JP4780043B2 - Transportation system, road side device, vehicle side device - Google Patents

Description

  The present invention relates to a traffic system for monitoring traffic of a vehicle, and a road side device and a vehicle side device used in the traffic system.

Conventionally, various proposals have been made as systems for monitoring vehicle traffic.
As one of the proposals, in Patent Document 1, a transmitter is attached to a road sign, and information related to vehicle traffic such as speed limit, weight limit, vehicle height, etc. is transmitted from the transmitter to the vehicle side. On the vehicle side, there is a system that determines whether or not a vehicle can enter a road on which a road sign is installed based on such information and informs the driver of the determination result.

If such a system is used, traffic information can be reliably transmitted to the driver, so that an accident can be prevented and the traffic flow can be smoothed.
JP 2006-39928 A

  However, there is a problem that the information transmitted from the road sign is constant, and there is information on the greatest common divisor, and it is impossible to provide information tailored to the position and traveling direction of each vehicle, so that the traffic cannot be made efficient. there were.

  Therefore, an object of the present invention is to provide a traffic system capable of improving traffic efficiency, and a road side device and a vehicle side device used in the system.

The invention described in claim 1, which is an invention made to solve the above-described problems, includes those installed on the road side and those installed on the vehicle side.
This traffic system performs non-visible light transmission means for wirelessly transmitting an invisible light signal by blinking of invisible light to the vehicle side, and processing for transmitting the invisible light signal using the invisible light transmission means. Vehicle-side transmission processing means. Among these, in the vehicle side transmission processing means, processing for transmitting identification information for identifying the vehicle and traveling direction information indicating the traveling direction of the vehicle to the road side as an invisible light signal is executed.

  On the other hand, this traffic system includes, on the road side, photographing means for photographing a place to be monitored for traffic and position specifying processing means for specifying the current position of the vehicle. Among them, in the position specifying processing means, the invisible light transmitting means blinks when transmitting the identification information and the traveling direction information as the invisible light signal, and therefore blinking with the blinking of the invisible light transmitting means as a mark. A process of specifying the current position of the vehicle including the invisible light transmission unit from the image captured by the imaging unit is executed. In addition, since this traffic system is provided with a non-visible light receiving means for receiving a non-visible light signal sent from the vehicle side on the road side, the non-visible light receiving means includes the identification information and the traveling direction information. By receiving the non-visible light signal on the road side, the current position and the traveling direction of the vehicle identified by the identification information are grasped on the road side.

  And this traffic system is provided with the progress determination process means which determines the propriety of the progress of a vehicle, In this progress determination process means, the identification information which the invisible light receiving means received and received the invisible light signal And a process for determining whether or not the vehicle identified by the identification information can travel in the traveling direction based on the traveling direction information at the current position identified by the position identifying processing means. The

  When it is determined that the vehicle cannot be advanced by the progress determination processing means, the traffic system includes a radio transmission means for transmitting a radio signal and a road side transmission processing means on the road side. Among these, the process which transmits identification information and the prevention information which prevents advancing in the advancing direction as a radio signal using a wireless transmission means is performed using a road side transmission processing means.

And this traffic system has a radio receiving means for receiving this radio signal on the vehicle side,
Vehicle control processing means for performing control for preventing the vehicle from proceeding. Therefore, in the vehicle control processing means, the reception of the identification information and the prevention information acquired by receiving the wireless signal by the wireless reception means. If the identification information matches the vehicle identification information transmitted when the vehicle-side transmission processing means is executed, control for preventing the vehicle from proceeding in the traveling direction indicated by the prevention information is performed.

  This prevents the vehicle from traveling in the direction indicated by the prevention information not only from the driver's judgment but also from the road side, so that dangerous driving and accidents caused by the driver's carelessness are prevented.

Therefore, if this traffic system is used, dangerous driving and accidents are prevented and traffic is smoothed, so that traffic can be dramatically improved in efficiency.
In order to prevent other communications from being adversely affected, as described in claim 2, the prevention information transmitting means and the receiving means are preferably performed by DSRC (Dedicated Short Range Communication) or other narrow area communications. .

By the way, in the said traffic system, it is necessary to install the apparatus for utilizing this system on the road side and the vehicle side.
Of these, the roadside device, which is a device installed on the roadside, includes a photographing means, a position specifying processing means, an invisible light receiving means, a progress determination processing means, and a wireless transmission as described in claim 3. And a road-side transmission processing unit.

