JP6896374B2 - Probe information processing server and probe information processing method - Google Patents

Description

Embodiments of the present invention, the probe information processing server, a contact and a probe information processing method.

There is a technique for estimating the traffic information of each road on a map based on the probe information such as the inter-vehicle distance measured by the probe vehicle.

Japanese Unexamined Patent Publication No. 2006-31422 Japanese Unexamined Patent Publication No. 2002-251698 Japanese Unexamined Patent Publication No. 2008-15561

However, in such a conventional technique, if the traveling method of the probe vehicle (for example, the method of taking the inter-vehicle distance, the method of accelerating / decelerating, the method of selecting the lane) varies, the estimation accuracy of the traffic information deteriorates.

The probe information processing server of the embodiment includes a receiving unit, an estimating unit, a generating unit, and a transmitting unit. The receiving unit receives from the probe vehicle probe information including information on the traveling of the probe vehicle, the traveling position of the probe vehicle, and individual vehicle driving characteristics which are individual driving characteristics of the probe vehicle. The estimation unit estimates the traffic information of each section of the road on the map based on the received probe information. Generating unit compares the individual vehicle operating characteristics probe information received from the probe vehicle OPERATION control object includes, a recommended operating characteristics corresponding to the traffic information of the section probe vehicle operation control object is traveling, the difference Generates operation control information instructing to reduce. The transmission unit transmits the generated driving control information to the probe vehicle subject to driving control.

FIG. 1 is a diagram showing an example of a configuration of a probe information processing system according to the present embodiment. FIG. 2 is a diagram showing an example of a configuration of a probe vehicle included in the probe information processing system according to the present embodiment. FIG. 3 is a diagram showing an example of the configuration of the cockpit of the probe vehicle included in the probe information processing system according to the present embodiment. FIG. 4 is a diagram showing an example of the hardware configuration of the control device included in the probe vehicle of the probe information processing system according to the present embodiment. FIG. 5 is a diagram for explaining an example of the calculation process of the inter-vehicle distance by the probe vehicle of the probe information processing system according to the present embodiment. FIG. 6 is a flowchart showing an example of a flow of calculation processing of the inter-vehicle distance by the probe vehicle of the probe information processing system according to the present embodiment. FIG. 7 is a diagram for explaining an example of traffic information estimation processing and operation control information generation processing in the probe information processing server according to the present embodiment. FIG. 8 is a diagram showing an example of the hardware configuration of the probe information processing server according to the present embodiment. FIG. 9 is a flowchart showing an example of a flow of traffic information estimation processing and operation control information generation processing in the probe information processing server according to the present embodiment. FIG. 10 is a flowchart showing an example of a flow of traffic information estimation processing by the probe information processing server according to the present embodiment. FIG. 11 is a flowchart showing an example of a flow of specific processing of individual vehicle driving characteristics by the probe vehicle according to the present embodiment. FIG. 12 is a diagram for explaining an example of transmission / reception processing of various information between the probe vehicle and the probe information processing server in the probe information processing system according to the present embodiment. FIG. 13 is a block diagram showing an example of the functional configuration of the probe vehicle according to the present embodiment. FIG. 14A is a flowchart showing an example of a flow of processing for estimating the recognition state of the outside world by the driver of the probe vehicle according to the present embodiment. FIG. 14B is a diagram for explaining an example of the process of detecting the line-of-sight direction of the driver of the probe vehicle according to the present embodiment. FIG. 15 is a flowchart showing an example of a flow of detection processing of an object in the outside world by the probe vehicle according to the present embodiment. FIG. 16 is a flowchart showing an example of a flow of processing for storing captured image data by the probe vehicle according to the present embodiment. FIG. 17 is a diagram for explaining an example of the process of storing the higher-order feature amount by the probe vehicle according to the present embodiment. FIG. 18 is a flowchart showing an example of a flow of a driving operation detection process by the probe vehicle according to the present embodiment. FIG. 19 is a diagram for explaining an example of a driving operation detection process by the probe vehicle according to the present embodiment. FIG. 20 is a flowchart showing an example of a flow of detection processing of individual vehicle driving characteristics by the probe vehicle according to the present embodiment.

Hereinafter, the probe information processing server, the probe vehicle, and the probe information processing system to which the probe information processing method is applied according to the present embodiment will be described with reference to the attached drawings.

FIG. 1 is a diagram showing an example of a configuration of a probe information processing system according to the present embodiment. As shown in FIG. 1, the probe information processing system according to the present embodiment includes a probe vehicle 1, a preceding vehicle 2, a GPS (Global Positioning System) satellite ST, a base station B, a probe information processing server S, and the probe information processing server S. Has. The probe vehicle 1 images the surroundings of the probe vehicle 1 (for example, the preceding vehicle 2). The preceding vehicle 2 is a vehicle traveling in front of the probe vehicle 1.

In the present embodiment, the probe vehicle 1 has a control device 100 that wirelessly communicates with the base station B via a mobile terminal 205 (see FIG. 3) described later. In the present embodiment, the control device 100 wirelessly communicates with the base station B via the mobile terminal 205, but is not limited to this, and can wirelessly communicate with the base station B without going through the mobile terminal 205. It may be provided with a communication interface. The control device 100 is mounted on the probe vehicle 1 and controls the probe vehicle 1. Further, the control device 100 acquires the probe information including the traveling position of the probe vehicle 1 which is the information regarding the traveling of the probe vehicle 1.

