JP5982709B1 - Communication device, system, program, and method for transmitting behavior state of vehicle using angular velocity sensor - Google Patents

Abstract

Provided is a communication device or the like installed in a vehicle, which can collect the inundation state of the area by a server by detecting the inundation state of the vehicle. A communication apparatus includes an angular velocity sensor, and is installed in a vehicle so that a vertical direction of the vehicle coincides with a predetermined axis of the angular velocity sensor. When the communication device determines that the angular velocity around the predetermined axis of the angular velocity sensor is greater than or equal to the first threshold, and the behavior determination device determines that the angular velocity is true, Behavior information transmitting means for transmitting to the server via The predetermined axis of the angular velocity sensor may be around the z axis (yaw). The first threshold value of the behavior determining unit is a boundary value for determining whether or not the vehicle is in a flooded state, and the behavior information transmitting unit transmits behavior information indicating that the vehicle is in a flooded state. [Selection] Figure 3

Description

  The present invention relates to a technique for observing a tsunami that rises inland from a coast.

  In recent years, there is a concern that the tsunami generated by a huge earthquake will run from the coast to the inland and cause large-scale damage. For example, in the case of the Great East Japan Earthquake, 90% of the victims were drowned by the tsunami. Research on tsunami observation technology based on large earthquakes has become important for inland residents' evacuation guidance.

  Tsunami observation technology includes GPS (Global Positioning System) wave meters installed offshore and tsunami observation devices installed on the coast. The GPS wave meter incorporates a GPS positioning function and a wireless communication function, and when a tsunami passes an offshore installation location, the height of the tsunami is transmitted to land by radio. The tsunami monitor measures the height of the tsunami on the coast. Depending on the height of the tsunami measured by these observation devices, the scale of the tsunami can be measured to guide evacuation to residents.

  Conventionally, there is a technology of a navigation device that evacuates a user quickly and safely to an evacuation point (see, for example, Patent Document 1). According to this technology, it is possible to acquire the tsunami reach and the predicted arrival time, and guide the evacuation point as the destination according to the current position of the vehicle. If a safe route cannot be searched, the user is instructed by voice or display to get off the vehicle and evacuate.

  There is also a navigation device technology that presents the direction of the sea to the user when a tsunami warning is issued (see, for example, Patent Document 2). According to this technique, map information is divided into a plurality of areas, and the direction of the sea facing each area is stored. When the tsunami information is received, an area including the current position of the vehicle can be searched, and the direction of the sea can be displayed on the display of the navigation device.

  Furthermore, there is a technique for guiding a pedestrian to a route to an evacuation site when a disaster warning is issued (see, for example, Patent Document 3). According to this technology, when the received disaster information is determined to require emergency evacuation, map data including the current location and the evacuation location searched according to the current location is transmitted to the mobile phone possessed by the user. Send. In addition, the vehicle route from the current position to the parking place of the vehicle and the walking route from the parking lot to the evacuation place can be guided from the mobile phone to the user.

JP, 2014-059200, A JP 2013-044707 A JP 2009-175033 A

According to the above-described prior art, evacuation to residents can be guided according to the predicted tsunami height in the future. For example, evacuation information for a tsunami can be presented using a user-owned navigation device or mobile terminal.
However, if the tsunami starts to run inland from the coast, it is no longer the stage to predict the tsunami. In addition to the disaster prevention center, individual residents need to know in real time the areas that are already flooded and the boundaries that the tsunami has reached, with the highest degree of urgency.

Further, in order to detect a flooded state for each region, it is necessary to disperse devices such as a flooding measurement sensor in each region in a distributed manner.
However, installing a flood measurement sensor in each region against a huge tsunami that occurs once every decades is also a cost problem.

  Here, can the inventor of the present application use a vehicle (for example, an automobile) for inundation measurement by a tsunami? I thought. In particular, according to the inland of Japan, there are a lot of vehicles scattered in various regions. I thought.

  Then, this invention aims at providing the communication apparatus, system, program, and method which were installed in the vehicle which can collect the inundation state of the area by a server by detecting the inundation state of the vehicle. To do.

According to the present invention, there is provided a communication device having an angular velocity sensor and installed in a vehicle so that the vertical direction of the vehicle coincides with a predetermined axis of the angular velocity sensor,
Behavior determination means for determining whether or not the angular velocity around the predetermined axis of the angular velocity sensor is equal to or greater than a first threshold value that is a boundary value for determining whether or not the vehicle is in a flooded state ;
It is characterized by having behavior information transmitting means for transmitting behavior information indicating that the vehicle is in a flooded state to a server via a network when it is determined to be true by the behavior determining means.

