JPWO2017168633A1 - Judgment device - Google Patents

Abstract

Provided is a determination device capable of determining whether a vehicle is running backward by a simple process regardless of whether it is a straight section or a curved section.
The detection unit detects vibration given to the moving body when the moving body passes through a predetermined section on the road where a plurality of concave and convex portions are continuously arranged so as to give vibration of a specific vibration pattern. Get pattern information. The acquisition unit acquires reference information of a predetermined section based on the specific vibration pattern. The determination unit determines that the moving body is traveling backward in the predetermined section based on the reference information and the vibration pattern information.

Description

  The present invention relates to a determination device that determines that a moving object is running backward.

  In recent years, there are many accidents caused by so-called “reverse running” in which the vehicle travels in the direction opposite to the prescribed traveling direction near intersections and highway entrances. In order to prevent such an accident due to reverse running, the vehicle is detected by detecting the step caused by the joint by utilizing the fact that the distance between the joints provided on the expressway differs according to the radius of curvature in the curve section. A driving support system that determines whether or not the vehicle is running backward and issues a warning has been proposed (for example, Patent Document 1). Also, a reverse running detection device that recognizes a sign symbol representing a road sign from a captured image obtained by imaging the front or rear of the vehicle and detects the reverse running of the vehicle according to the probability that the front side and the back side of the road sign can be recognized is proposed. (For example, Patent Document 2).

JP 2014-106846 A JP2015-121952A

  Among the conventional techniques described above, the method of determining whether or not the vehicle is running backward by detecting the step caused by the joint can be used in a curve section where the joint interval differs depending on the traveling direction. It cannot be used in the section. An example of a problem to be solved by the present invention is the problem that it is impossible to determine whether the vehicle is running backward when the road is a straight line, which occurs in the related art.

  Further, among the above-described conventional techniques, the method of detecting reverse running according to the probability of recognizing a sign symbol can perform image processing for distinguishing road signs from other objects and distinguishing the front and back of signs. Complicated processing such as calculation processing is necessary, and there is a problem that high-precision detection cannot be performed under the condition of poor visibility such as at night. Examples of problems to be solved by the present invention include the problem that the conventional technique requires complicated processing and the problem that high-precision detection cannot be performed when visibility is poor. As mentioned.

  According to the first aspect of the present invention, the vibration applied to the moving body when the moving body passes through a predetermined section on a road where a plurality of uneven portions are continuously arranged so as to give a vibration of a specific vibration pattern. And detecting the movement pattern based on the reference pattern information and the vibration pattern information, a detection unit for acquiring vibration pattern information and acquiring a reference pattern information of the predetermined section based on the specific vibration pattern A determination unit that determines that the body runs backward in the predetermined section.

  According to a sixth aspect of the present invention, when the moving body passes through a predetermined section on a road in which a plurality of uneven portions are continuously arranged so as to give a specific vibration pattern to the detecting section, the moving body Detecting vibrations applied to the signal, acquiring vibration pattern information, causing the acquisition unit to acquire reference pattern information of the predetermined section based on the specific vibration pattern, and determining a reference unit with the reference pattern information and the And determining that the moving body is running backward in the predetermined section based on vibration pattern information.

  According to a seventh aspect of the present invention, when the moving body passes through a predetermined section on a road where a plurality of uneven portions are continuously arranged so as to give a specific vibration pattern to the computer, Based on the step of detecting vibration applied to obtain vibration pattern information, the step of obtaining reference pattern information of the predetermined section based on the specific vibration pattern, the reference pattern information and the vibration pattern information, Determining that the moving body is running backward in the predetermined section.

