WO2010113642A1 - Collision prediction system, collision prediction device, collision detection method, and program - Google Patents

Collision prediction system, collision prediction device, collision detection method, and program Download PDF

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Publication number
WO2010113642A1
WO2010113642A1 PCT/JP2010/054556 JP2010054556W WO2010113642A1 WO 2010113642 A1 WO2010113642 A1 WO 2010113642A1 JP 2010054556 W JP2010054556 W JP 2010054556W WO 2010113642 A1 WO2010113642 A1 WO 2010113642A1
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WO
WIPO (PCT)
Prior art keywords
mark
road
collision prediction
intersection
mobile body
Prior art date
Application number
PCT/JP2010/054556
Other languages
French (fr)
Japanese (ja)
Inventor
和之 櫻井
信一郎 岡崎
Original Assignee
日本電気株式会社
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Publication date
Application filed by 日本電気株式会社 filed Critical 日本電気株式会社
Priority to EP10758418A priority Critical patent/EP2416305A4/en
Priority to JP2011507084A priority patent/JP5652390B2/en
Publication of WO2010113642A1 publication Critical patent/WO2010113642A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the present invention relates to a collision prediction system, a collision prediction apparatus, a collision detection method, and a program.
  • Patent Documents 1 and 2). reference. a technique for predicting a collision by recognizing a solid intersection using an image taken by a camera mounted on a vehicle is also considered (for example, Patent Documents 1 and 2). reference.).
  • An object of the present invention is to provide a collision prediction system, a collision prediction device, a collision detection method, and a program that solve the above-described problems.
  • a collision prediction system includes a collision prediction device that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
  • the three-dimensional intersection among the positions on either the upper road or the lower road located below the upper road at a three-dimensional intersection where the plurality of roads on which the plurality of moving bodies travel are three-dimensionally intersected
  • the collision prediction apparatus includes a detection unit that detects the mark, and information indicating that the detection unit has detected the mark.
  • Communication means for transmitting to a collision prediction apparatus mounted on a mobile body other than the mobile body among the mobile bodies, and the collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted
  • the detection means does not detect the mark, or from the collision prediction device mounted on a mobile body other than the specific mobile body Prediction that predicts that the specific moving body and a moving body other than the specific moving body do not collide with each other when the detection unit detects the mark in a state where information indicating that the mark has been detected has not been transmitted.
  • a collision prediction system includes a collision prediction device that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
  • the upper intersection which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally
  • a lower intersection mark which is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection.
  • the collision predicting device detects information indicating the mark, and information indicating whether the mark detected by the detection means is the upper intersection mark or the lower intersection mark, Communication means for transmitting to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted, and the collision prediction mounted on a mobile body other than the specific mobile body And a predicting unit that predicts a collision based on the mark indicated by the information transmitted from the apparatus and the mark detected by the detecting unit.
  • a collision prediction apparatus is a collision prediction apparatus that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
  • the road on which the plurality of moving bodies travel is a three-dimensional intersection where the roads intersect three-dimensionally, of the positions on one of the upper road and the lower road located below the upper road.
  • the collision prediction apparatus of the plurality of moving objects includes a detection unit that detects a mark provided at a position a predetermined distance from a three-dimensional intersection and information indicating that the detection unit has detected the mark.
  • Sending Information indicating that the mark has been detected is transmitted from the collision prediction device mounted on a moving body other than the specific moving body when the detecting means has not detected the mark.
  • a predicting unit that predicts that the specific moving body and a moving body other than the specific moving body do not collide with each other when the detecting unit detects the mark in a state where the specific moving body has not been received.
  • a collision prediction apparatus is a collision prediction apparatus that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
  • the mark is provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road on the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally.
  • Upper intersection mark or a lower intersection mark that is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection.
  • the collision predicting device of the plurality of moving objects indicates information indicating whether the mark detected by the detecting means and the mark detected by the detecting means is the upper cross mark or the lower cross mark.
  • a collision prediction method is a collision prediction method for predicting a collision with each other based on position information and speed information of a plurality of moving bodies, and the plurality of moving bodies travel.
  • the position on either the upper road or the lower road located below the upper road is a position a short distance from the three-dimensional intersection.
  • the specific moving body and a moving body other than the specific moving body are Predict that they will not collide with each other.
  • a collision prediction method is a collision prediction method for predicting a collision with each other based on position information and speed information of a plurality of moving bodies, and the plurality of moving bodies travel.
  • the upper intersection mark which is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the upper road of the three-dimensional intersection where a plurality of roads intersect three-dimensionally, or the three-dimensional intersection
  • a lower intersection mark which is a mark provided at a predetermined distance from the three-dimensional intersection, is detected among the positions on the road of the lower road located below the upper road, and the detected mark is the upper side
  • Information indicating whether it is an intersection mark or the lower intersection mark is sent to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies.
  • Shin a mark indicated by the information transmitted from the mobile other than the specific mobile to predict the collision on the basis of the marks the detection.
  • the recording medium of the present invention includes a collision prediction device that is mounted on each of the plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
  • a detection procedure for detecting a mark provided at a position, and information indicating that the mark has been detected in the detection procedure, a mobile body other than the mobile body on which the collision prediction device is mounted among the plurality of mobile bodies The communication procedure to be transmitted to the collision prediction device mounted on the vehicle and the information indicating that the mark has been detected from the collision prediction device mounted on the mobile body other than the specific mobile body, the detection On the steps When the mark is not detected, or in a state where information indicating that the mark is detected is not transmitted from the collision prediction device mounted on a moving body other than the moving body, the detection procedure When a mark is detected, the recording medium records a program for executing a prediction procedure for predicting that the specific moving body and a moving body other than the specific moving body do not collide with each other.
  • the recording medium of the present invention includes a collision prediction device that is mounted on each of the plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
  • the upper intersection mark which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the upper road of the three-dimensional intersection where a plurality of traveling roads intersect three-dimensionally, or the three-dimensional intersection
  • a detection procedure for detecting a lower intersection mark which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road, and the detection Information indicating whether the mark detected in the procedure is the upper crossing mark or the lower crossing mark is transferred from the plurality of moving bodies other than the specific moving body on which the collision prediction device is mounted.
  • a communication procedure to be transmitted to a collision prediction device mounted on the body, a mark indicated by information transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, and a mark detected by the detection procedure Is a recording medium for recording a program for executing a prediction procedure for predicting a collision based on the above.
  • a correct collision prediction result can be obtained on a road including a three-dimensional intersection.
  • FIG. 1 It is a figure which shows the 1st example of a structure of the collision prediction system according to Embodiment 1 of this invention. It is a figure which shows the 2nd example of a structure of the collision prediction system according to Embodiment 1 of this invention. It is a figure which shows the 3rd example of a structure of the collision prediction system according to Embodiment 1 of this invention. It is a figure which shows the structure of the collision prediction apparatus of Embodiment 1.
  • FIG. It is a figure which shows the advancing direction of the mobile body in which the collision prediction apparatus of Embodiment 2 is mounted, and the imaging
  • the collision prediction system includes a plurality of collision prediction devices 1, an upper intersection mark 21, a lower intersection mark 22, and a plurality of moving bodies 31 and 32.
  • the position is a predetermined distance from the three-dimensional intersection.
  • the upper intersection mark 21 is provided.
  • the lower intersection mark 22 is provided at a position a predetermined distance from the intersection of the lower roads on the lower road located below the upper road at the intersection.
  • the “predetermined distance” means that when the mobile body 31 and the mobile body 32 are traveling at a solid intersection from now on, there is a risk that the mobile bodies 31 and 32 may collide with each other. This is the distance from the upper intersection mark 21 or the lower intersection mark 22 to the solid intersection where each of the collision prediction devices 1 can recognize the upper intersection mark 21 or the lower intersection mark 22.
  • the form of the upper intersection mark 21 and the lower intersection mark 22 is arbitrary.
  • the upper intersection mark 21 and the lower intersection mark 22 may be marks drawn with paint or the like on the road surface.
  • the upper intersection mark 21 and the lower intersection mark 22 may be magnetic marks embedded under the road surface.
  • information indicating that a three-dimensional intersection exists at a position ahead of the moving body 31 or 32 by a predetermined distance from the moving body 31 or 32 by wireless communication information indicating that there is a three-dimensional intersection at a predetermined distance from the moving body 31 or 32 to the upper transmission device 23 that transmits and the moving body 31 or 32 traveling on the lower road by wireless communication.
  • the lower transmission device 24 may be provided on the road.
  • both the upper intersection mark 21 and the lower intersection mark 22 may be provided on the road, and as illustrated in FIG. 3, the upper intersection mark 21 and the lower intersection mark 22 are positioned below the upper road and the upper road, respectively.
  • a “mark MK” may be provided at a position that is a predetermined distance from the three-dimensional intersection among positions on one of the lower roads.
  • the collision prediction apparatus 1 is mounted on a plurality of mobile bodies 31 and 32, respectively. Note that the number of moving bodies and the number of collision prediction devices mounted on each moving body may be arbitrary. Examples of the “moving body” here include a passenger car, a two-wheeled vehicle, a robot, or a user.
  • the collision prediction device 1 of the moving body 31 detects the upper intersection mark 21 or the lower intersection mark 22.
  • the collision prediction apparatus 1 transmits information indicating whether the mark detected by itself is the upper intersection mark 21 or the lower intersection mark 22 to the collision prediction apparatus 1 mounted on another moving body 32.
  • the collision prediction apparatus 1 is based on the mark which the information transmitted from the collision prediction apparatus 1 mounted in the mobile bodies 32 other than the said mobile body 31 (specific mobile body) shows, and the mark which self detected. Predict collisions.
  • the collision prediction apparatus 1 includes an acquisition unit 11, a detection unit 12, a communication unit 13, a prediction unit 14, and a notification unit 15.
  • the acquisition unit 11 acquires “self-moving body information” that is information about the own-moving body (specific moving body) 31 and outputs the own-moving body information to the communication unit 13 and the prediction unit 14.
  • the self-moving body information is, for example, the position information of the moving body detected by the GPS function, the speed information of the moving body, the steering angle information, and other information detected by various sensors.
  • the detection unit 12 can be generally referred to as detection means.
  • the detection unit 12 includes a sensor for detecting the upper intersection mark 21 and the lower intersection mark 22.
  • the detection unit 12 detects the upper intersection mark 21 and the lower intersection mark 22 based on information acquired using a sensor. Then, the detection unit 12 outputs information indicating whether the detected mark is the upper intersection mark 21 or the lower intersection mark 22 to the communication unit 13.
  • the detection unit 12 detects the upper intersection mark 21 or the lower intersection mark 22 based on information transmitted from the upper transmission device 23 or the lower transmission device 24, the sensor is, for example, an electromagnetic wave receiver.
  • the sensor is a magnetic sensor that detects the magnetic marks.
  • the detection unit 12 detects the upper intersection mark 21 and the lower intersection mark 22 indicated by marks drawn on the road surface
  • the sensor detects an image (for example, as described later in the second embodiment). Camera).
  • the communication unit 13 can generally be called a communication means.
  • the communication unit 13 has been output from the detection unit 12, which indicates whether the moving body information output from the acquisition unit 11 and the detected mark is the upper intersection mark 21 or the lower intersection mark 22. Is transmitted to the collision prediction apparatus 1 mounted on a mobile body 32 other than the mobile body 31.
  • the communication unit 13 collides the “other moving body information” that is information about the other moving body 32 transmitted from the collision prediction device 1 mounted on the other moving body 32 and the other moving body 32.
  • Information indicating whether the mark detected by the prediction device 1 is the upper intersection mark 21 or the lower intersection mark 22 is output to the prediction unit 14.
  • the other moving body information is the position information of the other moving body 32, the speed information of the moving body 32, the rudder angle information of the moving body 32, and the like, similar to the own moving body information.
  • the prediction unit 14 can generally be referred to as prediction means.
  • the prediction unit 14 determines whether the moving body 31 and the other moving body 32 collide based on the own moving body information, the other moving body information, and the detection result of the upper intersection mark 21 or the lower intersection mark 22. Predict whether.
  • the prediction unit 14 has the same mark as the information transmitted from the collision prediction device 1 mounted on the moving body 32 and the mark detected by the detection unit 12, and the own moving body information. If the predicted position of the mobile body 31 predicted from the mobile station 32 matches the predicted position of the mobile body 32 predicted from other mobile body information, it is predicted that there is a risk that the mobile bodies 31 and 32 may collide with each other.
  • the prediction unit 14 detects the mark indicated by the information transmitted from the collision prediction apparatus 1 mounted on the mobile body 32 other than the mobile body 31 (specific mobile body) and the detection unit 12. When the mark is different, it is predicted that there is no risk that the plurality of moving bodies 31 and 32 collide with each other.
  • the prediction unit 14 moves by itself.
  • the predicted position of the mobile body 31 predicted from the body information matches the predicted position of the mobile body 32 predicted from the other mobile body information, it is predicted that there is a risk that the plurality of mobile bodies 31 and 32 collide with each other.
  • the notification unit 15 notifies the driver of the mobile body 31 of “collision risk information” including information associated with the risk of collision with another mobile body 32 according to the prediction result of the collision by the prediction unit 14. To do.
  • the collision risk information is information indicating a warning when there is a possibility of collision between the moving body 31 and another moving body 32 or a predetermined evaluation index indicating the risk of collision.
  • the notification method by the notification part 15 may be arbitrary.
  • the notification unit 15 may display the collision risk information on any display device including a monitor or an instrument panel of a car navigation system. Further, the notification unit 15 may output the collision risk information by voice using a speaker or the like. Further, the notification unit 15 may notify the danger of collision using a vibration mechanism.
  • the notification unit 15 may output the collision risk information to a predetermined control module that controls the traveling state of the moving body (for example, the posture of the moving body, the speed of the moving body, etc.).
  • the communication unit 13 uses information indicating that the detection unit 12 has detected the mark MK as a collision mounted on another moving body 32. Transmit to the prediction device 1.
  • the prediction unit 14 detects when information indicating that the mark MK has been detected is transmitted from the collision prediction apparatus 1 mounted on the mobile body 32 other than the mobile body 31.
  • the detection unit 12 When the unit 12 has not detected the mark MK, or when the information indicating that the mark MK has been detected has not been transmitted from the collision prediction device 1 mounted on another moving body 32, the detection unit 12 When the mark MK is detected, it is predicted that the moving body 31 and the moving body 32 other than the moving body 31 do not collide with each other.
  • the prediction unit 14 of the collision prediction device 1 mounted on the moving body 31 detects the mark MK after the detection unit 12 detects the mark MK and until a predetermined time has elapsed. Whether or not there is a risk of collision between the mobile body 31 and the mobile body 32 may be predicted based on whether or not the information indicating the above has been transmitted from another mobile body 32. This is because the collision prediction apparatus 1 mounted on the moving body 32 detects the mark MK after the collision prediction apparatus 1 mounted on the moving body 31 detects the mark MK and before a predetermined time elapses.
  • the prediction unit 14 of the collision prediction apparatus 1 mounted on the mobile body 31 that has detected the mark MK first causes the mobile body 31 and the mobile body 32 to collide with each other. This is to avoid predicting that both moving bodies will not collide regardless.
  • the prediction unit 14 of the collision prediction apparatus 1 mounted on the mobile body 31 has passed a predetermined time since the information indicating that the mark MK has been detected is transmitted from the collision prediction apparatus 1 mounted on the mobile body 32.
  • the detection unit 12 based on whether or not the detection unit 12 has detected the mark MK, it may be predicted whether or not there is a risk of collision between the moving body 31 and the moving body 32. This is because, for example, the collision mounted on the moving body 31 after a predetermined time elapses after the information indicating that the mark MK is detected is transmitted from the collision prediction device 1 mounted on the moving body 32.
  • the prediction unit 14 of the collision prediction device 1 mounted on the mobile body 31 that later detects the mark MK causes the mobile body 31 and the mobile body 32 to collide with each other. This is to avoid predicting that both moving bodies do not collide.
  • an upper intersection mark 21 drawn by paint is provided at a position on the road surface of the upper road that is a predetermined distance from the three-dimensional intersection.
  • the detection part 12 has a camera as a sensor.
  • the detection unit 12 included in the collision prediction apparatus 1 of the moving body 31 detects the upper intersection mark 21 by analyzing the image captured by the camera at a position that is a predetermined distance from the three-dimensional intersection. Thereby, the detection unit 12 recognizes that the moving body 31 is traveling on the upper road.
  • the collision prediction apparatus 1 of the mobile body 31 transmits information indicating that the mobile body 31 has detected the upper intersection mark 21 to the collision prediction apparatus 1 of the mobile body 32 traveling on the lower road. Moreover, the collision prediction apparatus 1 of the mobile body 31 receives information indicating that the collision prediction apparatus 1 of the mobile body 32 has detected the lower intersection mark 22 transmitted from the collision prediction apparatus 1 of the mobile body 32. . In this way, the collision prediction device 1 mounted on each moving body 31 or 32 transmits information indicating that the upper intersection mark 21 or the lower intersection mark 22 has been detected to each other. Thereby, both the collision prediction apparatuses 1 of the mobile bodies 31 and 32 can determine more accurately that the mobile bodies 31 and 32 are traveling on different roads at the three-dimensional intersection.