According to another embodiment of the communication device of the present invention,
The predetermined axis of the angular velocity sensor is preferably about the z axis (yaw).

According to another embodiment of the communication device of the present invention,
The first threshold value of the behavior judging means is set in advance to an angular velocity at which the evaluation distance of sensitivity and specificity calculated by the ROC curve (Receiver Operating Characteristic curve) based on the flooded / non-flooded state is the shortest. Is also preferable.

According to another embodiment of the communication device of the present invention,
Frequency measuring means for measuring the frequency of the angular velocity around the axis for each axis of the angular velocity sensor;
Frequency determining means for determining whether the frequency around the two axes other than the predetermined axis is greater than or equal to a second threshold value;
It is also preferable that the behavior information transmitting means further transmits behavior information indicating that the vehicle is in a flooded state when it is determined to be true by the frequency determining means after being determined to be true by the behavior determining means.

According to another embodiment of the communication device of the present invention,
It is also preferable that the communication device is a communication device or a car navigation device fixed in advance in the vehicle, or a smartphone or tablet terminal possessed by the user.

According to another embodiment of the communication device of the present invention,
The communication apparatus further includes positioning means for positioning position information at the current time,
The behavior information transmitting means preferably transmits the behavior information further including the current time and position information.

According to another embodiment of the communication device of the present invention,
It is also preferable that the behavior information transmitting unit periodically transmits the behavior information at predetermined time intervals after the behavior determining unit determines that the behavior is true.

According to the present invention, there is provided a system having the communication device described above and a server that receives behavior information via a network,
Each time the server receives the behavior information from the communication device, the server generates an inundation map in which the inundation state of the behavior information is associated with the position of the communication device on the map in time series.

According to another embodiment of the system of the present invention,
It is also preferable that the server transmits the inundation map to the mobile terminal owned by the user.

According to the present invention, there is provided a program that has an angular velocity sensor and causes a computer mounted on a communication device installed in a vehicle so that the vertical direction of the vehicle coincides with a predetermined axis of the angular velocity sensor. ,
Behavior determination means for determining whether or not the angular velocity around the predetermined axis of the angular velocity sensor is equal to or greater than a first threshold value that is a boundary value for determining whether or not the vehicle is in a flooded state ;
When the behavior determination means determines that the vehicle is true, the computer is caused to function as behavior information transmission means for transmitting behavior information indicating that the vehicle is in a flooded state to a server via a network.

According to the present invention, a communication device having an angular velocity sensor and installed in the vehicle so that the vertical direction of the vehicle coincides with the predetermined axis of the angular velocity sensor;
A vehicle behavior collection method for a system having a server for collecting vehicle behavior information,
Communication device, the angular velocity in a given axis of the angular velocity sensor, a first step of determining whether a first threshold value or more vehicle is a boundary value determines whether flooded condition,
A second step of transmitting behavior information indicating that the vehicle is in a flooded state , current time and position information to a server via a network when the communication device is determined to be true by the first step;
When the server receives the behavior information, the current time, and the position information from the communication device, the server generates the inundation map in which the inundation state of the behavior information is associated with the position of the communication device on the map in time series. And 3 steps.

  According to the communication apparatus, system, program, and method of the present invention, by detecting the inundation state of the vehicle, the inundation state of the area can be collected by the server.

It is explanatory drawing showing the coordinate of the angular velocity in the communication apparatus installed in the vehicle. It is explanatory drawing showing the behavior of the vehicle in a flooded state and a flooded floating state. It is a functional block diagram of the communication apparatus in this invention. It is a graph showing the angular velocity according to time passage measured about the vehicle in a flooded state. It is a graph showing the ROC curve in this invention. It is a graph showing the boundary value of the angular velocity of the submerged state and the non-submerged state in this invention. It is a spectrogram showing the frequency according to the passage of time about the amount of fluctuation around the z axis (yaw). It is a spectrogram showing the frequency according to time passage about the amount of change of the x-axis circumference (roll) and the y-axis (pitch). It is a map showing the inundation state from the coast to inland.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is an explanatory diagram showing coordinates of angular velocities in a communication device installed in a vehicle.

