination program of the present disclosure, it is possible to accurately determine the visibility of transportation equipment that a vehicle driver should see while driving with simple processing. .

FIG. 2 is an explanatory diagram showing a vehicle equipped with a device connected to the visibility determination device for transportation equipment according to the first and second embodiments, and a section whose visibility is determined by the visibility determination device. FIG. 1 is a block diagram showing the configuration of a visibility determination system using a visibility determination device for transportation equipment according to first and second embodiments. FIG. 1 is a block diagram showing the configuration of a visibility determination device for transportation equipment according to a first embodiment. 3 is a flowchart showing the operation of the visibility determination device for transportation equipment according to the first embodiment. FIG. 2 is an explanatory diagram showing points through which a vehicle equipped with a device connected to the visibility determination device for transportation equipment according to the first and second embodiments travels. FIG. 2 is a diagram illustrating a first determination target area that is identified for each position within a first determination target section by the transportation equipment visibility determination device according to the first and second embodiments. FIG. 3 is a diagram illustrating an example of determination result information displayed by the visibility determination device for transportation equipment according to the first embodiment. FIG. 2 is a block diagram showing the configuration of a visibility determination device for transportation equipment according to a second embodiment. It is a flowchart which shows operation of the visibility determination device of transportation facilities concerning a 2nd embodiment. It is a flowchart which shows operation of the visibility determination device of transportation facilities concerning a 2nd embodiment. It is a figure which shows the 2nd determination target area which the visibility determination apparatus of the traffic facility which concerns on 2nd Embodiment specifies for every position in the 1st determination target area. It is a figure which shows an example of the 2nd determination target area and determination result information displayed by the visibility determination apparatus of the transportation facility based on 2nd Embodiment.

Below, a case will be described in which a visibility determination system using the visibility determination apparatus for transportation equipment according to the first and second embodiments determines the visibility of a traffic light, which is a traffic equipment, from within a predetermined determination target section. .

《First embodiment》
<Configuration of visibility determination system according to first embodiment>
The configuration of a visibility determination system using the transportation facility visibility determination device according to the first embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a diagram showing a traffic light SI that is a visibility determination target of the visibility determination system according to the present embodiment, and a first determination target section D1 in which the visibility of the traffic light SI is determined. The traffic light SI is a traffic facility installed at a predetermined position on the road R. The first determination target section D1 is a travel section indicated by a dotted line from a position PS on the road R to a position PE on the stop line L before and in the vicinity of the traffic light SI.

FIG. 2 is a block diagram showing the configuration of the visibility determination system 1A. The visibility determination system 1A includes a distance measuring sensor 11, a position information acquisition device 12, and a recording device 13 installed on a vehicle C traveling on a road R, and a three-dimensional (3D) ) A map information generation device 20 and a visibility determination device 30A connected to the 3D map information generation device 20.

The distance measurement sensor 11 is composed of, for example, a 360° rotating LiDAR (Light Detection And Ranging), and is installed in front of the vehicle C so that the rotation axes of the laser oscillator and detector align with the traveling direction of the vehicle C. Measure the distance to objects around C.

The position information acquisition device 12 acquires the position information of the vehicle C by, for example, receiving GNSS signals from a plurality of satellites for the Global Navigation Satellite System (GNSS) and calculating the position information. . An example of GNSS is GPS (Global Positioning System).

The recording device 13 includes a recording control section 131 and a measurement information recording section 132. The recording control unit 131 records the measurement information by the ranging sensor 11 and the position information of the vehicle C acquired by the position information acquisition device 12 while the vehicle C travels within the zone including the first determination target zone D1 and the traffic light SI. and get them in sync. The measurement information recording unit 132 causes the measurement information recording unit 132 to record the corresponding position information in association with each piece of measurement information acquired by the recording control unit 131 as measurement position information.

The 3D map information generation device 20 is communicatively connected to the recording device 13 by wire or wirelessly, and includes a first CPU 21 and a 3D map information storage unit 22. The first CPU 21 includes a measurement information acquisition section 211 and a 3D map information generation section 212. The measurement information acquisition unit 211 acquires measurement information recorded in the measurement information recording unit 132 of the recording device 13. Based on the information acquired by the measurement information acquisition unit 211, the 3D map information generation unit 212 generates 3D map information based on point cloud data regarding the area including the first determination target section D1 and the traffic light SI using mobile mapping system technology. generate. The 3D map information storage section 22 stores 3D map information generated by the 3D map information generation section 212.