  • step 401 the detection unit 12 detects the upper intersection mark 21 or the lower intersection mark 22 using a sensor. Then, the detection unit 12 outputs information indicating whether the detected mark is the upper intersection mark 21 or the lower intersection mark 22 to the communication unit 13.
  • step 402 the acquisition unit 11 acquires the mobile object information.
  • step 403 the communication unit 13 sends information indicating whether the detected mark is the upper intersection mark 21 or the lower intersection mark 22 and the own moving body information to the other moving body 32. It transmits to the collision prediction apparatus 1 mounted.
  • step 404 the communication unit 13 receives the other mobile body information transmitted from the collision prediction device 1 mounted on the other mobile body 32.
  • step 405 if there is no other moving body 32 within a predetermined range based on the moving body 31, the process is terminated.
  • step 406 the prediction unit 14 predicts whether or not there is a risk of collision between the moving body 31 and the other moving body 32. .
  • step 406 when the mark indicated by the information transmitted from the collision prediction device 1 mounted on the moving body 32 is different from the mark detected by the detecting unit 12, the prediction unit 14 determines that the moving body 31 and Predict that 32 will not collide with each other. In this case, the collision prediction apparatus 1 ends the process.
  • the prediction unit 14 has the same mark as the information transmitted from the collision prediction device 1 mounted on the moving body 32 and the mark detected by the detection unit 12, and the self-movement
  • the predicted position of the mobile body 31 predicted from the body information matches the predicted position of the mobile body 32 predicted from the other mobile body information, it is predicted that there is a risk that the mobile bodies 31 and 32 may collide with each other.
  • step 406 when the information indicating the mark is not transmitted from the collision prediction device 1 mounted on the moving body 32, or when the detection unit 12 does not detect the mark, the prediction unit 14 When the predicted position of the moving body 31 predicted from the moving body information matches the predicted position of the moving body 32 predicted from the other moving body information, it is predicted that there is a risk that the plurality of moving bodies 31 and 32 may collide with each other. .
  • the notification unit 15 controls the driving state of the driver or the moving body 31 in step 407. Notify a predetermined control module.
  • the upper intersection mark 21 indicating that the road is located above the three-dimensional intersection and the lower intersection mark 22 indicating that the road is located below.
  • works the said road detects the mark,
  • the information is shared among each collision prediction apparatus 1 mounted in the several mobile body by communication.
  • the upper cross mark 21 and the lower cross mark 22 of the present invention are magnetic marks, information indicating that the upper cross mark 21 transmitted from the upper transmission device 23 shown in FIG. 2 exists, or lower transmission. This is information indicating that the lower intersection mark 22 transmitted from the device 24 exists.
  • a correct collision prediction result can be obtained when the moving body passes through the three-dimensional intersection. Further, according to the first embodiment, a correct collision prediction result can be obtained even when a three-dimensional intersection cannot be recognized from an image captured by a camera.
  • the upper intersection mark is provided at both the entrance and the exit of the upper road of the three-dimensional intersection.
  • the lower intersection mark is provided at both the entrance and exit of the lower road of the three-dimensional intersection.
  • the moving body 31 is traveling on the road on the upper road of the three-dimensional intersection toward the three-dimensional intersection. Further, the other moving body 32 travels on the road on the lower road of the three-dimensional intersection toward the three-dimensional intersection.
  • an upper intersection mark 211 indicating that the three-dimensional intersection is located at a predetermined distance in front of the moving body 31 or 32, and the three-dimensional intersection is a predetermined position behind the moving body 31 or 32.
  • An upper intersection mark 212 indicating that the object exists at a position separated by a distance is drawn in paint.
  • the moving body 31 or 32 traveling on the upper road is three-dimensionally positioned at a predetermined distance from the moving body 31 or 32.
  • the upper transmission device 23 that transmits information indicating that an intersection exists and the moving body 31 or 32 traveling on the upper road a solid intersection exists at a position a predetermined distance behind the moving body 31 or 32.
  • An upper transmission device 23 for transmitting information indicating the above is provided on the upper road.
  • a lower transmission device 24 that transmits information indicating that a three-dimensional intersection exists at a predetermined distance from the moving body 31 or 32 to the moving body 31 or 32 traveling on the lower road
  • a lower transmission device 24 that transmits information indicating that a three-dimensional intersection exists at a position behind the moving body 31 or 32 by a predetermined distance to the moving body 31 or 32 traveling on the side road is provided on the lower road.
  • the moving body 31 is equipped with a camera 33 whose imaging direction is fixed in the same direction as the traveling direction of the moving body 31.
  • the camera 33 images the road surface before the moving body 31 travels.
  • the collision prediction apparatus 1 includes a detection unit 12 ⁇ / b> A instead of the detection unit 12, and a point including a prediction unit 14 ⁇ / b> A instead of the prediction unit 14.
  • Detection unit 12A can be generally referred to as detection means.
  • the prediction unit 14A can be generally referred to as prediction means.
  • the detection unit 12A has the camera 33 shown in FIG. 7 as a sensor.
  • the detection unit 12A detects the upper intersection mark 21 or the lower intersection mark 22 based on the image obtained by the camera 33 capturing the road surface behind the moving body 31, and the moving body 31 detects the upper road at the three-dimensional intersection.
  • Information indicating whether the vehicle is traveling or whether the moving body 31 is traveling on the lower road of the three-dimensional intersection is output.
  • the detection unit 12A includes an image input unit 121, a bird's-eye image generation unit 122, a template database 123, a mark identification unit 124, and a three-dimensional intersection travel information output unit, as shown in FIG. 125.
  • the image input unit 121 converts the original image captured and output by the camera 33 into a digital image, and outputs the image to the bird's-eye image generation unit 122.
  • the bird's-eye image generation unit 122 converts an image captured by the camera 33 indicating the subject (road) viewed from the moving body 31 traveling on the road into a bird's-eye image indicating the subject (road) when viewed from above. Then, the bird's-eye view image generation unit 122 outputs the bird's-eye view image to the mark identification unit 124.
  • the method for converting to a bird's-eye view image may be a general method as disclosed in, for example, Japanese Patent Application No. 2008-271813.
  • the template database 123 stores image patterns of bird's-eye images of the upper intersection mark 21 and the lower intersection mark 22 as templates.
  • this template for example, as shown in FIG. 10 or FIG. 11, there are marks formed in a repetitive pattern including elements such as diagonal lines or curves other than line segments parallel to the road.
  • the template matching may be a general template matching method.
  • the mark identifying unit 124 identifies the upper intersection mark 21 provided on the entrance side of the three-dimensional intersection, the mark identifying unit 124 notifies the three-dimensional intersection information output unit 125 to that effect.
  • the mark identifying unit 124 identifies the upper intersection mark 21 provided on the exit side after identifying the upper intersection mark 21 provided on the entrance side of the three-dimensional intersection, the mark identifying unit 124 indicates that fact. To notify.
  • the three-dimensional intersection information output unit 125 is configured so that the mobile body 31 is on the upper road ( Elevated traveling information indicating that the vehicle is traveling on the elevated side is output to the communication unit 13 and the prediction unit 14A.
  • the three-dimensional intersection information output unit 125 ends the output of the elevated traveling information when the mark identification unit 124 notifies that the upper intersection mark 21 provided on the exit side has been identified.
  • the detection unit 12A recognizes the start or end of traveling on the upper road or the lower road on which the mark MK is provided by the moving body 31 based on the detection of the different marks MK.
  • the communication unit 13 transmits the elevated traveling information output from the three-dimensional intersection information output unit 125 to the collision prediction apparatus 1 mounted on another moving body 32.
  • the communication unit 13 outputs the elevated traveling information associated with the moving body 32 transmitted from the collision prediction device 1 mounted on the other moving body 32 to the prediction unit 14A.
  • the prediction unit 14 ⁇ / b> A includes another mobile body position prediction unit 141, a self mobile body position prediction unit 142, an analysis unit 143, and a collision determination unit 144.
  • the other moving body position predicting unit 141 predicts the position of the other moving body 32 after the current time based on the other moving body information transmitted from the collision prediction apparatus 1 mounted on the other moving body 32. This prediction is performed, for example, from the current position of the other moving body 32 to the traveling direction of the moving body 32 calculated from the steering angle information of the other moving body 32 at the current time, and the current speed and speed of the moving body 32. A position advanced by the predicted travel distance obtained by multiplying the elapsed time between the time and a predetermined time thereafter may be set as the predicted position at the predetermined time.
  • the method of predicting the position of the other moving body 32 after the current time may be any method as long as the position of the moving body 32 is predicted using the other moving body information at the current time and the past time.
  • the own moving body position prediction unit 142 predicts the position of the moving body 31 after the current time based on the own moving body information output from the acquisition unit 11. Note that the method of predicting the position of the mobile body 31 after the current time may be any method as long as the position of the mobile body 31 is predicted using the local mobile body information at the current time and the past time.
  • the analysis unit 143 is based on the elevated traveling information associated with the moving body 31 output from the three-dimensional intersection information output unit 125 and the elevated traveling information associated with the other moving body 32 transmitted from the communication unit 13. Thus, it is determined whether only one of the moving body 31 and the other moving body 32 is in an elevated traveling state. When the analysis unit 143 determines that only one of the moving body 31 and the moving body 32 is not in the elevated traveling state, the analysis unit 143 notifies the collision determination unit 144 to that effect.
  • the collision determination unit 144 compares the predicted position of the moving body 31 predicted by the own moving body position prediction unit 142 with the predicted position of the other moving body 32 predicted by the other moving body position prediction unit 141.
  • the collision determination unit 144 does not transmit the elevated traveling information from the collision prediction device 1 mounted on the moving body 32 or when the elevated traveling information is not output from the three-dimensional intersection information output unit 125, When the predicted position of the mobile body 31 matches the predicted position of the mobile body 32, it is determined that there is a risk that the mobile bodies 31 and 32 collide with each other.
  • the collision determination unit 144 If it is determined that there is a risk of collision, the collision determination unit 144 notifies the notification unit 15 to that effect. Then, the notification unit 15 notifies the collision risk information to the driver of the moving body 31.
  • the prediction unit 14A predicts a collision based on the start or end of traveling on the upper road or the lower road on which the mark MK is provided by the moving body 31. More specifically, the prediction unit 14A of the collision prediction apparatus 1 mounted on the moving body 31 recognizes the start of traveling on the upper road or the lower road where the detection unit 12A is provided with the mark MK by the moving body 31.
  • the prediction unit 14A of the collision prediction apparatus 1 mounted on the mobile body 31 has the information on the start of traveling on the upper road or the lower road provided with the mark MK, and the collision prediction mounted on the mobile body 32. Detects the start of traveling on the upper road or the lower road provided with the mark MK by the mobile body 31 after the transmission from the device 1 until the information indicating that the traveling has been completed is transmitted. It may be predicted whether there is a risk of collision between the moving body 31 and the moving body 32 based on whether or not the part 12A has recognized.
  • the collision prediction apparatus 1 predicts whether or not a plurality of moving bodies collide with each other will be described in detail with reference to FIG.
  • the camera 33 captures the road surface every predetermined period and outputs the captured image to the image input unit 121.
  • step 501 the image input unit 121 converts the image captured and output by the camera 33 into a digital image, and the image is sent to the bird's-eye image generation unit 122. Output.
  • the bird's-eye image generation unit 122 converts an image showing the road viewed from the moving body 31 traveling on the road into a bird's-eye image showing the road when viewed from above, and the mark identifying unit 124. A bird's-eye view image is output.
  • the mark identifying unit 124 performs the upper matching mark 21 included in the bird's-eye image output from the bird's-eye image generation unit 122 by template matching using the template stored in the template database 123. Alternatively, the lower intersection mark 22 is identified.
  • step 504 when the mark identifying unit 124 identifies the upper intersection mark 21 provided on the entrance side of the solid intersection, the mark identifying unit 124 notifies the solid intersection information output unit 125 to that effect.
  • step 505 the three-dimensional intersection information output unit 125 outputs elevated traveling information indicating that the moving body 31 is traveling on the upper road of the three-dimensional intersection to the communication unit 13 and the prediction unit 14A. Then, in step 506, the communication unit 13 transmits the elevated traveling information to the collision prediction device 1 mounted on the other moving body 32.
  • step 507 the other moving body position predicting unit 141 determines other moving bodies after the current time based on the other moving body information transmitted from the collision prediction apparatus 1 mounted on the other moving body 32. 32 positions are predicted.
  • step 508 the own moving body position predicting unit 142 predicts the position of the moving body 31 after the current time based on the own moving body information output from the acquiring unit 11.
  • step 509 the analysis unit 143 causes the elevated traveling information accompanying the moving body 31 output from the three-dimensional intersection information output unit 125 in step 505 and other movements transmitted from the communication unit 13. Based on the elevated traveling information associated with the body 32, it is determined whether only one of the moving body 31 and the other moving body 32 is in an elevated traveling state.
  • the analysis unit 143 determines that only one of the moving body 31 and the moving body 32 is not in the elevated traveling state, the analysis unit 143 notifies the collision determination unit 144 to that effect.
  • step 510 the collision determination unit 144 predicts the predicted position of the moving body 31 predicted by the own moving body position prediction unit 142 and the prediction of the other moving body 32 predicted by the other moving body position prediction unit 141. Compare with position.
  • the collision determination unit 144 notifies the notification unit 15 to that effect.
  • the collision determination unit 144 outputs the elevated traveling information from the three-dimensional intersection information output unit 125 when the elevated traveling information is not transmitted from the collision prediction device 1 mounted on the moving body 32.
  • the predicted position of the mobile body 31 and the predicted position of the mobile body 32 coincide with each other, it is determined that there is a risk of the mobile bodies 31 and 32 colliding with each other.
  • step 511 the notification unit 15 notifies the driver of the mobile body 31 of collision risk information including information associated with the risk of collision with another mobile body 32.
  • the upper road it can be determined whether the moving body is traveling on the lower road or the lower road. Therefore, it is possible to easily detect the upper road or the lower road as compared with a general technique in which the road structure is identified from the image of the three-dimensional intersection and the upper road or the lower road is discriminated.
  • the processing in the collision prediction apparatus 1 is performed on a recording medium that can be read by the collision prediction apparatus 1 in addition to the above-described dedicated hardware.
  • the program recorded and recorded on this recording medium may be read and executed by the collision prediction apparatus 1.
  • the recording medium readable by the collision prediction apparatus 1 refers to a transfer medium such as a floppy disk (registered trademark), a magneto-optical disk, a DVD, and a CD, and an HDD built in the collision prediction apparatus 1. .
  • the program recorded on the recording medium is read by, for example, the detection unit 12 and the prediction unit 14 included in the collision prediction apparatus 1, and the same processing as described above is performed under the control of the detection unit 12 and the prediction unit 14. Is called.
  • the detection unit 12 and the prediction unit 14 included in the collision prediction apparatus 1 operate as a computer that executes a program read from a recording medium on which the program is recorded.

Abstract

With the purpose of obtaining a correct collision prediction result if a grade-separated crossing cannot be recognized from an image, a collision prediction device mounted on a mobile body detects a mark provided at a position on either an upper road or a lower road which is located at a lower position than the upper road, in the grade-separated crossing. The collision prediction device transmits information indicating that the mark has been detected, to another collision prediction device mounted on another mobile body other than the specific mobile body on which the collision prediction device is mounted. Also, the collision prediction device predicts a collision on the basis of whether or not the information indicating the detection of the mark has been transmitted from another collision prediction device, and whether or not the device itself has detected the mark.

Description

衝突予測システム、衝突予測装置、衝突検知方法およびプログラムCollision prediction system, collision prediction apparatus, collision detection method and program
　本発明は、衝突予測システム、衝突予測装置、衝突検知方法およびプログラムに関する。 The present invention relates to a collision prediction system, a collision prediction apparatus, a collision detection method, and a program.
　近年、車両の位置情報や速度情報から車両同士の衝突を予測する衝突予測装置が搭載された車両が存在する。 In recent years, there are vehicles equipped with a collision prediction device that predicts a collision between vehicles based on vehicle position information and speed information.
　このような衝突予測装置は、互いに立体的に交差する道路をそれぞれ走行している車両が、その立体交差点において立体的に交差するときには、車両同士が衝突しないにも関わらず、車両同士が衝突すると予測してしまうおそれがある。 In such a collision prediction device, when vehicles traveling on roads that intersect three-dimensionally intersect each other three-dimensionally at the three-dimensional intersection, vehicles collide with each other even though the vehicles do not collide with each other. There is a risk of predicting.
