WO2014115309A1 - 移動支援装置および移動支援方法 - Google Patents
移動支援装置および移動支援方法 Download PDFInfo
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- WO2014115309A1 WO2014115309A1 PCT/JP2013/051613 JP2013051613W WO2014115309A1 WO 2014115309 A1 WO2014115309 A1 WO 2014115309A1 JP 2013051613 W JP2013051613 W JP 2013051613W WO 2014115309 A1 WO2014115309 A1 WO 2014115309A1
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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
- G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
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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
-
- 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
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
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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
- G08G1/0967—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
Definitions
- the present invention relates to a movement support apparatus and a movement support method for providing support information such as traffic signal information to a moving body or a passenger of the moving body.
- green wave driving aims to improve fuel efficiency by preventing unnecessary acceleration / deceleration of the host vehicle by supporting the optimal way of passing signal intersections based on signal information acquired by road-to-vehicle communication.
- a signal database is created by using a camera mounted on a vehicle to capture a light color of a traffic light and analyzing the image data to create a signal database on the vehicle-mounted device or server.
- a navigation device that provides information is disclosed.
- Patent Document 2 discloses the remaining time until the light color of the traffic light changes by acquiring the lighting time of a specific light color of the traffic light without analyzing the video data in front of the host vehicle.
- An in-vehicle device for guiding the user is disclosed.
- Patent Document 3 discloses a signal prediction device that constructs a traffic signal information database using traffic signal information acquired by road-to-vehicle communication and predicts a time for switching the color of a traffic light.
- the present invention was made to solve the above-mentioned problems and satisfy the needs of users, and using the traffic signal information obtained by using the posting service on the SNS site on the network described above, mobility support It is an object of the present invention to provide a movement support apparatus and a movement support system that achieve the above.
- the movement support device is a signal in which signal data, which is stored in an SNS server, is configured for each lamp color pattern of traffic signal identification information, imaging date and time and lighting duration of the traffic signal.
- Periodic data is acquired via the information communication unit, the traffic signal through which the moving body passes is identified from the traffic signal identification information in the signal periodic data, and the difference time between the imaging date and time of each lamp color in the signal periodic data and the current time
- the provided information acquisition unit that calculates the remaining lighting time that is the remaining time from the lighting duration time of the signal cycle data to the end of lighting of each lamp color of the specified traffic light, and the remaining lighting time calculated by the providing information acquisition unit And an information output unit to be presented.
- FIG. 1 is a block diagram illustrating a configuration of a movement support apparatus according to Embodiment 1.
- FIG. 6 is a flowchart illustrating signal display data recording processing of the movement support apparatus according to the first embodiment. It is a figure which shows an example of the signal display data log
- 4 is a flowchart showing signal duration data posting processing of the movement support apparatus according to the first embodiment. It is a figure which shows an example of the display content of a display part at the time of signal period data acquisition of the movement assistance apparatus by Embodiment 1.
- FIG. 4 is a flowchart illustrating signal data provision processing of the movement support apparatus according to the first embodiment.
- FIG. 10 is a flowchart showing signal switching time data posting processing of the movement support apparatus according to the second embodiment. 10 is a flowchart illustrating signal data provision processing of the movement support apparatus according to the second embodiment. It is a figure which shows an example of the signal display data which the control part of the movement assistance apparatus by Embodiment 2 produces.
- FIG. 10 is a flowchart showing signal switching time data posting processing of the movement support apparatus according to the second embodiment. 10 is a flowchart illustrating signal data provision processing of the movement support apparatus according to the second embodiment. It is a figure which shows an example of the signal display data which the control part of the movement assistance apparatus by Embodiment 2 produces.
- FIG. 10 is a block diagram illustrating a configuration of a movement support apparatus according to a third embodiment.
- 10 is a flowchart illustrating signal data provision processing of the movement support apparatus according to the third embodiment. It is a block diagram which shows the structure of the movement assistance apparatus by Embodiment 4.
- 10 is a flowchart showing recommended speed provision processing of the movement support apparatus according to the fourth embodiment.
- FIG. 10 is a diagram illustrating a display example when a movement support apparatus according to Embodiment 4 is in signal synchronization. It is a figure which shows the outline
- FIG. 1 is a block diagram showing a configuration of a movement support apparatus according to Embodiment 1 of the present invention.
- the movement support apparatus 10 includes a position information acquisition unit 1, an operation unit 2, a display unit (information output unit) 3, a sound output unit (information output unit) 4, an imaging information acquisition unit 5, a control unit 6, a storage unit 7, and information.
- the communication unit 8 is configured.
- the movement assistance apparatus 10 shall be mounted in a mobile body or should be possessed by a mobile body.
- the moving body refers to a vehicle or a pedestrian that moves when operated by a person such as a vehicle or a bicycle.
- the movement support device 10 may be a portable device such as a mobile phone possessed by a person, a car navigation system installed in a vehicle, a cycle computer installed in a bicycle, or the like. It may be incorporated in or mounted on the existing equipment described above, or may be used as a separate body.
- the above-described device is a product in which a GPS receiver IC is already incorporated, and can be incorporated relatively inexpensively and easily.
- the movement support apparatus 10 provides the remaining time of the light color of the traffic light installed on the road on which the mobile body travels as movement support information.
- the position information acquisition unit 1 is preferably configured by, for example, a GPS (Global Positioning System) capable of recognizing three-dimensional position information by receiving a signal from an artificial satellite turning around the earth. By using GPS, it is possible to acquire not only position information but also time information output by a satellite. Further, the traveling direction and speed can be calculated from the change in position over time. The azimuth information and the speed information may be acquired by default from the position information acquisition unit 1 or may be calculated by the control unit 6.
- GPS Global Positioning System
- the operation unit 2 includes a mechanical key switch provided around the display unit 3, a touch panel configured integrally with the display unit 3, and the like, and functions as a user interface operable by the user.
- the display unit 3 is composed of a liquid crystal monitor, for example, and outputs video information based on an input signal from the control unit 6.
- the voice output unit 4 includes a speaker and an amplifier, and outputs various guidance voices based on an input signal from the control unit 6.
- the imaging information acquisition unit 5 is configured with an image sensor such as a camera, for example, and images a traffic light located in front of the moving body. Since the movement support device 10 is arranged or held at a position where the front of the moving body can be photographed, the imaging information acquisition unit 5 can generate video data in front of the moving body.
- the control unit 6 executes various programs stored in the storage unit 7 to control the entire movement support apparatus 10 and realize various functions.
- the control unit 6 includes a position specifying unit 6a, a signal presenting data generating unit 6b, a signal data creating unit 6c, and a provision information acquiring unit 6d.
- the position specifying unit 6a specifies the current position and the traveling direction of the moving body based on the input signal from the position information acquisition unit 1, and specifies the position of the traffic signal included in the video data.
- the signal indication data generation unit 6b generates signal indication data indicating the current position of the moving object and the current lamp color of the traffic light existing in the traveling direction using the result specified by the position specifying unit 6a.
- the signal data creation unit 6c creates signal duration data (signal data), which is the time during which each lamp color of the traffic light is displayed, using the signal display data generated by the signal display data generation unit 6b.
- the provided information acquisition unit 6d has all the light colors constituting the light color patterns (for example, red, blue, and yellow patterns) of traffic lights posted on posting sites such as an SNS (social networking service) site on the network. Signal period data indicating the signal data is obtained, and the remaining lighting time that is the remaining time until the lighting of the lamp color of the traffic light that the moving body passes is calculated.
- the storage unit 7 stores information to be referred to when the control unit 6 makes various determinations, and stores, for example, road map data representing road connection relations, a traffic light installation position, and a traffic light lighting direction (direction). is doing.
- parameter information required when the control unit 6 makes various determinations is also stored, and is acquired from road map data or the like and stored in advance as necessary. Further, the signal display data generated by the signal display data generation unit 6b is temporarily recorded and managed.
- the signal ID information may be stored in association with the data of each signal stored in the storage unit 7.
- Each traffic signal is assigned a unique ID, and the traffic signal ID is also used in road map data. Therefore, in the road map data, the traffic signal ID of the traffic signal installed at each intersection (node) is the corresponding intersection. Is registered in the node data.