FIG. 3 is a block diagram showing the configuration of the visibility determination device 30A. The visibility determination device 30A includes a traffic light information storage section 31, a second CPU 32A, and a display section 33. The traffic light information storage unit 31 stores position information of the traffic light SI.

The second CPU 32A is connected to the 3D map information generation device 20 by wire or wirelessly, and includes a traffic light information acquisition unit 321 as a transportation equipment information acquisition unit, a 3D map information acquisition unit 322, a visibility determination unit 323, and a determination result. It has an information generation section 324. The traffic light information acquisition unit 321 acquires the position information of the traffic light SI stored in the traffic light information storage unit 31. The 3D map information acquisition unit 322 acquires 3D map information of the area including the first determination target section D1 from the 3D map information storage unit 22 of the 3D map information generation device 20.

The visibility determination unit 323 determines the distance from the height position corresponding to the viewpoint of the vehicle driver to the traffic light SI for each position within the first determination target section D1 based on the acquired position information of the traffic light SI and 3D map information. A first determination target area is specified based on the straight line. A method for identifying the first determination target area will be described later. The visibility determination unit 323 determines whether any object is present in the first determination target area at each position, and determines the vehicle position where it has been determined that any object is present in the corresponding first determination target area. is determined to be a position where the visibility of the traffic light SI is low.

The determination result information generation unit 324 generates display information regarding the determination result information determined by the visibility determination unit 323 and causes the display unit 33 to display the display information.

<Operation of the visibility determination system according to the first embodiment>
Next, processing executed by the visibility determination system 1A according to this embodiment will be described. In executing the visibility determination process, the visibility determination system 1A first generates 3D map information of the area including the first determination target section D1.

A process of generating 3D map information for an area including the first determination target section D1, which is executed by the visibility determination system 1A, will be described. First, the distance sensor 11 rotates a laser oscillator and a detector to measure the distance to objects around the vehicle C, and the position information acquisition device 12 acquires position information of the vehicle C. The measurement process is executed by driving through a section including the determination target section D1 and the traffic light SI. In the measurement process, the rotational speed of the laser oscillator and detector in the distance measurement sensor 11 is, for example, about 10 revolutions per second, and the traveling speed of the vehicle C is, for example, about 60 km/h.

In the recording device 13, the recording control unit 131 synchronizes and acquires the measurement information by the ranging sensor 11 and the position information acquired by the position information acquisition device 12. The measurement information recording unit 132 associates the corresponding position information with each piece of measurement information acquired by the recording control unit 131 as measurement position information, and stores the associated position information in the measurement information recording unit 132.

Next, the measurement information acquisition unit 211 of the 3D map information generation device 20 acquires the measurement information recorded in the measurement information recording unit 132 of the recording device 13. Then, the 3D map information generation unit 212 generates 3D map information using point cloud data regarding the area including the first determination target section D1 and the traffic light SI based on the information acquired by the measurement information acquisition unit 211. Specifically, the 3D map information generation unit 212 recognizes the measurement information acquired by the measurement information acquisition unit 211 and the measurement position information linked to the measurement information in the same coordinate system. Then, the 3D map information generation unit 212 uses the technology of the mobile mapping system to generate 3D map information indicating the shape information and position information of objects in the area including the first determination target section D1 and the traffic light SI. The 3D map information generation unit 212 causes the 3D map information storage unit 22 to store the generated 3D map information.

Next, the visibility determination device 30A uses the 3D map information generated by the 3D map information generation device 20 to determine the visibility of the traffic light SI from the first determination target section D1. FIG. 4 is a flowchart showing the flow of processing executed by the visibility determining device 30A when determining the visibility of the traffic light SI from the first determination target section D1.

First, the traffic light information acquisition unit 321 acquires the position information of the traffic light SI from the traffic light information storage unit 31, and the 3D map information acquisition unit 322 acquires the 3D map information regarding the area including the first determination target section D1 and the traffic light SI from the 3D map information storage unit 22. Map information is acquired (S1).

Next, the visibility determination unit 323 specifies the position P1 shown in FIG. 5 as the first determination target position (S2). The position P1 is the position of the driver's viewpoint when the vehicle C is at the starting position PS of the first determination target section D1. Next, the visibility determination unit 323 identifies the first determination target area PA1 regarding the position P1 (S3). As shown in FIG. 6, the first determination area PA1 includes straight lines EL1, EL2, EL3 from the determination target position P1 to each of the vertices E1, E2, E3, and E4 of the rectangle that is the outer frame of the traffic light SI. This is a spatial area indicated by a square pyramid formed by EL4 and EL4.