　そこで、位置情報や速度情報を補足する情報として、車両に搭載されたカメラで撮影した画像を用い、立体交差点を認識して衝突を予測する技術も考えられている（例えば、特許文献１、２参照。）。 Therefore, as a supplement to the position information and the speed information, a technique for predicting a collision by recognizing a solid intersection using an image taken by a camera mounted on a vehicle is also considered (for example, Patent Documents 1 and 2). reference.).
特開２００４－１９９３９０号公報JP 2004-199390 A 特開２００８－１６４５０６号公報JP 2008-164506 A
　しかし、カメラでは撮影できる範囲に限度がある。そのため、カメラで撮影した画像を用いて衝突を予測する衝突予測装置では、カメラを搭載した車両が、立体交差点を認識できる画像を撮影可能な位置まで立体交差点に近づかないと、正しい衝突予測結果が得られないおそれがある。 However, there is a limit to the range that can be taken with the camera. Therefore, in a collision prediction apparatus that predicts a collision using an image captured by a camera, a correct collision prediction result is obtained unless the vehicle equipped with the camera is close to the three-dimensional intersection until a position where a three-dimensional intersection can be recognized can be photographed. May not be obtained.
　本発明は、上述した課題を解決する衝突予測システム、衝突予測装置、衝突検知方法およびプログラムを提供することを目的とする。 An object of the present invention is to provide a collision prediction system, a collision prediction device, a collision detection method, and a program that solve the above-described problems.
　上記課題を解決するために、本発明の衝突予測システムは、複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置と、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを具備し、前記衝突予測装置は、前記マークを検知する検知手段と、前記検知手段が前記マークを検知したことを示す情報を、前記複数の移動体のうち当該移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記検知手段が前記マークを検知していない場合、または、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきていない状態で、前記検知手段が前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する予測手段とを有する。 In order to solve the above-described problems, a collision prediction system according to the present invention includes a collision prediction device that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies. The three-dimensional intersection among the positions on either the upper road or the lower road located below the upper road at a three-dimensional intersection where the plurality of roads on which the plurality of moving bodies travel are three-dimensionally intersected The collision prediction apparatus includes a detection unit that detects the mark, and information indicating that the detection unit has detected the mark. Communication means for transmitting to a collision prediction apparatus mounted on a mobile body other than the mobile body among the mobile bodies, and the collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted When the information indicating that a mark has been detected is transmitted, if the detection means does not detect the mark, or from the collision prediction device mounted on a mobile body other than the specific mobile body Prediction that predicts that the specific moving body and a moving body other than the specific moving body do not collide with each other when the detection unit detects the mark in a state where information indicating that the mark has been detected has not been transmitted. Means.
　上記課題を解決するために、本発明の衝突予測システムは、複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置と、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マークと、前記立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークとを具備し、前記衝突予測装置は、前記マークを検知する検知手段と、前記検知手段が検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手段が検知したマークとに基づいて衝突を予測する予測手段とを有する。 In order to solve the above-described problems, a collision prediction system according to the present invention includes a collision prediction device that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies. The upper intersection which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally And a lower intersection mark which is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection. The collision predicting device detects information indicating the mark, and information indicating whether the mark detected by the detection means is the upper intersection mark or the lower intersection mark, Communication means for transmitting to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted, and the collision prediction mounted on a mobile body other than the specific mobile body And a predicting unit that predicts a collision based on the mark indicated by the information transmitted from the apparatus and the mark detected by the detecting unit.
　上記課題を解決するために、本発明の衝突予測装置は、複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置であって、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを検知する検知手段と、前記検知手段が前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記検知手段が前記マークを検知していない場合、または、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきていない状態で、前記検知手段が前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する予測手段とを有する。 In order to solve the above-described problems, a collision prediction apparatus according to the present invention is a collision prediction apparatus that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies. The road on which the plurality of moving bodies travel is a three-dimensional intersection where the roads intersect three-dimensionally, of the positions on one of the upper road and the lower road located below the upper road. The collision prediction apparatus of the plurality of moving objects includes a detection unit that detects a mark provided at a position a predetermined distance from a three-dimensional intersection and information indicating that the detection unit has detected the mark. Information indicating that the mark has been detected from the communication means for transmitting to the collision prediction apparatus mounted on the mobile body other than the specified specific mobile body and the collision prediction apparatus mounted on the mobile body other than the specific mobile body Sending Information indicating that the mark has been detected is transmitted from the collision prediction device mounted on a moving body other than the specific moving body when the detecting means has not detected the mark. And a predicting unit that predicts that the specific moving body and a moving body other than the specific moving body do not collide with each other when the detecting unit detects the mark in a state where the specific moving body has not been received.
　上記課題を解決するために、本発明の衝突予測装置は、複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置であって、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マーク、または、該立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークを検知する検知手段と、前記検知手段が検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手段が検知したマークとに基づいて衝突を予測する予測手段とを有する。 In order to solve the above-described problems, a collision prediction apparatus according to the present invention is a collision prediction apparatus that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies. The mark is provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road on the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally. Upper intersection mark or a lower intersection mark that is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection. The collision predicting device of the plurality of moving objects indicates information indicating whether the mark detected by the detecting means and the mark detected by the detecting means is the upper cross mark or the lower cross mark. A communication means for transmitting to a collision prediction apparatus mounted on a mobile body other than the mounted mobile body, a mark indicated by information transmitted from the collision prediction apparatus mounted on a mobile body other than the specific mobile body, and Prediction means for predicting a collision based on the mark detected by the detection means.
　上記課題を解決するために、本発明の衝突予測方法は、複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測方法であって、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを検知し、前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信し、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記マークを検知していない場合、または、当該移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきていない状態で、前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する。 In order to solve the above-described problem, a collision prediction method according to the present invention is a collision prediction method for predicting a collision with each other based on position information and speed information of a plurality of moving bodies, and the plurality of moving bodies travel. At a three-dimensional intersection where a plurality of roads intersect three-dimensionally, the position on either the upper road or the lower road located below the upper road is a position a short distance from the three-dimensional intersection. Detects a mark provided and transmits information indicating that the mark has been detected to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies. When the information indicating that the mark is detected is transmitted from the collision prediction device mounted on a moving body other than the specific moving body, or when the mark is not detected, or the moving body Other than When the mark is detected in a state where information indicating that the mark has been detected is not transmitted from the collision prediction device mounted on the moving body, the specific moving body and a moving body other than the specific moving body are Predict that they will not collide with each other.
　上記課題を解決するために、本発明の衝突予測方法は、複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測方法であって、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マーク、または、該立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークを検知し、前記検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信し、前記特定移動体以外の移動体から送信されてきた情報が示すマークと、前記検知したマークとに基づいて衝突を予測する。 In order to solve the above-described problem, a collision prediction method according to the present invention is a collision prediction method for predicting a collision with each other based on position information and speed information of a plurality of moving bodies, and the plurality of moving bodies travel. The upper intersection mark, which is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the upper road of the three-dimensional intersection where a plurality of roads intersect three-dimensionally, or the three-dimensional intersection A lower intersection mark, which is a mark provided at a predetermined distance from the three-dimensional intersection, is detected among the positions on the road of the lower road located below the upper road, and the detected mark is the upper side Information indicating whether it is an intersection mark or the lower intersection mark is sent to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies. And Shin, a mark indicated by the information transmitted from the mobile other than the specific mobile to predict the collision on the basis of the marks the detection.
　また、本発明の記録媒体は、複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置に、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを検知する検知手順と、前記検知手順にて前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された移動体以外の移動体に搭載された衝突予測装置へ送信する通信手順と、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記検知手順にて前記マークを検知していない場合、または、当該移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されていない状態で、前記検知手順にて前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する予測手順とを実行させるプログラムを記録する記録媒体である。 Further, the recording medium of the present invention includes a collision prediction device that is mounted on each of the plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies. A three-dimensional intersection where a plurality of traveling roads intersect three-dimensionally, a position on either the upper road or the lower road located below the upper road, a predetermined distance from the three-dimensional intersection. A detection procedure for detecting a mark provided at a position, and information indicating that the mark has been detected in the detection procedure, a mobile body other than the mobile body on which the collision prediction device is mounted among the plurality of mobile bodies The communication procedure to be transmitted to the collision prediction device mounted on the vehicle and the information indicating that the mark has been detected from the collision prediction device mounted on the mobile body other than the specific mobile body, the detection On the steps When the mark is not detected, or in a state where information indicating that the mark is detected is not transmitted from the collision prediction device mounted on a moving body other than the moving body, the detection procedure When a mark is detected, the recording medium records a program for executing a prediction procedure for predicting that the specific moving body and a moving body other than the specific moving body do not collide with each other.
　また、本発明の記録媒体は、複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置に、前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マーク、または、該立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークを検知する検知手順と、前記検知手順にて検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手順と、前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手順にて検知したマークとに基づいて衝突を予測する予測手順とを実行させるためのプログラムを記録する記録媒体である。 Further, the recording medium of the present invention includes a collision prediction device that is mounted on each of the plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies. The upper intersection mark which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the upper road of the three-dimensional intersection where a plurality of traveling roads intersect three-dimensionally, or the three-dimensional intersection A detection procedure for detecting a lower intersection mark, which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road, and the detection Information indicating whether the mark detected in the procedure is the upper crossing mark or the lower crossing mark is transferred from the plurality of moving bodies other than the specific moving body on which the collision prediction device is mounted. A communication procedure to be transmitted to a collision prediction device mounted on the body, a mark indicated by information transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, and a mark detected by the detection procedure Is a recording medium for recording a program for executing a prediction procedure for predicting a collision based on the above.
　本発明によれば、立体交差点を含む道路において正しい衝突予測結果を得ることができる。 According to the present invention, a correct collision prediction result can be obtained on a road including a three-dimensional intersection.
本発明の実施形態１に従った衝突予測システムの構成の第１の例を示す図である。It is a figure which shows the 1st example of a structure of the collision prediction system according to Embodiment 1 of this invention. 本発明の実施形態１に従った衝突予測システムの構成の第２の例を示す図である。It is a figure which shows the 2nd example of a structure of the collision prediction system according to Embodiment 1 of this invention. 本発明の実施形態１に従った衝突予測システムの構成の第３の例を示す図である。It is a figure which shows the 3rd example of a structure of the collision prediction system according to Embodiment 1 of this invention. 実施形態１の衝突予測装置の構成を示す図である。It is a figure which shows the structure of the collision prediction apparatus of Embodiment 1. FIG. 実施形態１の衝突予測装置が複数の移動体の衝突を予測する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the collision prediction apparatus of Embodiment 1 predicts the collision of a several mobile body. 実施形態２の衝突予測システムの構成を示す図である。It is a figure which shows the structure of the collision prediction system of Embodiment 2. 実施形態２の衝突予測装置が搭載された移動体の進行方向と、移動体に設置されたカメラの撮影方向とを示す図である。It is a figure which shows the advancing direction of the mobile body in which the collision prediction apparatus of Embodiment 2 is mounted, and the imaging | photography direction of the camera installed in the mobile body. 実施形態２の衝突予測装置の構成を示す図である。It is a figure which shows the structure of the collision prediction apparatus of Embodiment 2. 実施形態２の検知部の構成を示す図である。It is a figure which shows the structure of the detection part of Embodiment 2. FIG. テンプレートデータベースが記憶している上側交差マークまたは下側交差マークのテンプレートの第１の例を示す図である。It is a figure which shows the 1st example of the template of the upper cross mark or the lower cross mark which the template database has memorize | stored. テンプレートデータベースが記憶している上側交差マークまたは下側交差マークのテンプレートの第２の例を示す図である。It is a figure which shows the 2nd example of the template of the upper intersection mark or the lower intersection mark which the template database has memorize | stored. 実施形態２の予測部の構成を示す図である。It is a figure which shows the structure of the estimation part of Embodiment 2. FIG. 実施形態２の衝突予測装置が複数の移動体の衝突を予測する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the collision prediction apparatus of Embodiment 2 estimates the collision of a several mobile body.
　以下、本発明の実施形態に従った衝突予測システム（衝突予測装置、衝突予測方法およびプログラムを含む）を説明する。 Hereinafter, a collision prediction system (including a collision prediction apparatus, a collision prediction method, and a program) according to an embodiment of the present invention will be described.
　図１に示すように、本実施形態の衝突予測システムは、複数の衝突予測装置１と、上側交差マーク２１と、下側交差マーク２２と、複数の移動体３１および３２とから構成される。 As shown in FIG. 1, the collision prediction system according to the present embodiment includes a plurality of collision prediction devices 1, an upper intersection mark 21, a lower intersection mark 22, and a plurality of moving bodies 31 and 32.
　複数の移動体３１および３２が走行する複数の道路が互いに立体的に交差する立体交差点で上に敷設されている上側道路の道路上の位置のうち、立体交差点から所定の距離だけ手前の位置に、上側交差マーク２１が、設けられている。 Among the positions on the road of the upper road where the plurality of roads on which the plurality of moving bodies 31 and 32 travel are laid three-dimensionally crossing each other in a three-dimensional manner, the position is a predetermined distance from the three-dimensional intersection. The upper intersection mark 21 is provided.
　また、下側交差マーク２２が、立体交差点で上側道路の下に位置する下側道路の道路上の位置のうち、立体交差点から所定の距離だけ手前の位置に設けられている。 Also, the lower intersection mark 22 is provided at a position a predetermined distance from the intersection of the lower roads on the lower road located below the upper road at the intersection.
　ここでいう「所定の距離」とは、移動体３１と移動体３２とがこれから立体交差点を走行する場合に、各衝突予測装置１が移動体３１と３２とが互いに衝突する危険性があることを予測する前に、各衝突予測装置１が、上側交差マーク２１または下側交差マーク２２を認識可能な、上側交差マーク２１または下側交差マーク２２から立体交差点までの距離である。 Here, the “predetermined distance” means that when the mobile body 31 and the mobile body 32 are traveling at a solid intersection from now on, there is a risk that the mobile bodies 31 and 32 may collide with each other. This is the distance from the upper intersection mark 21 or the lower intersection mark 22 to the solid intersection where each of the collision prediction devices 1 can recognize the upper intersection mark 21 or the lower intersection mark 22.
　上側交差マーク２１および下側交差マーク２２の形態は、任意である。 The form of the upper intersection mark 21 and the lower intersection mark 22 is arbitrary.
　例えば、上側交差マーク２１および下側交差マーク２２は、道路の路面に塗料などで描かれたマークでもよい。 For example, the upper intersection mark 21 and the lower intersection mark 22 may be marks drawn with paint or the like on the road surface.
　また、例えば、上側交差マーク２１および下側交差マーク２２は、路面下に埋め込まれた磁気マークでもよい。 Further, for example, the upper intersection mark 21 and the lower intersection mark 22 may be magnetic marks embedded under the road surface.
　また、図２に例示するように、上側道路を走行する移動体３１または３２に対し、移動体３１または３２から所定の距離だけ前方の位置に立体交差点が存在することを示す情報を無線通信により送信する上側送信装置２３と、下側道路を走行する移動体３１または３２に対し、移動体３１または３２から所定の距離だけ前方の位置に立体交差点が存在することを示す情報を無線通信により送信する下側送信装置２４とが道路に設けられてもよい。 In addition, as illustrated in FIG. 2, information indicating that a three-dimensional intersection exists at a position ahead of the moving body 31 or 32 by a predetermined distance from the moving body 31 or 32 by wireless communication. Information indicating that there is a three-dimensional intersection at a predetermined distance from the moving body 31 or 32 to the upper transmission device 23 that transmits and the moving body 31 or 32 traveling on the lower road by wireless communication. The lower transmission device 24 may be provided on the road.
　また、上側交差マーク２１と下側交差マーク２２との両方が道路に設けられてもよく、また、図３に例示するように、立体交差点で上に位置する上側道路と上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち、該立体交差点から所定の距離だけ手前の位置に「マークＭＫ」が設けられてもよい。 Further, both the upper intersection mark 21 and the lower intersection mark 22 may be provided on the road, and as illustrated in FIG. 3, the upper intersection mark 21 and the lower intersection mark 22 are positioned below the upper road and the upper road, respectively. A “mark MK” may be provided at a position that is a predetermined distance from the three-dimensional intersection among positions on one of the lower roads.
　衝突予測装置１は、複数の移動体３１と３２にそれぞれ搭載される。なお、移動体の数と、各移動体に搭載される衝突予測装置の数とは、任意でよい。ここでいう「移動体」の例としては、乗用自動車、二輪車、ロボット、または、利用者などが挙げられる。 The collision prediction apparatus 1 is mounted on a plurality of mobile bodies 31 and 32, respectively. Note that the number of moving bodies and the number of collision prediction devices mounted on each moving body may be arbitrary. Examples of the “moving body” here include a passenger car, a two-wheeled vehicle, a robot, or a user.
