WO2019171422A1

WO2019171422A1 - In-vehicle device and information processing method

Info

Publication number: WO2019171422A1
Application number: PCT/JP2018/008302
Authority: WO
Inventors: 希望夫大内
Original assignee: パイオニア株式会社
Priority date: 2018-03-05
Filing date: 2018-03-05
Publication date: 2019-09-12

Abstract

In this in-vehicle device (700), an acquisition unit (710) performs an image analysis on an imaged result from an imaging unit (930) and acquires the location of a puddle area, and the speed and location of another vehicle relative to an own vehicle (CR). Next, a determination unit (720) determines whether the own vehicle is likely to be covered with water splashed by the other vehicle on the basis of the acquisition result from the acquisition unit (710), an own vehicle speed detected by a vehicle speed detection unit (920), and the traveling direction of the own vehicle (CR). Then, when it is determined by the determination unit (72) that the own vehicle is likely to be covered with water, a generation unit (730) generates information for issuing a warning to the driver of the own vehicle (CR). Furthermore, the generation unit (730) causes a presentation unit (950) to present the generated information. Thus, the present invention can contribute to the self-defense of the own vehicle (CR) against an event in which the own vehicle is covered with the water in a puddle, which is splashed by the other vehicle.

Description

In-vehicle device and information processing method

The present invention relates to an in-vehicle device, an information processing method, an information processing program, and a recording medium on which the information processing program is recorded.

Conventionally, a technique for warning a driver of a vehicle according to the traveling environment of the vehicle has been proposed. As one of these proposed technologies, if there is a possibility of causing trouble to other moving bodies or pedestrians by jumping up the water in the puddle on the road in the traveling direction (traveling direction) of the vehicle, There is a technique for notifying a driver of a vehicle of a warning (see Patent Document 1; hereinafter referred to as “conventional example”).

In the conventional technique, an obstacle detection unit that detects an obstacle on the road that can be scattered by passing of the vehicle; a moving body detection unit that detects a moving body around the vehicle; and an obstacle detection unit A positional relationship detection unit that detects a positional relationship between the detected obstacle and the moving object detected by the moving object detection unit; and an output that outputs warning information corresponding to the positional relationship detected by the detection unit And a warning device comprising:

JP 2016-177573 A

The technology of the conventional example described above gives a warning to the driver of the own vehicle when there is a possibility that the pedestrian or other moving body may be splashed with water when the own vehicle jumps up the water in the puddle. However, such a warning device is not mounted on all the vehicles on the water splash side.

For this reason, when there is a possibility that the own vehicle will receive the water in the puddle that the other vehicle jumps up, a technique that can contribute to the self-defense of the own vehicle against the event that the water from the puddle that the other vehicle has jumped up is desired. ing. Meeting this requirement is one of the problems to be solved by the present invention.

According to the first aspect of the present invention, there is a possibility that the acquisition unit that acquires the position of the puddle area; and the other vehicle may receive the splashed water based on the traveling direction of the own vehicle and the position of the puddle area. A determination unit that determines whether or not there is information for executing at least one of a warning to the driver of the host vehicle and driving support control when the determination unit determines that there is a possibility of being covered with water; An on-vehicle device comprising: a generating unit for generating;

The invention according to claim 5 is an information processing method used in an in-vehicle device including an acquisition unit, a determination unit, and a generation unit, wherein the acquisition unit acquires a position of a puddle region. A determination step in which the determination unit determines whether there is a possibility that another vehicle may be splashed with water, based on a traveling direction of the own vehicle and a position of the puddle region; A generation step of generating information for causing the generation unit to execute at least one of a warning to the driver of the host vehicle and driving support control when it is determined that there is a possibility of being covered with water. It is a processing method.

The invention according to claim 6 is an information processing program that causes a computer of the in-vehicle device to execute the information processing method according to claim 5.

The invention according to claim 7 is a recording medium in which the information processing program according to claim 6 is recorded so as to be readable by a computer included in the in-vehicle device.

It is a block diagram which shows the structure of the vehicle-mounted apparatus which concerns on one Embodiment. It is a figure for demonstrating positioning of the vehicle-mounted apparatus which concerns on 1st Example. It is a block diagram which shows the structure of the vehicle-mounted apparatus of FIG. It is a flowchart for demonstrating the warning process by the process control unit of FIG. It is a flowchart for demonstrating the image analysis process of FIG. It is a flowchart for demonstrating the determination process of the water covering possibility of FIG. It is a figure which shows the example of a display of the warning information in 1st Example.

It is a block diagram which shows the structure of the information processing system which concerns on 2nd Example. It is a block diagram which shows the structure of the vehicle-mounted apparatus of FIG. It is a block diagram which shows the structure of the information management apparatus of FIG. It is a figure for demonstrating the content of the flooding generation | occurrence | production information memorize | stored in the memory | storage unit of FIG. It is a flowchart for demonstrating the detection process of the flooding event generation | occurrence | production by the process control unit of FIG. It is a flowchart for demonstrating the update process of the flooding generation | occurrence | production information by the process control unit of FIG. It is a flowchart for demonstrating the warning process by the process control unit of FIG. It is a flowchart for demonstrating the delivery process of the information of a water covering warning position by the process control unit of FIG. It is a figure which shows the example of a display of the warning information in 2nd Example.