  Next, the travel determination processing means constituting the road side device may have travel prohibition information that is information about a direction in which the travel of the vehicle is prohibited, as described in claim 4. preferable.

  In this case, the traveling direction processing means indicates the traveling direction information by comparing the traveling direction information received from the vehicle with the traveling prohibition information in determining whether traveling in the traveling direction is possible based on the traveling direction information. If the traveling direction matches the direction indicated by the travel prohibition information, it may be determined that the traveling in the traveling direction indicated by the traveling direction information is impossible.

In this way, it is possible to reliably prevent the vehicle from proceeding in the direction in which the travel is prohibited as the travel prohibition information, so that it is possible to dramatically improve the traffic.
Further, the travel determination processing means constituting the road side device has travel risk information that is information about a dangerous direction when the vehicle travels from an image captured by the image capturing means, as described in claim 5. You may comprise as follows.

  In this case, the travel determination processing means compares the travel direction information received from the vehicle with the travel risk information in determining whether the travel in the travel direction is possible based on the travel direction information, and the travel direction information indicates If the advancing direction and the direction indicated by the advancing danger information match, it may be determined that the advancing in the advancing direction indicated by the advancing direction information is impossible. This progress risk information is a direction in which the progress risk information changes according to the change even if the direction of the risk changes when the progress is based on the result of photographing by the photographing means, and the progress is prohibited as the progress risk information according to the change. As a result, it is possible to reliably prevent the vehicle from traveling to the traffic, thereby dramatically improving the traffic.

  Next, a vehicle-side device that is a device installed on the vehicle side includes a non-visible light transmission unit, a vehicle-side transmission processing unit, a wireless reception unit, a vehicle control processing unit, as described in claim 6. As long as it has

Of these, the invisible light transmitting means is preferably attached to the roof of the vehicle as described in claim 7.
This is because the imaging means and the invisible light receiving means are generally installed above the road, and the light from the invisible light transmitting means directly reaches the imaging means and the invisible light receiving means.

  Next, as described in claim 8, it is preferable that the vehicle is provided with notifying means for notifying the subsequent vehicle that the vehicle control processing means has received control for preventing the progress. If this notification means is used, the following vehicle can predict how the preceding vehicle will behave for the following vehicle, so that an accident can be prevented and the flow of the vehicle can be made smooth.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
Here, FIG. 1 is a block diagram of the vehicle side device and the road side device used in the traffic system of the present embodiment. FIG. 2 is a schematic diagram of a T-shaped intersection where the side road is connected to the main road in a T-shape.

As shown in FIG. 1, the traffic system 1 of this embodiment includes a vehicle side device 3 and a road side device 5 installed on the vehicle side and the road side.
In this embodiment, as shown in FIG. 2, the traffic system is applied to a T-shaped intersection where the side road is connected to the main road in a T shape (the side road is one-way toward the main road). The case will be described.

First, the vehicle side device 3 will be described.
1. Vehicle side device 3
As shown in FIG. 1, the vehicle side device 3 of the traffic system 1 of the present embodiment includes a central control device 30, a first infrared transmitter 31, a DSRC communication device 32, a traveling direction detection device 33, and a speaker 34. A second infrared transmitter 35, an infrared receiver 36, and a brake control device 37.

  The central control device 30 is a computer device that includes a CPU, a ROM, a RAM 30a, and the like. In the present embodiment, a computer device provided in an ETC on-vehicle device (not shown) operates as the central control device 30. The ROM 30a stores identification information assigned to each vehicle for identifying each vehicle. The central control device 30 may be not only a computer device of the ETC on-board unit but also a vehicle control computer (ECU or the like) provided in advance in the vehicle, or if the navigation device is attached to the vehicle, A computer of the navigation device may be used, and any computer can be used as long as it can execute various processes described later executed by the computer device of the present embodiment.

  The first infrared transmitter 31 is installed on the outer surface of the roof of the vehicle, and is a device that is controlled by the central control device 30 and wirelessly transmits an infrared signal to a roadside infrared receiver 52 to be described later. . The first infrared transmitter 31 includes an infrared lamp (not shown) that blinks and transmits an infrared signal.