- each traffic signal ID is associated with information on an approach route (link) to an intersection where a corresponding traffic signal displays a traffic signal, and is registered in node data.
- the node data is data representing the position of the corresponding intersection and the connection relationship with the road (link), similarly to the node data provided in the known car navigation apparatus.
- Each traffic signal installed at the intersection may operate to switch traffic signals at the same timing as the traffic signal installed in the oncoming lane, while others may operate asynchronously, such as a time difference signal.
- a traffic signal installed in the oncoming lane, while others may operate asynchronously, such as a time difference signal.
- pedestrian separation type traffic lights since there are cases such as pedestrian separation type traffic lights, it is possible to increase the load on the storage unit 7 by recording whether or not all traffic lights are synchronized / asynchronous, etc. or whether or not a sub-area with other traffic lights is configured. Therefore, it is preferable to provide signal ID for each direction of the same traffic light and handle signal information.
- the information communication unit 8 posts the signal duration data (signal data) created by the signal data creation unit 6c of the control unit 6 to a predetermined posting site on the network.
- the network may be connected to a server uniquely prepared by a car manufacturer, such as telematics, which is an information communication service for automobiles.
- a third-generation mobile phone (3G) using a smartphone that is a multi-function mobile phone It is also possible to communicate with a WEB server using this line.
- the posting site may be, for example, a website in a service (SNS: Social Networking Service) for building a social network on the Internet.
- SNS Social Networking Service
- FIG. 2 is a flowchart showing signal display data recording processing of the movement support apparatus according to Embodiment 1 of the present invention.
- the signal indication data recording process is a process that the position specifying unit 6a and the signal indication data generating unit 6b of the control unit 6 repeatedly execute at regular intervals, and the video data output from the imaging information acquisition unit 5 is processed. Analysis is performed to identify the lamp color of each traffic signal displayed in the video data, and the identification result is recorded in the storage unit 7.
- the position specifying unit 6a of the control unit 6 specifies the position and traveling direction of the moving body based on the input signal of the position information acquiring unit 1 (step ST1).
- the distance between the traffic signal included in the video data captured by the imaging information acquisition unit 5 and the own mobile body is calculated.
- the position coordinates of the traffic signal are specified (step ST2).
- the relative distance between the traffic light and the own mobile body may be recorded in the storage unit 7 separately.
- the signal display data generation unit 6b of the control unit 6 refers to the position coordinates of the traffic light identified in step ST2, and whether the traffic signal included in the video data theoretically exists at the current position and the traveling direction of the moving body. It is determined whether or not (step ST3). If it does not exist in theory (step ST3; NO), the process returns to step ST1. On the other hand, when present theoretically (step ST3; YES), the signal display data generating unit 6b specifies the light color of the traffic signal displayed in the video data (step ST4). In the description of the first embodiment, it is assumed that the arrow signal is ignored and the light color of the traffic light is blue, yellow, or red.
- the signal indication data generation unit 6b determines whether or not the information related to the traffic light identified in step ST2 and the information related to the light color of the traffic light identified in step ST4 is stored in the storage unit 7. Perform (step ST5). In other words, in step ST5, it is determined whether or not the latest information of the same traffic light stored in the storage unit 7 is the same color as the lamp color specified in step ST4. If stored in the storage unit 7 (step ST5; YES), the process returns to step ST1. On the other hand, if not stored in the storage unit 7 (step ST5; NO), the signal display data generation unit 6b indicates the position and direction information of the traffic signal displayed in the video data, and the light color of the traffic signal specified in step ST4.
- Signal display data composed of information and imaging date / time information corresponding to the analyzed video data (still image frame) is generated (step ST6).
- the signal display data generated in step ST6 is recorded in the signal display data history stored in the storage unit 7 (step ST7), and the process returns to step ST1.
- FIG. 3 is a diagram showing an example of signal display data history stored in the storage unit of the movement support apparatus according to Embodiment 1 of the present invention.
- the signal display data history is composed of “traffic light ID”, “imaging date / time”, and “lamp color (change)”. “Light color (change)” is indicated as “Yellow ⁇ Red” when the light color of the traffic light changes from yellow to red, for example.
- FIG. 3 shows an example in which the traffic signal ID is used, the present invention is applicable to any information in which the traffic signal position and direction information are uniquely determined.
- the signal continuation time data posting process can be performed, for example, at any of the following timings.
- the timing (2) is the timing at which the imaging information acquisition unit 5 can no longer acquire the light color of the traffic light, and there is no signal display data relating to the same traffic light in step ST5 of the flowchart of FIG. Is the case.
- the signal data creation unit 6c of the control unit 6 refers to the signal presentation data history, and sets a traffic signal in which the signal presentation data exists as a subject of posting processing.
- the signal duration data posting process will be described with reference to the flowchart of FIG. FIG. 4 is a flowchart showing signal duration data posting processing of the movement support apparatus according to Embodiment 1 of the present invention.
- the signal data creation unit 6c of the control unit 6 is based on the signal display data history stored in the storage unit 7, and the lighting duration time of each lamp color of the traffic light displayed in the video data. Is calculated. That is, the time from the lighting start to the lighting end of the blue signal, the yellow signal, and the red signal is calculated.
- the signal data creation unit 6c refers to the signal presenting data group registered in the signal presenting data history in order from the data with the latest imaging date and time in the past direction, and the past closest to the current time in the traffic signal to be processed.
- the signal display data whose lamp color has been switched at the time of is retrieved (step ST11).
- the signal data creation unit 6c refers to the signal display data searched in step ST11, and the signal display data immediately after the lamp color related to the signal to be processed is switched to the lamp color indicated by the latest signal display data. (Hereinafter referred to as specific color end data), and signal display data that is temporally adjacent to the specific color end data in the past direction and immediately after the lamp color is switched (hereinafter referred to as specific data).
- color start data It is determined whether or not it can be searched from the signal display data group to be processed (referred to as color start data) (step ST12).
- the specific color is “Red”
- data with the lamp color “Red ⁇ Blue” and the imaging date “08:00:48” can be searched as the specific color end data.
- the specific color start data it is possible to search for data whose lamp color is “Yellow ⁇ Red” and whose imaging date is “08:00:00”.
- the signal data creation unit 6c displays the imaging date and time indicated by the specific color end data as the specific color display end date and time and the specific color start data of the traffic light.
- the specific color duration time T is calculated from the traffic signal ID of the traffic light, that is, the processing target ID, the specific color display start date and time, and the specific color display end date and time. ). In the example shown in FIG. 3, the specific color duration T is calculated with the lamp color “red” and the duration “48 [sec]”.
- the signal data creation unit 6c determines whether or not the specific color duration T calculated in step ST13 is an effective value (step ST14). The determination as to whether or not it is valid is made based on whether or not the specific color duration T is within the upper limit value T_max or the lower limit value T_min stored in the recording unit 7. It is assumed that an upper limit value and a lower limit value are set for each lamp color constituting the signal cycle. Further, the upper limit value and the lower limit value are set by using a generally defined display time as a parameter.
- step ST14 If the specific color duration T is not an effective value (step ST14; NO), the process is terminated.
- the signal data creation unit 6c determines the traffic light ID, the lamp color calculated in step ST13, the specific color duration T, the imaging date and time (start date and time).
- signal duration data composed of the end date and time is created and posted to the SNS site on the network via the information communication unit 8 (step ST15).
- the posting of the signal duration data may be automatically executed when the signal duration data is created, or once recorded in the storage unit 7 and then transmitted to the moving body or the occupant of the moving body via the operation unit 2. You may comprise so that posting possibility may be selected.
- the signal data creation unit 6c discards unnecessary signal display data from the information used in the processing from step ST11 to step ST15 described above (step ST16), and ends the processing.
- step ST16 all the information related to the signal duration data posted in step ST15 is discarded. Since unnecessary data is deleted and only information for each traffic light is always recorded in the storage unit 7, only a low storage area is used, so that a low-cost movement support device can be realized.
- the SNS site on the network has a storage unit that manages the signal duration data posted from the movement support device 10 in association with the signal ID or the position coordinates and direction of the traffic light.
- the signal duration data posted from each mobile object is arranged for all the red, blue, and yellow light colors constituting the light color pattern of the traffic light
- the data is reflected on the SNS server together with the position information of the traffic light.