It is a block diagram which shows the structure of the determination apparatus of this invention. It is a figure which shows typically the road which has an uneven | corrugated arrangement | positioning area. It is a figure which shows the cross section of an uneven | corrugated arrangement | positioning area. It is a figure which shows the example of the relationship between a musical scale and a frequency, and the formation interval of a groove | channel. It is a figure which shows the example of a reference table. It is a figure which shows the image (FIG.6 (a)) of the signal waveform of the sound of a specific vibration pattern, and the image (FIG.6 (b)) of the signal waveform of the sound of a reverse reproduction pattern. It is a flowchart which shows the operation | movement routine of reverse running determination. It is a block diagram which shows the structure of the determination apparatus of Example 2. FIG.

  Embodiments of the present invention will be described below with reference to the drawings. In each of the following embodiments, a case where the determination device is an in-vehicle device mounted on a vehicle as a moving body traveling on a road will be described as an example.

  The determination device 10 is driven by a vehicle in which the determination device 10 is mounted on a predetermined section (hereinafter referred to as a concavo-convex arrangement section) on a road in which a plurality of uneven portions are continuously arranged so as to give vibrations of a specific vibration pattern. It is an apparatus that determines that the vehicle is running backward when the vehicle is running.

  The determination device 10 includes a GPS (Global Positioning System) antenna 11, a GPS receiving unit 12, a sound collection unit 13, a vehicle speed sensor 14, an audio output unit 15, a storage unit 16, and a control unit 17.

  The GPS antenna 11 receives radio waves transmitted from GPS satellites and supplies them to the GPS receiver 12.

  The GPS receiving unit 12 generates position information indicating the current position of the vehicle by calculating the distance from each GPS satellite based on radio waves transmitted from a plurality of GPS satellites. The GPS receiving unit 12 supplies the generated position information to the control unit 17.

  The sound collection unit 13 includes a sound collection device such as a microphone. The sound collection unit 13 generates sound generated by vibration generated in the vehicle by the uneven portions (hereinafter, also referred to as a series of uneven portions) arranged continuously in the uneven portion arrangement section according to control by the control unit 17. Collect sound. That is, the sound collection unit 13 is a detection unit that detects a vibration pattern given to the vehicle by a series of uneven portions as sound. The sound collection unit 13 supplies a sound collection signal obtained by sound collection to the control unit 17 as vibration pattern information.

  The vehicle speed sensor 14 is a speed detection unit that detects the moving speed of the vehicle. The vehicle speed sensor 14 obtains a vehicle speed pulse signal from an ECU (Engine Control Unit) (not shown) of the vehicle, and calculates the vehicle speed of the vehicle. The vehicle speed sensor 14 supplies vehicle speed information indicating the calculated vehicle speed to the control unit 17.

  The audio output unit 15 includes, for example, an amplifier and a speaker. The sound output unit 15 outputs a warning sound for notifying that the vehicle is running backward according to the control of the control unit 17.

  The storage unit 16 includes a storage device such as a hard disk or a nonvolatile memory, and includes a map information storage unit 16a and a reference information storage unit 16b.

  The map information storage unit 16a stores map information including information on the road having the uneven arrangement section and the position of the uneven arrangement section on the road. In addition, the uneven | corrugated arrangement | positioning area exists in several points, and the map information storage part 16a stores the information of the position on the map of the uneven | corrugated arrangement | positioning area in each point.

  FIG. 2 is a diagram schematically illustrating an example of a road including an uneven arrangement section. Here, an example in which the uneven arrangement section is configured by three sections, for example, a first section X, a second section Y, and a third section Z will be described.

  In the concavo-convex arrangement section, a plurality of concavo-convex portions are continuously formed by a plurality of grooves extending in a direction orthogonal to a forward direction D (indicated by an arrow D in the figure) which is a prescribed traveling direction. . The interval between the grooves (that is, the interval in the direction parallel to the forward direction D) is set independently for each of the first interval X, the second interval Y, and the third interval Z, and within each interval, It is equally spaced. For example, in the example of the uneven arrangement section shown in FIG. 2, the interval between the grooves is the largest in the first section X, then the second section Y is the largest, and the third section Z is the smallest. That is, the distance between the grooves decreases as the vehicle travels in the forward direction D, and increases as it travels in the reverse direction R (indicated by the arrow R in the figure), which is the direction opposite to the prescribed travel direction.