For example, the control device 100 acquires the inter-vehicle distance between the probe vehicle 1 and the preceding vehicle 2 in a predetermined cycle (for example, a cycle of several seconds). Then, the control device 100 calculates the inter-vehicle distance between the probe vehicle 1 and the preceding vehicle 2 based on the acquired inter-vehicle distance and the vehicle length of the preceding vehicle 2. Further, the control device 100 acquires position information indicating the traveling position of the probe vehicle 1 based on the GPS signal received from the GPS satellite ST. For example, the position information is GPS information including the latitude, longitude, time, etc. of the traveling position of the probe vehicle 1. Further, the control device 100 acquires the traveling speed of the probe vehicle 1.

Then, the control device 100 includes the inter-vehicle distance, the vehicle type of the preceding vehicle 2 (for example, a normal vehicle or a large vehicle), the inter-vehicle distance, the position information, the traveling speed, the moving direction of the preceding vehicle 2, the probe vehicle 1 and the preceding vehicle 2. The relative speed and the like of the above are transmitted to the probe information processing server S via the base station B as probe information. Further, the control device 100 can estimate the traffic information (for example, vehicle density, vehicle flow rate, etc.) of the section in which the probe vehicle 1 travels among the sections in which the road on the map is divided based on the probe information. In some cases, the estimated traffic information may be included in the probe information and transmitted to the probe information processing server S.

Further, the control device 100 includes the driving characteristics (hereinafter referred to as individual vehicle driving characteristics) relating to at least one of the driving habit, safe driving, environmental load, and movement efficiency of the probe vehicle 1 in the probe information, and the probe. It is transmitted to the information processing server S. In the present embodiment, the individual vehicle driving characteristics include at least one of safe driving degree, eco-driving degree, and movement efficiency. The safe driving degree indicates the degree of safe driving degree of the probe vehicle 1. The eco-driving degree indicates the degree of environmental load caused by the traveling of the probe vehicle 1. The movement efficiency indicates the movement distance of the probe vehicle 1 per predetermined time. Further, the control device 100 receives the operation control information from the probe information processing server S via the base station B. Here, the driving control information is information for controlling the probe vehicle 1, and the details will be described later.

The GPS satellite ST transmits GPS signals including time and the like to the ground. The base station B can wirelessly communicate with the probe vehicle 1, and transfers the probe information transmitted from the probe vehicle 1 to the probe information processing server S. The probe information processing server S estimates traffic information, generates driving control information, and the like based on the probe information and the like received from the probe vehicle 1 via the base station B. In the present embodiment, the driving control information includes a speed instruction, an inter-vehicle distance instruction, a lane instruction, and the like. The speed instruction indicates the traveling speed of the probe vehicle 1. In this embodiment, the speed instruction indicates deceleration, status quo, or acceleration. The inter-vehicle distance instruction indicates the inter-vehicle distance or the inter-vehicle distance of the probe vehicle 1 from the preceding vehicle 2. In the present embodiment, the inter-vehicle distance instruction indicates shortening, maintenance of the status quo, or extension. The lane instruction indicates the lane in which the probe vehicle 1 travels. In the present embodiment, the lane instruction indicates a change to the left lane, maintenance of the status quo, or a change to the right lane.

For example, the probe information processing server S obtains the difference between the inter-vehicle distance included in the probe information received from the probe vehicle 1 subject to driving control and the inter-vehicle distance included in the recommended driving characteristics. Here, the recommended driving characteristic is a driving characteristic according to the traffic information of the section to which the traveling position of the probe vehicle 1 belongs. For example, the recommended driving characteristics include the inter-vehicle distance recommended for the probe vehicle 1. Then, when the inter-vehicle distance included in the received probe information is shorter than the inter-vehicle distance included in the recommended driving characteristics , the probe information processing server S provides driving control information including an inter-vehicle distance instruction for instructing the extension of the inter-vehicle distance. It is transmitted to the probe vehicle 1 via the base station B. That is, the probe information processing server S generates driving control information instructing to reduce the difference based on the difference between the driving characteristic and the recommended driving characteristic of the probe vehicle 1 to be driven.

FIG. 2 is a diagram showing an example of a configuration of a probe vehicle included in the probe information processing system according to the present embodiment. As shown in FIG. 2, the probe vehicle 1 includes a control device 100, cameras 101 to 104, a radar 105, an ECU (Engine Control Unit) 107, a display unit 108, a speaker 109, a communication device 110, and the like. Has. The cameras 101 to 104 are in-vehicle cameras mounted on the probe vehicle 1, and output the captured image data obtained by imaging to the control device 100 in frame units. The camera 101 is provided according to imaging conditions such as a preset height, depression angle, and rotation angle, and can image the inside of the probe vehicle 1. The cameras 102 to 104 are provided according to imaging conditions such as a preset height, depression angle, and rotation angle, and can image the outside of the probe vehicle 1. The radar 105 measures the distance to an object (obstacle, pedestrian, etc.) existing outside the probe vehicle 1 by irradiating the outside of the probe vehicle 1 with radio waves and measuring the reflected wave. Then, the radar 105 outputs the distance information indicating the measured distance to the control device 100.