　移動体３１の衝突予測装置１は、上側交差マーク２１または下側交差マーク２２を検知する。また、衝突予測装置１は、自己が検出したマークが上側交差マーク２１または下側交差マーク２２のどちらであるかを示す情報を、他の移動体３２に搭載された衝突予測装置１へ送信する。そして、衝突予測装置１は、当該移動体３１（特定移動体）以外の移動体３２に搭載された衝突予測装置１から送信されてきた情報が示すマークと、自己が検知したマークとに基づいて衝突を予測する。 The collision prediction device 1 of the moving body 31 detects the upper intersection mark 21 or the lower intersection mark 22. In addition, the collision prediction apparatus 1 transmits information indicating whether the mark detected by itself is the upper intersection mark 21 or the lower intersection mark 22 to the collision prediction apparatus 1 mounted on another moving body 32. . And the collision prediction apparatus 1 is based on the mark which the information transmitted from the collision prediction apparatus 1 mounted in the mobile bodies 32 other than the said mobile body 31 (specific mobile body) shows, and the mark which self detected. Predict collisions.
　つぎに、図１に示した衝突予測装置１の構成について、図４を参照して説明する。なお、移動体３１および３２に搭載された各衝突予測装置１の構成は互いに同じであるため、以下では、移動体３１に搭載された衝突予測装置１について説明する。 Next, the configuration of the collision prediction apparatus 1 shown in FIG. 1 will be described with reference to FIG. In addition, since the structure of each collision prediction apparatus 1 mounted in the mobile bodies 31 and 32 is mutually the same, below, the collision prediction apparatus 1 mounted in the mobile body 31 is demonstrated.
　図４に示すように、衝突予測装置１は、取得部１１と、検知部１２と、通信部１３と、予測部１４と、通知部１５とを有する。 As illustrated in FIG. 4, the collision prediction apparatus 1 includes an acquisition unit 11, a detection unit 12, a communication unit 13, a prediction unit 14, and a notification unit 15.
　取得部１１は、自移動体（特定移動体）３１に関する情報である「自移動体情報」を取得して、通信部１３および予測部１４へ自移動体情報を出力する。 The acquisition unit 11 acquires “self-moving body information” that is information about the own-moving body (specific moving body) 31 and outputs the own-moving body information to the communication unit 13 and the prediction unit 14.
　自移動体情報は、例えば、ＧＰＳ機能で検出された移動体の位置情報、移動体の速度情報、舵角情報、その他各種センサで検出された情報などである。 The self-moving body information is, for example, the position information of the moving body detected by the GPS function, the speed information of the moving body, the steering angle information, and other information detected by various sensors.
　検知部１２は、一般的に検知手段と呼ぶことができる。 The detection unit 12 can be generally referred to as detection means.
　検知部１２は、上側交差マーク２１および下側交差マーク２２を検知するためのセンサを具備している。検知部１２は、センサを用いて取得した情報に基づいて、上側交差マーク２１および下側交差マーク２２を検知する。そして、検知部１２は、検知されたマークが上側交差マーク２１と下側交差マーク２２とのどちらであるかを示す情報を、通信部１３へ出力する。 The detection unit 12 includes a sensor for detecting the upper intersection mark 21 and the lower intersection mark 22. The detection unit 12 detects the upper intersection mark 21 and the lower intersection mark 22 based on information acquired using a sensor. Then, the detection unit 12 outputs information indicating whether the detected mark is the upper intersection mark 21 or the lower intersection mark 22 to the communication unit 13.
　検知部１２が上側送信装置２３または下側送信装置２４から送信されてきた情報に基づいて上側交差マーク２１または下側交差マーク２２を検知する場合、センサは、例えば、電磁波受信機である。 When the detection unit 12 detects the upper intersection mark 21 or the lower intersection mark 22 based on information transmitted from the upper transmission device 23 or the lower transmission device 24, the sensor is, for example, an electromagnetic wave receiver.
　また、検知部１２が磁気マークで示された上側交差マーク２１および下側交差マーク２２を検知する場合、センサは、磁気マークを検知する磁気センサである。 Further, when the detection unit 12 detects the upper intersection mark 21 and the lower intersection mark 22 indicated by the magnetic marks, the sensor is a magnetic sensor that detects the magnetic marks.
　また、検知部１２が路面に描かれたマークで示された上側交差マーク２１および下側交差マーク２２を検知する場合、センサは画像を検出する画像センサ（例えば、実施形態２にて後述するようにカメラ）である。 Further, when the detection unit 12 detects the upper intersection mark 21 and the lower intersection mark 22 indicated by marks drawn on the road surface, the sensor detects an image (for example, as described later in the second embodiment). Camera).
　通信部１３は、一般的に通信手段と呼ぶことができる。 The communication unit 13 can generally be called a communication means.
　通信部１３は、取得部１１から出力されてきた自移動体情報と、検知されたマークが上側交差マーク２１と下側交差マーク２２とのどちらであるかを示す、検知部１２から出力されてきた情報とを、自移動体３１以外の他の移動体３２に搭載された衝突予測装置１へ送信する。 The communication unit 13 has been output from the detection unit 12, which indicates whether the moving body information output from the acquisition unit 11 and the detected mark is the upper intersection mark 21 or the lower intersection mark 22. Is transmitted to the collision prediction apparatus 1 mounted on a mobile body 32 other than the mobile body 31.
　また、通信部１３は、他の移動体３２に搭載された衝突予測装置１から送信された、他の移動体３２についての情報である「他移動体情報」と、他の移動体３２の衝突予測装置１が検知したマークが上側交差マーク２１と下側交差マーク２２とのどちらであるかを示す情報とを、予測部１４へ出力する。 In addition, the communication unit 13 collides the “other moving body information” that is information about the other moving body 32 transmitted from the collision prediction device 1 mounted on the other moving body 32 and the other moving body 32. Information indicating whether the mark detected by the prediction device 1 is the upper intersection mark 21 or the lower intersection mark 22 is output to the prediction unit 14.
　なお、他移動体情報は、自移動体情報と同様に、他の移動体３２の位置情報、移動体３２の速度情報、移動体３２の舵角情報などである。 The other moving body information is the position information of the other moving body 32, the speed information of the moving body 32, the rudder angle information of the moving body 32, and the like, similar to the own moving body information.
　予測部１４は、一般的に予測手段と呼ぶことができる。 The prediction unit 14 can generally be referred to as prediction means.
　予測部１４は、自移動体情報と、他移動体情報と、上側交差マーク２１または下側交差マーク２２の検知結果とに基づいて、当該移動体３１と他の移動体３２とが衝突するかどうかを予測する。 The prediction unit 14 determines whether the moving body 31 and the other moving body 32 collide based on the own moving body information, the other moving body information, and the detection result of the upper intersection mark 21 or the lower intersection mark 22. Predict whether.
　本実施形態では、予測部１４は、移動体３２に搭載された衝突予測装置１から送信されてきた情報が示すマークと、検知部１２が検知したマークとが同じであり、かつ自移動体情報から予測された移動体３１の予測位置と他移動体情報から予測された移動体３２の予測位置とが一致する場合、複数の移動体３１および３２が互いに衝突する危険性があると予測する。 In the present embodiment, the prediction unit 14 has the same mark as the information transmitted from the collision prediction device 1 mounted on the moving body 32 and the mark detected by the detection unit 12, and the own moving body information. If the predicted position of the mobile body 31 predicted from the mobile station 32 matches the predicted position of the mobile body 32 predicted from other mobile body information, it is predicted that there is a risk that the mobile bodies 31 and 32 may collide with each other.
　また、本実施形態では、予測部１４は、移動体３１（特定移動体）以外の移動体３２に搭載された衝突予測装置１から送信されてきた情報が示すマークと、検知部１２が検知したマークとが異なっている場合、複数の移動体３１および３２が互いに衝突する危険性がないと予測する。 In the present embodiment, the prediction unit 14 detects the mark indicated by the information transmitted from the collision prediction apparatus 1 mounted on the mobile body 32 other than the mobile body 31 (specific mobile body) and the detection unit 12. When the mark is different, it is predicted that there is no risk that the plurality of moving bodies 31 and 32 collide with each other.
　また、移動体３２に搭載された衝突予測装置１からマークを示す情報が送信されていない際、または、移動体３１の検知部１２がマークを検知していない際、予測部１４は、自移動体情報から予測した移動体３１の予測位置と他移動体情報から予測した移動体３２の予測位置とが一致する場合、複数の移動体３１および３２が互いに衝突する危険性があると予測する。 When the information indicating the mark is not transmitted from the collision prediction device 1 mounted on the moving body 32 or when the detection unit 12 of the moving body 31 does not detect the mark, the prediction unit 14 moves by itself. When the predicted position of the mobile body 31 predicted from the body information matches the predicted position of the mobile body 32 predicted from the other mobile body information, it is predicted that there is a risk that the plurality of mobile bodies 31 and 32 collide with each other.
　通知部１５は、予測部１４による衝突の予測結果に応じて、当該移動体３１の運転者に、他の移動体３２と衝突する危険性に付随する情報を含む「衝突危険性情報」を通知する。 The notification unit 15 notifies the driver of the mobile body 31 of “collision risk information” including information associated with the risk of collision with another mobile body 32 according to the prediction result of the collision by the prediction unit 14. To do.
　この衝突危険性情報は、移動体３１と他の移動体３２とが衝突するおそれがある際の警告または、衝突する危険性を示す所定の評価指標を示す情報である。なお、通知部１５による通知方法は任意でよい。例えば、通知部１５は、カーナビゲーションシステムのモニタまたはインストゥルメントパネルを含む任意の表示装置に衝突危険性情報を表示してもよい。また、通知部１５は、スピーカなどを用いて衝突危険性情報を音声により出力してもよい。また、通知部１５は、バイブレーション機構を用いて、衝突危険性を通知してもよい。 The collision risk information is information indicating a warning when there is a possibility of collision between the moving body 31 and another moving body 32 or a predetermined evaluation index indicating the risk of collision. In addition, the notification method by the notification part 15 may be arbitrary. For example, the notification unit 15 may display the collision risk information on any display device including a monitor or an instrument panel of a car navigation system. Further, the notification unit 15 may output the collision risk information by voice using a speaker or the like. Further, the notification unit 15 may notify the danger of collision using a vibration mechanism.
　なお、通知部１５は、移動体の走行状態（例えば、移動体の姿勢、移動体の速度など）を制御する所定の制御モジュールへ、衝突危険性情報を出力してもよい。 Note that the notification unit 15 may output the collision risk information to a predetermined control module that controls the traveling state of the moving body (for example, the posture of the moving body, the speed of the moving body, etc.).
　なお、衝突予測システムが図３に示したマークＭＫを具備している場合、通信部１３は、検知部１２がマークＭＫを検知したことを示す情報を、他の移動体３２に搭載された衝突予測装置１へ送信する。 When the collision prediction system includes the mark MK illustrated in FIG. 3, the communication unit 13 uses information indicating that the detection unit 12 has detected the mark MK as a collision mounted on another moving body 32. Transmit to the prediction device 1.
　また、図３に示した例では、予測部１４は、移動体３１以外の移動体３２に搭載された衝突予測装置１からマークＭＫを検知したことを示す情報が送信されてきた際に、検知部１２がマークＭＫを検知していない場合、または、他の移動体３２に搭載された衝突予測装置１からマークＭＫを検知したことを示す情報が送信されてきていない状態で、検知部１２がマークＭＫを検知した場合、当該移動体３１と当該移動体３１以外の移動体３２とが互いに衝突しないと予測する。 Further, in the example illustrated in FIG. 3, the prediction unit 14 detects when information indicating that the mark MK has been detected is transmitted from the collision prediction apparatus 1 mounted on the mobile body 32 other than the mobile body 31. When the unit 12 has not detected the mark MK, or when the information indicating that the mark MK has been detected has not been transmitted from the collision prediction device 1 mounted on another moving body 32, the detection unit 12 When the mark MK is detected, it is predicted that the moving body 31 and the moving body 32 other than the moving body 31 do not collide with each other.
　図３の例において、移動体３１に搭載された衝突予測装置１の予測部１４は、検知部１２がマークＭＫを検知してから所定時間が経過するまでの間に、マークＭＫを検知したことを示す情報が他の移動体３２から送信されてきたかどうかに基づいて、移動体３１と移動体３２とが衝突する危険性があるかどうかを予測してもよい。これは、移動体３１に搭載された衝突予測装置１が、マークＭＫを検知してから所定時間が経過するまでの間に、移動体３２に搭載された衝突予測装置１がマークＭＫを検知してその旨を示す情報を送信してきた場合に、マークＭＫを先に検出した移動体３１に搭載された衝突予測装置１の予測部１４が、移動体３１および移動体３２が互いに衝突するにも関わらず、両移動体が衝突しないと予測してしまうことを回避するためである。 In the example of FIG. 3, the prediction unit 14 of the collision prediction device 1 mounted on the moving body 31 detects the mark MK after the detection unit 12 detects the mark MK and until a predetermined time has elapsed. Whether or not there is a risk of collision between the mobile body 31 and the mobile body 32 may be predicted based on whether or not the information indicating the above has been transmitted from another mobile body 32. This is because the collision prediction apparatus 1 mounted on the moving body 32 detects the mark MK after the collision prediction apparatus 1 mounted on the moving body 31 detects the mark MK and before a predetermined time elapses. When the information indicating that is transmitted, the prediction unit 14 of the collision prediction apparatus 1 mounted on the mobile body 31 that has detected the mark MK first causes the mobile body 31 and the mobile body 32 to collide with each other. This is to avoid predicting that both moving bodies will not collide regardless.
　また、移動体３１に搭載された衝突予測装置１の予測部１４は、移動体３２に搭載された衝突予測装置１からマークＭＫを検知したことを示す情報が送信されてきてから所定時間が経過するまでの間に、検知部１２がマークＭＫを検知したかどうかに基づいて、移動体３１と移動体３２とが衝突する危険性があるかどうかを予測してもよい。これは、例えば、移動体３２に搭載された衝突予測装置１からマークＭＫを検知したことを示す情報が送信されてきてから所定時間が経過するまでの間に、移動体３１に搭載された衝突予測装置１がマークＭＫを検知した場合に、マークＭＫを後に検出した移動体３１に搭載された衝突予測装置１の予測部１４が、移動体３１および移動体３２が互いに衝突するにも関わらず、両移動体が衝突しないと予測してしまうことを回避するためである。 Further, the prediction unit 14 of the collision prediction apparatus 1 mounted on the mobile body 31 has passed a predetermined time since the information indicating that the mark MK has been detected is transmitted from the collision prediction apparatus 1 mounted on the mobile body 32. In the meantime, based on whether or not the detection unit 12 has detected the mark MK, it may be predicted whether or not there is a risk of collision between the moving body 31 and the moving body 32. This is because, for example, the collision mounted on the moving body 31 after a predetermined time elapses after the information indicating that the mark MK is detected is transmitted from the collision prediction device 1 mounted on the moving body 32. When the prediction device 1 detects the mark MK, the prediction unit 14 of the collision prediction device 1 mounted on the mobile body 31 that later detects the mark MK causes the mobile body 31 and the mobile body 32 to collide with each other. This is to avoid predicting that both moving bodies do not collide.
　なお、以下では、図１に示した、地面上に敷設されている下側道路と、その上方に高架により位置する上側道路とから構成された立体交差点を移動体３１および３２が通過する場合を例に挙げて説明する。 In the following, a case in which the mobile bodies 31 and 32 pass through the three-dimensional intersection formed by the lower road laid on the ground and the upper road located above it as shown in FIG. An example will be described.
　なお、図１の例では、上側道路の路面上の位置のうち立体交差点から所定の距離だけ手前の位置に、ペイントにより描かれた上側交差マーク２１が設けられている。また、この説明例では、検知部１２は、センサとしてカメラを有している。 In the example of FIG. 1, an upper intersection mark 21 drawn by paint is provided at a position on the road surface of the upper road that is a predetermined distance from the three-dimensional intersection. Moreover, in this example of description, the detection part 12 has a camera as a sensor.
　移動体３１の衝突予測装置１が有する検知部１２は、移動体３１が立体交差点から所定の距離だけ手前の位置で、カメラで撮像した画像の解析により上側交差マーク２１を検知する。これにより、検知部１２は、移動体３１が上側道路を走行していることを認識する。 The detection unit 12 included in the collision prediction apparatus 1 of the moving body 31 detects the upper intersection mark 21 by analyzing the image captured by the camera at a position that is a predetermined distance from the three-dimensional intersection. Thereby, the detection unit 12 recognizes that the moving body 31 is traveling on the upper road.