- the yellow signal is equivalent to the red signal
- the signal cycle is composed only of the red signal and the blue signal, so that troubles at complicated intersections can be avoided or reflected in the SNS server quickly. It can be carried out.
- the signal duration data of each lamp color is always updated to a new imaging date and time and stored and reflected. As a result, it is possible to provide signal period data that is relatively timely and accurate even in a traffic signal that performs adaptive control or the like.
- the signal information providing process executed in parallel with the signal presenting data recording process and the signal duration data posting process described above by the provided information acquiring unit 6d of the control unit 6 will be described.
- the signal information providing process may be automatically provided, for example, at a stage reflected in the SNS server.
- You may comprise so that provision possibility can be selected via the operation part 2, after notifying a passenger
- FIG. 6 is a flowchart showing signal information provision processing of the movement support apparatus according to Embodiment 1 of the present invention.
- a signal duration data group related to all lamp colors constituting the lamp color pattern of the traffic light is referred to as signal cycle data.
- the provided information acquisition unit 6d of the control unit 6 acquires signal cycle data from the posting site via the information communication unit 8 (step ST21).
- the acquired signal period data includes, for example, as shown in FIG. 7, “signal ID”, “imaging date / time (start date / time)”, “lamp color”, and “lighting duration [sec]”.
- the position of the traffic signal on the map stored in the storage unit 7 is specified from the traffic signal ID of the signal period data acquired in step ST21 or the position and orientation of the traffic signal (step ST22).
- the acquisition of the signal period data may not be performed.
- the provided information acquisition unit 6d synchronizes the signal information from the difference between the imaging date and time of the signal cycle data and the current time, and the remaining time from the lighting duration of the signal cycle data to the end of lighting of the current traffic light
- the remaining lighting time is calculated (step ST23), and the calculated remaining lighting time is provided to the moving body or the passenger of the moving body via the display unit 3 and the audio output unit 4 (step ST24).
- the remaining lighting time of other lighting colors is acquired, and the remaining lighting time of all the lighting colors of the traffic light is provided in step ST24.
- You may comprise as follows.
- the provided information acquisition unit 6d determines whether or not it has passed the traffic signal based on the position information of the moving body input from the position information acquisition unit 1 and the map information stored in the storage unit 7 ( Step ST25). If the signal has not passed (step ST25; NO), the determination process of step ST25 is continued. On the other hand, if it passes through the traffic signal (step ST25; YES), the process is terminated.
- step ST24 described above the process of providing the remaining lighting time to the moving body or the occupant of the moving body is shown, but FIG. 8 shows an example of the display method when displaying on the display unit 3.
- the lighting pattern of the traffic light is composed of blue, yellow, and red
- the remaining lighting time up to each lamp color in the traffic light indicated by the icon 101 is displayed in the display area 102 as shown in FIG.
- the displayed lighting remaining time is subtracted and provided as time passes.
- the display position of each lamp color in the display area 102 in FIG. 8 is changed in the display order after switching.
- the signal period data configured based on the signal duration data posted to the SNS site on the network is acquired, and the light color of the traffic light passing through the moving body is obtained. Since the provision information acquisition unit 6d that acquires and provides the remaining lighting time is provided, the latest information configured using the posted signal duration data is used to indicate the traffic signal that the mobile body will pass from now on. It is possible to provide movement support that provides the remaining time of lighting of the lamp color.
- the position specifying unit 6a for specifying the position of the traffic light included in the video data acquired by the imaging information acquisition unit 5 and the signal display data for acquiring the current lamp color of the traffic light.
- provision information acquisition part 6d uses the signal period data created based on the timely information posted to the SNS site, and calculates the lighting remaining time of the light color of the traffic light. Since it is configured so as to be acquired, it is possible to provide relatively highly accurate movement support even in an adaptive control type traffic signal that changes every moment. Further, by using the durations of specific signals acquired from a plurality of moving bodies, it is possible to shorten the time required until the signal period data can be used for movement support.
- Embodiment 1 although the structure which posts all the signal duration data created by the signal data creation part 6c was shown, when the signal period data can be acquired in the SNS server, the same lamp It is good also as a structure posted only when it differs compared with the signal duration data concerning a color. Thereby, unnecessary posting can be suppressed, and the load on the SNS site and the SNS server can be reduced.
- Embodiment 2 replaces with signal continuation time data, and the structure which uses the data which showed the time when the lamp color of a traffic light switches is shown. Specifically, when signal duration data of a certain lamp color cannot be acquired, a configuration for posting data indicating the time when the lamp color of the traffic light is switched instead of the signal duration data, and the lamp of the traffic light A configuration is shown in which signal information is synchronized by interpolating with data indicating the time when the color is switched, and the remaining signal time is calculated.
- FIG. 9 is a block diagram showing the configuration of the movement support apparatus according to Embodiment 2 of the present invention.
- the movement support apparatus 10 according to the second embodiment includes a signal data generation unit 6c ′ instead of the signal data generation unit 6 of the movement support apparatus 10 according to the first embodiment shown in FIG.
- the same or corresponding parts as those of the movement support apparatus 10 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and the description thereof is omitted or simplified.
- the signal data generation unit 6c ′ uses the signal display data acquired by the signal display data generation unit 6b to end lighting of a certain lamp color (first lamp color) of the traffic light, and to change a different lamp color (second lamp color). Signal switching time data (signal time data) when lighting of (light color) starts.
- the signal switching time data created by the signal data creation unit 6c ′ is recorded in the storage unit 7.
- FIG. 10 is a flowchart showing signal switching time data posting processing of the movement support apparatus according to Embodiment 2 of the present invention.
- the signal data creation unit 6c ′ of the control unit 6 determines whether or not information indicating signal switching exists in the signal display data history stored in the storage unit 7 (step ST31).
- step ST31; NO If there is no information indicating signal switching (step ST31; NO), the process is terminated.
- step ST31; YES the signal data creation unit 6c ′ extracts the corresponding signal switching time data from the storage unit 7, and the SNS site via the information communication unit 8 (Step ST32).
- Posting in step ST32 may be automatically executed when the signal switching time data is extracted, and once stored in the storage unit 7, the mobile unit is configured to select whether or not posting is possible via the operation unit 2. May be.
- the signal data creation unit 6c ′ discards unnecessary signal display data from the information used in the processing of step ST31 and step ST32 described above (step ST33), and ends the processing. Since unnecessary data is deleted and only information for each traffic light is always stored in the storage unit 7, a low-cost movement support device can be realized because only the low storage area is used.
- the SNS site on the network has a storage unit that manages the signal switching time data posted from the movement support apparatus 10 based on the signal ID or the position coordinates and direction of the traffic signal.
- the effective time of each lamp color is calculated based on the signal switching time data posted from the body.
- the processing from step ST12 to step ST14 shown in FIG. 4 of the first embodiment is performed on the SNS site side, and valid signal duration data for each lamp color is acquired.
- the SNS server reflects it as signal cycle data together with the traffic signal position information.
- the yellow signal is equivalent to the red signal
- the signal cycle is composed of only the red signal and the blue signal, so that troubles at complicated intersections can be avoided or reflected on the SNS server quickly. be able to.
- the signal duration data of each lamp color that constitutes the lighting pattern of the traffic light shall always be updated to the new imaging date and stored and reflected. That is, the latest signal switching time data is posted to the SNS site. As a result, it is possible to provide signal period data that is relatively timely and accurate even in a traffic signal that performs adaptive control or the like.
- the signal information providing process that the provided information acquisition unit 6d executes in parallel with the signal presenting data recording process and the signal switching time data posting process described above.
- the signal information is synchronized by performing interpolation with the signal switching time data stored in the storage unit 7, or the storage unit 7 can be configured to synchronize signal information using only the signal switching time data recorded in FIG.
- the following description an example of a configuration in which signal information is synchronized using only the signal switching time recorded in the storage unit 7 will be described.
- FIG. 11 is a flowchart showing signal providing processing of the movement support apparatus according to Embodiment 2 of the present invention.
- the same steps as those of the movement support apparatus 10 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 6, and the description thereof is omitted or simplified.