The visibility determination unit 323 determines whether there is point cloud data regarding any object within the first determination target area PA1. Here, if it is determined that there is no point cloud data regarding any object, the visibility determination unit 323 determines that there is no obstacle within this first determination target area PA1 ("NO" in S4).

When the visibility determination unit 323 determines that there is no obstacle in the first determination area PA1, the visibility determination process for all positions within the first determination target area D1 has not been completed ("NO" in S5). ”), the process returns to step S2. Thereafter, the visibility determination unit 323 performs steps P2, P3, etc. of the viewpoint of the vehicle driver at each vehicle position at predetermined distance intervals within the first determination target section D1 from position PS to position PE. Execute the processing in S2 to S5.

At this time, if it is determined in step S4 that there is point cloud data regarding any object within the first determination target area, the visibility determination unit 323 determines that there is an obstacle within the first determination target area ( S4 “YES”). When determining that there is an obstacle within the first determination target area, the visibility determination unit 323 determines the corresponding position as a position where the visibility of the traffic light SI is low (S6).

When the visibility determination process for all positions within the first determination target section D1 is completed (“YES” in S5), the determination result information generation unit 324 determines the position where the visibility of the traffic light SI is low based on the determination result information. The displayed display information is generated and displayed on the display unit 33 (S7). An example of displayed display information is shown in FIG.

In the display information of FIG. 7, the area from position P10 to position P15 on the road R is shown as a position where the visibility of the traffic light SI is low due to the tree T.

According to the first embodiment described above, the visibility determination device uses 3D map information in the area including the target section of the visibility determination process, from the viewpoint of the driver of the vehicle in the determination target section to the traffic light. Determine whether there is any object within the area indicated by the straight line. By performing the determination process in this manner, the visibility determination device can accurately determine the visibility of the traffic equipment that the driver should visually recognize while driving with a simple process.

《Second embodiment》
<Configuration of visibility determination system according to second embodiment>
The configuration of the visibility determination system 1B according to the second embodiment is the same as that of the visibility determination system 1A described in the first embodiment, except that the visibility determination system 1B includes a visibility determination device 30B in place of the visibility determination device 30A shown in FIG. Since this is similar to the above, a detailed explanation of parts having the same functions will be omitted.

The configuration of the visibility determination device 30B in this embodiment is described in the first embodiment, except that the second CPU 32B includes a two-dimensional (2D) map information generation section 325 and a visibility prediction section 326, as shown in FIG. Since the configuration is the same as that of the visibility determination device 30A described above, a detailed explanation of parts having the same functions will be omitted.

The 2D map information generation unit 325 acquires information from the height of the vehicle driver's viewpoint to the height of the top of the traffic light SI from the 3D map information acquired by the 3D map information acquisition unit 322, and generates the acquired information. 2D map information horizontal to the ground is generated based on the .

Based on the 2D map information generated by the 2D map information generation unit 325, the visibility prediction unit 326 identifies each possible vehicle position of the vehicle in the first determination target section D1 based on the straight line to the traffic light SI. It is determined whether any object is present within the second determination target area. The visibility prediction unit 326 determines the vehicle position where it has been determined that any object is present in the second determination target area as a position where the visibility of the traffic signal SI may be low. The visibility prediction unit 326 clusters positions within a predetermined distance where the visibility of the traffic light SI may be low, and sets the minimum section within the first determination target section D1 that includes the clustered position as a second determination target section. Identify as D2.

The visibility determination unit 323 identifies each position within the second determination target section D2 determined by the visibility prediction unit 326 based on the straight line from the height position corresponding to the viewpoint of the vehicle driver to the traffic light SI. It is determined whether there is any object within the first determination target area. The visibility determining unit 323 determines a position where it is determined that any object is present in the first determination target area as a position where the visibility of the traffic light SI is low.

<Operation of visibility determination system according to second embodiment>
Next, the processing executed by the visibility determination system 1B according to this embodiment will be described with reference to the flowcharts of FIGS. 9A and 9B.