It is a figure for demonstrating positioning of the vehicle-mounted apparatus which concerns on 3rd Example. It is a block diagram which shows the structure of the vehicle-mounted apparatus of FIG. It is a flowchart for demonstrating the detection process of the flooding event by the process control unit of FIG. It is a flowchart for demonstrating the warning process by the process control unit of FIG.

It is a block diagram which shows the structure of the information processing system which concerns on 4th Example. It is a block diagram which shows the structure of the route search apparatus of FIG. It is a flowchart for demonstrating the search process by the process control unit of FIG. It is a flowchart for demonstrating the re-search process of FIG.

It is a figure for demonstrating positioning of the vehicle-mounted apparatus which concerns on 5th Example. It is a block diagram which shows the structure of the vehicle-mounted apparatus of FIG. It is a flowchart for demonstrating the transmission process of the attention recommendation information by the process control unit of FIG. It is a flowchart for demonstrating the production | generation process of attention information by the process control unit of FIG. It is a figure which shows the example of a display of the caution information in 5th Example.

100A ... In-vehicle device 110A ... Processing control unit (acquisition unit, determination unit, generation unit)
700 ... In-vehicle device 710 ... Acquisition unit 720 ... Determination unit 730 ... Generation unit

Hereinafter, an embodiment of the present invention will be described with reference to FIG. In the following description, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 shows a configuration of an in-vehicle device 700 according to an embodiment. As shown in FIG. 1, the in-vehicle device 700 is disposed in the host vehicle CR. In the host vehicle CR, in addition to the in-vehicle device 700, a vehicle speed detection unit 920, a photographing unit 930, and a presentation unit 950 are arranged. These vehicle speed detection unit 920, imaging unit 930, and presentation unit 950 are connected to the in-vehicle device 700.

The vehicle speed detection unit 920 is provided with a speed sensor or the like. The vehicle speed detector 920 detects the speed of the host vehicle CR (hereinafter also referred to as “host vehicle speed”). The detection result by the vehicle speed detection unit 920 is sequentially sent to the in-vehicle device 700 as own vehicle speed information.

The photographing unit 930 photographs the front side of the host vehicle CR. In the present embodiment, the photographing unit 930 includes two cameras that photograph the front side of the vehicle. Here, one camera captures a forward landscape through a horizontal polarization filter that transmits horizontal polarization. The other camera captures a forward landscape through a vertical polarizing filter that transmits vertical polarized light. These two cameras have the same shooting direction and are spaced apart by a predetermined distance.

That is, a so-called stereo camera is configured by the two cameras. The result of photographing by the stereo camera (captured image) is sent to the in-vehicle device 700.

In the present embodiment, the photographing unit 930 performs a photographing operation in response to a photographing command sent from the in-vehicle device 700, and sends the photographing result to the in-vehicle device 700.

The presentation unit 950 receives the presentation data sent from the in-vehicle device 700. Then, the presentation unit 950 presents presentation information corresponding to the presentation data to the user. In the present embodiment, the presentation unit 920 includes a sound output unit and a display unit. The presentation data includes output sound data and display image data.

The sound output unit is configured with a speaker. The sound output unit receives output sound data sent from the in-vehicle device 700. The sound output unit outputs sound corresponding to the output sound data.

The display unit includes a display device such as a liquid crystal display. This display unit receives display image data sent from the in-vehicle device 700. Then, the display unit displays an image corresponding to the display image data.

Next, the configuration of the in-vehicle device 700 will be described. As illustrated in FIG. 1, the in-vehicle device 700 includes an acquisition unit 710, a determination unit 720, and a generation unit 730.

The acquisition unit 710 holds information on the camera arrangement position and optical characteristics of the photographing unit 930 inside. The acquisition unit 710 periodically sends a shooting command to the shooting unit 930. And the picked-up image sent from the imaging | photography part 930 in response to the said imaging | photography instruction | command is acquired.

Subsequently, the acquisition unit 710 performs image analysis on the captured image, and detects a puddle and another vehicle on the front side of the host vehicle CR. Subsequently, the acquisition unit 710 acquires the detected puddle and the relative position of the other vehicle with respect to the host vehicle CR.

And the acquisition part 710 is the combination of a puddle area | region and another vehicle, Comprising: When there exists a concern combination which is anxious about causing the own vehicle CR to receive water, it is more detailed information regarding the concerned combination. Get some forward information. Here, the front situation information includes the distance to the position where the host vehicle CR is closest to the puddle area, the distance from the puddle area to the other vehicle, and the relative speed of the other vehicle with respect to the host vehicle CR. It is. Further, the front situation information includes information regarding the puddle region and the position in the image of the other vehicle.

Then, the acquisition unit 710 sends an acquisition result other than the captured image to the determination unit 720. In addition, the acquisition unit 710 sends the captured image sent from the imaging unit 930 to the generation unit 730.

Details of the image analysis processing executed by the acquisition unit 710 will be described later.