　この場合、移動体３１の衝突予測装置１は、移動体３１が上側交差マーク２１を検知したことを示す情報を、下側道路を走行している移動体３２の衝突予測装置１へ送信する。また、移動体３１の衝突予測装置１は、移動体３２の衝突予測装置１から送信されてきた当該移動体３２の衝突予測装置１が下側交差マーク２２を検知したことを示す情報を受信する。このように、各移動体３１または３２に搭載された衝突予測装置１は、上側交差マーク２１または下側交差マーク２２を検知したことを示す情報を互いに送信する。これにより、移動体３１および３２の衝突予測装置１の両方が、移動体３１と３２とが立体交差点の互いに異なる道路を走行していることをより正確に判別することができる。 In this case, the collision prediction apparatus 1 of the mobile body 31 transmits information indicating that the mobile body 31 has detected the upper intersection mark 21 to the collision prediction apparatus 1 of the mobile body 32 traveling on the lower road. Moreover, the collision prediction apparatus 1 of the mobile body 31 receives information indicating that the collision prediction apparatus 1 of the mobile body 32 has detected the lower intersection mark 22 transmitted from the collision prediction apparatus 1 of the mobile body 32. . In this way, the collision prediction device 1 mounted on each moving body 31 or 32 transmits information indicating that the upper intersection mark 21 or the lower intersection mark 22 has been detected to each other. Thereby, both the collision prediction apparatuses 1 of the mobile bodies 31 and 32 can determine more accurately that the mobile bodies 31 and 32 are traveling on different roads at the three-dimensional intersection.
　つぎに、上記構成を有する移動体３１に搭載された衝突予測装置１が、複数の移動体３１および３２が互いに衝突するかどうかを予測する動作について、図５のフローチャートを参照して説明する。 Next, an operation in which the collision prediction apparatus 1 mounted on the mobile body 31 having the above configuration predicts whether or not the plurality of mobile bodies 31 and 32 collide with each other will be described with reference to the flowchart of FIG.
　まず、ステップ４０１にて、検知部１２は、センサを用いて、上側交差マーク２１または下側交差マーク２２を検知する。そして、検知部１２は、検知したマークが上側交差マーク２１と下側交差マーク２２とのどちらであるかを示す情報を、通信部１３へ出力する。 First, in step 401, the detection unit 12 detects the upper intersection mark 21 or the lower intersection mark 22 using a sensor. Then, the detection unit 12 outputs information indicating whether the detected mark is the upper intersection mark 21 or the lower intersection mark 22 to the communication unit 13.
　次に、ステップ４０２にて、取得部１１は、自移動体情報を取得する。 Next, in step 402, the acquisition unit 11 acquires the mobile object information.
　さらに、ステップ４０３にて、通信部１３は、検知したマークが上側交差マーク２１と下側交差マーク２２とのどちらであるかを示す情報と、自移動体情報とを、他の移動体３２に搭載された衝突予測装置１に送信する。 Further, in step 403, the communication unit 13 sends information indicating whether the detected mark is the upper intersection mark 21 or the lower intersection mark 22 and the own moving body information to the other moving body 32. It transmits to the collision prediction apparatus 1 mounted.
　その後、ステップ４０４にて、通信部１３は、他の移動体３２に搭載された衝突予測装置１から送信されてきた他移動体情報を受信する。なお、ステップ４０５にて、移動体３１を基準とする所定の範囲内に他の移動体３２が存在しない場合には処理を終了する。 Thereafter, in step 404, the communication unit 13 receives the other mobile body information transmitted from the collision prediction device 1 mounted on the other mobile body 32. In step 405, if there is no other moving body 32 within a predetermined range based on the moving body 31, the process is terminated.
　一方、所定の範囲内に他の移動体３２が存在する場合、ステップ４０６にて、予測部１４は、当該移動体３１と他の移動体３２とが衝突する危険性があるかどうかを予測する。 On the other hand, when another moving body 32 exists within the predetermined range, in step 406, the prediction unit 14 predicts whether or not there is a risk of collision between the moving body 31 and the other moving body 32. .
　ステップ４０６にて、予測部１４は、移動体３２に搭載された衝突予測装置１から送信されてきた情報が示すマークと、検知部１２が検知したマークとが異なっている場合、移動体３１および３２が互いに衝突しないと予測する。この場合、衝突予測装置１は処理を終了する。 In step 406, when the mark indicated by the information transmitted from the collision prediction device 1 mounted on the moving body 32 is different from the mark detected by the detecting unit 12, the prediction unit 14 determines that the moving body 31 and Predict that 32 will not collide with each other. In this case, the collision prediction apparatus 1 ends the process.
　また、ステップ４０６にて、予測部１４は、移動体３２に搭載された衝突予測装置１から送信されてきた情報が示すマークと、検知部１２が検知したマークとが同じであり、かつ自移動体情報から予測した移動体３１の予測位置と他移動体情報から予測した移動体３２の予測位置とが一致する場合、移動体３１および３２が互いに衝突する危険性があると予測する。 In step 406, the prediction unit 14 has the same mark as the information transmitted from the collision prediction device 1 mounted on the moving body 32 and the mark detected by the detection unit 12, and the self-movement When the predicted position of the mobile body 31 predicted from the body information matches the predicted position of the mobile body 32 predicted from the other mobile body information, it is predicted that there is a risk that the mobile bodies 31 and 32 may collide with each other.
　また、ステップ４０６にて、移動体３２に搭載された衝突予測装置１からマークを示す情報が送信されていない際、または、検知部１２がマークを検知していない際、予測部１４は、自移動体情報から予測した移動体３１の予測位置と他移動体情報から予測した移動体３２の予測位置とが一致する場合、複数の移動体３１および３２が互いに衝突する危険性があると予測する。 In step 406, when the information indicating the mark is not transmitted from the collision prediction device 1 mounted on the moving body 32, or when the detection unit 12 does not detect the mark, the prediction unit 14 When the predicted position of the moving body 31 predicted from the moving body information matches the predicted position of the moving body 32 predicted from the other moving body information, it is predicted that there is a risk that the plurality of moving bodies 31 and 32 may collide with each other. .
　移動体３１と他の移動体３２とが衝突する危険性があると予測された場合、ステップ４０７にて、通知部１５は、衝突危険性情報を運転者または移動体３１の走行状態を制御する所定の制御モジュールへと通知する。以上で、実施形態１の衝突予測装置１が、複数の移動体が互いに衝突するかどうかを予測する一連の動作が終了する。 When it is predicted that there is a risk of collision between the moving body 31 and another moving body 32, the notification unit 15 controls the driving state of the driver or the moving body 31 in step 407. Notify a predetermined control module. Thus, a series of operations in which the collision prediction apparatus 1 according to the first embodiment predicts whether or not a plurality of moving objects collide with each other is completed.
　以上説明したように、実施形態１によれば、立体交差点の上側に位置する道路であることを示す上側交差マーク２１と、下側に位置する道路であることを示す下側交差マーク２２とを道路にあらかじめ設置しておく。そして、当該道路を走行する移動体がそのマークを検知し、その情報が通信により複数の移動体に搭載された各衝突予測装置１の間で共有される。 As described above, according to the first embodiment, the upper intersection mark 21 indicating that the road is located above the three-dimensional intersection and the lower intersection mark 22 indicating that the road is located below. Install in advance on the road. And the mobile body which drive | works the said road detects the mark, The information is shared among each collision prediction apparatus 1 mounted in the several mobile body by communication.
　なお、本発明の上側交差マーク２１および下側交差マーク２２は、磁気マーク、図２に示した上側送信装置２３から送信される上側交差マーク２１が存在することを示す情報、または、下側送信装置２４から送信される下側交差マーク２２が存在することを示す情報である。 The upper cross mark 21 and the lower cross mark 22 of the present invention are magnetic marks, information indicating that the upper cross mark 21 transmitted from the upper transmission device 23 shown in FIG. 2 exists, or lower transmission. This is information indicating that the lower intersection mark 22 transmitted from the device 24 exists.
　これにより、実施形態１によれば、移動体が立体交差点を通過する場合において正しい衝突予測結果を得ることができる。また、実施形態１によれば、カメラで撮影した画像により立体交差点を認識できない場合でも、正しい衝突予測結果を得ることができる。 Thus, according to the first embodiment, a correct collision prediction result can be obtained when the moving body passes through the three-dimensional intersection. Further, according to the first embodiment, a correct collision prediction result can be obtained even when a three-dimensional intersection cannot be recognized from an image captured by a camera.
　また、実施形態１によれば、上側交差マーク２１および下側交差マーク２２を適切な位置に設置することにより、移動体３１および３２が互いに衝突するかどうかを、好適なタイミングで、かつ、より正確に予測することができる。
（実施形態２）
　つぎに、実施形態２の衝突予測システムについて説明する。 Further, according to the first embodiment, by setting the upper intersection mark 21 and the lower intersection mark 22 at appropriate positions, whether or not the mobile bodies 31 and 32 collide with each other can be determined at a suitable timing and more. It can be predicted accurately.
(Embodiment 2)
Next, a collision prediction system according to the second embodiment will be described.
　実施形態２においては、図６に示すように、上側交差マークは、立体交差点の上側道路の入口と出口との両方に設けられている。また、下側交差マークは、立体交差点の下側道路の入口と出口との両方に設けられている。 In Embodiment 2, as shown in FIG. 6, the upper intersection mark is provided at both the entrance and the exit of the upper road of the three-dimensional intersection. The lower intersection mark is provided at both the entrance and exit of the lower road of the three-dimensional intersection.
　図６の例では、移動体３１が、立体交差点の上側道路の道路上を立体交差点に向かって走行している。また、他の移動体３２は、立体交差点の下側道路の道路上を立体交差点に向かって走行している。 In the example of FIG. 6, the moving body 31 is traveling on the road on the upper road of the three-dimensional intersection toward the three-dimensional intersection. Further, the other moving body 32 travels on the road on the lower road of the three-dimensional intersection toward the three-dimensional intersection.
　上側道路の路面には、立体交差点が移動体３１または３２の前方の所定の距離だけ離れた位置に存在することを示す上側交差マーク２１１と、立体交差点が移動体３１または３２の後方の所定の距離だけ離れた位置に存在することを示す上側交差マーク２１２とがペイントで描かれている。 On the road surface of the upper road, there is an upper intersection mark 211 indicating that the three-dimensional intersection is located at a predetermined distance in front of the moving body 31 or 32, and the three-dimensional intersection is a predetermined position behind the moving body 31 or 32. An upper intersection mark 212 indicating that the object exists at a position separated by a distance is drawn in paint.
　下側道路の路面には、立体交差点が移動体３１または３２の前方の所定の距離だけ離れた位置に存在することを示す下側交差マーク２２１と、立体交差点が移動体３１または３２の後方の所定の位置だけ離れた位置に存在することを示す下側交差マーク２２２とがペイントで描かれている。 On the road surface of the lower road, there is a lower intersection mark 221 indicating that the three-dimensional intersection is located at a predetermined distance in front of the mobile body 31 or 32, and the three-dimensional intersection is behind the mobile body 31 or 32. A lower intersection mark 222 indicating that the object exists at a position separated by a predetermined position is drawn in paint.
　なお、衝突予測システムが上側送信装置２３および下側送信装置２４を備えている場合、上側道路を走行する移動体３１または３２に対し、移動体３１または３２から所定の距離だけ前方の位置に立体交差点が存在することを示す情報を送信する上側送信装置２３と、上側道路を走行する移動体３１または３２に対し、移動体３１または３２から所定の距離だけ後方の位置に立体交差点が存在することを示す情報を送信する上側送信装置２３とを上側道路に設ける。 When the collision prediction system includes the upper transmission device 23 and the lower transmission device 24, the moving body 31 or 32 traveling on the upper road is three-dimensionally positioned at a predetermined distance from the moving body 31 or 32. For the upper transmission device 23 that transmits information indicating that an intersection exists and the moving body 31 or 32 traveling on the upper road, a solid intersection exists at a position a predetermined distance behind the moving body 31 or 32. An upper transmission device 23 for transmitting information indicating the above is provided on the upper road.
　また、下側道路を走行する移動体３１または３２に対し、移動体３１または３２から所定の距離だけ前方の位置に立体交差点が存在することを示す情報を送信する下側送信装置２４と、下側道路を走行する移動体３１または３２に対し、移動体３１または３２から所定の距離だけ後方の位置に立体交差点が存在することを示す情報を送信する下側送信装置２４とを下側道路に設ける。 In addition, a lower transmission device 24 that transmits information indicating that a three-dimensional intersection exists at a predetermined distance from the moving body 31 or 32 to the moving body 31 or 32 traveling on the lower road, A lower transmission device 24 that transmits information indicating that a three-dimensional intersection exists at a position behind the moving body 31 or 32 by a predetermined distance to the moving body 31 or 32 traveling on the side road is provided on the lower road. Provide.
　また、図３に示した例において、上側道路と下側道路とのどちらか一方の道路上の位置のうち、互いに異なるマークＭＫを、立体交差点の前後に所定の距離だけそれぞれ離れた位置に設けてもよい。 In the example shown in FIG. 3, among the positions on either the upper road or the lower road, different marks MK are provided at positions separated by a predetermined distance before and after the three-dimensional intersection. May be.
　また、図７に示すように、移動体３１は、移動体３１の進行方向と同じ方向に撮像方向が固定されたカメラ３３を搭載している。カメラ３３は、移動体３１の進行方向前における道路面を撮像する。 Further, as shown in FIG. 7, the moving body 31 is equipped with a camera 33 whose imaging direction is fixed in the same direction as the traveling direction of the moving body 31. The camera 33 images the road surface before the moving body 31 travels.
　つぎに、実施形態２の衝突予測装置１の構成について、図８を参照して説明する。 Next, the configuration of the collision prediction apparatus 1 according to the second embodiment will be described with reference to FIG.
　図８に示すように、実施形態２の衝突予測装置１は、検知部１２に代えて検知部１２Ａを有している点と、予測部１４に代えて予測部１４Ａを有している点とが、図４に示した衝突予測装置１と異なっている。検知部１２Ａは、一般的に検知手段と呼ぶことができる。また、予測部１４Ａは、一般的に予測手段と呼ぶことができる。 As shown in FIG. 8, the collision prediction apparatus 1 according to the second embodiment includes a detection unit 12 </ b> A instead of the detection unit 12, and a point including a prediction unit 14 </ b> A instead of the prediction unit 14. Is different from the collision prediction apparatus 1 shown in FIG. Detection unit 12A can be generally referred to as detection means. Further, the prediction unit 14A can be generally referred to as prediction means.
　以下、検知部１２Ａの詳細な構成について、図９を参照して説明する。図９に示すように、検知部１２Ａは、図７に示したカメラ３３をセンサとして有している。 Hereinafter, the detailed configuration of the detection unit 12A will be described with reference to FIG. As shown in FIG. 9, the detection unit 12A has the camera 33 shown in FIG. 7 as a sensor.
　つまり、検知部１２Ａは、カメラ３３が移動体３１の後方の道路面を撮影した画像に基づいて、上側交差マーク２１または下側交差マーク２２を検知し、移動体３１が立体交差点の上側道路を走行中であるか、または、移動体３１が立体交差点の下側道路を走行中であるかを示す情報を出力する。 That is, the detection unit 12A detects the upper intersection mark 21 or the lower intersection mark 22 based on the image obtained by the camera 33 capturing the road surface behind the moving body 31, and the moving body 31 detects the upper road at the three-dimensional intersection. Information indicating whether the vehicle is traveling or whether the moving body 31 is traveling on the lower road of the three-dimensional intersection is output.
　また、図９に示すように、検知部１２Ａは、カメラ３３に加えて、画像入力部１２１と、鳥瞰画像生成部１２２と、テンプレートデータベース１２３と、マーク識別部１２４と、立体交差走行情報出力部１２５とを有する。 In addition to the camera 33, the detection unit 12A includes an image input unit 121, a bird's-eye image generation unit 122, a template database 123, a mark identification unit 124, and a three-dimensional intersection travel information output unit, as shown in FIG. 125.
　画像入力部１２１は、カメラ３３が撮像して出力してきた原画像をデジタル形式の画像に変換し、その画像を鳥瞰画像生成部１２２へ出力する。 The image input unit 121 converts the original image captured and output by the camera 33 into a digital image, and outputs the image to the bird's-eye image generation unit 122.
　鳥瞰画像生成部１２２は、道路を走行する移動体３１から見た被写体（道路）を示すカメラ３３が撮像した画像を、上方から見たときの被写体（道路）を示す鳥瞰画像に変換する。そして、鳥瞰画像生成部１２２は、鳥瞰画像をマーク識別部１２４へ出力する。なお、鳥瞰画像への変換の方法は、例えば、特願２００８－２７１８１３号明細書に開示されているような一般的な方法でよい。 The bird's-eye image generation unit 122 converts an image captured by the camera 33 indicating the subject (road) viewed from the moving body 31 traveling on the road into a bird's-eye image indicating the subject (road) when viewed from above. Then, the bird's-eye view image generation unit 122 outputs the bird's-eye view image to the mark identification unit 124. Note that the method for converting to a bird's-eye view image may be a general method as disclosed in, for example, Japanese Patent Application No. 2008-271813.