The control device 100 detects the inter-vehicle distance from the preceding vehicle 2 based on the captured image data output from the cameras 101 to 104. Then, the control device 100 displays information (hereinafter referred to as warning information) necessary for supporting safe driving based on the distance information output from the radar 105 and the detection result of the inter-vehicle distance from the preceding vehicle 2. Or output a sound representing the warning information from the speaker 109. Further, when the control device 100 detects that the automatic brake of the probe vehicle 1 needs to be operated based on the captured image data output from the cameras 101 to 104, the control device 100 causes the ECU 107 to operate the automatic brake. The driving assist information to be instructed is transmitted. When the ECU 107 receives the driving assist information from the control device 100, the ECU 107 operates the automatic brake to stop the probe vehicle 1.

FIG. 3 is a diagram showing an example of the configuration of the cockpit of the probe vehicle included in the probe information processing system according to the present embodiment. As shown in FIG. 3, the cockpit of the probe vehicle 1 is provided with a control device 100, cameras 202 and 203, a GPS (Global Positioning System) antenna 204, and a mobile terminal 205. The cameras 202 and 203 are included in the camera 102 and are provided so that the preceding vehicle 2 traveling in front of the probe vehicle 1 can be imaged from different angles. In the present embodiment, the cameras 202 and 203 are provided symmetrically with the center console in between.

The control device 100 obtains the parallax of the angles of the cameras 202 and 203 based on the captured image data obtained by the imaging of the cameras 202 and 203, respectively. Then, the control device 100 calculates the inter-vehicle distance, which is the distance from the front end of the probe vehicle 1 to the rear end of the preceding vehicle 2, using the obtained parallax. In the present embodiment, the control device 100 calculates the inter-vehicle distance using the images obtained by the images taken by the cameras 202 and 203, but the distance is not limited to this, and the image is taken by a stereo camera or a monocular camera. The inter-vehicle distance may be calculated using the image obtained by.

The GPS antenna 204 receives a GPS signal transmitted from the GPS satellite ST in order to acquire the position of the probe vehicle 1. The mobile terminal 205 performs data communication with the probe information processing server S via the base station B. For example, the mobile terminal 205 outputs voice or the like based on the driving control information received from the probe information processing server S to notify the passenger (for example, the driver) of the probe vehicle 1 of the driving control information. .. In the present embodiment, the mobile terminal 205 is composed of a smartphone, a tablet terminal, or the like, but is not limited to this as long as it is a device capable of communicating with the probe information processing server S.

FIG. 4 is a diagram showing an example of the hardware configuration of the control device included in the probe vehicle of the probe information processing system according to the present embodiment. As shown in FIG. 4, the control device 100 includes a control unit 401, a communication I / F 402, a storage unit 403, and an external storage device 404. The control unit 401 controls the entire control device 100. In the present embodiment, the control unit 401 is composed of a microcomputer including an MPU (Micro Processing Unit) and the like.

Specifically, the control unit 401 (an example of the transmission unit) transmits probe information to the probe information processing server S. Further, the control unit 401 (an example of the reception unit) receives the operation control information from the probe information processing server S. In the present embodiment, the control unit 401 controls the mobile terminal 205 to transmit and receive probe information and operation control information to and from the probe information processing server S via a mobile line or the like. Further, the control unit 401 controls the traveling of the probe vehicle 1 according to the driving control information by outputting the driving control information received from the probe information processing server S as voice from the mobile terminal 205. In the present embodiment, the control unit 401 controls the traveling of the probe vehicle 1 by outputting voice from the mobile terminal 205, but the present invention is not limited to this. For example, the control unit 401 generates driving assist information based on the driving control information received from the probe information processing server S, transmits the driving assist information to the ECU 107, and activates an automatic brake or the like to operate the probe vehicle 1. The traveling of the probe vehicle 1 may be controlled by decelerating or stopping the probe vehicle 1.

The communication I / F 402 communicates with each part of the probe vehicle 1, such as the camera 101-104, the radar 105, the ECU 107, the display unit 108, the speaker 109, and the communication device 110. The storage unit 403 is used as a ROM (Read Only Memory) that non-volatilely stores various programs and the like used for controlling the control device 100 by the control unit 401, and as a work area when executing various programs stored in the ROM. It has a RAM (Random Access Memory), a flash ROM that non-volatilely stores the setting data set in the probe vehicle 1, a VRAM that stores the captured image data obtained by imaging the cameras 101 to 104, and the like. The external storage device 404 is composed of a large-capacity storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

Next, the calculation process of the inter-vehicle distance by the control device 100 according to the present embodiment will be described with reference to FIGS. 5 and 6. FIG. 5 is a diagram for explaining an example of the calculation process of the inter-vehicle distance by the probe vehicle of the probe information processing system according to the present embodiment. FIG. 6 is a flowchart showing an example of a flow of calculation processing of the inter-vehicle distance by the probe vehicle of the probe information processing system according to the present embodiment.