The determination unit 720 receives the acquisition result sent from the acquisition unit 710. Further, the determination unit 720 receives the host vehicle speed information sent from the vehicle speed detection unit 920. Then, the determination unit 720 determines whether or not the host vehicle CR is likely to be covered with water in a puddle region splashed by another vehicle. When the result of this determination is affirmative, the determination unit 720 informs that effect as a determination result together with the positions in the captured images of the other vehicle and the puddle constituting the concern combination. Send to 730.

The details of the determination process by the determination unit 720 will be described later.

The generation unit 730 receives the captured image sent from the acquisition unit 710 and the determination result sent from the determination unit 720. Then, the generation unit 730 generates presentation data for presenting warning information for the water covering based on the captured image and the determination result, and sends the generated presentation data to the presentation unit 950. As a result, the presentation unit 950 presents warning information for water covering to the driver of the host vehicle CR.

In the present embodiment, warning information is presented by warning voice and warning images. Here, the warning sound is a sound that warns that there is a possibility of being covered with water, and the warning image is an image that highlights the other vehicle and the puddle that constitute the concern combination in the captured image.

[Operation]
Next, the operation of the in-vehicle device 700 configured as described above will be described mainly focusing on the image analysis process executed by the acquisition unit 710 and the determination process executed by the determination unit 720.

It is assumed that the vehicle speed detection unit 920 has already started operation, and sequentially sends the detected own vehicle speed information to the in-vehicle device 700. In addition, the host vehicle CR is traveling forward.

<Image analysis processing>
The acquisition unit 710 periodically sends a shooting command to the shooting unit 930. Then, the acquisition unit 710 acquires the captured image sent from the imaging unit 930 in response to the imaging command, and performs image analysis processing on the acquired image.

In the image analysis process, the acquisition unit 710 first detects the presence of various objects in the image. Subsequently, the acquisition unit 710 determines the relative position of the detected object with respect to the host vehicle CR as a positional deviation amount between the first image captured by one camera and the second image captured by the other camera (so-called Detect based on (parallax).

Next, for example, the acquisition unit 710 detects another vehicle in the image by a known template matching method or the like. Subsequently, the acquisition unit 710 detects an object on a road surface whose luminance in the first image is brighter than the luminance in the second image by a predetermined ratio or more, and an image area corresponding to the object is displayed on the road surface. It is detected as a formed area (that is, a puddle area). This is because light is diffusely reflected on a dry road surface, and the horizontal and vertical polarization components of the reflected light are approximately equal, whereas the reflected light from the water surface has a higher horizontal polarization component than a vertical polarization component. Due to the tendency to The “predetermined ratio” is determined in advance by experiment, simulation, experience, or the like.

When the puddle region is detected, the acquisition unit 710 determines the distance between the detected puddle region and the lane in which the host vehicle CR is traveling, that is, the detected puddle region and the host vehicle CR are in the traveling direction of the host vehicle CR. It is determined whether the distance at which the vehicle approaches closest is within a predetermined distance and whether there is another vehicle passing through the puddle region. If the result of this determination is negative, the acquisition unit 710 ends the current image analysis process.

Note that the “predetermined distance” is determined in advance from the viewpoints of experience, simulation, experience, and the like from the viewpoint of the possibility of the splashed water splashing in the lane in which the host vehicle CR travels.

On the other hand, when the result of the determination is affirmative, the acquisition unit 710 determines that there is a concern combination between the puddle region and the other vehicle, and the above-described front situation information is detected from the detected object (that is, It is obtained by calculation based on the relative position of the puddle region and other vehicle) constituting the combination of concern with respect to the host vehicle CR, and the temporal change of the captured image.

Thus, when the acquisition unit 710 acquires the forward situation information, the acquisition unit 710 sends the acquired information to the determination unit 720 as an acquisition result. Then, the acquisition unit 710 ends the current image analysis process.

<Judgment process>
When receiving the acquisition result sent from the acquisition unit 710, the determination unit 720 starts the determination process.

In the determination process, the determination unit 720 first acquires the host vehicle speed information sent from the vehicle speed detection unit 920. Then, the determination unit 720 determines that the host vehicle CR is based on the host vehicle speed indicated by the host vehicle speed information and the distance to the position where the host vehicle CR is closest to the puddle region included in the acquisition result. The own vehicle arrival time (T _S ), which is the time required to approach the puddle area, is calculated.

Next, the determination unit 720 calculates the other vehicle speed based on the own vehicle speed and the relative speed of the other vehicle with respect to the own vehicle CR included in the acquisition result. Subsequently, the determination unit 720 is a time until the other vehicle reaches the puddle area based on the calculated other vehicle speed and the distance from the puddle area included in the acquisition result to the other vehicle. The vehicle arrival time (T _O ) is calculated.

Next, the determination unit 720 determines whether or not the time difference | T _S −T _O | is equal to or less than a predetermined time T _P. If the result of this determination is negative, the determination unit 720 determines that there is no possibility of being covered with water, and ends the current determination process.

The “predetermined time T _P ” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of the occurrence of a flooding event.