  FIG. 3 is a diagram schematically showing a cross section of the concave / convex arrangement section in a direction parallel to the forward direction D and the reverse direction R. In the first section X, the distance G1 from the center of the groove in the direction parallel to the forward direction D to the center of the next groove (hereinafter referred to as the groove formation interval) is defined as a constant interval L1. A plurality of are formed. In the second section Y, a plurality of grooves G having a width W are formed with the groove formation interval being a constant interval L2 (for example, L2 <L1). In the third section Z, a plurality of grooves G having a width W are formed with a groove formation interval L3 (for example, L3 <L2 <L1).

  In the first section X, the second section Y, and the third section Z, the groove G is formed at a groove forming interval such that a sound of a predetermined scale is generated by vibration generated in the tire T when the vehicle passes. . Groove formation intervals (intervals L1 to L3) in each section were calculated based on a predetermined speed (hereinafter referred to as an assumed speed) assumed in a vehicle passing through each section (hereinafter referred to as an assumed speed) and a scale frequency. It is formed according to the interval.

  FIG. 4 is a diagram showing an example of the interval between the grooves G when the relationship between the scale and the frequency and the assumed speed are assumed to be 40 km / h. For example, since the frequency of the sound of “DO” is about 261.62 Hz, assuming that the assumed speed is 40 km / h (= about 11.11 m / sec), in order to generate a sound of 261, every 261 m .62 grooves G may be formed. Accordingly, the groove formation interval is about 4.25 cm. Similarly, since the frequency of the “le” sound is about 293.66 Hz, the groove formation interval in the section where the “le” sound is generated is 3.78 cm. Further, since the frequency of the sound of “Mi” is about 329.62, the groove formation interval in the section where the sound of “Mi” is generated is 3.37 cm.

  Therefore, in the uneven arrangement section shown in FIGS. 2 and 3, for example, the interval L1 in the first section X is 4.25 cm, the interval L2 in the second section Y is 3.78 cm, and the interval L3 in the third section Z is 3.37 cm. If the vehicle travels in the direction of the forward direction D, sound is generated in the order of “do”, “le”, and “mi” due to vibration applied to the vehicle by the series of uneven portions. On the other hand, when the vehicle travels in the reverse direction R, sound is generated in the order of “mi”, “le”, and “do” due to the vibration applied to the vehicle by the series of uneven portions.

  Referring to FIG. 1 again, the reference information storage unit 16b is configured to generate a sound (hereinafter simply referred to as a specific vibration pattern) generated by vibration of a specific vibration pattern given to the vehicle by a series of uneven portions when the vehicle travels in a predetermined traveling direction in the uneven arrangement section. Signal waveform information) is stored as specific vibration pattern information. Further, the reference information storage unit 16b stores information on the signal waveform of the sound obtained by reversely reproducing the sound of the specific vibration pattern (hereinafter simply referred to as the sound of the reverse reproduction pattern) as the reverse reproduction pattern information. Hereinafter, the specific vibration pattern information and the reverse reproduction pattern information are collectively referred to as reference information.

  FIG. 5 is a diagram illustrating an example of a reference table LT that stores reference information. In the reference table LT, specific vibration pattern information and reverse reproduction pattern information are stored in association with each point having an uneven arrangement section. For example, at the point A, the sound of the specific vibration pattern is “Doremi” and the sound of the reverse reproduction pattern is “Miredo”. At any point, a series of concavo-convex portions in the concavo-convex arrangement section is formed so that the sound of the specific vibration pattern is different from the sound of the reverse reproduction pattern.

  FIG. 6A is a diagram schematically showing an image of a sound signal waveform of a specific vibration pattern, and FIG. 6B schematically shows an image of a sound signal waveform of a reverse reproduction pattern corresponding thereto. FIG. The signal waveform of the sound of the reverse reproduction pattern is a signal waveform obtained by inverting the left and right of the signal waveform of the sound of the specific vibration pattern.