In the present embodiment, the control unit 401 first acquires the captured image data obtained by imaging the cameras 202 and 203 (step S601). Next, the control unit 401 detects an image of the preceding vehicle 2 (hereinafter referred to as a preceding vehicle image) from each of the captured image data obtained by the imaging of the camera 202 and the captured image data obtained by the imaging of the camera 203 (hereinafter referred to as a preceding vehicle image). Step S602). Then, the control unit 401 measures the inter-vehicle distance l between the probe vehicle 1 and the preceding vehicle 2 based on the parallax of the two detected preceding vehicle images (step S603). Here, the inter-vehicle distance l is the distance from the front end of the probe vehicle 1 to the rear end of the preceding vehicle 2 as shown in FIG.

Further, the control unit 401 determines the vehicle type of the preceding vehicle 2 based on the detected image of the preceding vehicle (step S604). Then, the control unit 401 estimates the vehicle length cl of the preceding vehicle 2 based on the determined vehicle type of the preceding vehicle 2 (step S605). In the present embodiment, the storage unit 403 stores a vehicle length determination table that associates the vehicle type with the vehicle length of the vehicle of the vehicle type. Then, the control unit 401 estimates from the vehicle length determination table that the vehicle length associated with the determined vehicle type of the preceding vehicle 2 is the vehicle length cl of the preceding vehicle 2. Next, as shown in FIG. 5, the control unit 401 calculates the sum of the inter-vehicle distance l between the probe vehicle 1 and the preceding vehicle 2 and the estimated vehicle length cl of the preceding vehicle 2 of the probe vehicle 1 and the preceding vehicle 2. It is calculated as the inter-vehicle distance L (step S606).

Next, the traffic information estimation process and the operation control information generation process in the probe information processing server S according to the present embodiment will be described with reference to FIGS. 7 to 9. FIG. 7 is a diagram for explaining an example of traffic information estimation processing and operation control information generation processing in the probe information processing server according to the present embodiment. FIG. 8 is a diagram showing an example of the hardware configuration of the probe information processing server according to the present embodiment. FIG. 9 is a flowchart showing an example of a flow of traffic information estimation processing and operation control information generation processing in the probe information processing server according to the present embodiment.

As shown in FIG. 8, the probe information processing server S includes a control unit 801, a communication I / F 802, and a storage unit 803. The control unit 801 controls the entire probe information processing server S. In the present embodiment, the control unit 801 is composed of a microcomputer including a CPU (Central Processing Unit) and the like. The communication I / F 802 can communicate with the probe vehicle 1 and the central processing unit CS via a network NT such as the Internet. The storage unit 803 is a ROM that non-volatilely stores various programs and the like used for controlling the probe information processing server S by the control unit 801 and a RAM and a probe that are used as a work area when executing various programs stored in the ROM. It has a flash ROM or the like that non-volatilely stores various information such as information, operation control information, and traffic information.

As shown in FIG. 7, the control unit 801 (an example of the receiving unit) first receives probe information from the probe vehicle 1 via the network NT and the base station B (step S901). Next, the control unit 801 executes a mapping process of assigning the received probe information to the section to which the traveling position indicated by the position information included in the received probe information belongs among the sections in which the road is divided on the map. Step S902). Further, the control unit 801 (an example of the estimation unit) estimates the traffic information for each section (for example, at intervals of 500 m) based on the probe information assigned to the section (step S903). That is, the control unit 801 estimates the traffic information of each section of the road on the map based on the probe information received from the probe vehicle 1. In the present embodiment, the control unit 801 estimates as at least one traffic information among the density information of the vehicle on the road, the empty space, the moving direction, the dangerous place, and the traffic jam information. Details of the process shown in step S903 will be described later. Further, the control unit 801 specifies the individual vehicle driving characteristics included in the received probe information (step S904).

Next, the control unit 801 provides traffic information of a section (hereinafter referred to as a traveling section) to which the traveling position (that is, the traveling position indicated by the position information received from the probe vehicle 1) in which the probe vehicle 1 to be driven is traveled belongs. specifying a recommended operating characteristics corresponding to (step S905). In the present embodiment, the storage unit 803 stores the traffic information and the recommended driving characteristics corresponding to the traffic information in association with each other. Then, the control unit 801 specifies the recommended driving characteristic stored in association with the estimated traffic information in the storage unit 803 as the recommended driving characteristic of the probe vehicle 1 to be controlled. The recommended driving characteristics are driving characteristics that enable the acquisition of probe information suitable for estimating traffic information. In the present embodiment, the recommended driving characteristics include the traveling speed, the inter-vehicle distance or the inter-vehicle distance, the lane, and the like of the probe vehicle 1 according to the traffic information of the traveling section.

Further, the control unit 801 specifies recommended driving characteristics (in this embodiment, safe driving degree, eco-driving degree, and movement efficiency) corresponding to the traffic information of the road at the traveling position where the probe vehicle 1 to be driven is driven. To do.

Then, the control unit 801 executes a driving improvement item analysis process for acquiring the difference between the driving characteristic of the probe vehicle 1 based on the probe information received from the probe vehicle 1 to be driven and the specified recommended driving characteristic (the driving improvement item analysis process). Step S906). As shown in FIG. 7, further, the control unit 801 (an example of the generation unit) generates driving control information instructing to reduce the difference based on the difference acquired by the driving improvement item analysis process (step). S907). In the present embodiment, the control unit 801 regenerates the operation control information at preset time intervals.