First, the traffic light information acquisition unit 321 of the second CPU 32B acquires the position information of the traffic light SI from the traffic light information storage unit 31, and the 3D map information acquisition unit 322 acquires information regarding the area including the first determination target section D1 from the 3D map information storage unit 22. 3D map information is acquired (S11). Upon acquiring this information, the second CPU 32B starts visibility prediction processing.

When the visibility prediction process starts, the 2D map information generation unit 325 first calculates the distance from the height of the vehicle driver's viewpoint to the height of the top of the traffic light SI from the 3D map information acquired by the 3D map information acquisition unit 322. Get information about. The 2D map information generation unit 325 generates 2D map information horizontal to the ground based on the acquired information (S12).

Next, the visibility prediction unit 326 specifies the position P1 shown in FIG. 5 as the first determination target position based on the 2D map information generated by the 2D map information generation unit 325 (S13). Next, the visibility prediction unit 326 specifies a second determination target area PA2 regarding the position P1 (S14). As shown in FIG. 10, the second determination area PA2 is represented by a triangle formed by the determination target position P1, a straight line EL5 to the left end E5 of the traffic light SI in the 2D map information, and a straight line EL6 to the right end E6 of the traffic light SI. It is an area where you can

The visibility prediction unit 326 determines whether there is point cloud data regarding any object within the second determination target area PA2. Here, if it is determined that there is no point cloud data regarding any object, the visibility prediction unit 326 determines that there is no obstacle within this second determination target area PA2 ("NO" in S15).

When the visibility prediction unit 326 determines that there is no obstacle in the second determination target area PA2, the visibility prediction process for all positions in the first determination target area D1 has not been completed ("NO" in S16). ”), the process returns to step S13. Thereafter, the visibility prediction unit 326 calculates the positions P2, P3, etc. of the viewpoint of the vehicle driver at each predetermined distance interval within the first determination target section D1 from the position PS to the position PE in step S13. - Execute the processing of S16.

At this time, if it is determined in step S15 that there is point cloud data regarding any object within the second determination target area, the visibility prediction unit 326 determines that there is an obstacle within the second determination target area ( S15 “YES”). When determining that there is an obstacle within the second determination target area, the visibility prediction unit 326 predicts the corresponding position as a position where the visibility of the traffic light SI may be low (S17).

When the visibility prediction process for all positions within the first determination target section D1 is completed (“YES” in S16), the visibility prediction unit 326 calculates the visibility of traffic lights SI within a predetermined distance within the 2D map information. Clustering locations that are likely to have low values. The visibility prediction unit 326 then identifies the minimum section within the first determination target section D1 that includes the clustered position as the second determination target section D2 in which the visibility of the traffic light SI may be low (S18). FIG. 11 shows an example of the second determination target section D2 specified by the visibility prediction unit 326.

Since the processes in steps S13 to S17 described above are executed using 2D map information, they are executed with significantly less processing load than the processes in steps S2 to S6 that are executed using 3D map information described in the first embodiment. can do.

Thereafter, the visibility determination unit 323 executes the same processes as steps S2 to S6 described in the first embodiment for each position at predetermined distance intervals within the second determination target section D2 to perform visibility determination processing. (S19 to S23). Then, when the visibility determination process regarding all positions within the second determination target section D2 is completed ("YES" in S22), the determination result information generation unit 324 determines that the visibility of the traffic light SI is low based on the determination result information. Display information indicating the position is generated and displayed on the display unit 33 (S24). In FIG. 11, the area from position P10 to position P15 within the second determination target section D2 is shown as a position where the visibility of the traffic light SI is reduced due to the tree T.

According to the above-described second embodiment, the visibility determination device makes the second determination that the visibility of the traffic light may be low using the 2D map information in the area including the first determination target section of the visibility determination process. Identify the target section. The visibility determination device then performs a detailed visibility determination process using the 3D map information regarding the specified second determination target section. By performing the determination processing in this manner, the visibility determination device can accurately determine the visibility of the transportation equipment that the driver should visually check while driving, with a small processing load, through simple processing.

In the above-described embodiment, a case has been described in which the traffic equipment is a traffic light, but the present invention is not limited to this, and may be a road sign or the like.

Furthermore, in the embodiment described above, a case has been described in which the vehicle C is a vehicle running on a road and the position information acquisition device 12 installed in the vehicle C acquires the position information of the vehicle C using GPS or the like. is not limited to. For example, if the vehicle is a railway vehicle, the position information of the vehicle may be acquired by a rotary encoder calculating the position in kilometers on the track based on the rotation speed of the axle of the vehicle.