  The DSRC communication device 32 is a communication device that performs narrow area communication generally called DSRC. In the present embodiment, a DSRC radio signal is received from the road side, and the information acquired by receiving the radio signal is output to the central controller 30.

  The traveling direction detection device 33 is a device that detects the rotation direction of the steering of the vehicle, the operation direction of the winker rod, and the like. When the traveling direction detection device 33a detects the rotation direction of the steering and the like, the central control device 30 outputs information on the traveling direction of the vehicle to the central control device 30.

The speaker 34 is a device that outputs sound according to the sound signal received from the central control device 30.
The second infrared transmitter 35 is attached to the rear side surface of the vehicle and facing the rear vehicle, and wirelessly transmits an infrared signal to the infrared receiver of the rear vehicle under the control of the central control device 30. It is the device which transmits with. The second infrared transmitter 35 includes an infrared lamp (not shown) that blinks and transmits an infrared signal.

  The infrared receiver 36 is attached to the front side surface of the vehicle and facing the front vehicle. The infrared receiver 36 receives an infrared signal from the second infrared transmitter 35 of the front vehicle and receives the infrared signal. It is a device that transmits information received and acquired to the central controller 30.

The brake control device 37 is a device that controls the brake of the vehicle, and is a device that applies a brake or releases a brake in accordance with processing performed by the central control device 30.
The steering control device 38 is a device that increases or decreases the weight of turning the steering in accordance with the processing performed by the central control device 30.
2. Road Side Device As shown in FIG. 1, the road side device 5 of the traffic system 1 of the present embodiment includes a central control device 50, a camera 51, an infrared receiver 52, and a DSRC communication device 53.

  The central control device 50 is a computer device including a CPU, a ROM, a RAM 50a, and the like. As shown in FIG. 2, in the RAM 50a, at the intersection where the main road and the side road intersect, the vehicle is prohibited from traveling in the direction in which the vehicle coming from the left main road as viewed from the side road enters the side road from the main road. The direction information is stored in the RAM 50a of the central controller 50 as the progress prohibition information.

  As shown in FIG. 2, the camera 51 is installed at the entrance of a side road at a T-junction intersection. Specifically, as a place to monitor traffic, a main road heading from the left side to the side road as viewed from the side road. It is installed to photograph the entrance to the intersection.

  The infrared receiver 52 is installed in the vicinity of the camera 51, receives the infrared signal transmitted from the first infrared transmitter 31 of the vehicle, receives the infrared signal, and transmits the acquired information to the central controller 50. It is a device to do.

The DSRC communication device 53 is a communication device that is installed in the vicinity of the camera 51 and performs narrow-area communication generally called DSRC. In the present embodiment, the DSRC communication device 53 is controlled by the central controller 50 to transmit a DSRC radio signal to the DSRC communication device 32 of the vehicle.
3. Vehicle-side processing Next, vehicle-side processing executed by the central control device 30 of the vehicle-side device 3 will be described.

Here, FIG. 3 is a flowchart of the vehicle-side process. In the following description, unless otherwise specified, the step numbers from the smallest to the largest are executed.
This vehicle-side process is started when the road-side apparatus determines that the vehicle has approached the intersection within 50 m, and first, the process of S10 is executed.

  In S10, it is determined whether or not a signal for instructing to transmit the identification signal and the traveling direction information is input from the road side. If it is determined in this determination that there is no input (S10: NO), the process waits. On the other hand, when it is determined that there is an input (S10: YES), the process of S11 is executed.

  In S11, the first infrared transmitter 31 uses the identification information for identifying the vehicle stored in the ROM 30a and the traveling direction information related to the traveling direction of the vehicle output from the traveling direction detection device 33 to the central control device 30. Processing to send to is executed.

When the process of S10 is executed, the identification information and the traveling direction information are transmitted from the first infrared transmitter 31 as an infrared signal.
In S12, among the identification information acquired by the DSRC communication device 32 receiving the radio signal transmitted from the road-side DSRC communication device 53 and the prevention information described later, the identification information coincided with that implemented in the ROM 30a. It is determined whether or not.