　テンプレートデータベース１２３は、上側交差マーク２１と下側交差マーク２２の鳥瞰画像における画像パターンを、テンプレートとして記憶している。このテンプレートとしては、例えば、図１０または図１１に示すように、道路に平行な線分以外の斜線または曲線などの要素を含む繰返しパターンで形成されたマークなどである。 The template database 123 stores image patterns of bird's-eye images of the upper intersection mark 21 and the lower intersection mark 22 as templates. As this template, for example, as shown in FIG. 10 or FIG. 11, there are marks formed in a repetitive pattern including elements such as diagonal lines or curves other than line segments parallel to the road.
　図９に示したマーク識別部１２４は、テンプレートデータベース１２３が記憶しているテンプレートを用いたテンプレートマッチングにより、鳥瞰画像に含まれている上側交差マーク２１または下側交差マーク２２を識別する。なお、テンプレートマッチングは、一般的なテンプレートマッチング方法でよい。 9 identifies the upper intersection mark 21 or the lower intersection mark 22 included in the bird's-eye view image by template matching using the template stored in the template database 123. The mark identification unit 124 illustrated in FIG. The template matching may be a general template matching method.
　また、マーク識別部１２４は、立体交差点の入口側に設けられた上側交差マーク２１を識別した場合、その旨を立体交差点情報出力部１２５へ通知する。 Further, when the mark identifying unit 124 identifies the upper intersection mark 21 provided on the entrance side of the three-dimensional intersection, the mark identifying unit 124 notifies the three-dimensional intersection information output unit 125 to that effect.
　また、マーク識別部１２４は、立体交差点の入口側に設けられた上側交差マーク２１を識別した後、出口側に設けられた上側交差マーク２１を識別した場合、その旨を立体交差点情報出力部１２５へ通知する。 In addition, when the mark identifying unit 124 identifies the upper intersection mark 21 provided on the exit side after identifying the upper intersection mark 21 provided on the entrance side of the three-dimensional intersection, the mark identifying unit 124 indicates that fact. To notify.
　立体交差点情報出力部１２５は、マーク識別部１２４が立体交差点の入口側に設けられた上側交差マーク２１を識別した旨がマーク識別１２４から通知された場合、移動体３１が立体交差点の上側道路（高架側）を走行中であることを示す高架走行情報を、通信部１３および予測部１４Ａへ出力する。 When the mark intersection 124 is notified that the mark identification unit 124 has identified the upper intersection mark 21 provided on the entrance side of the three-dimensional intersection, the three-dimensional intersection information output unit 125 is configured so that the mobile body 31 is on the upper road ( Elevated traveling information indicating that the vehicle is traveling on the elevated side is output to the communication unit 13 and the prediction unit 14A.
　なお、立体交差点情報出力部１２５は、出口側に設けられた上側交差マーク２１を識別した旨がマーク識別部１２４から通知された場合、高架走行情報の出力を終了する。 Note that the three-dimensional intersection information output unit 125 ends the output of the elevated traveling information when the mark identification unit 124 notifies that the upper intersection mark 21 provided on the exit side has been identified.
　なお、図３に示した例にて、上側道路と下側道路とのどちらか一方の道路上の位置のうち、互いに異なるマークＭＫを立体交差点の前後に所定の距離だけそれぞれ離れた位置に設けた場合、検知部１２Ａは、互いに異なるマークＭＫの検知に基づいて、移動体３１によるマークＭＫが設けられた上側道路または下側道路の走行の開始または終了を認識する。 In the example shown in FIG. 3, among the positions on either the upper road or the lower road, different marks MK are provided at positions separated by a predetermined distance before and after the three-dimensional intersection. In this case, the detection unit 12A recognizes the start or end of traveling on the upper road or the lower road on which the mark MK is provided by the moving body 31 based on the detection of the different marks MK.
　なお、実施形態２の通信部１３は、立体交差点情報出力部１２５から出力されてきた高架走行情報を、他の移動体３２に搭載された衝突予測装置１へ送信する。また、通信部１３は、他の移動体３２に搭載された衝突予測装置１から送信されてきた移動体３２に付随する高架走行情報を予測部１４Ａへ出力する。 Note that the communication unit 13 according to the second embodiment transmits the elevated traveling information output from the three-dimensional intersection information output unit 125 to the collision prediction apparatus 1 mounted on another moving body 32. In addition, the communication unit 13 outputs the elevated traveling information associated with the moving body 32 transmitted from the collision prediction device 1 mounted on the other moving body 32 to the prediction unit 14A.
　つぎに、予測部１４Ａの詳細な構成について、図１２を参照して説明する。図１２に示すように、予測部１４Ａは、他移動体位置予測部１４１と、自移動体位置予測部１４２と、解析部１４３と、衝突判別部１４４とを有する。 Next, a detailed configuration of the prediction unit 14A will be described with reference to FIG. As illustrated in FIG. 12, the prediction unit 14 </ b> A includes another mobile body position prediction unit 141, a self mobile body position prediction unit 142, an analysis unit 143, and a collision determination unit 144.
　他移動体位置予測部１４１は、他の移動体３２に搭載された衝突予測装置１から送信されてきた他移動体情報に基づいて、現在時刻以後の他の移動体３２の位置を予測する。この予測は、例えば、他の移動体３２の現在位置から、現在時刻における他の移動体３２のステアリング角情報から算出される移動体３２の進行方向に、現在時刻における移動体３２の速度と現在時刻とそれ以降の所定時刻との間の経過時間とを乗算して求めた予測走行距離だけ進めた位置を、所定時刻における予測位置とすればよい。なお、現在時刻以後の他の移動体３２の位置を予測する方法は、現在時刻および過去の時刻における他移動体情報を用いて移動体３２の位置を予測する方法であれば任意でよい。 The other moving body position predicting unit 141 predicts the position of the other moving body 32 after the current time based on the other moving body information transmitted from the collision prediction apparatus 1 mounted on the other moving body 32. This prediction is performed, for example, from the current position of the other moving body 32 to the traveling direction of the moving body 32 calculated from the steering angle information of the other moving body 32 at the current time, and the current speed and speed of the moving body 32. A position advanced by the predicted travel distance obtained by multiplying the elapsed time between the time and a predetermined time thereafter may be set as the predicted position at the predetermined time. Note that the method of predicting the position of the other moving body 32 after the current time may be any method as long as the position of the moving body 32 is predicted using the other moving body information at the current time and the past time.
　自移動体位置予測部１４２は、取得部１１から出力されてきた自移動体情報に基づいて、現在時刻以後の当該移動体３１の位置を予測する。なお、現在時刻以後の当該移動体３１の位置を予測する方法は、現在時刻および過去の時刻における自移動体情報を用いて移動体３１の位置を予測する方法であれば任意でよい。 The own moving body position prediction unit 142 predicts the position of the moving body 31 after the current time based on the own moving body information output from the acquisition unit 11. Note that the method of predicting the position of the mobile body 31 after the current time may be any method as long as the position of the mobile body 31 is predicted using the local mobile body information at the current time and the past time.
　解析部１４３は、立体交差点情報出力部１２５から出力されてきた当該移動体３１に付随する高架走行情報と、通信部１３から送信されてきた他の移動体３２に付随する高架走行情報とに基づいて、当該移動体３１と他の移動体３２とのどちらか一方だけが高架走行状態であるかどうかを判別する。解析部１４３は、移動体３１と移動体３２とのどちらか一方だけが高架走行状態でないと判別した場合、その旨を衝突判別部１４４へ通知する。 The analysis unit 143 is based on the elevated traveling information associated with the moving body 31 output from the three-dimensional intersection information output unit 125 and the elevated traveling information associated with the other moving body 32 transmitted from the communication unit 13. Thus, it is determined whether only one of the moving body 31 and the other moving body 32 is in an elevated traveling state. When the analysis unit 143 determines that only one of the moving body 31 and the moving body 32 is not in the elevated traveling state, the analysis unit 143 notifies the collision determination unit 144 to that effect.
　衝突判別部１４４は、自移動体位置予測部１４２が予測した当該移動体３１の予測位置と、他移動体位置予測部１４１が予測した他の移動体３２の予測位置とを比較する。 The collision determination unit 144 compares the predicted position of the moving body 31 predicted by the own moving body position prediction unit 142 with the predicted position of the other moving body 32 predicted by the other moving body position prediction unit 141.
　そして、衝突判別部１４４は、比較の結果、移動体３１の予測位置と移動体３２の予測位置とが一致する場合において、移動体３１と移動体３２とのどちらか一方だけが高架走行状態でない旨の情報が解析部１４３から通知された際、当該移動体３１と他の移動体３２とが衝突する危険性があると判別する。 Then, as a result of the comparison, when the predicted position of the moving body 31 and the predicted position of the moving body 32 match, only one of the moving body 31 and the moving body 32 is not in the elevated traveling state. When the information to that effect is notified from the analysis unit 143, it is determined that there is a risk of collision between the moving body 31 and another moving body 32.
　また、衝突判別部１４４は、移動体３２に搭載された衝突予測装置１から高架走行情報が送信されていない際、または、立体交差点情報出力部１２５から高架走行情報が出力されていない際において、移動体３１の予測位置と移動体３２の予測位置とが一致する場合、移動体３１および３２が互いに衝突する危険性があると判別する。 In addition, when the collision determination unit 144 does not transmit the elevated traveling information from the collision prediction device 1 mounted on the moving body 32 or when the elevated traveling information is not output from the three-dimensional intersection information output unit 125, When the predicted position of the mobile body 31 matches the predicted position of the mobile body 32, it is determined that there is a risk that the mobile bodies 31 and 32 collide with each other.
　なお、衝突する危険性があると判別した場合、衝突判別部１４４は、その旨を通知部１５へ通知する。すると、通知部１５は、移動体３１の運転者に衝突危険性情報を通知する。 If it is determined that there is a risk of collision, the collision determination unit 144 notifies the notification unit 15 to that effect. Then, the notification unit 15 notifies the collision risk information to the driver of the moving body 31.
　なお、図３に示した例にて、上側道路と下側道路とのどちらか一方の道路上の位置のうち、互いに異なるマークＭＫを立体交差点の前後に所定の距離だけそれぞれ離れた位置に設けた場合、予測部１４Ａは、移動体３１によるマークＭＫが設けられた上側道路または下側道路の走行の開始または終了に基づいて、衝突を予測する。より具体的には、移動体３１に搭載された衝突予測装置１の予測部１４Ａは、検知部１２Ａが移動体３１によるマークＭＫが設けられた上側道路または下側道路の走行の開始を認識してから走行の終了を認識するまでの間に、マークＭＫが設けられた上側道路または下側道路の走行を開始したことを示す情報が他の移動体３２から送信されてきたかどうかに基づいて、移動体３１と移動体３２とが衝突する危険性があるかどうかを予測してもよい。また、移動体３１に搭載された衝突予測装置１の予測部１４Ａは、マークＭＫが設けられた上側道路または下側道路の走行を開始したことを示す情報が移動体３２に搭載された衝突予測装置１から送信されてきてから、その走行を終了したことを示す情報が送信されてくるまでの間に、移動体３１によるマークＭＫが設けられた上側道路または下側道路の走行の開始を検知部１２Ａが認識したかどうかに基づいて、移動体３１と移動体３２とが衝突する危険性があるかどうかを予測してもよい。 In the example shown in FIG. 3, among the positions on either the upper road or the lower road, different marks MK are provided at positions separated by a predetermined distance before and after the three-dimensional intersection. In such a case, the prediction unit 14A predicts a collision based on the start or end of traveling on the upper road or the lower road on which the mark MK is provided by the moving body 31. More specifically, the prediction unit 14A of the collision prediction apparatus 1 mounted on the moving body 31 recognizes the start of traveling on the upper road or the lower road where the detection unit 12A is provided with the mark MK by the moving body 31. Until the end of travel is recognized until the end of travel, based on whether or not information indicating that the travel on the upper road or the lower road provided with the mark MK has started is transmitted from the other moving body 32, It may be predicted whether there is a risk of collision between the moving body 31 and the moving body 32. In addition, the prediction unit 14A of the collision prediction apparatus 1 mounted on the mobile body 31 has the information on the start of traveling on the upper road or the lower road provided with the mark MK, and the collision prediction mounted on the mobile body 32. Detects the start of traveling on the upper road or the lower road provided with the mark MK by the mobile body 31 after the transmission from the device 1 until the information indicating that the traveling has been completed is transmitted. It may be predicted whether there is a risk of collision between the moving body 31 and the moving body 32 based on whether or not the part 12A has recognized.
　つぎに、実施形態２の衝突予測装置１が複数の移動体が互いに衝突するかどうかを予測する動作について、図１３を参照して詳細に説明する。なお、以下の説明の前提として、カメラ３３は、所定の期間ごとに道路面を撮像し、撮像した画像を画像入力部１２１へ出力している。 Next, an operation in which the collision prediction apparatus 1 according to the second embodiment predicts whether or not a plurality of moving bodies collide with each other will be described in detail with reference to FIG. As a premise for the following description, the camera 33 captures the road surface every predetermined period and outputs the captured image to the image input unit 121.
　すると、図１３に示すように、まず、ステップ５０１にて、画像入力部１２１は、カメラ３３が撮像して出力してきた画像をデジタル形式の画像に変換し、その画像を鳥瞰画像生成部１２２へ出力する。 Then, as shown in FIG. 13, first, in step 501, the image input unit 121 converts the image captured and output by the camera 33 into a digital image, and the image is sent to the bird's-eye image generation unit 122. Output.
　続いて、ステップ５０２にて、鳥瞰画像生成部１２２は、道路を走行する移動体３１から見た道路を示す画像を、上方から見たときの道路を示す鳥瞰画像に変換してマーク識別部１２４へ鳥瞰画像を出力する。 Subsequently, in step 502, the bird's-eye image generation unit 122 converts an image showing the road viewed from the moving body 31 traveling on the road into a bird's-eye image showing the road when viewed from above, and the mark identifying unit 124. A bird's-eye view image is output.
　すると、ステップ５０３にて、マーク識別部１２４は、テンプレートデータベース１２３が記憶しているテンプレートを用いたテンプレートマッチングにより、鳥瞰画像生成部１２２から出力されてきた鳥瞰画像に含まれている上側交差マーク２１または下側交差マーク２２を識別する。 Then, in step 503, the mark identifying unit 124 performs the upper matching mark 21 included in the bird's-eye image output from the bird's-eye image generation unit 122 by template matching using the template stored in the template database 123. Alternatively, the lower intersection mark 22 is identified.
　そして、ステップ５０４にて、マーク識別部１２４は、立体交差点の入口側に設けられた上側交差マーク２１を識別した場合、その旨を立体交差点情報出力部１２５へ通知する。 In step 504, when the mark identifying unit 124 identifies the upper intersection mark 21 provided on the entrance side of the solid intersection, the mark identifying unit 124 notifies the solid intersection information output unit 125 to that effect.
　すると、ステップ５０５にて、立体交差点情報出力部１２５は、移動体３１が立体交差点の上側道路を走行中であることを示す高架走行情報を通信部１３および予測部１４Ａへ出力する。すると、ステップ５０６にて、通信部１３は、その高架走行情報を他の移動体３２に搭載された衝突予測装置１へ送信する。 Then, in step 505, the three-dimensional intersection information output unit 125 outputs elevated traveling information indicating that the moving body 31 is traveling on the upper road of the three-dimensional intersection to the communication unit 13 and the prediction unit 14A. Then, in step 506, the communication unit 13 transmits the elevated traveling information to the collision prediction device 1 mounted on the other moving body 32.
　また、ステップ５０７にて、他移動体位置予測部１４１は、他の移動体３２に搭載された衝突予測装置１から送信されてきた他移動体情報に基づいて、現在時刻以後の他の移動体３２の位置を予測する。 In step 507, the other moving body position predicting unit 141 determines other moving bodies after the current time based on the other moving body information transmitted from the collision prediction apparatus 1 mounted on the other moving body 32. 32 positions are predicted.
　さらに、ステップ５０８にて、自移動体位置予測部１４２は、取得部１１から出力されてきた自移動体情報に基づいて、現在時刻以後の当該移動体３１の位置を予測する。 Further, in step 508, the own moving body position predicting unit 142 predicts the position of the moving body 31 after the current time based on the own moving body information output from the acquiring unit 11.
　その後、ステップ５０９にて、解析部１４３は、ステップ５０５にて立体交差点情報出力部１２５から出力されてきた当該移動体３１に付随する高架走行情報と、通信部１３から送信されてきた他の移動体３２に付随する高架走行情報とに基づいて、当該移動体３１と他の移動体３２とのどちらか一方だけが高架走行状態であるかどうかを判別する。 Thereafter, in step 509, the analysis unit 143 causes the elevated traveling information accompanying the moving body 31 output from the three-dimensional intersection information output unit 125 in step 505 and other movements transmitted from the communication unit 13. Based on the elevated traveling information associated with the body 32, it is determined whether only one of the moving body 31 and the other moving body 32 is in an elevated traveling state.