- the provided information acquisition unit 6d acquires signal cycle data from the posting site via the information communication unit 8 (step ST21).
- the acquired signal period data is configured as shown in FIG. 7, for example.
- the provided information acquisition unit 6d specifies the position of the traffic signal on the map stored in the storage unit 7 from the traffic signal ID of the signal period data acquired in step ST21 or the position and orientation of the traffic signal (step ST22).
- the acquisition of the signal period data may not be performed.
- the provided information acquisition unit 6d refers to the signal switching time data stored in the storage unit 7, and determines whether or not there is signal switching time data relating to the same signal as the signal identified in step ST22 ( Step ST41). Specifically, when there is signal switching time data having the same traffic signal ID or traffic signal position coordinates and direction, it is determined that the data can be used for synchronization. Further, the imaging date / time of the acquired signal cycle data and the imaging date / time of the signal switching time data may be compared to adopt the one closer to the current time.
- FIG. 12 shows an example of the signal switching time data determined to exist.
- the signal switching time data includes “traffic signal ID”, “imaging date / time”, and “lamp color (change)”.
- step ST41; NO If it is determined that there is no signal switching time data related to the same traffic light (step ST41; NO), the process is terminated.
- step ST41; YES when it is determined that there is signal switching time data related to the same signal (step ST41; YES), the provided information acquisition unit 6d synchronizes the signal information from the difference between the imaging date and time of the signal switching time data and the current time. The remaining lighting time of the current traffic light is calculated from the signal switching time data (step ST42). The provided information acquisition unit 6d provides the remaining lighting time calculated in step ST42 to the moving body or the occupant of the moving body via the display unit 3 and the audio output unit 4 (step ST24).
- the provided information acquisition unit 6d determines whether or not it has passed the traffic signal based on the position information of the moving body input from the position information acquisition unit 1 and the map information stored in the storage unit 7 ( Step ST25). If the signal has not passed (step ST25; NO), the determination process of step ST25 is continued. On the other hand, if it passes through the traffic signal (step ST25; YES), the process is terminated.
- the imaging date and time of the signal period data acquired from the SNS has exceeded a certain period of time, it is highly possible that the period of each lamp color varies in the adaptive control type traffic light.
- the signal switching information that is considered to have a short elapsed time, the deviation from the actual light color of the traffic light can be kept low.
- the signal switching time data is acquired and the signal data creation unit 6c ′ for posting to the SNS site is provided, the signal duration data cannot be acquired. Even if it exists, the time data for composing the signal period data can be posted.
- the provision information acquisition unit that calculates the remaining lighting time of the light color of the target traffic light by synchronizing the signal information from the difference between the imaging date and time of the signal switching time data and the current time Since it is configured to include 6d, even when the difference from the current time cannot be obtained using the signal period data, it is possible to perform movement support that provides the remaining lighting time of the target traffic light. In addition, even when the imaging date and time of the signal period data has passed a certain time or more, the deviation from the actual light color of the traffic light can be kept low.
- provision information acquisition part 6d uses the signal period data created based on the timely information posted to the SNS site, and calculates the lighting remaining time of the light color of the traffic light. Since it is configured so as to be acquired, it is possible to provide relatively highly accurate movement support even in an adaptive control type traffic signal that changes every moment. In addition, since it is configured to calculate the remaining lighting time of the traffic signal using the signal switching time of the traffic signal, for example, in an environment where it is relatively difficult to obtain the display duration time of the specific signal due to reasons such as low traffic volume. In addition, it is possible to shorten the time required until the traffic signal cycle data can be used for movement support.
- the configuration is shown in which all the signal switching time data of the created specific signal is posted.
- the shooting time included in the signal cycle data and The difference between the current time and the shooting time of the signal switching time data of the specific signal may be compared with the difference between the current time, and the posting may be made only when it is determined that the remaining lighting time of the traffic light is different. This makes it possible to suppress unnecessary postings and reduce the load on the SNS site.
- FIG. 13 is a block diagram showing a configuration of a movement support apparatus according to Embodiment 3 of the present invention.
- the movement support apparatus 10 ′ according to the third embodiment is provided with an inter-mobile communication unit 9 added to the movement support apparatus 10 shown in FIG. 1 or 2 and an inter-mobile information registration unit 6 e added to the control unit 6. Yes.
- the same reference numerals as those used in the first and second embodiments are assigned to the same or corresponding parts as those of the movement support apparatus 10 according to the first and second embodiments. Thus, the description is omitted or simplified.
- the inter-mobile communication unit 9 provides the signal switching time data created by the signal data creation units 6c and 6c ′ to other mobiles located in the vicinity.
- the signal switching time data provided from the moving body is acquired. Further, the acquired signal switching time data is transferred to other mobile units.
- the inter-mobile communication unit 9 has a function of acquiring information transmitted / received or transferred by bidirectional communication between the own mobile body and another mobile body.
- the inter-mobile communication refers to, for example, a 700 MHz band or 5.8 GHz band wireless communication technology designed specifically for vehicle communication.
- a wireless ad hoc network As a communication method, for example, it is appropriate to use a wireless ad hoc network.
- ad hoc communication each mobile monitoring device autonomously performs routing so that communication can be performed without a fixed network.
- the device plays the role of a router, it is possible to transfer information by multi-hop communication.
- WAVE Wireless Access in Vehicle Environments
- IEEE802.11p Wired Access in Vehicle Environments
- the recording process of the signal display data of the movement support apparatus 10 ′ of the third embodiment is the same as the flowchart shown in FIG.
- the signal duration data posting process of the movement support apparatus 10 ′ of the third embodiment is the same process as the flowchart shown in FIG. 4 of the first embodiment
- the signal switching time data posting process is the same as that of the first embodiment. Since the processing is the same as that of the flowchart shown in FIG. In addition, any of the processes shown in FIGS. 4 and 10 may be employed or used in combination.
- the signal display data recording process is the same as the flowchart of FIG. 2 shown in the first embodiment, and a description thereof will be omitted.
- the signal duration data posting process or the signal switching time data posting process is the same as the flowchart shown in FIG. 4 of the first embodiment or FIG. 10 of the second embodiment, and thus the description thereof is omitted.
- a description will be given of the inter-moving body information registration process that is executed in parallel with the signal display data recording process and the signal duration data / signal switching time data posting process.
- the photographing information acquisition unit 15 cannot capture the display color of the traffic light as an image, it is provided from another moving body via the moving body communication unit 9 This is a process of acquiring the signal switching time data.
- FIG. 14 is a flowchart showing the inter-moving body information registration process of the movement support apparatus according to Embodiment 3 of the present invention.
- the inter-mobile information registration process shown in FIG. 14 starts when the inter-mobile communication unit 9 detects inter-mobile communication with another mobile. Further, it is assumed that the information between the moving bodies includes each piece of information constituting the signal switching time data shown in FIG.
- the signal switching time data acquired from the inter-moving body information registration unit 6e and the inter-moving body communication unit 9 is decoded and acquired (step ST51).
- the traffic signal position on the map stored in the storage unit 7 is specified from the traffic signal ID of the signal switching time data acquired in step ST51 or the position and orientation of the traffic signal (step ST52). Further, it is determined whether or not the position of the traffic light identified in step ST52 is the same as the position of the traffic light related to the intersection where the mobile unit is scheduled to pass most recently (step ST53).
- step ST53; NO If the position of the traffic signal is not the same (step ST53; NO), the signal switching time data acquired in step ST51 is discarded and the process is terminated. On the other hand, when the traffic signal positions are the same (step ST53; YES), it is further determined whether or not the same signal switching time data as the signal switching time data acquired in step ST51 exists in the storage unit 7 (step ST54). ). If the same signal switching time data exists (step ST54; YES), the signal switching time data acquired in step ST51 is discarded and the process is terminated. On the other hand, when the same signal switching time data does not exist (step ST54; NO), the signal switching time data acquired in step ST51 is recorded in the storage unit 7 (step ST55), and the process is terminated.
- step ST54 a configuration is shown in which it is determined whether or not the same signal switching time data exists.
- the imaging information acquisition unit 5 captures the light color of the traffic light as video data. If it can be determined that the signal has not been made, the signal may be recorded in the storage unit 7 as signal switching time data and interpolated. As a result, it is possible to avoid recording the same signal switching time data in the storage unit 7.