  Here, if the identification information sent together with the prevention information matches the information stored in the ROM 30a, it is determined that an intrusion warning has been received from the road side device (S12: YES), and then the process of S14 is executed. The

On the other hand, when the identification information does not match, it is determined that the intrusion warning is not received from the road side device (S12: NO), and the process of S10 is executed again.
In S14, in order to prevent the progress in the traveling direction indicated by the prevention information received in S12, a process of controlling to output an alarm sound from the speaker 34 is executed.

  In S16, a process for determining whether or not the prevention information includes information instructing to increase the steering is executed. If this information is not included, the process of S20 is executed, and if it is included, the process of S18 is executed.

  In S18, as the control for preventing the traveling in the traveling direction indicated by the prevention information, when the steering is turned in the traveling direction indicated by the prevention information, a process for controlling the steering control device 38 to increase the steering is executed.

  In S20, a process for determining whether the prevention information includes information instructing to operate the brake is executed. If this information is not included, the process of S24 is executed, and if it is included, the process of S22 is executed.

In S22, as control for preventing progress in the traveling direction indicated by the prevention information, processing for controlling the brake control device 37 to execute the brake with the strength indicated by the prevention information is executed.
In S24, the second infrared transmitter 35 is used to transmit an infrared signal indicating prevention information to the following vehicle, so that what kind of processing is performed in S18 and S22 for the following vehicle with respect to the steering and braking in the preceding vehicle. A process for informing whether it has been performed is executed.

In the succeeding vehicle, processing for preventing a rear-end collision with the preceding vehicle is executed based on the prevention information based on the infrared signal received by the infrared receiver 36 of the succeeding vehicle.
In S26, the DSRC communication device 32 is identical to the identification information acquired by receiving the radio signal transmitted from the road-side DSRC communication device 53 and the prevention release information described later, in which the identification information is implemented in the ROM 30a. It is judged whether or not it has done.

Here, if the identification information matches the information stored in the ROM 30a, it is determined that an intrusion warning has been received from the road side device (S26: YES), and then the process of S28 is executed.
On the other hand, when the identification information does not match (S16: NO), the process of S16 is executed again.

  In S28, the control for stopping the brake applied by the brake control device 37 is executed, and the control for releasing the steering made heavy by the steering control device 38 is executed.

  In S30, by using the second infrared transmitter 35 to transmit an infrared signal indicating prevention cancellation information to the following vehicle, the control performed on the steering or brake in the preceding vehicle is canceled for the following vehicle. A process for notifying that is executed.

In the succeeding vehicle, a process of canceling the process of preventing the rear-end collision with the preceding vehicle is executed based on the prevention cancellation information by the infrared signal received by the infrared receiver 36 of the succeeding vehicle.
4). Road-side processing Next, vehicle-side processing executed by the central control device 50 of the road-side device 5 will be described.

Here, FIG. 4 is a flowchart of the road side processing. In the following description, unless otherwise specified, the step numbers from the smallest to the largest are executed.
This roadside process constantly monitors the inside of an intersection. First, the process of S50 is executed.

  In S50, as shown in FIG. 2, using the camera 51, a process of starting a process of photographing the entrance portion to the intersection of the main road from the left side toward the side road as viewed from the side road is executed. The process of photographing the intersection with the camera 51 is always performed while the road side process is being executed.

  In S52, an image captured by the camera 51 is analyzed to determine whether or not each vehicle entering the intersection has come to the vicinity of the intersection (specifically, a point 50 m from the intersection). Executed. If it is determined in this process (S52) that the vehicle has not come to the vicinity of the intersection (S52: NO), a standby process is executed. On the other hand, if it is determined that the vehicle has come to the vicinity of the intersection (S52: YES), then the process of S54 is executed.

  In S54, the DSRC communication device 53 is used to transmit a radio signal instructing the vehicle to transmit the vehicle identification information and the traveling direction information. Then, while the first infrared transmitter 31 of the vehicle having the identification information matching the transmitted identification information is blinking, the infrared signal including the identification information and the traveling direction information is generated on the road. (S12), the infrared receiver 52 receives the infrared signal in S54.

  In S56, as described above, when the vehicle identification information and the traveling direction information are instructed to be transmitted in S54, the first infrared transmitter 31 of the vehicle blinks to transmit these information as infrared signals. From the image taken at 51, the position of the vehicle provided with the blinking first infrared transmitter 31 is analyzed to identify the position of the vehicle.