  Referring to FIG. 1 again, the control unit 17 includes a CPU (Central Processing Unit) and controls each unit of the determination device 10. For example, based on the position information supplied from the GPS receiver 12 and the map information read from the map information storage unit 16a of the storage unit 16, the control unit 17 approaches the vehicle in one of the concave and convex arrangement sections. It is determined whether or not. And if it determines with the vehicle approaching the uneven | corrugated arrangement | positioning area, the control part 17 will control the sound collection part 13, and will start sound collection. Moreover, if it determines with the vehicle having left | separated from the uneven | corrugated arrangement | positioning area, the control part 17 will control the sound collection part 13, and will stop sound collection.

  The control unit 17 functions as a pattern acquisition unit 17a and a determination unit 17b.

  The pattern acquisition unit 17a refers to the reference information corresponding to the uneven arrangement section where the vehicle is approaching based on the position information supplied from the GPS receiving unit 12 and the map information stored in the map information storage unit 16a. The reverse reproduction pattern information is acquired by reading from the information storage unit 16b.

  The determination unit 17b corrects the signal waveform of the sound collection signal acquired by the sound collection unit 13 based on the vehicle speed information acquired from the vehicle speed sensor 14 so that the signal waveform is obtained when the vehicle speed of the vehicle is assumed to be an assumed speed. Adjust to. And the determination part 17b compares the signal waveform of the sound-collection signal after adjustment with the signal waveform of the sound of a reverse reproduction | regeneration pattern, and determines that the vehicle is running backward.

  At that time, the determination unit 17b determines that the signal waveform of the adjusted sound collection signal substantially matches at least a part of the signal waveform instead of waiting for the signal waveform of the reverse reproduction pattern to match the entire signal waveform. It is determined that the vehicle is running backward. For example, when the vehicle is traveling at the point A, the sound of the reverse reproduction pattern at the point A is “Miredo”. Therefore, the determination unit 17b has the signal waveform of the collected sound signal “Mire”, and the reverse reproduction pattern When it is determined that the two sounds at the beginning of the sound substantially match, it is determined that the vehicle is running backward.

  Next, the reverse running determination operation performed by the determination device 10 will be described with reference to the flowchart of FIG.

  The control part 17 acquires the positional information on a vehicle from the GPS receiving part 12 (step S101). Moreover, the control part 17 acquires the vehicle speed information which shows the vehicle speed of a vehicle from the vehicle speed sensor 14 (step S102).

  The control unit 17 reads the map information from the map information storage unit 16a of the storage unit 16, and determines whether the vehicle is approaching the uneven arrangement section based on the map information and the vehicle position information (step S103). . If it determines with not approaching, it will return to step S101 and the control part 17 will acquire position information again.

  On the other hand, when it is determined that the vehicle is approaching the uneven arrangement section, the pattern acquisition unit 17a reads the reference information from the reference information storage unit 16b, and displays the reverse reproduction pattern information corresponding to the uneven arrangement section where the vehicle is approaching. Information on the signal waveform is acquired (step S104).

  The control unit 17 controls the sound collection unit 13 to collect the sound generated between the vehicle tire and the road surface (step S105). The sound collection unit 13 supplies a sound collection signal to the control unit 17.

  The determination unit 17b adjusts the signal waveform of the sound collection signal based on the vehicle speed information acquired from the vehicle speed sensor 14, and generates a signal waveform of the sound collection signal when the vehicle speed of the vehicle is assumed to be an assumed speed ( Step S106).

  The determination unit 17b compares the signal waveform of the collected sound signal after waveform adjustment with the signal waveform of the sound of the reverse reproduction pattern, and the signal waveform of the collected sound signal is substantially equal to at least part of the signal waveform of the sound of the reverse reproduction pattern. In step S107. If it determines with not agree | coinciding, the control part 17 will complete | finish reverse running determination processing.