  The communication device 1 is equipped with an angular velocity sensor (not shown). An “angular velocity sensor” is a sensor that detects a rotational movement with respect to a reference axis. The angular velocity sensor is generally a three-dimensional (x-axis, y-axis, z-axis) type, and can measure an angular velocity (amount of variation per unit time) around each axis. The inclination of the vehicle itself can be detected using the measured angular velocity.

The communication device 1 may be, for example, a communication device or a car navigation device that is fixedly installed in a vehicle in advance. In the case of a car navigation device, a gyro sensor as an angular velocity sensor is generally mounted.
The communication device 1 may be a user-owned smartphone or tablet terminal. Smartphones and tablet terminals are equipped with an angular velocity sensor composed of MEMS (micro electro mechanical systems), and can measure the force acting in the direction perpendicular to the motion axis and the rotation axis of the object.
The communication device 1 is installed in a vehicle with the program (application) of the present invention activated.

According to FIG. 1, a communication device 1 having an angular velocity sensor is installed in a vehicle so that the vertical direction of the vehicle coincides with a predetermined axis (for example, z axis) of the angular velocity sensor. In this case, the terminal coordinate system of the angular velocity sensor is defined as follows.
<Screen direction><Vehicledirection><Axis of angular velocity sensor>
Screen vertical direction: Vehicle front-rear direction: x axis Screen left-right direction: Vehicle left-right direction: y axis Screen front / back direction: Vehicle vertical direction: z-axis Further, the axis of the angular velocity sensor is expressed as follows.
Rotation around the x axis: roll
Rotation around y-axis: pitch
Rotation around the z axis: yaw
For example, when the communication device 1 is a smartphone, the communication device 1 is placed in a glow box between the driver seat and the passenger seat with the display facing upward. Thereby, the communication apparatus 1 can be installed in a vehicle as shown in FIG.

  FIG. 2 is an explanatory diagram illustrating the behavior of the vehicle in the flooded state and the flooded state.

  In the case of a general automobile, the weight of the vehicle is 1 ton or more and it does not move easily unless a large external force is applied in a parked state. The vehicle transmits power such as an engine and a motor to the tire and travels by rotating the tire in the traveling direction (front-rear direction). Further, when the driver operates the steering wheel, the vehicle has a turning angle with respect to the traveling direction of the front wheels. In other words, there are restrictions on how the vehicle moves, and it usually does not move directly to the traveling direction or fluctuate significantly in the vertical direction (vertical direction).

  However, when the vehicle body is flooded, the vehicle itself gains buoyancy, and a movement that cannot occur in normal times is observed. Actually, the behavior of a flooded vehicle can be confirmed that the part where the engine is mounted tilts downward, turns in the horizontal direction on the spot, and shakes greatly in the front-rear and left-right directions in synchronization with the movement of the waves . In such a case, the communication device 1 can determine that the vehicle is being moved in a flooded state due to a tsunami.

  FIG. 2A shows the behavior of the vehicle in a flooded state. Here, the vehicle is flooded to the height of the tire level of the vehicle, and the vehicle is swept away by a strong tsunami flow. When the vehicle is viewed from above, a fluctuation that rotates (yaws) around the z-axis occurs according to the flow of water. On the other hand, the tires of the vehicle are not lifted, and fluctuations that rotate around the x axis and the y axis are unlikely to occur. In particular, the vehicle is less likely to fluctuate around the z axis, whether it is running or stopped.

  FIG. 2 (b) shows the behavior of the vehicle in a flooded state. Here, it is flooded to a height above the door of the vehicle, and the tire is completely lifted off the road. In accordance with the flow of water, not only fluctuations that rotate around the z-axis, but also fluctuations that rotate around the x-axis and the y-axis become large.

  According to the present invention, the angular velocity is measured by the angular velocity sensor of the communication device 1 using the vehicle as a probe car. The “probe car” is a vehicle equipped with various sensors, and the vehicle for using the data obtained from these sensors for various purposes during actual traveling. Then, the communication device 1 determines whether or not the behavior of the angular velocity data is caused by a flooded state.

  FIG. 3 is a functional configuration diagram of the communication apparatus according to the present invention.