On the other hand, when the result of the determination is affirmative, the determination unit 720 determines that there is a possibility of being covered with water. Then, the determination unit 720 sends the fact that there is a possibility of being covered with water to the generation unit 730 as a determination result together with the positions in the captured images of the other vehicles and the puddles constituting the concern combination.

Upon receiving the determination result sent from the determination unit 720, the generation unit 730 first presents presentation data for presenting warning information for the water covering based on the photographed image sent from the acquisition unit 710 and the determination result. The generated presentation data is sent to the presentation unit 950. As a result, the presentation unit 950 presents warning information for water covering to the driver of the host vehicle CR.

Note that, as described above, in this embodiment, warning information is presented by a warning voice and a warning image. Here, the warning sound is a sound that warns that there is a possibility of being covered with water, and the warning image is an image that highlights the other vehicle and the puddle that constitute the concern combination in the captured image.

As described above, in the in-vehicle device 700 of the present embodiment, the acquisition unit 710 acquires the position of the puddle region. Subsequently, the determination unit 720 determines whether or not there is a possibility that the other vehicle may receive the splashed water based on the traveling direction of the host vehicle CR and the position of the puddle region. And when it determines with the determination part 720 having a possibility of receiving water, the production | generation part 730 produces | generates the information for performing the warning to the driver of the own vehicle CR.

Therefore, when it is determined that there is a possibility that the own vehicle may suffer from the water in the puddle that another vehicle has jumped up, the driver can change the lane to a lane far from the puddle by warning the driver of the own vehicle in advance. It is possible to take measures in advance such as decelerating the own vehicle speed or moving the wiper at the maximum speed. For this reason, according to this embodiment, it can contribute to the self-defense of the own vehicle with respect to the event which receives the water of the puddle which other vehicles bounced up.

In the present embodiment, the determination unit 720 determines that the time difference between the own vehicle arrival time until the own vehicle CR approaches the puddle region and the other vehicle arrival time until the other vehicle reaches the puddle region is When it falls within the predetermined range, it is determined that there is a possibility that the host vehicle CR may suffer from the water in the puddle splashed by another vehicle. For this reason, it is possible to reasonably determine the possibility that the own vehicle CR will suffer from the water in the puddle that the other vehicle has splashed.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

For example, in the above embodiment, when it is determined that there is a possibility of being covered with water, warning information is presented to the driver of the own vehicle regardless of the own vehicle speed. On the other hand, the warning information may be presented only when the host vehicle speed is traveling at a reference speed or higher. This is because, when the speed of the host vehicle is low, there is relatively little danger even if it is covered with water. The “reference speed” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of driving safety.

In the above-described embodiment, warning information is presented when it is determined that the subject vehicle may be covered with water from a puddle that another vehicle has splashed. On the other hand, instead of or in addition to presenting warning information, vehicle driving control (support control) may be performed. Specifically, when it is determined that there is a possibility that the vehicle will be covered with water from the puddle, the lane is changed to a lane far from the puddle area, or the vehicle speed is reduced. Operation control to be performed may be performed automatically.

Further, in the above embodiment, the position of the other vehicle and the relative speed with respect to the own vehicle are acquired based on the image taken by the camera. On the other hand, you may acquire using the radar which measures the distance with an object using a millimeter wave or a laser, the sonar which measures the distance with an object using an ultrasonic wave, etc.

Also, the puddle area was detected based on the camera image. On the other hand, a known technique for detecting a puddle region may be adopted based on measurement of Lidar (Light Detection and Ranging). In this case, the position of the puddle region can be detected with higher accuracy than in the case of the above embodiment.

In the above embodiment, the vehicle speed information detected by the vehicle speed detector is acquired. On the other hand, the current position of the own vehicle detected by the position detection unit that detects the current position of the own vehicle by performing GPS positioning or the like is acquired, and the own vehicle speed information is obtained based on the time change of the acquired current position. May be calculated.

The in-vehicle device in the above-described embodiment is configured as a computer system including a calculation unit such as a central processing unit (CPU: Central Processing Unit), and the above-described in-vehicle device is executed by the computer. You may make it implement | achieve the one part or all function of an apparatus. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Hereinafter, embodiments for solving the above-described problems will be described with reference to the drawings. In the following description, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[First embodiment]
First, a first embodiment will be described with reference to FIGS. In the first embodiment, the in-vehicle device arranged in the own vehicle has a possibility of occurrence of a flooding event that the own vehicle suffers from the water splashed by another vehicle based on the actual situation of the traveling environment. Judgment is made. If the result of the determination is affirmative, the in-vehicle device issues a warning to the driver of the host vehicle.

<Configuration>
FIG. 2 shows the positioning of the in-vehicle device 100A according to the first embodiment. As shown in FIG. 2, the in-vehicle device 100A is disposed in the host vehicle CR. In the host vehicle CR, in addition to the in-vehicle device 100A, a sound output unit 210, a display unit 220, a sensor unit 230, a GPS receiving unit 240, and a photographing unit 260A are arranged. These sound output unit 210, display unit 220, sensor unit 230, GPS (Global Positioning System) receiving unit 240, and photographing unit 260A are connected to the in-vehicle apparatus 100A.