  On the other hand, if it determines with a waveform being substantially in agreement, the determination part 17b will determine with the vehicle running backward (step S108).

  The control unit 17 controls the audio output unit 15 to output a warning sound for notifying that the vehicle is running backward (step S109).

  With the above operation, the determination device 10 determines that the vehicle is running backward.

  The determination apparatus 10 according to the present embodiment collects sound generated by vibrations that the series of uneven portions gives to the vehicle when the vehicle travels in the uneven arrangement section. Then, the determination device 10 performs a reverse reproduction pattern sound signal obtained by reverse reproduction of the signal waveform of the collected sound signal and the sound pattern generated by the specific vibration pattern given to the vehicle when traveling in the prescribed direction in the uneven arrangement section. The waveform is compared to determine that the vehicle is running backward. Therefore, reverse running determination can be performed regardless of whether it is a straight section or a curve section.

  Moreover, since it determines using the sound which generate | occur | produces when a vehicle drive | works an uneven | corrugated arrangement | positioning area, it can be determined that the vehicle is running backwards regardless of whether the visibility is good or bad.

  Further, since the determination is made by comparing the signal waveform of the collected sound signal and the signal waveform of the sound of the reverse reproduction pattern, it is possible to easily and quickly confirm that the vehicle is running backward without requiring complicated processing. It becomes possible to judge.

  The determination apparatus 20 of the present embodiment will be described with reference to FIG. In addition, the same code | symbol is attached | subjected about the structure similar or equivalent to Example 1, and description is abbreviate | omitted.

  The determination device 10 includes a GPS antenna 11, a GPS receiver 12, a vibration sensor 21, a vehicle speed sensor 14, an audio output unit 15, a storage unit 22, and a control unit 23.

  The vibration sensor 21 is a sensor that detects vibration transmitted to the vehicle body while the vehicle is traveling. The vibration sensor 21 detects the vibration of the vehicle body by detecting the behavior of the suspension of the vehicle, for example. The vibration sensor 21 detects vibration given to the vehicle by a series of uneven portions when the vehicle travels in the uneven arrangement section according to control by the control unit 23, and supplies the vibration to the control unit 17 as vibration pattern information.

  The storage unit 22 includes a storage device such as a hard disk or a nonvolatile memory, and includes a map information storage unit 22a and a reference information storage unit 22b.

  The map information storage unit 22a stores map information including information on the road having the uneven arrangement section and the position of the uneven arrangement section on the road.

  The reference information storage unit 22b reversely reproduces the signal waveform information and the specific vibration pattern of the specific vibration pattern, which is a vibration pattern given to the vehicle by the series of uneven portions when the vehicle travels in the specified traveling direction in the uneven arrangement section. The information on the signal waveform of the reverse reproduction pattern is stored as reference information in association with the information of each point having the uneven arrangement section. At any point, the series of concavo-convex portions in the concavo-convex arrangement section is formed so that the signal waveform of the specific vibration pattern and the signal waveform of the reverse reproduction pattern are different.

  The control unit 23 includes a CPU and controls each unit of the determination device 20. For example, based on the position information supplied from the GPS receiving unit 12 and the map information read from the map information storage unit 22a of the storage unit 22, the control unit 23 approaches the vehicle in one of the uneven arrangement sections. It is determined whether or not. And if it determines with the vehicle approaching the uneven | corrugated arrangement | positioning area, the control part 23 will control the vibration sensor 21 and will start a vibration detection. Moreover, if it determines with the vehicle having left | separated from the uneven | corrugated arrangement | positioning area, the control part 23 will control the vibration sensor 21 and will stop a vibration detection.

  The control unit 23 functions as a pattern acquisition unit 23a and a determination unit 23b.

  The pattern acquisition unit 23a refers to the reference information corresponding to the uneven arrangement section where the vehicle is approaching based on the position information supplied from the GPS receiving unit 12 and the map information stored in the map information storage unit 22a. Read from the information storage unit 22b to obtain reverse reproduction pattern information.