  In S58, the vehicle identified by the identification information from the identification information and the traveling direction information acquired by the infrared receiver 52 receiving the infrared signal in the process of S54 is the current position of the vehicle specified in the process of S56. , A process of determining whether or not the traveling in the traveling direction is possible based on the traveling direction information is executed. Specifically, in the present embodiment, as shown in FIG. 2, at the intersection where the main road and the side road intersect, the direction in which the vehicle coming from the left main road as viewed from the side road enters the side road from the main road Since the information about this direction is stored in the RAM 50a of the central controller 50 as the progress prohibition information, in this S58, does the travel direction information match the progress prohibition information? It is determined whether or not. If it is determined in this determination (S58) that they do not match (S58: YES) (go straight on the main road in FIG. 2), the processing of S72 is executed, and if it is determined that they match (S58: NO) ), The process of S60 is executed.

  In S60, whether or not there is any danger even if the position of the vehicle obtained by photographing the vehicle with the camera 51 is subjected to steering intervention (increasing the weight of steering to cut in the direction of entering the side road from the main road) The process of determining is executed. Specifically, there is a possibility of a collision if the steering cannot be operated in the prohibited direction due to the positional relationship between the pedestrian jumping out or the vehicle in the intersection.

  If it is determined in this determination (S60) that there is no danger even if steering intervention is performed (S60: YES), the process of S62 is performed. If it is determined that there is a danger (S60: NO), S64 Execute the process.

In S62, a process for including information indicating that steering intervention is included in the prevention information is performed.
In S64, a process is executed to determine whether or not there is no danger even if the position of the vehicle obtained by photographing the vehicle with the camera 51 performs a brake intervention. Specifically, the image captured by the camera 51 is analyzed to determine whether a vehicle following the vehicle to which the prevention information is to be sent is likely to collide when the vehicle is braked. The

  If it is determined in this determination (S64) that there is no danger even if the brake intervention is performed (S64: YES), the process of S66 is performed. If it is determined that there is a danger (S64: NO), S68. Execute the process.

In S66, a process for including information indicating that the brake intervention is to be included in the prevention information is performed.
In S68, the DSRC communication device 53 is used to execute processing for transmitting the prevention information and the radio signal of the identification information of the vehicle that sends the prevention information.

  The prevention information transmitted at this time includes the information indicating that the steering or the brake intervention is performed in S62 and S66. If the information does not include such information, the main road is determined in S68. Only information instructing to output a sound indicating that the vehicle cannot enter the side road is transmitted as prevention information.

  In S70, an image captured by the camera 51 is analyzed to determine whether or not a vehicle other than the vehicle has become dangerous due to steering or braking intervention on the vehicle. A pedestrian has jumped out of the intersection, or the distance between the following vehicles has shrunk within 10 meters.

If it is determined in this determination (S70) that there is no danger (S70: NO), the processing from S52 onward is executed again. If it is determined that there is danger, the processing in S72 is executed.
In S72, it is determined in S70 that a vehicle other than the vehicle has become dangerous due to steering or braking intervention on the vehicle (S70: YES), or in S58, the traveling direction information is prohibited from traveling. If it is determined that the vehicle is not heading in the direction in which entry is prohibited (in this embodiment, the direction from the main road to the side road) (S58: YES), steering / brake intervention is performed. If no prevention information is transmitted, non-intervention information for canceling the prevention information is transmitted together with the identification information. Then, when the processing of S72 is completed, the processing of S52 and subsequent steps is executed again.
5. Features of the traffic system 1 according to the embodiment When the traffic system 1 according to the present embodiment is used, it is judged by the driver that the vehicle travels in a direction in which the vehicle cannot travel, because the steering becomes heavy or the brake is applied. Since it is prevented not only from the road side, dangerous driving and accidents caused by driver's carelessness are prevented.