Here, the driving control information generated when the traffic information of the traveling section indicates a traffic jam will be described. When the traveling speed of the probe vehicle 1 subject to driving control is faster than the traveling speed included in the recommended driving characteristics , the control unit 801 generates driving control information including a traveling instruction instructing deceleration. Further, when the inter-vehicle distance of the probe vehicle 1 subject to driving control is the inter-vehicle distance included in the recommended driving characteristics , the control unit 801 generates driving control information including an inter-vehicle distance instruction for instructing the maintenance of the current inter-vehicle distance. On the other hand, when the inter-vehicle distance of the probe vehicle 1 to be driven is shorter than the inter-vehicle distance included in the recommended driving characteristics , the control unit 801 generates driving control information including an inter-vehicle distance instruction for instructing the extension of the inter-vehicle distance. Further, when the lane of the probe vehicle 1 subject to driving control is a lane including the recommended driving characteristics (for example, the left lane), the control unit 801 provides driving control information including a lane instruction for instructing the maintenance of the current lane. Generate.

Next, the driving control information generated when the traffic information in the traveling section indicates a free flow will be described. When the traveling speed of the probe vehicle 1 subject to driving control is slower than the traveling speed included in the recommended driving characteristics , the control unit 801 generates driving control information including a traveling instruction instructing acceleration. Further, when the inter-vehicle distance of the probe vehicle 1 to be driven is longer than the inter-vehicle distance included in the recommended driving characteristics, the control unit 801 generates driving control information including an inter-vehicle distance instruction for instructing the shortening of the inter-vehicle distance. On the other hand, when the inter-vehicle distance of the probe vehicle 1 to be driven is shorter than the inter-vehicle distance included in the recommended driving characteristics , the control unit 801 generates driving control information including an inter-vehicle distance instruction for instructing the extension of the inter-vehicle distance. Further, when the lane of the probe vehicle 1 subject to driving control is a lane including the recommended driving characteristics (for example, the right lane), the control unit 801 provides driving control information including a lane instruction for instructing the maintenance of the current lane. Generate. On the other hand, when the lane of the probe vehicle 1 subject to driving control is different from the lane included in the recommended driving characteristics (for example, the right lane), the control unit 801 provides driving control information including a lane instruction for instructing the change to the right lane. Generate.

In the present embodiment, the control unit 801 generates driving control information including speed instruction, inter-vehicle distance instruction, and lane instruction, but generates information indicating the difference acquired by the driving improvement item analysis process as driving control information. You may. For example, the control unit 801 generates driving control information indicating the difference between the inter-vehicle distance of the probe vehicle 1 subject to driving control and the inter-vehicle distance included in the recommended driving characteristics.

Returning to FIG. 9, when the probe information received from the probe vehicle 1 subject to driving control includes individual vehicle driving characteristics, the control unit 801 compares the individual vehicle driving characteristics with the specified recommended driving characteristics and compares them. Based on the results, it generates driving control information that instructs the individual vehicle driving characteristics to approach the recommended driving characteristics. After that, the control unit 801 (an example of the transmission unit) transmits the generated operation control information to the probe vehicle 1 subject to operation control via the communication I / F 802 as shown in FIG. 7 (step). S908). As a result, the driving characteristics of the probe vehicle 1 can be brought close to the driving characteristics in which probe information suitable for estimating traffic information can be acquired, so that the estimation accuracy of traffic information can be improved. In the present embodiment, the control unit 801 transmits the operation control information to the probe vehicle 1 to be operated and controlled each time the operation control information is generated at preset time intervals. Further, in the present embodiment, as shown in FIG. 7, the control unit 801 transmits the traffic information for each section of the road on the map to the central processing unit CS via the network NT.

Next, the traffic information estimation process by the probe information processing server S will be described with reference to FIG. FIG. 10 is a flowchart showing an example of a flow of traffic information estimation processing by the probe information processing server according to the present embodiment.

The control unit 801 estimates the density information of the vehicle traveling on each section of the road on the map on which the probe information is mapped (step S1001). Specifically, the control unit 801 divides the road on the map into a plurality of sections. Next, the control unit 801 calculates the distribution of vehicles on the road on the map (hereinafter referred to as vehicle distribution) based on the occupancy rate of vehicles in each section. Then, the control unit 801 uses the calculated vehicle distribution as the density information.

Next, the control unit 801 estimates the empty space of the road on the map (for example, a road without vehicles or a road with few vehicles) based on the estimated density information (that is, vehicle distribution) (step S1002). .. Further, the control unit 801 estimates the moving direction of the vehicle on the road on the map based on the change of the probe information received from the same probe vehicle 1 (step S1003). Further, the control unit 801 estimates a dangerous place where contact or collision of the vehicle is likely to occur based on the vehicle distribution, the empty space, and the moving direction (step S1004).

Further, the control unit 801 estimates a traffic pattern such as congestion, congestion, and congestion as congestion information based on the vehicle distribution, the empty space, and the moving direction (step S1005). Further, the control unit 801 uses the inter-vehicle distance or the inter-vehicle distance included in the probe information assigned to each road on the map to determine the traffic volume, which is the density or flow rate of the vehicle on each road, according to the theory of traffic engineering. Estimate as traffic information (step S1006). In the present embodiment, the control unit 801 estimates the density information, the empty space, the moving direction, the dangerous place, and the traffic jam information as traffic information, but the density information, the empty space, the moving direction, the dangerous place, and the traffic jam information. At least one of them may be estimated as traffic information.