  The determination unit 23b corrects the signal waveform of the vibration pattern information acquired by the vibration sensor 21 based on the vehicle speed information acquired from the vehicle speed sensor 14 so that the signal waveform is obtained when the vehicle speed of the vehicle is assumed to be an assumed speed. adjust. And the determination part 23b compares the signal waveform of the vibration pattern information after adjustment with the signal waveform of a reverse reproduction pattern, and determines that the vehicle is running backward. At that time, the determination unit 23b determines that the vehicle is running backward when the signal waveform of the adjusted vibration pattern information substantially matches at least a part of the signal waveform of the reverse reproduction pattern.

  As described above, the determination device 20 according to the present embodiment includes the vibration sensor 21. Unlike the sound collection unit 13 of the first embodiment, the vibration sensor 21 detects the vibration given to the vehicle when passing through the uneven arrangement section as the vibration itself transmitted to the vehicle body, not the sound. Then, the determination unit 23b determines that the vehicle is running backward based on the vibration pattern information acquired by the vibration sensor 21.

  Therefore, according to the determination device 20 of the present embodiment, the reverse running determination is performed even when the grooves constituting the series of uneven portions in the uneven arrangement section are not formed at intervals corresponding to the scale frequency. Can do. Further, reverse running determination can be performed even in a situation where it is difficult to collect sound due to the influence of ambient noise or the like.

  In addition, embodiment of this invention is not restricted to what was shown in the said Example. For example, in the above embodiment, the case where the determination device is an in-vehicle device mounted on a vehicle as a moving body has been described as an example. However, the determination device may be a portable terminal such as a smartphone. For example, it is possible to operate the portable terminal as a determination device by executing an application program for performing the determination operation in a state where the portable terminal is inside the vehicle.

  Moreover, in the said Example, the determination apparatus 10 has the GPS antenna 11 and the GPS receiving part 12 as a positional information acquisition part, and control and reference information of the sound collection part 13 and the vibration sensor 21 based on the positional information on a vehicle. An example of performing acquisition has been described. However, the determination devices 10 and 20 may be configured without the GPS antenna 11 and the GPS receiving unit 12.

  For example, when the determination device 10 does not include the GPS antenna 11 and the GPS receiving unit 12, the sound collection unit 13 collects sound regardless of whether the vehicle is approaching the uneven arrangement section, and vibrates the sound collection signal. Obtained as pattern information. The pattern acquisition unit 17a reads all the reverse reproduction pattern information stored in the reference information storage unit 16b. The determination unit 17b sequentially compares the signal waveform of the collected sound signal and the signal waveform of the sound of the reverse reproduction pattern, and determines that the vehicle is running backward.

  Similarly, when the determination device 20 does not include the GPS antenna 11 and the GPS receiving unit 12, the vibration sensor 21 detects vibration regardless of whether the vehicle is approaching the uneven arrangement section, and obtains vibration pattern information. get. The pattern acquisition unit 23a reads all signal waveforms of the reverse reproduction pattern from the reference information storage unit 22b. The determination unit 23b sequentially compares the signal waveform of the vibration pattern information and the signal waveform of the reverse reproduction pattern, and determines that the vehicle is running backward.

  In the above-described embodiment, the example in which the specific vibration pattern information and the reverse reproduction pattern information are stored as the reference information in the reference information storage units 16b and 22b has been described. However, the information stored as the reference information may be only one of the specific vibration pattern information and the reverse reproduction pattern information. For example, when only specific vibration pattern information is stored as reference information, the pattern acquisition unit 16a generates reverse reproduction pattern information based on the read specific vibration pattern information. Then, the determination unit 16b performs reverse running determination based on the generated reverse reproduction pattern information. On the other hand, when only reverse reproduction pattern information is stored as reference information, the determination unit 17b performs reverse running determination using the reverse reproduction pattern information read by the pattern acquisition unit 16a as it is.