　そして、解析部１４３は、移動体３１と移動体３２とのどちらか一方だけが高架走行状態でないと判別した場合、その旨を衝突判別部１４４へ通知する。 When the analysis unit 143 determines that only one of the moving body 31 and the moving body 32 is not in the elevated traveling state, the analysis unit 143 notifies the collision determination unit 144 to that effect.
　続いて、ステップ５１０にて、衝突判別部１４４は、自移動体位置予測部１４２が予測した当該移動体３１の予測位置と、他移動体位置予測部１４１が予測した他の移動体３２の予測位置とを比較する。 Subsequently, in step 510, the collision determination unit 144 predicts the predicted position of the moving body 31 predicted by the own moving body position prediction unit 142 and the prediction of the other moving body 32 predicted by the other moving body position prediction unit 141. Compare with position.
　そして、衝突判別部１４４は、比較の結果、移動体３１の予測位置と移動体３２の予測位置とが一致する場合において、移動体３１と移動体３２とのどちらか一方だけが高架走行状態でない旨の情報が解析部１４３から通知された際に、当該移動体３１と他の移動体３２とが衝突する危険性があると判別する。衝突する危険性があると判別した場合、衝突判別部１４４は、その旨を通知部１５へ通知する。 Then, as a result of the comparison, when the predicted position of the moving body 31 and the predicted position of the moving body 32 match, only one of the moving body 31 and the moving body 32 is not in the elevated traveling state. When the information to that effect is notified from the analysis unit 143, it is determined that there is a risk of collision between the mobile body 31 and another mobile body 32. When it is determined that there is a risk of collision, the collision determination unit 144 notifies the notification unit 15 to that effect.
　また、ステップ５１０にて、衝突判別部１４４は、移動体３２に搭載された衝突予測装置１から高架走行情報が送信されていない際、または、立体交差点情報出力部１２５から高架走行情報が出力されていない際において、移動体３１の予測位置と移動体３２の予測位置とが一致する場合、移動体３１および３２が互いに衝突する危険性があると判別する。 In step 510, the collision determination unit 144 outputs the elevated traveling information from the three-dimensional intersection information output unit 125 when the elevated traveling information is not transmitted from the collision prediction device 1 mounted on the moving body 32. When the predicted position of the mobile body 31 and the predicted position of the mobile body 32 coincide with each other, it is determined that there is a risk of the mobile bodies 31 and 32 colliding with each other.
　すると、ステップ５１１にて、通知部１５は、移動体３１の運転者に、他の移動体３２と衝突する危険性に付随する情報を含む衝突危険性情報を通知する。以上で、実施形態２の衝突予測装置１が、複数の移動体３１および３２が互いに衝突するかどうかを予測する一連の動作が終了する。 Then, in step 511, the notification unit 15 notifies the driver of the mobile body 31 of collision risk information including information associated with the risk of collision with another mobile body 32. Thus, a series of operations in which the collision prediction apparatus 1 according to the second embodiment predicts whether or not the plurality of moving bodies 31 and 32 collide with each other is completed.
　以上説明したように、実施形態２によれば、カメラ３３を用いて、路面に描かれた所定の形状を有する上側交差マーク２１および下側交差マーク２２を撮像して解析することによって、上側道路と下側道路とのどちらを移動体が走行しているか判別することができる。そのため、立体交差点を撮影した画像から道路構造を識別して上側道路または下側道路を判別する一般的な技術と比べて、上側道路または下側道路を容易に検知することができる。 As described above, according to the second embodiment, by using the camera 33 to capture and analyze the upper intersection mark 21 and the lower intersection mark 22 having a predetermined shape drawn on the road surface, the upper road It can be determined whether the moving body is traveling on the lower road or the lower road. Therefore, it is possible to easily detect the upper road or the lower road as compared with a general technique in which the road structure is identified from the image of the three-dimensional intersection and the upper road or the lower road is discriminated.
　なお、本発明においては、衝突予測装置１内の処理は上述の専用のハードウェアにより実現されるもの以外に、その機能を実現するためのプログラムを衝突予測装置１にて読取可能な記録媒体に記録し、この記録媒体に記録されたプログラムを衝突予測装置１に読み込ませ、実行するものであってもよい。衝突予測装置１にて読取可能な記録媒体とは、フロッピーディスク（登録商標）、光磁気ディスク、ＤＶＤ、ＣＤなどの移設可能な記録媒体の他、衝突予測装置１に内蔵されたＨＤＤ等を指す。この記録媒体に記録されたプログラムは、例えば、衝突予測装置１が有する検知部１２および予測部１４にて読み込まれ、検知部１２および予測部１４の制御によって、上述したものと同様の処理が行われる。 In the present invention, the processing in the collision prediction apparatus 1 is performed on a recording medium that can be read by the collision prediction apparatus 1 in addition to the above-described dedicated hardware. The program recorded and recorded on this recording medium may be read and executed by the collision prediction apparatus 1. The recording medium readable by the collision prediction apparatus 1 refers to a transfer medium such as a floppy disk (registered trademark), a magneto-optical disk, a DVD, and a CD, and an HDD built in the collision prediction apparatus 1. . The program recorded on the recording medium is read by, for example, the detection unit 12 and the prediction unit 14 included in the collision prediction apparatus 1, and the same processing as described above is performed under the control of the detection unit 12 and the prediction unit 14. Is called.
　ここで、衝突予測装置１が有する検知部１２および予測部１４は、プログラムが記録された記録媒体から読み込まれたプログラムを実行するコンピュータとして動作するものである。 Here, the detection unit 12 and the prediction unit 14 included in the collision prediction apparatus 1 operate as a computer that executes a program read from a recording medium on which the program is recorded.
　以上、実施形態を参照して本発明を説明したが、本発明は上記実施形態に限定されるものではない。本発明の構成や詳細には、本発明の要旨を逸脱しない範囲で当業者が理解し得る各種の変形が可能である。 The present invention has been described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention without departing from the gist of the present invention.
　この出願は、２００９年４月１日に出願された日本出願特願２００９－０８８９５９を基礎とする優先権を主張し、その開示の全てをここに取り込む。 This application claims priority based on Japanese Patent Application No. 2009-088959 filed on April 1, 2009, the entire disclosure of which is incorporated herein.
　１　衝突予測装置
　１１　取得部
　１２　検知部
　１２１　画像入力部
　１２２　鳥瞰画像生成部
　１２３　テンプレートデータベース
　１２４　マーク識別部
　１２５　立体交差走行情報出力部
　１３　通信部
　１４　予測部
　１４１　他移動体位置予測部
　１４２　自移動体位置予測部
　１４３　解析部
　１４４　衝突判別部
　１５　通知部
　２　情報処理装置
　２１、２１１、２１２　上側交差マーク
　２２、２２１、２２２　下側交差マーク
　２３　上側送信装置
　２４　下側送信装置
　３１、３２　移動体
　３３　カメラ DESCRIPTION OF SYMBOLS 1 Collision prediction apparatus 11 Acquisition part 12 Detection part 121 Image input part 122 Bird's-eye view image generation part 123 Template database 124 Mark identification part 125 Three-dimensional intersection travel information output part 13 Communication part 14 Prediction part 141 Other moving body position prediction part 142 Self-moving body Position prediction unit 143 Analysis unit 144 Collision determination unit 15 Notification unit 2 Information processing device 21, 211, 212 Upper intersection mark 22, 221, 222 Lower intersection mark 23 Upper transmission device 24 Lower transmission device 31, 32 Moving object 33 Camera

Claims (32)

  1. 　複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置と、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを具備し、
    　前記衝突予測装置は、
    　前記マークを検知する検知手段と、
    　前記検知手段が前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記検知手段が前記マークを検知していない場合、または、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきていない状態で、前記検知手段が前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する予測手段とを有する衝突予測システム。     A collision prediction device that is mounted on each of the plurality of mobile bodies and predicts a mutual collision based on position information and speed information of the plurality of mobile bodies;
    From the three-dimensional intersection among the positions on either the upper road or the lower road located below the upper road at a three-dimensional intersection where the plurality of roads on which the plurality of mobile bodies travel are three-dimensionally intersecting Provided with a mark provided at a position in front of a predetermined distance,
    The collision prediction device includes:
    Detecting means for detecting the mark;
    Communication means for transmitting information indicating that the detection means has detected the mark to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies; ,
    When the information indicating that the mark is detected is transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, when the detection means does not detect the mark, or When the detection means detects the mark in a state where information indicating that the mark is detected has not been transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, the specific mobile body and A collision prediction system comprising prediction means for predicting that a moving body other than the specific moving body does not collide with each other.
  2. 　前記マークは、前記上側道路と前記下側道路とのどちらか一方の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられ、かつ該マークのそれぞれは互いに異なっており、
    　前記検知手段は、前記互いに異なるマークの検知に基づいて、前記特定移動体による該マークが設けられた前記上側道路または前記下側道路の走行の開始または終了を認識し、
    　前記予測手段は、前記複数の移動体による前記マークが設けられた前記上側道路または前記下側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する、請求項１記載の衝突予測システム。     The marks are provided at positions that are separated from each other by the predetermined distance before and after the three-dimensional intersection among positions on one of the upper road and the lower road, and the marks are mutually connected. Is different,
    The detection means recognizes the start or end of traveling on the upper road or the lower road provided with the mark by the specific moving body based on detection of the different marks,
    The predicting means includes the specific moving body and the specific moving body after the start of the traveling on the upper road or the lower road provided with the mark by the plurality of moving bodies is recognized until the end is recognized. The collision prediction system according to claim 1, wherein a prediction is made that a moving body other than the specific moving body does not collide with each other.
  3. 　複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置と、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マークと、
    　前記立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークとを具備し、
    　前記衝突予測装置は、
    　前記マークを検知する検知手段と、
    　前記検知手段が検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手段が検知したマークとに基づいて衝突を予測する予測手段とを有する衝突予測システム。     A collision prediction device that is mounted on each of the plurality of mobile bodies and predicts a mutual collision based on position information and speed information of the plurality of mobile bodies;
    The upper intersection mark, which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally When,
    A lower intersection mark which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection;
    The collision prediction device includes:
    Detecting means for detecting the mark;
    Information indicating whether the mark detected by the detection means is the upper intersection mark or the lower intersection mark is used to move information other than the specific moving body on which the collision prediction device is mounted among the plurality of moving bodies. Communication means for transmitting to a collision prediction device mounted on the body;
    A collision prediction system comprising: a mark indicated by information transmitted from the collision prediction apparatus mounted on a mobile body other than the specific mobile body; and a prediction means for predicting a collision based on the mark detected by the detection means. .
  4. 　前記予測手段は、前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手段が検知したマークとが異なるものである場合、前記特定移動体と前記マークを示す情報を送信してきた前記衝突予測装置が搭載された前記移動体とが互いに衝突しないと予測する、請求項３記載の衝突予測システム。 If the mark indicated by the information transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body is different from the mark detected by the detection means, the prediction means The collision prediction system according to claim 3, wherein the collision prediction system predicts that the mobile body on which the collision prediction apparatus that has transmitted information indicating the body and the mark is mounted does not collide with each other.
  5. 　前記道路には、前記上側道路を走行する移動体から前記所定の距離だけ前方の位置に前記立体交差点が存在することを示す情報を通信により送信する上側送信装置と、前記下側道路を走行する移動体から前記所定の距離だけ前方の位置に前記立体交差点が存在することを示す情報を通信により送信する下側送信装置とが設けられており、
    　前記検知手段は、前記上側送信装置から送信されてきた情報を受信することにより該上側交差マークを検知し、前記下側送信装置から送信されてきた情報を受信することにより該下側交差マークを検知する、請求項３または４記載の衝突予測システム。     An upper transmission device that transmits information indicating that the three-dimensional intersection exists at a position ahead of the predetermined distance from a moving body that travels on the upper road, and the lower road that travels on the road A lower transmission device that transmits information indicating that the three-dimensional intersection exists at a position ahead of the predetermined distance from the moving body by communication; and
    The detection means detects the upper intersection mark by receiving information transmitted from the upper transmission device, and detects the lower intersection mark by receiving information transmitted from the lower transmission device. The collision prediction system according to claim 3 or 4 which detects.
  6. 　前記マークは、前記道路の路面に埋め込まれた磁気マークであり、
    　前記検知手段は、磁気センサにより前記マークを検知する、請求項１乃至４のいずれか記載の衝突予測システム。     The mark is a magnetic mark embedded in the road surface of the road,
    The collision prediction system according to claim 1, wherein the detection unit detects the mark with a magnetic sensor.
  7. 　前記マークは、前記道路の路面に描画されたマークであり、
    　前記検知手段は、画像センサにより前記マークを検知する、請求項１乃至４のいずれか記載の衝突予測システム。     The mark is a mark drawn on the road surface,
    The collision prediction system according to claim 1, wherein the detection unit detects the mark with an image sensor.
  8. 　前記上側交差マークは、前記上側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられ、かつ該上側交差マークのそれぞれは互いに異なるとともに、前記下側交差マークは、前記下側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられ、かつ該下側交差マークのそれぞれは互いに異なっており、
    　前記検知手段は、前記互いに異なる上側交差マークの検知に基づいて、前記特定移動体による前記上側道路の走行の開始または終了を認識し、前記互いに異なる下側交差マークの検知に基づいて、該特定移動体による前記下側道路の走行の開始または終了を認識し、
    　前記予測手段は、前記複数の移動体による前記上側道路または前記下側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと衝突を予測する、請求項３乃至５のいずれか記載の衝突予測システム。     The upper intersection mark is provided at a position separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the upper road, and the upper intersection marks are different from each other and the lower side Intersection marks are provided at positions separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the lower road, and the lower intersection marks are different from each other,
    The detection means recognizes the start or end of traveling on the upper road by the specific moving body based on the detection of the different upper intersection marks, and determines the specification based on the detection of the different lower intersection marks. Recognizing the start or end of travel on the lower road by a moving object;
    The predicting means includes the specific moving body and the specific moving body other than the specific moving body during the period from the recognition of the start of traveling on the upper road or the lower road by the plurality of moving bodies to the recognition of the end. The collision prediction system according to any one of claims 3 to 5, wherein a collision is predicted if the moving bodies do not collide with each other.
  9. 　複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置であって、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを検知する検知手段と、
    　前記検知手段が前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記検知手段が前記マークを検知していない場合、または、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきていない状態で、前記検知手段が前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する予測手段とを有する衝突予測装置。     A collision prediction device that is mounted on each of a plurality of moving bodies and predicts a mutual collision based on position information and speed information of the plurality of moving bodies,
    From the three-dimensional intersection among the positions on either the upper road or the lower road located below the upper road at a three-dimensional intersection where the plurality of roads on which the plurality of mobile bodies travel are three-dimensionally intersecting Detecting means for detecting a mark provided at a position in front of a predetermined distance;
    Communication means for transmitting information indicating that the detection means has detected the mark to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies; ,
    When the information indicating that the mark is detected is transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, when the detection means does not detect the mark, or When the detection means detects the mark in a state where information indicating that the mark is detected has not been transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, the specific mobile body and A collision prediction apparatus comprising: a prediction unit that predicts that a moving body other than the specific moving body does not collide with each other.
  10. 　前記検知手段は、前記上側道路と前記下側道路とのどちらか一方の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられ、かつ互いに異なる前記マークの検知に基づいて、前記特定移動体による該マークが設けられた前記上側道路または前記下側道路の走行の開始または終了を認識し、
    　前記予測手段は、前記複数の移動体による前記マークが設けられた前記上側道路または前記下側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する、請求項９記載の衝突予測装置。     The detecting means is provided at positions separated from each other by the predetermined distance before and after the three-dimensional intersection among positions on one of the upper road and the lower road, and the marks different from each other. Based on the detection, recognize the start or end of travel on the upper road or the lower road provided with the mark by the specific mobile body,
    The predicting means includes the specific moving body and the specific moving body after the start of the traveling on the upper road or the lower road provided with the mark by the plurality of moving bodies is recognized until the end is recognized. The collision prediction apparatus according to claim 9, wherein the collision prediction apparatus predicts that a moving object other than the specific moving object does not collide with each other.
  11. 　複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置であって、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マーク、または、該立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークを検知する検知手段と、
    　前記検知手段が検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手段と、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手段が検知したマークとに基づいて衝突を予測する予測手段とを有する衝突予測装置。     A collision prediction device that is mounted on each of a plurality of moving bodies and predicts a mutual collision based on position information and speed information of the plurality of moving bodies,
    The upper intersection mark, which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally Or, a lower intersection mark, which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection, is detected. Detection means;
    Information indicating whether the mark detected by the detection means is the upper intersection mark or the lower intersection mark is used to move information other than the specific moving body on which the collision prediction device is mounted among the plurality of moving bodies. Communication means for transmitting to a collision prediction device mounted on the body;
    A collision prediction apparatus comprising: a mark indicated by information transmitted from the collision prediction apparatus mounted on a mobile body other than the specific mobile body; and a prediction means for predicting a collision based on the mark detected by the detection means. .