According to FIG. 3, the communication device 1 includes an angular velocity sensor 101, a communication interface 102, and a positioning unit 103 as hardware.
The angular velocity sensor 101 is generally mounted when the communication device 1 is, for example, a smartphone or a car navigation device.
The communication interface 102 can be connected to a wireless access network, and may be a mobile phone network such as 3G or LTE, or a WiMAX wide area wireless communication network.
Further, the positioning unit 103 may be a GPS or any other device that can measure position information at the current time by other base station positioning or autonomous positioning.

  FIG. 4 is a graph showing the angular velocity as a function of time measured for a vehicle in a flooded state.

FIG. 4 shows the angular velocities of the respective axes measured by the angular velocity sensor 101 for 60 seconds after the first tsunami hits the vehicle.
(0 sec to 15 sec) The vehicle has been inundated from the beginning of the tsunami attack, and there is no change in the angular velocities around the x, y, and z axes.
(15 to 30 seconds) The vehicle enters a “flooded state”, and the amount of fluctuation in angular velocity about the z-axis first increases. Here, the vehicle is swept away by the tsunami. Rotation around the z-axis starts when water is submerged between the tire and the road and the vehicle floats slightly.
(30 to 60 seconds) The vehicle enters the “floating state”, and the fluctuation amount of the angular velocity around the x-axis and the y-axis also increases. Here, the vehicle is completely levitated by water. As the water level increases, the vehicle tilts back and forth, left and right and up and down and begins to drift.

  In addition, according to FIG. 3, the communication device 1 includes a behavior determination unit 11, a behavior information transmission unit 12, a frequency measurement unit 13, and a frequency determination unit 14 as software function units. These functional units are realized by executing a program that causes a computer mounted on the communication device to function. The processing flow of these functional units can also be understood as a flooded state determination method.

[Behavior determination unit 11]
The behavior determination unit 11 determines whether the angular velocity around the predetermined axis of the angular velocity sensor is equal to or greater than a first threshold value.

  Here, in a vehicle, for example, when the front and back directions of the display of the smartphone are aligned with the vertical direction of the vehicle, the “predetermined axis” is the z axis (yaw). Of course, for example, when the display of a smartphone is erected and installed so that the vertical direction of the display coincides with the vertical direction of the vehicle, the predetermined axis is the x axis.

  FIG. 5 is a graph showing the ROC curve in the present invention.

The ROC curve in FIG. 5 represents the relationship of specificity to sensitivity as a curve on one rotation axis of angular velocity.
“Sensitivity” represents the probability of determining that the vehicle is in the flooded state when it is actually in the flooded state.
SE = A / (A + C)
A: Probability of being judged as “flooded” when actually flooded
C: Probability of being determined as “non-immersed” when actually in the flooded state “Specificity” represents the probability of determining that it is in the non-immersed state when actually being in the flooded state.
SP = D / (B + D)
B: Probability of being determined to be “flooded” when it is actually not flooded
D: Probability of being determined as “non-immersed” in actual non-immersed state According to the ROC curve, A, B, C, and D were calculated in advance from a set of angular velocities derived from experiments or simulations. Is.

  Then, the angular velocity corresponding to the sensitivity and specificity, at which the distance (hereinafter referred to as “evaluation distance”) between the coordinates composed of a certain sensitivity and specificity and the coordinates (1, 1) on the ROC curve is the shortest Boundary value. This boundary value is a “first threshold value” for determining whether or not the vehicle is in a flooded state. That is, the first threshold value is set in advance to an angular velocity at which the evaluation distance of sensitivity and specificity calculated by the ROC curve based on the flooded / non-flooded state is the shortest.

  FIG. 6 is a graph showing the boundary value of the angular velocity between the flooded state and the non-flooded state in the present invention.

According to FIG. 5 described above, it is observed that the sensitivity and specificity are both high and the shortest evaluation distance is around the z axis. Therefore, the inundation state is determined by the boundary value (first threshold value) based on the shortest evaluation distance around the z axis. Here, it is assumed that the boundary value = 0.01176 rad / s.
Then, according to FIG. 6, with respect to the probability density distribution with respect to the angular velocity around the z axis, it is possible to determine the flooded / non-flooded state with the boundary value of 0.01176 rad / s. According to the probability density distribution, a sensitivity peak and a specificity peak can be confirmed, and a boundary value (first threshold) is set between them.

[Behavior information transmitter 12]
When the behavior determination unit 11 determines that the behavior information is true, the behavior information transmission unit 12 transmits the behavior information to that effect to the server 2 via the network. The behavioral state here means “flooded state”.