- the control unit 6 when it can be determined that the imaging information acquisition unit 5 cannot capture the light color of the traffic light as video data, it is recorded in the storage unit 7 as described above, You may comprise so that the said signal switching time data may be transferred to another mobile body via the mobile body communication part 9.
- the said signal switching time data may be transferred to another mobile body via the mobile body communication part 9.
- the signal switching time data posting process is the same as that in the second embodiment, but the signal data creating unit 6c ′ stores the signal switching time data acquired by other mobile units 7.
- the signal switching time data can be created by referring to the above and posted to a posting site on the network via the information communication unit 8.
- the provided information acquisition unit 6d refers to the storage unit 7 in which the signal switching time data acquired by another moving body is recorded, and the imaging date and time and the current time are recorded.
- the signal information is synchronized from the difference between and the remaining lighting time of the light color of the target traffic light is obtained.
- the mobile unit communication unit 9 that communicates with other mobile units, and the signal switching time data acquired via the mobile unit communication unit 9 are stored in the storage unit 7. Since the mobile information registration unit 6e for recording is included, even if the imaging information acquisition unit 5 cannot capture the light color of the traffic light as video data, it is acquired by another mobile unit. Using the signal switching time data, the signal switching time data can be created to obtain the remaining lighting time of the traffic light.
- the signal switching time data acquired from other mobile objects located in the vicinity is acquired and used by the mobile-to-mobile communication unit 9 and the mobile-to-mobile information registration unit 6e. Since it is configured, for example, it is possible to perform movement support with relatively high accuracy even in an environment where it is difficult to visually recognize the light color existing at the intersection that is scheduled to pass through most recently.
- FIG. 15 is a block diagram showing a configuration of a movement support apparatus according to Embodiment 4 of the present invention.
- the movement support apparatus 10 according to the fourth embodiment includes a recommended speed calculation unit 6f in addition to the control unit 6 of the movement support apparatus 10 according to the first or second embodiment illustrated in FIG. 1 or FIG. Yes.
- the same reference numerals as those used in the first and second embodiments are assigned to the same or corresponding parts as those of the movement support apparatus 10 according to the first and second embodiments. The description will be omitted or simplified.
- the recording process of signal display data, the signal duration data or the signal switching time data posting process of the movement support device 10 of the fourth embodiment are the same as those of the first and second embodiments, the description and Description is omitted.
- the recommended speed calculation unit 6f is based on the remaining lighting time of each light color of the traffic light calculated using the signal period data acquired from the SNS server via the information communication unit 8, and the recommended speed to the traffic signal of the own mobile body Is calculated.
- FIG. 16 is a flowchart showing the operation of the recommended speed providing process of the movement support apparatus according to Embodiment 4 of the present invention.
- the recommended speed calculation unit 6f of the control unit 6 acquires signal cycle data from the posting site via the information communication unit 8 (step ST61).
- the acquired signal period data is configured as shown in FIG. 7, for example.
- the recommended speed calculation unit 6f specifies the position of the traffic signal on the map stored in the storage unit 7 from the traffic signal ID of the signal period data acquired in step ST61 or the position and orientation of the traffic signal (step ST62).
- the acquisition of the signal period data may not be performed.
- the recommended speed calculation unit 6f is configured to obtain signal cycle data or signal switching based on signal switching time data related to the same signal signal among the latest signal cycle data acquired or the signal switching time data stored in the storage unit 7.
- the signal information is synchronized from the difference between the imaging date and time of the time data and the current time, and the remaining lighting time of the traffic light is calculated (step ST63).
- the recommended speed calculation unit 6f determines whether or not the relative distance information between the moving body and the traffic signal is stored in the storage unit 7 (step ST64).
- the traffic signal is captured as an image via the imaging information acquisition unit 5. And confirms whether the relative distance information can be acquired. For example, when there is an obstacle in front of the moving body, the relative distance between the moving body and the traffic signal cannot be calculated based on the video.
- the latest traffic signal position coordinates are stored in the storage unit 7, the relative distance between the two points based on the position coordinates and the position coordinates of the moving body acquired by the position information acquisition unit 1. May be calculated and interpolated.
- step ST64 When the relative distance information between the moving body and the traffic signal is not stored (step ST64; NO), the process is terminated.
- step ST64; YES when the relative distance information between the moving body and the traffic signal is stored (step ST64; YES), the recommended speed calculation unit 6f calculates the remaining lighting time calculated in step ST63 and the relative distance information stored in the storage unit 7. The recommended recommended speed is calculated based on the speed information of the moving body acquired by the position information acquiring unit 1 (step ST65). The recommended speed calculation unit 6f provides the recommended speed calculated in step ST65 to the moving body or the occupant of the moving body via the display unit 3 and the audio output unit 4 (step ST66).
- the recommended speed calculation unit 6f determines whether or not the vehicle has passed the traffic signal based on the position information of the moving body input from the position information acquisition unit 1 and the map information stored in the storage unit 7 ( Step ST67). If the signal has not passed (step ST67; NO), the determination process of step ST67 is continued. On the other hand, if it passes through the traffic signal (step ST67; YES), the process ends.
- the calculation method of the recommended speed is shown in more detail. For example, if the current traffic light is “blue” and the remaining lighting time is t b1 [sec], “yellow”, “red”, the durations are t y1 [sec], t r1 [sec], speed v 1, respectively. [m / sec] and relative distance x 1 [m] Using the following formula (1) or formula (2), the recommended speed to reach the traffic light position when the light color is “blue” The region v a1 [m / sec] can be calculated.
- v max [m / sec] is a regulated speed on the moving path of the moving body.
- the regulated speed information can be acquired based on the road map data stored in the storage unit 7, It can be set in advance so that it can be used for judgment.
- the storage unit 7 also stores the deceleration d 1 [m / sec 2 ] and the acceleration a 1 [m / sec 2 ], taking into account the acceleration and deceleration of the moving body.
- the recommended speed is calculated (d 1 > 0, a 1 > 0). For example, when a recommended speed that satisfies the above-mentioned effective speed cannot be obtained, a recommended speed that is assumed to stop at a signal position is obtained based on the following equation (3).
- the original speed and acceleration can be corrected.
- the gradient acceleration A [m / sec 2 ] the deceleration d 2 [m / sec 2 ] after the gradient correction, and the acceleration a 2 [m / sec 2 ] can be obtained using the following equations (4) to (6) (d 2 > 0, a 2 > 0).
- FIG. 17 shows an example of the display method when displaying on the display unit 3. For example, if the signal cycle is composed of blue, yellow, and red, as shown in FIG. 17, a display area 103 indicating the remaining lighting time up to each lamp color and the determined recommended speed is displayed. The display in the display area 103 provides a value calculated by subtracting or subtracting the remaining lighting time as time elapses, or using a value obtained by subtracting the time.
- the display position of each lamp color in the display area 103 in FIG. 17 is changed in the display order after switching.
- the recommended speed calculation unit 6f calculates the recommended speed in accordance with the unit stored in the storage unit 7.
- the recommendation of the mobile body is made. Since the recommended speed calculation unit 6f for calculating the speed is provided, it is possible to recognize the recommended moving speed without requesting arbitrary determination to the moving body. Furthermore, since it becomes possible to travel by recognizing acceleration / deceleration timing due to a change in the recommended speed, it is possible to suppress useless acceleration / deceleration. In addition to the above, when the deceleration and acceleration are set to be so-called engine brake or gentle accelerator depression, a fuel consumption reduction effect can be expected.
- the recommended speed calculation unit 6f is applied to the configuration in the first embodiment or the second embodiment.
- the recommended speed calculation unit 6f is applied to the configuration in the third embodiment. You may comprise.
- Embodiment 5 The above-described movement support device described in the first to fourth embodiments is applied to a navigation device for a moving body including a vehicle, a railroad, a ship, an airplane, or the like, a server of a movement support system, or a server of a navigation system. May be. Further, the present invention can be applied to an application for a movement support system or an application for a navigation system installed in a portable information terminal such as a smartphone, a tablet PC, or a mobile phone.