The sound output unit 210 is configured with a speaker. This sound output unit 210 receives output sound data sent from the in-vehicle device 100A. Then, the sound output unit 210 outputs sound corresponding to the output sound data.

The display unit 220 includes a display device such as a liquid crystal display. The display unit 220 receives display image data sent from the in-vehicle device 100A. Then, the display unit 220 displays an image corresponding to the display image data.

The sensor unit 230 includes a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, a tilt sensor, and the like. Detection results from various sensors included in the sensor unit 230 are sent to the in-vehicle device 100A.

The GPS receiving unit 240 described above receives radio waves from a plurality of GPS satellites and sends GPS data to the in-vehicle device 100A.

The above photographing unit 260A photographs the front side of the host vehicle CR. In the first embodiment, the photographing unit 260A includes two cameras that photograph the front side of the host vehicle CR. Here, one camera captures a forward landscape through a horizontal polarization filter that transmits horizontal polarization. The other camera captures a forward landscape through a vertical polarizing filter that transmits vertical polarized light. These two cameras have the same shooting direction and are spaced apart by a predetermined distance.

That is, a so-called stereo camera is configured by the two cameras. The image captured by the stereo camera is sent to the in-vehicle device 100A.

<< Configuration of On-vehicle Device 100A >>
As illustrated in FIG. 3, the in-vehicle device 100A includes a processing control unit 110A, a storage unit 120A, and an input unit 130. In addition to the storage unit 120A and the input unit 130, the above-described sound output unit 210, display unit 220, sensor unit 230, GPS receiving unit 240, and photographing unit 260A are connected to the processing control unit 110A.

The above-described processing control unit 110A performs overall control of the entire vehicle-mounted device 100A. The processing control unit 110A will be described later.

The storage unit 120A is configured to include a nonvolatile storage device such as a hard disk device, and stores various information data used in the in-vehicle device 100A. Such information includes map information and information related to the arrangement position and optical characteristics of the camera of the photographing unit 260A. The processing control unit 110A can access the storage unit 120A.

The input unit 130 includes a key unit provided in the main body of the in-vehicle device 100A and / or a remote input device including the key unit. Here, as a key part provided in the main body part, a touch panel provided in a display device of the display unit 220 can be used. In addition, it can replace with the structure which has a key part, or can also employ | adopt the structure input with a sound using a voice recognition technique in combination.

By using the input unit 130, the user can input various designations and commands to the processing control unit 130. An input result to the input unit 130 is sent to the processing control unit 110A as input data.

Next, the processing control unit 110A will be described. The processing control unit 110A includes a central processing unit (CPU) and its peripheral circuits. Various functions as the in-vehicle apparatus 100A are realized by the processing control unit 110A executing various programs. These various functions include warning processing regarding the possibility of the vehicle CR being covered with water to the driver of the vehicle CR.

Note that the program executed by the processing control unit 110A is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Here, the processing control unit 110A refers to the map information in the storage unit 120A as appropriate based on the sensor data sent from the sensor unit 230 and the GPS data sent from the GPS receiving unit 240, and a map matching method. Is used to accurately detect the current position of the host vehicle CR.

<Operation>
Next, the operation of the in-vehicle device 100A configured as described above will be described mainly focusing on the warning process executed by the processing control unit 110A of the in-vehicle device 100A.

It is assumed that the sensor unit 230 has already started operation, and sequentially sends detection results to the processing control unit 110A. In addition, it is assumed that the GPS receiving unit 240 has already started operation and sequentially sends reception results to the processing control unit 110A. Then, it is assumed that the processing control unit 110A detects the current position of the host vehicle CR with high accuracy using a map matching method while appropriately referring to the map information and the like in the storage unit 120A.

《Warning processing》
In the warning process, as shown in FIG. 4, first, in step S11, the processing control unit 110A acquires a photographed image by the photographing unit 260A. When acquiring such a captured image, the processing control unit 110A sends a shooting command to the shooting unit 260A. The processing control unit 110A acquires a new captured image sent from the imaging unit 260A in response to the imaging command.

Next, in step S12, the processing control unit 110A executes image analysis processing. By such image analysis processing, the processing control unit 110A determines whether or not there is a combination of a puddle region and another vehicle, and there is a concern that the own vehicle CR may be subjected to water, and The forward situation information, which is more detailed information about the concerned combination when there is a concerned combination, is calculated.

Note that details of the image analysis processing in step S12 will be described later.

Next, in step S13, the processing control unit 110A determines whether or not there is a concern combination. If the result of the determination in step S13 is negative (step S13: N), the process returns to step S11. Thereafter, the processes in steps S11 to S13 are repeated until the result of the determination in step S13 becomes affirmative.

If the result of the determination in step S13 is affirmative (step S13: Y), the process proceeds to step S14. In step S 14, the processing control unit 110 A acquires host vehicle speed information (host vehicle speed) based on sensor data and the like sent from the sensor unit 230.

Next, in step S15, the process control unit 110A performs a process for determining the possibility of water covering. The determination process of the possibility of flooding is a determination process of whether or not there is a possibility of the occurrence of a flooding event that the own vehicle CR suffers from water splashed by another vehicle.