Furthermore, in the embodiment described above, a case has been described in which the 3D map information generation device 20 generates 3D map information based on information acquired by the ranging sensor 11 and the position information acquisition device 12 installed in the vehicle C. However, the present invention is not limited to this, and the 3D map information generation device 20 can generate 3D map information based on the information acquired by installing a ranging sensor and a position information acquisition device on a flying moving object such as a drone. Good too. Further, the 3D map information generation device 20 may generate 3D map information by integrating information acquired by distance measurement sensors and position information acquisition devices installed on a plurality of vehicles or aircraft. By using information acquired by devices installed in various moving bodies in this way, highly accurate 3D map information can be generated.

By programming the functional configuration of the visibility determining device described above and incorporating it into a computer, it is also possible to construct a visibility determining program that causes the computer to function as a visibility determining device.

Although several embodiments have been described, it is possible to modify or transform the embodiments based on the above disclosure. All components of the embodiments described above and all features recited in the claims may be extracted individually and combined insofar as they are not inconsistent with each other.

The present disclosure can contribute, for example, to Goal 11 of the Sustainable Development Goals (SDGs), "Achieving inclusive, safe, resilient and sustainable cities and human settlements."

1A, 1B Visibility determination system 11 Distance sensor 12 Position information acquisition device 13 Recording device 20 3D map information generation device 21 1st CPU
22 3D map information storage unit 30A, 30B visibility determination device 31 Traffic light information storage unit 32A, 32B 2nd CPU
33 Display unit 131 Recording control unit 132 Measurement information recording unit 211 Measurement information acquisition unit 212 3D map information generation unit 321 Traffic light information acquisition unit 322 3D map information acquisition unit 323 Visibility determination unit 324 Judgment result information generation unit 325 2D map information generation Section 326 Visibility prediction section

Claims (3)

a transportation facility information acquisition unit that acquires location information of predetermined transportation facilities;
3D for acquiring three-dimensional map information indicating shape information and position information of objects in an area including the transportation equipment and a first determination target section that is a travel section of a vehicle whose visibility of the transportation equipment is to be determined; A map information acquisition unit,
Based on the position information of the transportation equipment acquired by the transportation equipment information acquisition unit and the three-dimensional map information acquired by the three-dimensional map information acquisition unit, for each possible vehicle position of the vehicle within the first determination target section , determining whether any object is present within a first determination target area specified based on a straight line from the position of the vehicle driver's viewpoint to the transportation equipment, and determining that any object is present; A visibility determination device for transportation equipment, comprising: a visibility determination unit that determines a vehicle position where the visibility of the transportation equipment is low. From the 3D map information acquired by the 3D map information acquisition unit, information from the height of the vehicle driver's viewpoint to the height of the transportation equipment is acquired, and based on the acquired information, a two-dimensional map information generation unit that generates two-dimensional map information;
A second determination target that is specified based on the straight line to the transportation facility for each possible vehicle position of a vehicle within the first determination target section based on the two-dimensional map information generated by the two-dimensional map information generation unit. Determine whether or not there is any object in the area, determine the vehicle position where it is determined that any object is present as a position where visibility of the traffic facility may be low, and based on the determined position further comprising a visibility prediction unit that identifies a second determination target section in which the visibility of the transportation facility is likely to be low;
The visibility determination unit is configured to determine the visibility within the first determination target area, which is specified for each possible vehicle position of the vehicle within the second determination target section, based on the three-dimensional map information acquired by the three-dimensional map information acquisition unit. The visibility of the transportation facility according to claim 1, wherein the vehicle position where it is determined that there is any object is determined to be a position where the visibility of the transportation facility is low. Judgment device. to the computer,
A function to obtain location information of predetermined transportation facilities,
a function of acquiring three-dimensional map information indicating shape information and position information of objects in an area including the transportation equipment and a first determination target section, which is a travel section of a vehicle whose visibility of the transportation equipment is to be determined; ,
Based on the acquired positional information of the transportation equipment and the three-dimensional map information, a straight line from the viewpoint of the vehicle driver to the transportation equipment is determined for each possible vehicle position of the vehicle within the first determination target section. It is determined whether any object is present in the first determination target area specified based on the above, and the vehicle position where it is determined that any object is present is determined to be a position where the visibility of the transportation facility is low. function, and a visibility determination program that executes the function.

Images