- a navigation device for a moving body including a vehicle, a railroad, a ship, an airplane, or the like
- a server of a movement support system or a server of a navigation system. May be.
- the present invention can be applied to an application for a movement support system or an application for a navigation system installed in a portable information terminal such as a smartphone, a tablet PC, or a mobile phone.
- FIG. 18 is a diagram showing an outline of a movement support system according to the fifth embodiment of the present invention.
- the movement support system shown in FIG. 14 performs a movement support process in cooperation with at least one of the portable information terminal 101 such as a smartphone and the server apparatus 102. A configuration aspect will be described.
- the server apparatus 102 performs processing for providing movement support information and displays the movement support information on the information apparatus 100, that is, the information apparatus 100 displays in cooperation with the server apparatus 102 having the movement support information providing function.
- the information device 100 may directly communicate with the server device 102, or the information device 100 may communicate with the server device 102 via the portable information terminal 101.
- the server apparatus 102 functions as a movement support apparatus including the control unit 6 described in the first to fourth embodiments.
- the information device 100 functions as a display device including at least the display unit 3 for providing the user with the movement support providing information from the server device 102. Even in such a configuration, the same effects as those of the first to fourth embodiments can be obtained.
- the information apparatus 100 may communicate with the server apparatus 102 via the portable information terminal 101.
- the application of the portable information terminal 101 has the function of the control unit 6 described in the first to fourth embodiments, and performs movement support information provision processing in cooperation with the server device 102.
- the information device 100 functions as a display device including at least the display unit 3 for providing the user with movement support information from the portable information terminal 101 and the server device 102. Even in such a configuration, the same effects as those of the first to fourth embodiments can be obtained.
- the movement support device is used for navigation devices mounted on a moving body such as a vehicle, a server for a support information providing system, and applications for portable terminals such as smartphones, tablet PCs, and mobile phones. It is applicable, and movement support using a posting service such as an SNS site can be realized.
- Position information acquisition unit 2 operation unit, 3 display unit, 4 audio output unit, 5 imaging information acquisition unit, 6 control unit, 6a position specifying unit, 6b signal display data generation unit, 6c signal data generation unit, 6d provided Information acquisition unit, 6e inter-mobile information registration unit, 6f recommended speed calculation unit, 7 storage unit, 8 information communication unit, 9 inter-mobile communication unit, 10, 10 'movement support device.
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Abstract
Description
実施の形態1.
図1は、この発明の実施の形態1による移動支援装置の構成を示すブロック図である。
移動支援装置10は、位置情報取得部1、操作部2、表示部(情報出力部)3、音声出力部(情報出力部)4、撮像情報取得部5、制御部6、記憶部7および情報通信部8で構成されている。なお、移動支援装置10は、移動体に搭載あるいは移動体が所持するものとする。また移動体は、例えば車両や自転車といった人間が操作することによって移動する乗物、もしくは歩行者を指すものとする。
位置情報取得部1は、例えば、地球を旋回する人工衛星からの信号を受信することにより三次元の位置情報を認識可能であるGPS(Global Positioning System)で構成するのが好適である。GPSを用いることにより、位置情報のみではなく、衛星が出力した時刻情報も取得することが可能である。また、経時的な位置の変化から進行方向や速度を算出可能である。なお、方位情報および速度情報は、位置情報取得部1よりデフォルトで取得できるものでもよく、制御部6で算出してもよいものとする。
位置特定部6aは、位置情報取得部1からの入力信号に基づいて、移動体の現在位置および進行方位を特定し、映像データに含まれる信号機の位置を特定する。信号現示データ生成部6bは、位置特定部6aが特定した結果を用いて移動体の現在位置および進行方向に存在する信号機の現在の灯色を示す信号現示データを生成する。信号データ作成部6cは、信号現示データ生成部6bが生成した信号現示データを用いて、信号機の各灯色が表示される時間である信号継続時間データ(信号データ)を作成する。提供情報取得部6dは、ネットワーク上のSNS(ソーシャルネットワーキングサービス)サイトなどの投稿サイトに投稿されている、信号機の灯色パターン(例えば、赤、青、黄色のパターン)を構成する全ての灯色の信号データを示した信号周期データを取得し、移動体が通過する信号機の灯色の点灯終了までの残り時間である点灯残時間を算出する。
なお、移動支援装置10の動作は、信号現示データを記録する処理、信号継続時間データを投稿する処理、信号情報を提供する処理に分けて説明を行う。
まず、信号現示データを記録する処理について、図2のフローチャートを参照しながら説明を行う。図2は、この発明の実施の形態1による移動支援装置の信号現示データ記録処理を示すフローチャートである。なお、信号現示データ記録処理は、制御部6の位置特定部6aおよび信号現示データ生成部6bが一定周期ごとに繰り返し実行する処理であり、撮像情報取得部5から出力される映像データを解析して、映像データに映し出された各信号機の灯色を特定し、この特定結果を記憶部7に記録させる。