  The behavior information transmitting unit 12 transmits the behavior information further including the current time and position information measured by the positioning unit 103. Thus, the server 2 associates the flooded state (or flooded state) of the vehicle with the current position information of the communication device 1 mounted on the vehicle from the behavior information received from the communication device 1, It is possible to generate a flood map corresponding to Moreover, the server 2 can grasp the progress of the flooded state in real time by recording the history corresponding to the passage of time.

  Even if a general automobile encounters a tsunami, the levitation state continues until the vehicle is completely submerged and the communication device 1 becomes malfunctioning. Even if the vehicle is swept away in a flooded state, the behavior information transmitting unit 12 can continue to transmit the current time and position information to the server 2 periodically. The server 2 can continuously receive the current time and position information from one vehicle in a flooded state.

[Frequency measurement unit 13]
The frequency measuring unit 13 measures the frequency of the angular velocity around the axis for each axis of the angular velocity sensor 101.

[Frequency determination unit 14]
The frequency determination unit 14 determines whether or not the frequency around two axes other than the predetermined axis is equal to or higher than the second threshold value.
The “second threshold value” is set to a frequency at which the vehicle is in a flooded state.
At this time, the behavior information transmission unit 12 further transmits behavior information indicating that the vehicle is in the “flooded state” when the behavior determination unit 11 determines true and then the frequency determination unit 14 determines true. To do.

  FIG. 7 is a spectrogram representing the frequency corresponding to the passage of time with respect to the amount of fluctuation around the z-axis (yaw) of the vehicle. According to FIG. 7, it can be understood that there is no periodicity around the z-axis.

  FIG. 8 is a spectrogram representing a frequency corresponding to the passage of time with respect to the fluctuation amount of the vehicle around the x axis (roll) and the y axis (pitch). According to FIG. 8, it can be understood that the rotation around the x axis and the y axis has periodicity especially after 15 seconds.

  It can be confirmed that the rotation around the x axis fluctuates with a cycle having a peak at 1.5 to 3.0 Hz, and the rotation around the y axis fluctuates with a cycle having a peak at 2.0 to 3.5 Hz. This variation is caused by the vehicle being completely flooded and in sync with the wave motion. That is, it means that there is a tsunami water depth to the vehicle.

  FIG. 9 is a map showing a flooded state from the coast to the inland.

  The server 2 receives behavior information, current time, and position information from the communication device 1 when the vehicle encounters a tsunami and is determined to be in a flooded state. As a result, the server 2 can plot the received inundation information on a map in time series and generate an “inundation map” that visualizes the inundation state of the area.

FIG. 9 (a) is a plot of the position of the vehicle in a flooded state at the current time on a map.
FIG. 9B shows the inundation range of the tsunami at the current time by connecting each plot of the inundation state of each vehicle in FIG. 9A.

The inundation map generated as shown in FIG. 9B is generated in real time as time passes. This inundation map is visually recognized by an operator of the disaster prevention center that manages the server 2.
In addition, by using the inundation map updated in real time, it is useful for residents to guide evacuation, such as the remaining time until the tsunami arrives and the speed, direction of travel, evacuation place, evacuation direction for each region Information can also be estimated.

In addition, about embodiment mentioned above, it can understand also as a vehicle behavior collection method of the system which has the communication apparatus 1 which has the angular velocity sensor 101, and the server 2 which collects vehicle behavior information.
(S1) The communication device 1 determines whether or not the angular velocity around the predetermined axis of the angular velocity sensor 101 is equal to or greater than the first threshold (similar to the behavior determination unit 11 described above).
(S2) When the communication device 1 is determined to be true by S1, the behavior information, the current time, and the position information to that effect are transmitted to the server 2 via the network (similar to the behavior information transmission unit 12 described above). ).
(S3) When the server 2 receives the behavior information from the communication device 1, the server 2 generates an inundation map in which the inundation state of the behavior information is associated with the position of the communication device 1 on the map in time series.
(S4) The server 2 transmits an inundation map to the portable terminal 3 possessed by the user. By distributing the inundation map to the mobile terminal 3 possessed by each user as a tsunami warning for the residents, the user who has visually recognized the inundation map can recognize the inundation area due to the tsunami at the current time.