Therefore, if this traffic system is used, dangerous driving and accidents are prevented and traffic is smoothed, so that traffic can be dramatically improved in efficiency.
6). Correspondence Relationship between Embodiments and Invention Specific Items The first infrared transmitter 31 of this embodiment corresponds to the invisible light transmission means of the present invention, the processing of S11 corresponds to the vehicle-side transmission processing means, and the camera 51 takes an image. The processing of S56 corresponds to the position specifying processing means, the infrared receiver 52 corresponds to the invisible light receiving means, the processing of S58 corresponds to the progress determination unit, and the DSRC communication device 53 is wireless. Corresponding to the transmission means, the processing of S68 corresponds to the road side transmission processing means, the DSRC communication device 32 corresponds to the wireless reception means, the processing of S14, S18, S22 corresponds to the vehicle control processing means, and the second infrared ray The transmitter 35 corresponds to notification means.
(Other embodiments)
In S58 of this embodiment, the vehicle identified by the identification information is identified in the process of S56 from the identification information and the traveling direction information acquired by the infrared receiver 52 receiving the infrared signal in the process of S54. At the current position of the vehicle, a process for determining whether or not the vehicle can travel in the traveling direction based on the traveling direction information is executed. Specifically, in the present embodiment, as shown in FIG. 2, at the intersection where the main road and the side road intersect, the direction in which the vehicle coming from the left main road as viewed from the side road enters the side road from the main road Since the information about this direction is stored in the RAM 50a of the central controller 50 as the progress prohibition information, in this S58, does the travel direction information match the progress prohibition information? It is determined whether or not.

However, the progress prohibition information may be constantly updated in addition to the case where certain progress prohibition information is previously stored in the ROM 50a.
That is, as shown in FIG. 5, when the traffic system 1 of this embodiment is introduced at the intersection of a crossroad, when the vehicle a is going to turn right, the vehicle c goes straight from the rear of the vehicle b on the opposite lane. When the vehicle a is not aware of the vehicle c and makes a right turn, it is dangerous. If the road side device 5 has received the traveling direction information indicating that the vehicle c is traveling straight through the intersection, the direction in which the vehicle c intersects the route traveling straight is displayed. In step S58, it may be determined whether or not the travel prohibition direction indicated by the travel prohibition information matches the travel direction of the vehicle a.

If it does in this way, when it corresponds, the vehicle a will be braked intervention etc., and the vehicle a can cross the intersection without noticing the vehicle c, and the accident which collides with the vehicle c can be prevented.
Also, as shown in FIG. 6, when the vehicle a is going to turn left and there is a motorcycle or bicycle d going straight through the side of the vehicle a, it is dangerous if the vehicle a turns left without noticing the motorcycle or bicycle d. Therefore, the position of the bike or bicycle d is analyzed from the camera that is photographing the bike or bicycle d and the vehicle a, and the travel risk information for the vehicle a is set on the route on which the bike or bicycle d goes straight. You may determine whether the advancing danger direction which danger information shows, and the advancing direction of the vehicle a correspond.

  In this way, if they match, the vehicle “a” is subjected to a brake intervention or the like, and the vehicle “a” turns left at the intersection without noticing the motorcycle or the bicycle d, thereby preventing an accident that collides with the motorcycle or the bicycle “d”.

  Further, the present invention is not limited to the above-described embodiment as long as it matches the gist of the invention described in the claims.

It is a block diagram of the vehicle side apparatus and road side apparatus which are used with the traffic system of this embodiment. It is a schematic diagram of the T-shaped intersection where the side road connects to the main road in a T-shape. It is a flowchart of a vehicle side process. It is a flowchart of a road side process. It is a schematic diagram of the intersection of a crossroad for demonstrating other embodiment. It is a schematic diagram of the intersection of a crossroad for demonstrating other embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Traffic system, 3 ... Vehicle side apparatus, 5 ... Road side apparatus, 30 ... Central control apparatus, 31 ... 1st infrared transmitter, 32 ... DSRC communication apparatus, 33 ... Travel direction detection apparatus, 33a ... Travel direction detection apparatus 34 ... Speaker, 35 ... Second infrared transmitter, 36 ... Infrared receiver, 37 ... Brake control device, 38 ... Steering control device, 50 ... Central control device, 51 ... Camera, 52 ... Infrared receiver, 53 ... DSRC Communication equipment

Claims (8)