Note that details of the determination process of the possibility of water covering in step S15 will be described later.

Subsequently, in step S16, the processing control unit 110A determines whether or not there is a possibility of being covered with water. If the result of the determination in step S16 is negative (step S16: N), the process returns to step S11. Thereafter, the processes in steps S11 to S16 are repeated until the result of the determination in step S16 becomes affirmative.

If the result of the determination in step S16 is affirmative (step S16: Y), the process proceeds to step S17. In step S17, the process control unit 110A generates warning information.

In the first embodiment, the warning information includes a warning voice and a warning image. Here, as the warning voice, for example, a voice such as “There is a possibility of being covered with water in a puddle on the front side.” Moreover, as a warning image, the image which highlighted the other vehicle and puddle which comprise the concern combination in a picked-up image is mentioned, for example.

Subsequently, the processing control unit 110A generates warning sound data and sends it to the sound output unit 210 as output sound data, and also generates warning image data and sends it to the display unit 220 as display image data. As a result, a warning sound is output from the sound output unit 210 and a warning image is displayed on the display unit 220.

<Image analysis processing>
Next, the image analysis process executed in step S12 will be described.

In the image analysis process, as shown in FIG. 5, first, in step S21, the processing control unit 110A detects an object in the captured image, and determines the relative position of the detected object with respect to the host vehicle CR. It acquires based on the amount of position shift (what is called parallax) in the 1st picture photoed with one camera, and the 2nd picture photoed with the other camera.

Next, the processing control unit 110A detects another vehicle in the image by, for example, a known template matching method. Subsequently, the processing control unit 110A detects an object on the road surface whose brightness in the first image is brighter than the brightness in the second image by a predetermined ratio or more, and an image area corresponding to the object is displayed on the water surface on the road surface. This is detected as a region where the water is formed (that is, a puddle region). This is because light is diffusely reflected on a dry road surface, and the horizontal and vertical polarization components of the reflected light are approximately equal, whereas the reflected light from the water surface has a higher horizontal polarization component than a vertical polarization component. Due to the tendency to The “predetermined ratio” is determined in advance by experiment, simulation, experience, or the like.

Next, in step S22, the processing control unit 110A determines whether or not there is a puddle on the front side. If the result of the determination in step S22 is negative (step S22: N), the process proceeds to step S25 described later.

If the result of the determination in step S22 is affirmative (step S22: Y), the process proceeds to step S23. In this step S23, the distance between the puddle area on the front side and the lane in which the host vehicle CR is traveling, that is, the distance when the puddle area on the front side and the host vehicle CR are closest to each other in the traveling direction of the host vehicle CR. It is determined whether or not the distance is within a predetermined distance. If the result of the determination in step S23 is negative (step S23: N), the process proceeds to step S25.

If the result of the determination in step S23 is affirmative (step S23: Y), the process proceeds to step S24. In step S24, the processing control unit 110A determines whether or not there is another vehicle passing through the puddle area on the front side.

If the result of the determination in step S24 is negative (step S24: N), the process proceeds to step S25. In step S25, the processing control unit 110A determines that there is no concern combination as a combination of the puddle and the other vehicle. Thereafter, the process of step S12 ends, and the process proceeds to step S13 of FIG. 4 described above.

If the result of the determination in step S24 is affirmative (step S24: Y), the process proceeds to step S26. In step S26, the processing control unit 110A determines that there is a concern combination.

Subsequently, in step S27, the processing control unit 110A obtains the forward situation information, which is more detailed information regarding the combination of concerns, based on the relative position of the puddle area and the other vehicle with respect to the host vehicle CR and the temporal change of the captured image. calculate. Here, the front situation information includes the distance to the position where the host vehicle CR is closest to the puddle area, the distance from the puddle area to the other vehicle, and the relative speed of the other vehicle with respect to the host vehicle CR. It is.

Thus, when the process of step S27 ends, the process of step S12 ends. Then, the process proceeds to step S13 in FIG.

《Judgment process for possibility of flooding》
Next, the determination process of the possibility of flooding performed in step S15 will be described.

In the process of determining the possibility of flooding, as shown in FIG. 6, first, in step S31, the processing control unit 110A is the time it takes for the host vehicle CR to approach the puddle area (the host vehicle arrival time ( T _S ) is calculated. In this calculation, the processing control unit 110A calculates the own vehicle arrival time (T _S ) based on the distance to the position where the own vehicle CR is closest to the puddle region and the own vehicle speed.

Next, in step S32, the processing control unit 110A calculates the other vehicle speed. In this calculation, the processing control unit 110A calculates the other vehicle speed based on the relative speed of the other vehicle with respect to the own vehicle CR and the own vehicle speed.

Subsequently, in step S33, the processing control unit 110A calculates the other vehicle arrival time (T _O ), which is the time until the other vehicle reaches the puddle region. In this calculation, the processing control unit 110A calculates the other vehicle arrival time (T _O ) based on the distance from the puddle region to the other vehicle and the other vehicle speed.

Next, in step S34, the processing control unit 110A determines whether or not the time difference | T _S −T _O | is equal to or less than a predetermined time T _P. The “predetermined time T _P ” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of the occurrence of a flooding event.