As described above in detail, according to the communication device, system, program, and method of the present invention, the inundation state of the area can be collected by the server by detecting the inundation state of the vehicle.
According to the present invention, it is possible to collect a flooded area caused by a tsunami by a server using a vehicle scattered in various areas inland as a probe car without installing a device such as a flood measurement sensor in each area. it can. In particular, by generating the inundation map, the inundation area of the tsunami can be viewed in real time, which can be used for user evacuation guidance.

  Various changes, modifications, and omissions of the above-described various embodiments of the present invention can be easily made by those skilled in the art. The above description is merely an example, and is not intended to be restrictive. The invention is limited only as defined in the following claims and the equivalents thereto.

DESCRIPTION OF SYMBOLS 1 Communication apparatus 101 Angular velocity sensor 102 Communication interface 103 Positioning part 11 Behavior determination part 12 Behavior information transmission part 13 Frequency measurement part 14 Frequency determination part 2 Server 3 Portable terminal

Claims (11)

A communication device having an angular velocity sensor and installed in the vehicle such that the vertical direction of the vehicle coincides with a predetermined axis of the angular velocity sensor;
Behavior determination means for determining whether or not the angular velocity around the predetermined axis of the angular velocity sensor is equal to or greater than a first threshold value that is a boundary value for determining whether or not the vehicle is in a flooded state ;
And a behavior information transmitting means for transmitting behavior information indicating that the vehicle is in a flooded state to a server via a network when the behavior determining means determines that the vehicle is true. The communication apparatus according to claim 1, wherein the predetermined angular axis of the angular velocity sensor is a z-axis (yaw). The first threshold value of the behavior determination means is set in advance to an angular velocity at which the evaluation distance of sensitivity and specificity calculated by an ROC curve (Receiver Operating Characteristic curve) based on a flooded state / non-flooded state is the shortest. The communication apparatus according to claim 1 or 2 , wherein Frequency measuring means for measuring the frequency of the angular velocity around the axis for each axis of the angular velocity sensor;
Frequency determination means for determining whether or not the frequency around the two axes other than the predetermined axis is equal to or higher than a second threshold;
The behavior information transmitting means further transmits behavior information indicating that the vehicle is in a flooded state when the behavior determining means determines that the behavior is true and then the frequency determining means determines that the behavior is true. The communication device according to any one of claims 1 to 3 . The communication device in advance fixedly established communication device or the car navigation system in the vehicle, or, according to any one of claims 1, which is a smart phone or tablet computer user possessed 4 Communication equipment. The communication apparatus further includes positioning means for positioning position information at the current time,
The behavior information transmitting means, the behavior information, the communication device according to any one of claims 1-5, characterized in that the transmission further include a current time and position information. The communication apparatus according to claim 6 , wherein the behavior information transmission unit periodically transmits the behavior information at predetermined time intervals after the behavior determination unit determines that the behavior is true. A system comprising the communication device according to claim 6 or 7 and a server that receives the behavior information via a network,
Each time the server receives the behavior information from the communication device, the server generates an inundation map in which the inundation state of the behavior information is associated with the position of the communication device on the map in time series. System. The system according to claim 8 , wherein the server transmits the inundation map to a portable terminal possessed by a user. A program that has an angular velocity sensor and causes a computer mounted in a communication device installed in a vehicle so that the vertical direction of the vehicle and the predetermined axis of the angular velocity sensor coincide with each other,
Behavior determination means for determining whether or not the angular velocity around the predetermined axis of the angular velocity sensor is equal to or greater than a first threshold value that is a boundary value for determining whether or not the vehicle is in a flooded state ;
A program that causes a computer to function as behavior information transmission means for transmitting behavior information indicating that the vehicle is in a flooded state to a server via a network when the behavior determination means determines that the vehicle is true. A communication device having an angular velocity sensor and installed in the vehicle so that the vertical direction of the vehicle coincides with a predetermined axis of the angular velocity sensor;
A vehicle behavior collection method for a system having a server for collecting vehicle behavior information,
The communication device, the angular velocity in a given axis of the angular velocity sensor, a first step of determining whether the vehicle is smaller than the first threshold value as a boundary value determines whether flooded condition,
A second step of transmitting behavior information indicating that the vehicle is in a flooded state , current time and position information to a server via a network when the communication device is determined to be true by the first step; ,
When the server receives the behavior information, current time, and location information from the communication device, an inundation map that correlates the inundation state of the behavior information in time series with the location of the communication device on the map. And a third step of generating the vehicle behavior collecting method of the system.