A traffic system for monitoring vehicle traffic,
Non-visible light transmitting means installed in the vehicle and transmitting non-visible light signals wirelessly by blinking of invisible light;
Vehicle-side transmission processing means for performing processing for transmitting identification information for identifying the vehicle and traveling direction information indicating the traveling direction of the vehicle as the invisible light signal using the invisible light transmitting means;
An imaging means installed on the road side for imaging the place to be monitored for traffic,
Position specifying processing means for specifying the current position of the vehicle comprising the invisible light transmitting means blinking for transmitting the identification information and the traveling direction information as the invisible light signal from the image taken by the photographing means. When,
A non-visible light receiving means installed on the road side for receiving the non-visible light signal;
The vehicle identified by the identification information is identified by the position identification processing unit from the identification information and the traveling direction information acquired by the non-visible light receiving unit receiving the non-visible light signal. Progress determination processing means for determining whether or not it is possible to proceed in the traveling direction based on the traveling direction information at the position;
Wireless transmission means installed on the road side for transmitting wireless signals;
When it is determined by the progress determination processing means that the vehicle cannot travel, the identification information and the prevention information for preventing progress in the traveling direction are used as the wireless signal using the wireless transmission means. Road-side transmission processing means for transmitting;
A wireless receiving means installed in the vehicle for receiving the wireless signal;
Of the identification information and the prevention information acquired by the wireless reception means receiving the wireless signal, the received identification information and the vehicle identification information transmitted when the vehicle-side transmission processing means is executed. Vehicle control processing means for performing control to prevent the vehicle from proceeding in the traveling direction indicated by the prevention information,
A transportation system characterized by comprising: The transportation system according to claim 1,
The prevention information transmitting means and the receiving means are performed by narrow area communication. A road side device used in the traffic system according to claim 1 and installed on the road side,
Photographing means for photographing the location of traffic to be monitored;
Position specifying processing means for specifying the current position of the vehicle comprising the invisible light transmitting means blinking for transmitting the identification information and the traveling direction information as the invisible light signal from the image taken by the photographing means. When,
Non-visible light receiving means for receiving the non-visible light signal;
The vehicle identified by the identification information is identified by the position identification processing unit from the identification information and the traveling direction information acquired by the non-visible light receiving unit receiving the non-visible light signal. Progress determination processing means for determining whether or not it is possible to proceed in the traveling direction based on the traveling direction information at the position;
Wireless transmission means for transmitting a wireless signal;
When it is determined by the progress determination processing means that the vehicle cannot travel, the identification information and the prevention information for preventing progress in the traveling direction are used as the wireless signal using the wireless transmission means. Road-side transmission processing means for transmitting;
A road-side device comprising: The road side device according to claim 3,
The progress determination processing means includes:
Prohibition information, which is information about the direction in which the vehicle is prohibited,
In determining whether it is possible to proceed in the traveling direction based on the traveling direction information, the traveling direction information indicated by the traveling direction information is compared with the traveling direction information received from the vehicle and the traveling prohibition information; If the direction indicated by the travel prohibition information coincides with the direction indicated by the travel prohibition information, it is determined that the vehicle cannot travel in the travel direction indicated by the travel direction information. The road side device according to any one of claims 3 and 4,
The progress determination processing means includes:
It has travel danger information that is information about a dangerous direction when the vehicle travels from an image photographed by the photographing means,
In determining whether it is possible to proceed in the traveling direction based on the traveling direction information, the traveling direction information indicated by the traveling direction information is compared with the traveling direction information received from the vehicle and the traveling danger information; If the direction indicated by the travel danger information coincides, it is determined that the travel in the travel direction indicated by the travel direction information is impossible. A vehicle-side device used in the traffic system according to claim 1 and installed in a vehicle,
A non-visible light transmitting means for wirelessly transmitting a non-visible light signal by blinking the non-visible light;
Vehicle-side transmission processing means for performing processing for transmitting identification information for identifying the vehicle and traveling direction information indicating the traveling direction of the vehicle as the invisible light signal using the invisible light transmitting means;
Wireless receiving means for receiving the wireless signal;
Of the identification information and the prevention information acquired by the wireless reception means receiving the wireless signal, the received identification information and the vehicle identification information transmitted when the vehicle-side transmission processing means is executed. Vehicle control processing means for performing control to prevent the vehicle from proceeding in the traveling direction indicated by the prevention information,
A vehicle-side device comprising: The vehicle side device according to claim 6,
The vehicle-side device, wherein the invisible light transmitting means is attached to a roof of the vehicle. The vehicle side device according to any one of claims 6 and 7,
A vehicle-side device, comprising: a notification unit that notifies the succeeding vehicle that the vehicle control processing unit has received control for preventing progress.

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