  Further, the specific vibration pattern and the reverse reproduction pattern are not limited to those shown in the above embodiment. For example, the number and combination of sounds constituting the sound pattern generated by the vibration of the specific vibration pattern are not limited to those shown in the first embodiment. In the second embodiment, the series of concave and convex portions need not be formed so that the vibration caused by the specific vibration pattern and the reverse reproduction pattern has a frequency that generates a predetermined musical scale, and the specific vibration pattern and the reverse reproduction pattern. May be formed so as to have different patterns.

  Further, in the above-described embodiment, the example in which the specific vibration pattern and the reverse reproduction pattern in the uneven arrangement section are different for each point has been described. However, the specific vibration pattern and the reverse reproduction pattern may be a common pattern at each point.

  Moreover, in the said Example, it demonstrated that the warning sound which alert | reports that the vehicle is running backward is output inside a vehicle. However, the coping method when reverse running is determined may be vehicle control such as brake control, notification outside the vehicle, notification using the on-board communication terminal, or the like.

  The series of processing described in the above embodiments can be performed by computer processing according to a program stored in a recording medium such as a ROM.

10, 20 Determination device 11 GPS antenna 12 GPS receiving unit 13 Sound collecting unit 14 Vehicle speed sensor 15 Audio output unit 16, 22 Storage unit 16a, 22a Map information storage unit 16b, 22b Reference information storage unit 17, 23 Control unit 17a, 23a Pattern acquisition unit 17b, 23b determination unit 21 vibration sensor

Claims (7)

Vibration pattern information is obtained by detecting vibration applied to the moving body when the moving body passes through a predetermined section on a road where a plurality of uneven portions are continuously arranged so as to give vibration of a specific vibration pattern. A detector to perform,
An acquisition unit for acquiring reference pattern information of the predetermined section based on the specific vibration pattern;
Based on the reference pattern information and the vibration pattern information, a determination unit that determines that the moving body runs backward in the predetermined section;
A determination apparatus comprising: The reference information includes reverse reproduction pattern information obtained by reverse reproduction of the specific vibration pattern,
The determination unit compares the vibration pattern information with the reverse reproduction pattern information and determines that the moving body is traveling backward in the predetermined section. The detection unit includes a sound collection unit that collects sound generated by vibration applied to the moving body and acquires a sound collection signal as the vibration pattern information;
The said determination part compares the waveform of the said sound collection signal, and the signal waveform of the said reverse reproduction pattern information, and determines that the said mobile body is carrying out reverse running in the said predetermined area, It is characterized by the above-mentioned. 2. The determination apparatus according to 2. A speed detector for detecting a moving speed of the moving body;
The determination unit corrects the waveform of the collected sound signal based on the moving speed, compares the corrected waveform of the collected sound signal with the signal waveform of the reverse reproduction pattern information, and the moving object is The determination device according to claim 3, wherein the determination device determines that the vehicle is traveling backward in the section. A position information acquisition unit for acquiring position information of the mobile body;
5. The detection unit according to claim 1, wherein the detection unit detects vibration applied to the moving body when the moving body is approaching the predetermined section based on the position information. The determination apparatus according to 1. The detection unit detects vibration applied to the moving body when the moving body passes through a predetermined section on a road where a plurality of uneven portions are continuously arranged so as to give a specific vibration pattern, and vibration pattern information Step to get the
Causing the acquisition unit to acquire reference pattern information of the predetermined section based on the specific vibration pattern;
A step of causing the determination unit to determine that the moving body is running backward in the predetermined section based on the reference pattern information and the vibration pattern information;
The determination method characterized by having. The vibration pattern information is detected by detecting the vibration applied to the moving body when the moving body passes through a predetermined section on the road where a plurality of uneven portions are continuously arranged so as to give a specific vibration pattern to the computer. A step to obtain,
Obtaining reference pattern information of the predetermined section based on the specific vibration pattern;
Determining that the moving body is running backward in the predetermined section based on the reference pattern information and the vibration pattern information;
A program characterized by having executed.

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