  12. 　前記予測手段は、前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手段が検知したマークとが異なるものである場合、前記特定移動体と前記マークを示す情報を送信してきた前記衝突予測装置が搭載された前記移動体とが互いに衝突しないと予測する、請求項１１記載の衝突予測装置。 If the mark indicated by the information transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body is different from the mark detected by the detection means, the prediction means The collision prediction apparatus according to claim 11, wherein the collision prediction apparatus predicts that the mobile body on which the collision prediction apparatus that has transmitted information indicating the body and the mark is mounted does not collide with each other.
  13. 　前記検知手段は、前記上側道路に設けられた上側送信装置から送信されてきた情報を受信することにより前記上側交差マークを検知し、前記下側道路に設けられた下側送信装置から送信されてきた情報を受信することにより前記下側交差マークを検知する、請求項１１または１２記載の衝突予測装置。 The detection means detects the upper intersection mark by receiving information transmitted from an upper transmission device provided on the upper road, and is transmitted from a lower transmission device provided on the lower road. The collision prediction device according to claim 11, wherein the lower intersection mark is detected by receiving the received information.
  14. 　前記検知手段は、磁気センサを用いて前記マークである前記道路の路面に埋め込まれた磁気マークを検知することにより前記マークを検知する、請求項９乃至１２のいずれか記載の衝突予測装置。 The collision prediction apparatus according to any one of claims 9 to 12, wherein the detection means detects the mark by detecting a magnetic mark embedded in a road surface of the road, which is the mark, using a magnetic sensor.
  15. 　前記検知手段は、画像センサを用いて前記道路の路面に描画された前記マークを検知する、請求項９乃至１２のいずれか記載の衝突予測装置。 13. The collision prediction apparatus according to claim 9, wherein the detection unit detects the mark drawn on the road surface of the road using an image sensor.
  16. 　前記検知手段は、前記上側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられた互いに異なる上側交差マークの検知に基づいて、前記特定移動体による前記上側道路の走行の開始または終了を認識し、前記下側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられた互いに異なる下側交差マークの検知に基づいて、該特定移動体による前記下側道路の走行の開始または終了を認識し、
    　前記予測手段は、前記複数の移動体による前記上側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する、請求項１１乃至１５のいずれか記載の衝突予測装置。     The detection means is based on detection of different upper intersection marks provided at positions separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the upper road. Recognizing the start or end of traveling on the upper road, of the different lower intersection marks provided at positions separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the lower road Based on the detection, recognize the start or end of the travel on the lower road by the specific moving body,
    The predicting means is configured such that the specific moving body and a moving body other than the specific moving body are mutually connected during a period from when the start of traveling on the upper road by the plurality of moving bodies is recognized until the end is recognized. The collision prediction apparatus according to claim 11, wherein the collision prediction apparatus predicts that no collision occurs.
  17. 　複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置における衝突予測方法であって、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と前記上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを検知し、
    　前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信し、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記マークを検知していない場合、または、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきていない状態で、前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する、衝突予測方法。     A collision prediction method in a collision prediction apparatus for predicting a mutual collision based on position information and speed information of a plurality of moving bodies,
    From the three-dimensional intersection among the positions on either the upper road or the lower road located below the upper road at a three-dimensional intersection where the plurality of roads on which the plurality of mobile bodies travel are three-dimensionally intersecting Detects a mark placed in front of a predetermined distance,
    Information indicating that the mark has been detected is transmitted to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies,
    When the information indicating that the mark is detected is transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, or when the mark is not detected, or other than the specific mobile body When the mark is detected in a state where information indicating that the mark has been detected is not transmitted from the collision prediction device mounted on the moving body, the specific moving body and a moving body other than the specific moving body A collision prediction method that predicts that and will not collide with each other.
  18. 　前記マークを検知することは、
    　前記上側道路と前記下側道路とのどちらか一方の道路上の位置のうち、前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられ、かつ互いに異なる前記マークの検知に基づいて、前記特定移動体による該マークが設けられた前記上側道路または前記下側道路の走行の開始または終了を認識することを含み、
    　前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測することは、
    　前記複数の移動体による前記マークが設けられた前記上側道路または前記下側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測することを含む、請求項１７記載の衝突予測方法。     Detecting the mark
    Based on the detection of the marks that are provided at positions that are separated from each other by the predetermined distance before and after the three-dimensional intersection among the positions on either the upper road or the lower road. Recognizing the start or end of traveling on the upper road or the lower road provided with the mark by the specific moving body,
    Predicting that the specific mobile body and a mobile body other than the specific mobile body do not collide with each other,
    The specific moving body and other than the specific moving body during the period from when the start of traveling on the upper road or the lower road provided with the mark by the plurality of moving bodies is recognized until the end is recognized The collision prediction method according to claim 17, further comprising: predicting that no moving object collides with each other.
  19. 　複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置における衝突予測方法であって、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マーク、または、該立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークを検知し、
    　前記検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信し、
    　前記特定移動体以外の移動体から送信されてきた情報が示すマークと、前記検知したマークとに基づいて衝突を予測する、衝突予測方法。     A collision prediction method in a collision prediction apparatus for predicting a mutual collision based on position information and speed information of a plurality of moving bodies,
    The upper intersection mark, which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally Or detecting a lower intersection mark that is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection. ,
    Information indicating whether the detected mark is the upper intersection mark or the lower intersection mark is mounted on a moving body other than the specific moving body on which the collision prediction device is mounted among the plurality of moving bodies. Sent to the collision prediction device,
    A collision prediction method for predicting a collision based on a mark indicated by information transmitted from a mobile body other than the specific mobile body and the detected mark.
  20. 　前記特定移動体以外の移動体から送信されてきた情報が示すマークと、前記検知したマークとに基づいて衝突を予測することは、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知したマークとが異なるものである場合、前記特定移動体と前記マークを示す情報を送信してきた前記衝突予測装置が搭載された前記移動体とが互いに衝突しないと予測することを含む、請求項１９記載の衝突予測方法。     Predicting a collision based on a mark indicated by information transmitted from a mobile body other than the specific mobile body and the detected mark,
    When the mark indicated by the information transmitted from the collision prediction device mounted on the mobile body other than the specific mobile body is different from the detected mark, information indicating the specific mobile body and the mark is displayed. The collision prediction method according to claim 19, further comprising: predicting that the mobile body on which the transmitted collision prediction apparatus is mounted does not collide with each other.
  21. 　前記特定移動体以外の移動体から送信されてきた情報が示すマークと、前記検知したマークとに基づいて衝突を予測することは、
    　前記上側道路に設けられた上側送信装置から送信されてきた情報を受信することにより前記上側交差マークを検知し、前記下側道路に設けられた下側送信装置から送信されてきた情報を受信することにより前記下側交差マークを検知することを含む、請求項１９または２０記載の衝突予測方法。     Predicting a collision based on a mark indicated by information transmitted from a mobile body other than the specific mobile body and the detected mark,
    The upper intersection mark is detected by receiving information transmitted from an upper transmission device provided on the upper road, and information transmitted from a lower transmission device provided on the lower road is received. The collision prediction method according to claim 19, further comprising detecting the lower intersection mark.
  22. 　前記マークを検知することは、
    　磁気センサを用いて前記マークである前記道路の路面に埋め込まれた磁気マークを検知することにより前記マークを検知することを含む、　請求項１７乃至２０のいずれか記載の衝突予測方法。     Detecting the mark
    21. The collision prediction method according to claim 17, further comprising: detecting the mark by detecting a magnetic mark embedded in a road surface of the road, which is the mark, using a magnetic sensor.
  23. 　前記マークを検知することは、
    　画像センサを用いて前記道路の路面に描画された前記マークを検知することを含む、請求項１７乃至２０のいずれか記載の衝突予測方法。     Detecting the mark
    The collision prediction method according to any one of claims 17 to 20, comprising detecting the mark drawn on the road surface of the road using an image sensor.
  24. 　前記マークを検知することは、
    　前記上側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられた互いに異なる上側交差マークの検知に基づいて、前記特定移動体による前記上側道路の走行の開始または終了を認識し、前記下側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられた互いに異なる下側交差マークの検知に基づいて、該特定移動体による前記下側道路の走行の開始または終了を認識することを含み、
    　前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測することは、
    　前記複数の移動体による前記上側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測することを含む、請求項１９乃至２３のいずれか記載の衝突予測方法。     Detecting the mark
    Based on the detection of different upper intersection marks provided at the predetermined distances before and after the three-dimensional intersection among the positions of the upper road on the road, the specific moving body travels the upper road. Based on the detection of different lower intersection marks provided at positions separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the lower road, Recognizing the start or end of traveling on the lower road by the specific moving body,
    Predicting that the specific mobile body and a mobile body other than the specific mobile body do not collide with each other,
    It is predicted that the specific mobile body and a mobile body other than the specific mobile body will not collide with each other during the period from when the start of traveling on the upper road by the plurality of mobile bodies is recognized until the end is recognized. The collision prediction method according to any one of claims 19 to 23.
  25. 　複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置に、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点で上側道路と該上側道路の下に位置する下側道路とのどちらか一方の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークを検知する検知手順と、
    　前記検知手順にて前記マークを検知したことを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手順と、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されてきた際に、前記検知手順にて前記マークを検知していない場合、または、前記特定移動体以外の移動体に搭載された前記衝突予測装置から前記マークを検知したことを示す情報が送信されていない状態で、前記検知手順にて前記マークを検知した場合、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する予測手順とを実行させるためのプログラムを記録したコンピュータ読み取り可能な記録媒体。     A collision prediction device that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
    From the three-dimensional intersection among the positions on either the upper road or the lower road located below the upper road at a three-dimensional intersection where the plurality of roads on which the plurality of mobile bodies travel are three-dimensionally intersecting A detection procedure for detecting a mark provided in front of a predetermined distance;
    A communication procedure for transmitting information indicating that the mark has been detected in the detection procedure to a collision prediction apparatus mounted on a mobile body other than the specific mobile body on which the collision prediction apparatus is mounted among the plurality of mobile bodies. When,
    When the information indicating that the mark is detected is transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, when the mark is not detected in the detection procedure, or When the mark is detected in the detection procedure in a state where information indicating that the mark is detected is not transmitted from the collision prediction device mounted on a mobile body other than the specific mobile body, the specific mobile body And a computer-readable recording medium storing a program for executing a prediction procedure for predicting that a moving body other than the specific moving body does not collide with each other.
  26. 　前記検知手順では、前記上側道路と前記下側道路とのどちらか一方の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられ、かつ互いに異なる前記マークの検知に基づいて、前記特定移動体による該マークが設けられた前記上側道路または前記下側道路の走行の開始または終了を認識し、
    　前記予測手順では、前記複数の移動体による前記マークが設けられた前記上側道路または前記下側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する、請求項２５記載の記録媒体。     In the detection procedure, among the positions on either the upper road or the lower road, the marks are provided at positions separated by the predetermined distance before and after the three-dimensional intersection and different from each other. Based on the detection, recognize the start or end of travel on the upper road or the lower road provided with the mark by the specific mobile body,
    In the prediction procedure, between the recognition of the start of traveling on the upper road or the lower road provided with the mark by the plurality of moving objects and the recognition of the end, 26. The recording medium according to claim 25, wherein a mobile body other than the specific mobile body is predicted not to collide with each other.
  27. 　複数の移動体にそれぞれ搭載された、該複数の移動体の位置情報および速度情報に基づいて互いの衝突を予測する衝突予測装置に、
    　前記複数の移動体が走行する複数の道路が立体的に交差する立体交差点の上側道路の道路上の位置のうち該立体交差点から所定の距離だけ手前の位置に設けられたマークである上側交差マーク、または、該立体交差点の前記上側道路の下に位置する下側道路の道路上の位置のうち、該立体交差点から所定の距離だけ手前の位置に設けられたマークである下側交差マークを検知する検知手順と、
    　前記検知手順にて検知したマークが前記上側交差マークと前記下側交差マークとのどちらであるかを示す情報を、前記複数の移動体のうち当該衝突予測装置が搭載された特定移動体以外の移動体に搭載された衝突予測装置へ送信する通信手順と、
    　前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手順にて検知したマークとに基づいて衝突を予測する予測手順とを実行させるためのプログラムを記録したコンピュータ読み取り可能な記録媒体。     A collision prediction device that is mounted on each of a plurality of moving bodies and predicts a collision with each other based on position information and speed information of the plurality of moving bodies.
    The upper intersection mark, which is a mark provided at a position a predetermined distance from the three-dimensional intersection among the positions on the upper road of the three-dimensional intersection where the plurality of roads on which the plurality of moving bodies cross three-dimensionally Or detecting a lower intersection mark, which is a mark provided at a predetermined distance from the three-dimensional intersection among the positions on the road of the lower road located below the upper road of the three-dimensional intersection. Detection procedure to
    Information indicating whether the mark detected in the detection procedure is the upper intersection mark or the lower intersection mark is information other than the specific moving body on which the collision prediction device is mounted among the plurality of moving bodies. A communication procedure to be transmitted to the collision prediction device mounted on the moving body;
    In order to execute a prediction procedure for predicting a collision based on a mark indicated by information transmitted from the collision prediction apparatus mounted on a mobile body other than the specific mobile body and a mark detected in the detection procedure The computer-readable recording medium which recorded the program of.
  28. 　前記予測手順では、前記特定移動体以外の移動体に搭載された前記衝突予測装置から送信されてきた情報が示すマークと、前記検知手順にて検知したマークとが異なるものである場合、前記特定移動体と前記マークを示す情報を送信してきた前記衝突予測装置が搭載された前記移動体とが互いに衝突しないと予測する、請求項２７記載の記録媒体。 In the prediction procedure, when the mark indicated by the information transmitted from the collision prediction device mounted on the mobile body other than the specific mobile body is different from the mark detected in the detection procedure, the specific 28. The recording medium according to claim 27, wherein the moving body and the moving body on which the collision prediction device that has transmitted the information indicating the mark is predicted not to collide with each other.
  29. 　前記検知手順では、前記上側道路に設けられた上側送信装置から送信されてきた情報を受信することにより前記上側交差マークを検知し、前記下側道路に設けられた下側送信装置から送信されてきた情報を受信することにより前記下側交差マークを検知する、請求項２７または２８記載の記録媒体。 In the detection procedure, the upper intersection mark is detected by receiving information transmitted from the upper transmission device provided on the upper road, and transmitted from the lower transmission device provided on the lower road. The recording medium according to claim 27 or 28, wherein the lower intersection mark is detected by receiving the received information.
  30. 　前記検知手順では、磁気センサを用いて前記マークである前記道路の路面に埋め込まれた磁気マークを検知することにより前記マークを検知する、請求項２５乃至２８のいずれか記載の記録媒体。 29. The recording medium according to claim 25, wherein, in the detection procedure, the mark is detected by detecting a magnetic mark embedded in a road surface of the road, which is the mark, using a magnetic sensor.
  31. 　前記検知手順では、画像センサを用いて前記道路の路面に描画された前記マークを検知する、請求項２５乃至２８のいずれか記載の記憶媒体。 29. The storage medium according to claim 25, wherein in the detection procedure, the mark drawn on the road surface of the road is detected using an image sensor.
  32. 　前記検知手順では、前記上側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられた互いに異なる上側交差マークの検知に基づいて、前記特定移動体による前記上側道路の走行の開始または終了を認識し、前記下側道路の道路上の位置のうち前記立体交差点の前後に前記所定の距離だけそれぞれ離れた位置に設けられた互いに異なる下側交差マークの検知に基づいて、該特定移動体による前記下側道路の走行の開始または終了を認識し、
    　前記予測手順では、前記複数の移動体による前記上側道路または前記下側道路の走行の開始が認識されてから前記終了が認識されるまでの間に、前記特定移動体と該特定移動体以外の移動体とが互いに衝突しないと予測する、請求項２７乃至３１のいずれか記載の記憶媒体。     In the detection procedure, based on detection of different upper intersection marks provided at positions separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the upper road, the specific moving body Recognizing the start or end of traveling on the upper road, of the different lower intersection marks provided at positions separated by the predetermined distance before and after the three-dimensional intersection among the positions on the road of the lower road Based on the detection, recognize the start or end of the travel on the lower road by the specific moving body,
    In the prediction procedure, the specific mobile body and the specific mobile body other than the specific mobile body are recognized after the start of traveling on the upper road or the lower road by the plurality of mobile bodies is recognized until the end is recognized. 32. The storage medium according to claim 27, wherein the storage medium is predicted not to collide with each other.
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