Next, the process of specifying the individual vehicle driving characteristics of the probe vehicle 1 will be described with reference to FIG. FIG. 11 is a flowchart showing an example of a flow of specific processing of individual vehicle driving characteristics by the probe vehicle according to the present embodiment.

The control unit 401 (an example of the safety determination unit) changes the distance between the probe vehicle 1 and the preceding vehicle 2 or the head-to-head distance, the traveling position of the probe vehicle 1, and the traveling speed of the probe vehicle 1 over time. Based on this, the safe driving degree of the probe vehicle 1 is determined (step S1101). Further, the control unit 401 (an example of the eco-driving degree determination unit) determines the eco-driving degree of the probe vehicle 1 based on at least one of the average of the acceleration / deceleration of the probe vehicle 1 and the traveling speed of the probe vehicle 1 (an example of the eco-driving degree determination unit). Step S1102). Further, the control unit 401 (an example of the movement efficiency calculation unit) calculates the movement efficiency based on the time change of the traveling position of the probe vehicle 1 (step S1103).

Next, an example of transmission / reception processing of various information between the probe vehicle 1 and the probe information processing server S will be described with reference to FIG. FIG. 12 is a diagram for explaining an example of transmission / reception processing of various information between the probe vehicle and the probe information processing server in the probe information processing system according to the present embodiment.

The probe vehicle 1 transmits probe information to the probe information processing server S at preset time intervals. Further, the probe vehicle 1 transmits to the probe information processing server S the individual vehicle driving characteristics in which the driver of the probe vehicle 1 has priority among the driving habits, the safe driving degree, the eco-driving degree, and the movement efficiency. Probe information processing server S includes a driving characteristic of the probe vehicle 1 based on the probe information received from the probe vehicle 1 operating the controlled object, the difference between the recommended operating characteristic based on the traffic information of the interval in which the probe vehicle 1 travels The operation control information is generated based on the above.

Further, the probe information processing server S generates recommended driving characteristics corresponding to the traffic information of the section to which the traveling position of the probe vehicle 1 belongs, based on the probe information assigned to each section. Next, the probe information processing server S compares the generated recommended driving characteristics with the individual vehicle driving characteristics of the probe vehicle 1 to be controlled, and includes the comparison result in the driving control information. After that, the probe information processing server S transmits the generated driving control information to the driving control target probe vehicle 1. Further, the probe information processing server S may transmit the traffic information of the section to which the traveling position of the probe vehicle 1 subject to driving control belongs to the probe vehicle 1. Further, the probe information processing server S may transmit to the probe vehicle 1 the difference between the driving control information previously transmitted to the probe vehicle 1 subject to driving control and the driving control information transmitted this time to the probe vehicle 1. ..

However, since the probe vehicle 1 travels in consideration of local safety in relation to the vehicle traveling around, if the probe vehicle 1 travels according to the driving control information received from the probe information processing server S, other vehicles may travel. May come into contact with or collide with the vehicle. Therefore, the probe information processing server S transmits driving control information including only the comparison result between the predetermined individual vehicle driving characteristic having priority among the individual vehicle driving characteristics and the recommended driving characteristic to the probe vehicle 1 to be driven. You may. This makes it possible to reduce the possibility that the probe vehicle 1 will come into contact with or collide with another vehicle as a result of being driven according to the driving control information.

Next, the process of acquiring the individual vehicle driving characteristics in the probe vehicle 1 will be described with reference to FIGS. 13 to 20. FIG. 13 is a block diagram showing an example of the functional configuration of the probe vehicle according to the present embodiment.

As shown in FIG. 13, in the probe vehicle 1, the control unit 401 executes the program stored in the storage unit 403, so that the driver monitoring function unit 1301, the external sensing function unit 1302, the learning function unit 1303, and the probe vehicle 1 The operation monitoring function unit 1304 and the operation log collection / analysis function unit 1305 are realized.

FIG. 14A is a flowchart showing an example of a flow of processing for estimating the recognition state of the outside world by the driver of the probe vehicle according to the present embodiment. FIG. 14B is a diagram for explaining an example of the process of detecting the line-of-sight direction of the driver of the probe vehicle according to the present embodiment. The driver monitoring function unit 1301 monitors the driver of the probe vehicle 1. Specifically, as shown in FIG. 14A, the driver monitoring function unit 1301 acquires captured image data obtained by imaging the inside of the probe vehicle 1 with the camera 101 via a wired network or a wireless network (). Step S1401). Next, the driver monitoring function unit 1301 extracts a face image of the driver of the probe vehicle 1 from the acquired captured image data (step S1402). In the present embodiment, as shown in FIG. 14B, the driver monitoring function unit 1301 is a driver who sits on the seat of the probe vehicle 1 and holds the steering wheel ST based on the captured image data obtained by the imaging of the camera 101. The line-of-sight direction d of D is detected. Further, the driver monitoring function unit 1301 extracts a pupil image of the driver of the probe vehicle 1 from the extracted face image (step S1403).