If the result of the determination in step S34 is affirmative (step S34: Y), the process proceeds to step S35. In step S35, the processing control unit 110A determines that there is a possibility of being covered with water. When the process of step S35 is finished in this way, the process of step S15 is finished. And a process progresses to step S16 of FIG. 4 mentioned above.

On the other hand, when the result of the determination in step S34 is negative (step S34: N), the process proceeds to step S36. In step S36, the processing control unit 110A determines that there is no possibility of being covered with water. When the process of step S36 is thus completed, the process of step S15 is terminated. And a process progresses to step S16 of FIG. 4 mentioned above.

FIG. 7 shows an example of a warning image displayed by the process in step S17 of FIG. 4 described above.

As described above, in the in-vehicle apparatus 100A of the first embodiment, the processing control unit 110A acquires the position of the puddle region. Subsequently, the processing control unit 110A determines whether or not there is a possibility that the other vehicle may be splashed with water based on the traveling direction of the host vehicle CR and the position of the puddle region. When it is determined that there is a possibility of being covered with water, the processing control unit 110A generates information for executing a warning to the driver of the host vehicle CR.

Therefore, when it is determined that there is a possibility that the own vehicle may suffer from the puddle of water puddleed by another vehicle, the driver warns the driver of the own vehicle in advance so that the driver can move the lane that travels farther from the puddle area. It is possible to take measures in advance such as changing the lane to be changed to, decelerating the vehicle speed, or moving the wiper at the maximum speed. For this reason, according to 1st Example, it can contribute to the self-defense of the own vehicle with respect to the event which receives the water of the puddle which the other vehicle jumped up.

Further, in the first embodiment, the processing control unit 110A is configured such that the own vehicle arrival time until the own vehicle CR approaches the puddle region and the other vehicle arrival time until the other vehicle reaches the puddle region. When the time difference is within a predetermined range, it is determined that the own vehicle CR may suffer from the water in the puddle that another vehicle has splashed. For this reason, it is possible to reasonably determine the possibility that the own vehicle CR will suffer from the water in the puddle that the other vehicle has splashed.

[Modification of First Embodiment]
The present invention can be variously modified with respect to the first embodiment described above.

For example, in the first embodiment described above, when it is determined that there is a possibility of being covered with water, warning information is presented to the driver of the host vehicle regardless of the host vehicle speed. On the other hand, the warning information may be presented only when the host vehicle speed is traveling at a reference speed or higher. This is because, when the speed of the host vehicle is low, there is relatively little danger even if it is covered with water. The “reference speed” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of driving safety.

Also, in the first embodiment described above, warning information is presented when it is determined that there is a possibility that the own vehicle may suffer from the puddle of water puddleed by another vehicle. On the other hand, instead of or in addition to presenting warning information, vehicle driving control (support control) may be performed. Specifically, when it is determined that there is a possibility that the vehicle will be covered with water from the puddle, the lane is changed to a lane far from the puddle area, or the vehicle speed is reduced. Operation control to be performed may be performed automatically.

In the first embodiment, the position of the other vehicle and the relative speed with respect to the host vehicle are acquired based on the image taken by the camera. On the other hand, you may acquire using the radar which measures the distance with an object using a millimeter wave or a laser, the sonar which measures the distance with an object using an ultrasonic wave, etc.

Also, the puddle area was detected based on the camera image. On the other hand, a known technique for detecting a puddle region may be adopted based on measurement of Lidar (Light Detection and Ranging). In this case, the position of the puddle region can be detected with higher accuracy than in the case of the first embodiment.

In the first embodiment, the vehicle speed information is acquired based on the sensor data sent from the sensor unit. On the other hand, the host vehicle speed information may be calculated based on the time change of the current position of the host vehicle detected by performing GPS positioning, map matching, or the like.

[Second Embodiment]
Next, a second embodiment will be described with reference to FIGS. In the second embodiment, the in-vehicle device detects the occurrence of a water covering event that the own vehicle suffers from water splashed by another vehicle, and transmits water covering information including the position of the water covering event to the information management device. . The information management device manages water cover information received from a plurality of in-vehicle devices. Then, the in-vehicle device acquires the information on the water cover warning position from the information management device, and issues a warning to the driver based on the acquired information on the water cover warning position.

<Configuration>
FIG. 8 shows the configuration of an information processing system 400B according to the second embodiment. As shown in FIG. 8, the information processing system 400B includes an in-vehicle device 100B and an information management device 300.

Here, the in-vehicle device 100B is arranged and operated in the host vehicle CR. Further, the information management device 300 is disposed outside the host vehicle CR. The in-vehicle device 100 B and the information management device 300 can communicate with each other via the network 500. The information management apparatus 300 B can communicate with the weather information distribution server 600 via the network 500.

The information management device 300 can communicate with an in-vehicle device arranged in another vehicle, but the in-vehicle device 100B is representatively shown in FIG.

As shown in FIG. 8, in the same manner as in the case of the first embodiment described above, the own vehicle CR includes a sound output unit 210, a display unit 220, a sensor unit 230, and a GPS receiving unit 240 in addition to the in-vehicle device 100B. Is arranged. Further, in the host vehicle CR, a photographing unit 260B is arranged instead of the photographing unit 260A as compared with the first embodiment.