制御部6の信号現示データ生成部6bは、ステップST2で特定した信号機の位置座標を参照し、自移動体の現在の位置および進行方向において、映像データに含まれる信号機が理論上存在するか否か判定を行う(ステップST3)。理論上存在しない場合(ステップST3;NO)、ステップST1の処理に戻る。一方、理論上存在する場合(ステップST3;YES)、信号現示データ生成部6bは映像データに映し出された当該信号機の灯色を特定する(ステップST4)。なお、この実施の形態1の説明では、矢印信号を無視し、信号機の灯色が、青色、黄色、赤色のいずれであるかを特定するものとする。
(1)信号機の灯色が切り替わったタイミング
(2)信号機を検出不可能となったタイミング
具体的に説明すると、(1)のタイミングは、信号機の灯色が青色から黄色、黄色から赤色、および赤色から青色に切り替わるタイミングであって、且つ図2のフローチャートのステップST5において同一の信号機に係る信号現示データが存在するが、最新撮像日時の信号現示データの灯色が同一でない場合である。また、(2)のタイミングは、撮像情報取得部5が信号機の灯色を取得できなくなったタイミングであって、且つ図2のフローチャートのステップST5において同一の信号機に係る信号現示データが存在しない場合である。制御部6の信号データ作成部6cは、信号現示データ履歴を参照し、信号現示データが存在する信号機を投稿処理の対象として設定する。
ここで、矢印信号を含む信号機では変則的に矢印に切り替わる際に、赤信号から黄信号、黄色信号から矢印信号(赤)と変化するパターンの信号機も存在することから、黄信号も赤信号と同様に扱うこととしてもよい。以下、赤信号、青信号のみの表示時間を算出する場合について説明する。
まず制御部6の提供情報取得部6dは、情報通信部8を介して投稿サイトより信号周期データを取得する(ステップST21)。取得される信号周期データは、例えば図7のように、「信号機ID」、「撮像日時(開始日時)」、「灯色」および「点灯継続時間[sec]」で構成される。ステップST21で取得した信号周期データの信号機IDもしくは信号機の位置および方位から、記憶部7に記憶された地図上の信号機の位置を特定する(ステップST22)。なお、信号機の位置が直近に通過予定の交差点に係る信号機のものでない場合には、信号周期データの取得を実施しないなどとしてもよい。
この実施の形態2では、信号継続時間データに替えて、信号機の灯色が切り替わる際の時間を示したデータを用いる構成を示す。具体的には、ある灯色の信号継続時間データが取得できない場合には、信号継続時間データに替えて、信号機の灯色が切り替わる際の時間を示したデータを投稿する構成、および信号機の灯色が切り替わる際の時間を示したデータで補間して信号情報の同期を行い、信号残時間を算出する構成を示す。
実施の形態2の移動支援装置10は、図1で示した実施の形態1の移動支援装置10の信号データ作成部6に替えて信号データ作成部6c´を設けている。なお、以下では、実施の形態1による移動支援装置10の構成要素と同一または相当する部分には実施の形態1で使用した符号と同一の符号を付して説明を省略または簡略化する。
まず、制御部6の信号データ作成部6c´が信号現示データ記録処理と並列に実行する信号切り替わり時間データ投稿処理について説明する。当該信号切り替わり時間データ投稿処理の実施タイミングは、実施の形態1で示したタイミング(1)、(2)と同様である。
図10は、この発明の実施の形態2による移動支援装置の信号切り替わり時間データ投稿処理を示すフローチャートである。
制御部6の信号データ作成部6c´は、記憶部7に記憶された信号現示データ履歴に、信号の切り替わりを示す情報が存在するか否か判定を行う(ステップST31)。ここで、上述した通り、矢印信号を含む信号機では変則的に矢印に切り替わる際に、赤信号から黄信号、黄色信号から矢印信号(赤)と変化するパターンの信号機も存在することから、黄信号も赤信号と同様に扱うこととし、赤信号から青信号、青信号から黄色信号のみの切り替わり情報のみを検索対象としてもよい。
この信号情報提供処理では、信号周期データの撮像日時と現在時刻との差分が取得できない場合に、記憶部7に記憶された信号切り替わり時間データで補間を行い信号情報の同期を取る、もしくは記憶部7に記録された信号切り替わり時間データのみを用いて信号情報の同期を取るように構成することができる。
なお、以下では、記憶部7に記録された信号切り替わり時間のみを用いて信号情報の同期を取る構成を例に説明を行う。
まず提供情報取得部6dは、情報通信部8を介して投稿サイトより信号周期データを取得する(ステップST21)。取得される信号周期データは、例えば図7に示すように構成される。提供情報取得部6dは、ステップST21で取得した信号周期データの信号機IDもしくは信号機の位置および方位から、記憶部7に記憶された地図上の信号機の位置を特定する(ステップST22)。なお、信号機の位置が直近に通過予定の交差点に係る信号機のものでない場合には、信号周期データの取得を実施しないなどとしてもよい。
この実施の形態3では、移動体間通信により、信号切り替わり時間データを他の移動体に提供する、あるいは他の移動体が作成した信号切り替わり時間データを取得して利用する構成を示す。
図13は、この発明の実施の形態3に係る移動支援装置の構成を示すブロック図である。
実施の形態3の移動支援装置10´は、図1または図2で示した移動支援装置10に移動体間通信部9を、制御部6に移動体間情報登録部6eを追加して設けている。
なお、以下では、実施の形態1および実施の形態2による移動支援装置10の構成要素と同一または相当する部分には、実施の形態1および実施の形態2で使用した符号と同一の符号を付して説明を省略または簡略化する。
ここで、移動体間通信部9は、自移動体と他移動体との双方向通信により、送受信もしくは転送された情報などを取得する機能を有する。また、移動体間通信とは、例えば車両通信に特化して設計された700MHz帯もしくは5.8GHz帯の無線通信技術を指すものとする。
なお、信号現示データの記録処理は実施の形態1で示した図2のフローチャートと同一であるため、説明を省略する。また、信号継続時間データ投稿処理、あるいは信号切り替わり時間データ投稿処理は、実施の形態1の図4あるいは実施の形態2の図10で示したフローチャートと同一であるため、説明を省略する。
以下では、この信号現示データ記録処理、および信号継続時間データ/信号切り替わり時間データ投稿処理と並列に実行される、移動体間情報の登録処理について、説明する。例えば、自移動体の前方に大型の車両が存在し、撮影情報取得部15が信号機の表示色を映像として捉えることができない場合に、移動体間通信部9を介して他の移動体から提供された信号切り替わり時間データを取得する処理である。
なお、図14に示す移動体間情報登録処理は、移動体間通信部9が他移動体との移動体間通信を検知した場合に開始する。また、移動体間情報には、図12で示した信号切り替わり時間データを構成する各情報が含まれるものとする。
移動体間情報登録部6e、移動体間通信部9より取得した信号切り替わり時間データをデコードして取得する(ステップST51)。次に、ステップST51で取得した信号切り替わり時間データの信号機IDもしくは信号機の位置および方位から記憶部7に記憶された地図上の信号機位置を特定する(ステップST52)。さらにステップST52で特定した信号機の位置が、自移動体が直近に通過予定の交差点に係る信号機の位置と同一か否か判定を行う(ステップST53)。
この実施の形態4では、信号周期データから取得した信号機の各灯色の点灯残時間に基づいて自車の推奨速度を算出する構成を示す。
図15は、この発明の実施の形態4に係る移動支援装置の構成を示すブロック図である。実施の形態4の移動支援装置10は、図1または図9で示した実施の形態1または実施の形態2の移動支援装置10の制御部6に、推奨速度算出部6fを追加して設けている。なお、以下では、実施の形態1および実施の形態2による移動支援装置10の構成要素と同一または相当する部分には実施の形態1および実施の形態2で使用した符号と同一の符号を付して説明を省略または簡略化する。
また、実施の形態4の移動支援装置10の信号現示データの記録処理、信号継続時間データあるいは信号切り替わり時間データ投稿処理は、実施の形態1および実施の形態2と同一であるため、記載および説明を省略する。
図16は、この発明の実施の形態4による移動支援装置の推奨速度提供処理の動作を示すフローチャートである。
制御部6の推奨速度算出部6fは、情報通信部8を介して投稿サイトより信号周期データを取得する(ステップST61)。取得される信号周期データは、例えば図7に示すように構成される。推奨速度算出部6fは、ステップST61で取得した信号周期データの信号機IDもしくは信号機の位置および方位から、記憶部7に記憶された地図上の信号機の位置を特定する(ステップST62)。なお、信号機の位置が直近に通過予定の交差点に係る信号機のものでない場合には、信号周期データの取得を実施しないなどとしてもよい。
例えば、現在の信号機の灯色が「青」で点灯残時間がtb1[sec]、「黄」、「赤」の継続時間がそれぞれty1[sec]、tr1[sec]、速度v1[m/sec]、相対距離x1[m]であった場合、以下の式(1)もしくは式(2)を用いて、灯色が「青」の状態で信号機の位置に到達する推奨速度域va1[m/sec]を算出することができる。
上述した実施の形態1から実施の形態4で示した移動支援装置を、車両、鉄道、船舶または航空機などを含む移動体用のナビゲーション装置や、移動支援システムのサーバやナビゲーションシステムのサーバに適用してもよい。また、スマートフォン、タブレットPC、携帯電話等の携帯情報端末などにインストールされる移動支援システムのアプリケーションやナビゲーションシステムのアプリケーションなどに適用することができる。
この構成では、情報装置100がサーバ装置102と直接通信する、または情報装置100が携帯情報端末101を経由してサーバ装置102と通信する場合が考えられる。サーバ装置102は、上述した実施の形態1から実施の形態4で示した制御部6を備えた移動支援装置として機能する。また、情報装置100は、サーバ装置102による移動支援提供情報をユーザに提供するための表示部3を少なくとも備える表示装置として機能する。このように構成した場合にも、上述した実施の形態1から実施の形態4と同様の効果を得ることができる。