Then, the driver monitoring function unit 1301 detects the line-of-sight direction and blinking of the driver of the probe vehicle 1 from the extracted pupil image (step S1404). After that, the driver monitoring function unit 1301 estimates the gaze area that the driver is gazing at and the gaze time that the driver is gazing at based on the gaze direction of the driver of the probe vehicle 1 and the detection result of blinking. To do. Further, the driver monitoring function unit 1301 estimates the recognition status of the outside world by the driver of the probe vehicle 1 based on the estimated gaze area and gaze time (step S1405).

FIG. 15 is a flowchart showing an example of a flow of detection processing of an object in the outside world by the probe vehicle according to the present embodiment. The external sensing function unit 1302 detects an object in the outside world of the probe vehicle 1. Specifically, as shown in FIG. 15, the external sensing function unit 1302 acquires captured image data obtained by imaging the cameras 102 to 104 via a wired network or a wireless network (step S1501). Next, the external sensing function unit 1302 detects an object (for example, an obstacle, a pedestrian) existing in the outside world of the probe vehicle 1 from the acquired captured image data (step S1502). Further, the external sensing function unit 1302 acquires the distance information output from the radar 105 via the wired network or the wireless network (step S1503).

The external sensing function unit 1302 estimates the moving direction of the object and the relative speed of the object with reference to the probe vehicle 1 based on the distance information output from the radar 105 and the captured image data acquired from the cameras 102 to 104. (Step S1504, step S1505). After that, the external sensing function unit 1302 detects an object to be recognized by the driver in the traveling of the probe vehicle 1 based on the estimation result of the moving direction of the object and the relative speed of the object (step S1506).

FIG. 16 is a flowchart showing an example of a flow of processing for storing captured image data by the probe vehicle according to the present embodiment. FIG. 17 is a diagram for explaining an example of the process of storing the higher-order feature amount by the probe vehicle according to the present embodiment. The learning function unit 1303 collects and stores the captured image data obtained by imaging the cameras 101 to 104. Specifically, as shown in FIG. 16, the learning function unit 1303 acquires the captured image data obtained by imaging the cameras 101 to 104 (step S1601). Further, the learning function unit 1303 stores the acquired captured image data (step S1602). Next, as shown in FIG. 17, the learning function unit 1303 detects a rectangular image SG surrounding the object detected by the external sensing function unit 1302 in the acquired captured image data (step S1603). Then, the learning function unit 1303 extracts the higher-order feature amount in the extracted rectangular image SG (step S1604). After that, the learning function unit 1303 stores the high-order feature amount of the extracted rectangular image SG (step S1605). When the external sensing function unit 1302 detects an object from the captured image data in step S1502 of FIG. 15, the external sensing function unit 1302 detects as an object a region having a higher-order feature amount stored in the learning function unit 1303 in the captured image data.

FIG. 18 is a flowchart showing an example of a flow of a driving operation detection process by the probe vehicle according to the present embodiment. FIG. 19 is a diagram for explaining an example of a driving operation detection process by the probe vehicle according to the present embodiment. The driving monitoring function unit 1304 detects the driving operation of the probe vehicle 1. Specifically, as shown in FIG. 18, the driving monitoring function unit 1304 uses the probe such as the steering angle of the steering wheel by the driver of the probe vehicle 1, the amount of depression of the access pedal and the brake pedal, and the on / off of the left and right blinkers. Acquire the driver's driving operation with respect to the vehicle 1 (step S1801). Then, as shown in FIG. 19, the operation monitoring function unit 1304 stores the acquired operation operations in chronological order (step S1802).

Next, the driving monitoring function unit 1304 estimates the behavior of the probe vehicle 1 and the traveling locus of the probe vehicle 1 according to each stored driving operation (step S1803). Then, the driving monitoring function unit 1304 outputs the estimated behavior of the probe vehicle 1 and the traveling locus of the probe vehicle 1 (step S1804).

FIG. 20 is a flowchart showing an example of a flow of detection processing of individual vehicle driving characteristics by the probe vehicle according to the present embodiment. The driving log collection / analysis function unit 1305 detects the individual vehicle driving characteristics of the probe vehicle 1. Specifically, as shown in FIG. 20, the driving log collection / analysis function unit 1305 determines the driver monitoring result of the probe vehicle 1 by the driver monitoring function unit 1301 and the external world of the probe vehicle 1 by the external sensing function unit 1302. Based on the detection result of the object and the detection result of the driving operation of the driver of the probe vehicle 1 by the driving monitoring function unit 1304, the omission or delay of the visibility of the object in the outside world by the driver of the probe vehicle 1 is detected (step S2001). ). Next, the driving log collection / analysis function unit 1305 acquires the safe driving degree as an individual vehicle driving characteristic based on the detection result of the omission or delay of the visual recognition of the object in the outside world by the driver of the probe vehicle 1 (step S2002). ). Further, the driving log collecting / analyzing function unit 1305 acquires the eco-driving degree and the moving efficiency based on the behavior and the traveling locus of the probe vehicle 1 estimated by the driving monitoring function unit 1304. Then, the driving log collection / analysis function unit 1305 transmits the probe information including the acquired individual vehicle driving characteristics to the probe information processing server S (step S2003).