この構成では、情報装置100が携帯情報端末101を経由してサーバ装置102と通信する場合が考えられる。携帯情報端末101のアプリケーションが上述した実施の形態1から実施の形態4で示した制御部6の機能を備え、サーバ装置102と連携して移動支援情報提供処理を行う。また、情報装置100は、携帯情報端末101とサーバ装置102による移動支援情報をユーザに提供するための表示部3を少なくとも備える表示装置として機能する。このように構成した場合にも、上述した実施の形態1から実施の形態4と同様の効果を得ることができる。
Claims (15)
- 移動体に搭載または携帯され、ネットワークを通じてSNS(Social Networking Service)を提供するSNSサーバに接続する情報通信部と、前記情報通信部を介して取得した情報を提示する情報出力部とを備えた移動支援装置において、
前記SNSサーバに蓄積された、信号機の識別情報と、前記信号機の撮像日時および点灯継続時間とで構成された信号データを、当該信号機の灯色パターン毎にまとめた信号周期データを前記情報通信部を介して取得し、前記信号周期データの前記信号機の識別情報から自移動体が通過する信号機を特定し、前記信号周期データの各灯色の撮像日時と現在時刻との差分時間と、前記信号周期データの点灯継続時間とから、前記特定した信号機の各灯色の点灯終了までの残り時間である点灯残時間を算出する提供情報取得部を備え、
前記情報出力部は、前記提供情報取得部が算出した前記点灯残時間を提示することを特徴とする移動支援装置。 - 前記自移動体の前方を撮像し、映像データを取得する撮像情報取得部と、
前記自移動体の位置情報を取得する位置情報取得部と、
前記位置情報取得部が取得した前記自移動体の位置情報に基づいて、前記撮像情報取得部が取得した映像データに含まれる信号機の位置を特定する位置特定部と、
前記位置情報取得部が取得した映像データに含まれる信号機の灯色を特定し、当該特定した灯色と、前記位置特定部が特定した信号機の位置を示す識別情報と、前記撮像情報取得部が当該信号機を撮像した日時を示す撮像日時とで構成される信号現示データを生成する信号現示データ生成部と、
前記信号現示データ生成部が生成した信号現示データを解析し、前記特定された灯色の点灯開始から点灯終了までの時間を示す前記点灯継続時間を算出し、前記位置特定部が特定した信号機の位置を示す識別情報と、前記特定された灯色の撮像日時および前記点灯継続時間とで構成される前記信号データを作成する信号データ作成部とを備え、
前記情報通信部は、前記信号データ作成部が作成した前記信号データを、接続した前記SNSサーバに送信することを特徴とする請求項1記載の移動支援装置。 - 前記自移動体の前方を撮像し、映像データを取得する撮像情報取得部と、
前記自移動体の位置情報を取得する位置情報取得部と、
前記位置情報取得部が取得した前記自移動体の位置情報に基づいて、前記撮像情報取得部が取得した映像データに含まれる信号機の位置を特定する位置特定部と、
前記位置情報取得部が取得した映像データに含まれる信号機の灯色を特定し、当該特定した灯色と、前記位置特定部が特定した信号機の位置を示す識別情報と、前記撮像情報取得部が当該信号機を撮像した日時を示す撮像日時とで構成される信号現示データを生成する信号現示データ生成部と、
前記信号現示データ生成部が生成した信号現示データを解析し、前記特定された第1の灯色から第2の灯色に切り替わる際の点灯切り替わり時間を算出し、前記位置特定部が特定した信号機の位置を示す識別情報と、前記特定された灯色の撮像日時および前記点灯切り替わり時間とで構成される切替信号データを作成する信号データ作成部とを備え、
前記情報通信部は、前記信号データ作成部が作成した前記切替信号データを、接続した前記SNSサーバに送信し、
前記提供情報取得部は、前記SNSサーバが前記切替信号データに基づいて作成した前記点灯継続時間を有する前記信号周期データを取得することを特徴とする請求項1記載の移動支援装置。 - 前記信号データ作成部が作成した前記切替信号データを記録する記憶部を備え、
前記提供情報取得部は、前記記憶部に記録された切替信号データの撮像日時と現在時刻との差分時間と、前記切替時間データの点灯切り替わり時間とから、前記特定した信号機の前記点灯残時間を算出することを特徴とする請求項3記載の移動支援装置。 - 前記自移動体と他の移動体との間で通信接続を行う移動体間通信部と、
前記移動体間通信部を介して他の移動体から提供された前記切替信号データを取得する移動体間情報登録部とを備え、
前記情報通信部は、前記移動体間情報登録部が取得した前記切替信号データを、接続したSNSサーバに送信することを特徴とする請求項3記載の移動支援装置。 - 前記自移動体と他の移動体との間で通信接続を行う移動体間通信部と、
前記移動体間通信部を介して他の移動体から提供された前記切替信号データを取得する移動体間情報登録部とを備え、
前記記憶部は、前記移動体間情報登録部が取得した前記切替信号データを記録することを特徴とする請求項4記載の移動支援装置。 - 前記情報通信部は、前記信号データ作成部が作成した信号データの撮像日時が、前記取得した信号周期データを構成する信号データの撮像日時よりも新しい場合に、前記信号データ作成部が作成した信号データを、前記SNSサーバに送信することを特徴とする請求項2記載の移動支援装置。
- 前記情報通信部は、前記信号データ作成部が作成した切り替え信号データの撮像日時が、前記取得した信号周期データを構成する信号データの撮像日時よりも新しい場合に、前記信号データ作成部が作成した切り替え信号データを、前記SNSサーバに送信することを特徴とする請求項3記載の移動支援装置。
- 前記移動体間情報登録部は、前記撮像情報取得部が前記信号機を含む映像データを取得できないと判断した場合に、前記他の移動体から提供された前記切替信号データを取得することを特徴とする請求項5記載の移動支援装置。
- 前記移動体間情報登録部は、取得した前記切替信号データを、前記移動体間通信部を介して他の移動体に転送することを特徴とする請求項8記載の移動支援装置。
- 前記情報通信部は、前記信号データ作成部が作成した前記信号データを構成する点灯継続時間が、前記取得した信号周期データを構成する前記信号データの点灯継続時間と異なる場合に、前記信号データ作成部が作成した前記信号データを前記SNSサーバに送信することを特徴とする請求項2記載の移動支援装置。
- 前記情報通信部は、前記信号データ作成部が作成した前記切替信号データの撮像日時と現在時刻との差分時間と、前記切替時間データの点灯切り替わり時間とから算出される前記点灯残時間が、前記提供情報取得部が前記信号周期データに基づいて算出した前記点灯残時間とが異なる場合に、前記信号データ作成部が作成した前記切替信号データを前記SNSサーバに送信することを特徴とする請求項3記載の移動支援装置。
- 前記情報通信部を介して前記信号周期データを取得し、
前記取得した信号周期データの信号機の識別情報から自移動体が通過する信号機を特定し、
前記信号周期データの各灯色の撮像日時と現在時刻との差分時間と、前記信号周期データの点灯継続時間とから、前記特定した信号機の各灯色の前記点灯残時間を算出し、
前記位置特定部が特定した前記信号機の位置情報と、前記位置情報取得部が取得した自移動体の位置情報とから、前記信号機と前記自移動体との相対距離情報を取得し、
前記位置情報取得部が取得した自移動体の速度情報と、前記算出した点灯残時間と、前記取得した相対距離情報とから、前記自移動体の推奨速度を算出する推奨速度算出部を備えたことを特徴とする請求項2記載の移動支援装置。 - 前記情報通信部を介して前記信号周期データを取得し、
前記取得した信号周期データの信号機の識別情報から自移動体が通過する信号機を特定し、
前記信号周期データの各灯色の撮像日時と現在時刻との差分時間と、前記信号周期データの点灯継続時間とから、前記特定した信号機の各灯色の前記点灯残時間を算出し、
前記位置特定部が特定した前記信号機の位置情報と、前記位置情報取得部が取得した自移動体の位置情報とから、前記信号機と前記自移動体との相対距離情報を取得し、
前記位置情報取得部が取得した自移動体の速度情報と、前記算出した点灯残時間と、前記取得した相対距離情報とから、前記自移動体の推奨速度を算出する推奨速度算出部を備えたことを特徴とする請求項3記載の移動支援装置。 - ネットワークを通じてSNS(Social Networking Service)を提供するSNSサーバに接続し、取得した情報を移動体に提供する移動支援方法において、
提供情報取得部が、
前記SNSサーバに蓄積された信号機の識別情報と、前記信号機の撮影日時および点灯継続時間とで構成された信号データを、当該信号機の灯色パターン毎にまとめた信号周期データを取得するステップと、
前記信号周期データから自移動体が通過する信号機を特定するステップと、
前記信号周期データの各灯色の撮像日時と現在時刻との差分時間と、前記信号周期データの点灯継続時間とから、前記特定した信号機の各灯色の点灯終了までの残り時間である点灯残時間を算出するステップと、
前記灯色残時間を前記移動体に提供するステップとを備えたことを特徴とする移動支援方法。
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CN105303853A (zh) * | 2015-09-11 | 2016-02-03 | 山东理工大学 | 一种车辆高效运行策略 |
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US20150262483A1 (en) | 2015-09-17 |
DE112013006503T5 (de) | 2015-11-12 |
DE112013006503B4 (de) | 2018-10-25 |
JPWO2014115309A1 (ja) | 2017-01-26 |
JP5908125B2 (ja) | 2016-04-26 |
CN104956418B (zh) | 2018-01-23 |
CN104956418A (zh) | 2015-09-30 |
US9501929B2 (en) | 2016-11-22 |
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