As described above, according to the probe information processing system according to the present embodiment, the estimation accuracy of traffic information can be improved.

The program executed by the control units 401 and 801 of the present embodiment is provided by being incorporated in a ROM or the like in advance. The programs executed by the control units 401 and 801 of the present embodiment are files in an installable format or an executable format, such as a CD-ROM, a flexible disk (FD), a CD-R, and a DVD (Digital Versatile Disk). It may be configured to be recorded and provided on a computer-readable recording medium.

Further, the program executed by the control units 401 and 801 of the present embodiment may be stored on a computer connected to a network such as the Internet and provided by downloading via the network. Further, the program executed by the control units 401 and 801 of the present embodiment may be provided or distributed via a network such as the Internet.

Although embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. This embodiment is included in the scope and gist of the invention, and is also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 Probe vehicle 2 Preceding vehicle 100 Control device 101-104, 202, 203 Camera 105 Radar 107 ECU
108 Display unit 109 Speaker 110 Communication equipment 204 GPS antenna 205 Mobile terminal 401,801 Control unit 402,802 Communication I / F
403,803 Storage unit 404 External storage device S probe Information processing server

Claims (11)

A receiving unit that receives probe information from the probe vehicle, which includes information on the traveling of the probe vehicle and the traveling position of the probe vehicle, and individual vehicle driving characteristics which are individual driving characteristics of the probe vehicle.
Based on the received probe information, an estimation unit that estimates traffic information for each section of the road on the map, and an estimation unit.
Compared with the individual vehicle operating characteristic in which the probe information received from the probe vehicle OPERATION control object includes, a recommended operating characteristics corresponding to the traffic information of the section in which the operation control target of the probe vehicle travels, A generator that generates operation control information instructing to reduce the difference,
A transmission unit that transmits the generated driving control information to the probe vehicle subject to driving control, and a transmission unit.
A probe information processing server equipped with. The probe information processing server according to claim 1, wherein the individual vehicle driving characteristic is a driving characteristic relating to at least one of safe driving, environmental load, and movement efficiency of the probe vehicle. The individual vehicle driving characteristics indicate a safe driving degree indicating the degree of safe driving of the probe vehicle, an eco-driving degree indicating the degree of environmental load due to the traveling of the probe vehicle, and a moving distance of the probe vehicle per predetermined time. The probe information processing server according to claim 2, which includes at least one of the movement efficiencies. Further, a storage unit for storing the traffic information and the recommended driving characteristics corresponding to the traffic information in association with each other is provided.
The generation unit has the recommended driving characteristics stored in association with the traffic information of the road on which the probe vehicle to be driven by the driving control vehicle travels, and the probe received from the probe vehicle to be driven by the driving control target. The probe information processing server according to any one of claims 1 to 3, which generates the driving control information indicating the difference from the individual vehicle driving characteristic included in the information. The estimation unit according to any one of claims 1 to 4, which estimates at least one of the density information, vacant space, moving direction, dangerous place, and traffic jam information of the road vehicle on the map as the traffic information. Probe information processing server. The probe information includes the inter-vehicle distance or the inter-vehicle distance between the probe vehicle and the preceding vehicle.
The estimation unit according to any one of claims 1 to 5, which estimates the density or flow rate of vehicles on a road on a map as the traffic information based on the inter-vehicle distance or the inter-vehicle distance included in the probe information. Probe information processing server. From the probe vehicle, probe information including information on the traveling of the probe vehicle and the traveling position of the probe vehicle and individual vehicle driving characteristics which are individual driving characteristics of the probe vehicle is received.
Based on the received probe information, the traffic information of each section of the road on the map is estimated, and the traffic information is estimated.
Compared with the individual vehicle operating characteristic in which the probe information received from the probe vehicle OPERATION control object includes, a recommended operating characteristics corresponding to the traffic information of the section in which the operation control target of the probe vehicle travels, Generates operation control information instructing to reduce the difference,
The generated driving control information is transmitted to the probe vehicle subject to the driving control.
Probe information processing methods that include. The probe information processing method according to claim 7, wherein the individual vehicle driving characteristic is a driving characteristic relating to at least one of safe driving, environmental load, and movement efficiency of the probe vehicle. The individual vehicle driving characteristics indicate a safe driving degree indicating the degree of safe driving of the probe vehicle, an eco-driving degree indicating the degree of environmental load due to the traveling of the probe vehicle, and a moving distance of the probe vehicle per predetermined time. The probe information processing method according to claim 8, which comprises at least one of the movement efficiencies. The individual vehicle including the recommended driving characteristics stored in association with the traffic information on the road on which the probe vehicle subject to driving control is traveling and the probe information received from the probe vehicle subject to driving control in the storage unit. The probe information processing method according to any one of claims 7 to 9, which generates the operation control information indicating the difference from the operation characteristics. The probe information includes the inter-vehicle distance or the inter-vehicle distance between the probe vehicle and the preceding vehicle.
The probe information processing method according to any one of claims 7 to 10, wherein the density or flow rate of vehicles on a road on a map is estimated as the traffic information based on the inter-vehicle distance or the inter-vehicle distance included in the probe information. ..

Images