The above-described photographing unit 260B is configured to include a camera disposed in the passenger compartment of the host vehicle CR. The photographing unit 260B photographs the front side of the host vehicle CR through the windshield. The image captured by the imaging unit 260B is sent to the in-vehicle device 100B.

<< Configuration of on-vehicle apparatus 100B >>
As shown in FIG. 9, the in-vehicle device 100B includes a processing control unit 110B, a storage unit 120B, an input unit 130, and a wireless communication unit 140B. In addition to the storage unit 120B, the input unit 130, and the wireless communication unit 140B, the sound output unit 210, the display unit 220, the sensor unit 230, the GPS receiving unit 240, and the photographing unit 260B are connected to the processing control unit 110B. Yes.

The processing control unit 110B performs overall control of the in-vehicle device 100B. The processing control unit 110B will be described later.

The storage unit 120B includes a non-volatile storage device such as a hard disk device, and stores various information data used in the in-vehicle device 100B. Such information includes map information and information regarding the optical characteristics of the camera provided in the photographing unit 260B. The storage control unit 110B can access the storage unit 120B.

The wireless communication unit 140B described above performs communication with the information management apparatus 300B via the network 500. The wireless communication unit 140B receives the water cover information and the water cover alert position distribution request sent from the processing control unit 110B. Then, the wireless communication unit 140B sends the water cover information and the water cover alert position distribution request to the information management apparatus 300 via the network 500 after adding the vehicle-mounted device ID.

Also, the wireless communication unit 140B receives the information on the water cover warning position transmitted from the information management apparatus 300B via the network 500. Then, the wireless communication unit 140B sends information on the water cover alert position to the processing control unit 110B.

Next, the processing control unit 110B will be described. The processing control unit 110B includes a central processing unit (CPU) and its peripheral circuits. Various functions as the in-vehicle device 100B are realized by the processing control unit 110B executing various programs.

Note that the program executed by the processing control unit 110B is recorded on a computer-readable recording medium such as a hard disk, a CD-ROM, or a DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Here, the processing control unit 110B appropriately refers to the map information in the storage unit 120B based on the sensor data sent from the sensor unit 230 and the GPS data received from the GPS receiving unit 240, and uses a map matching method. The current position is detected with high accuracy.

The processing control unit 110B detects a water covering event that the host vehicle CR has suffered based on the photographed image sent from the photographing unit 260B. When the water covering event is detected, the processing control unit 110B detects the occurrence position of the water covering event (including the traveling direction of the host vehicle CR at that time). Then, the processing control unit 110B transmits the detection result as water covering information to the information management apparatus 300 using the wireless communication unit 140B.

Note that details of the water covering event detection processing executed by the processing control unit 110B will be described later.

Further, if the water cover warning position around the current position of the host vehicle CR has not been acquired, the processing control unit 110B generates a water cover warning position distribution request in which the current position of the host vehicle CR is designated. Then, the processing control unit 110B transmits the generated water cover alert position distribution request to the information management apparatus 300 using the wireless communication unit 140B.

Further, the processing control unit 110B receives the information on the water cover warning position transmitted from the information management apparatus 300 using the wireless communication unit 140B. And processing control unit 110B performs the warning process with respect to a water cover based on the information of the said water cover alert position, and the direction in which the own vehicle CR is currently traveling.

The details of the warning process executed by the process control unit 110B will be described later.

<< Configuration of Information Management Device 300 >>
FIG. 10 shows a schematic configuration of the information management apparatus 300. As shown in FIG. 10, the information management apparatus 300 includes a processing control unit 310, a storage unit 320, and an external communication unit 330.

The processing control unit 310 includes a central processing unit (CPU) and its peripheral circuits, and performs overall control of the information management device 300. The processing control unit 310 will be described later.

The storage unit 320 stores various information data used in the information management apparatus 300A. Such information data includes water covering occurrence information HMI as shown in FIG. In the second embodiment, the water cover occurrence information HMI is the water cover information (water cover occurrence) for each classification WCN _j (j = 1, 2,...) Of the weather history information (for example, precipitation during the past hour). The position and the traveling direction of the vehicle at that time) PSN _j are associated with each other. In the present specification, the water covering position in the water covering occurrence information HMI is also referred to as “water covering warning position”.

Returning to FIG. 10, the external communication unit 330 receives the water cover information and the water cover warning position distribution request transmitted from the in-vehicle device 100 B via the network 500. Then, the external communication unit 330 sends the water cover information and the water cover alert position distribution request to the processing control unit 310.

In addition, the external communication unit 330 receives the information on the water cover warning position sent from the processing control unit 310. And the external communication unit 330 transmits the information of the said water covering warning position to the vehicle equipment 100B.

Next, the processing control unit 310 will be described. Various functions as the information management apparatus 300 are realized by the processing control unit 310 executing various programs.

Note that the program executed by the processing control unit 310 is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is loaded from the recording medium and executed. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

When the above-described processing control unit 310 receives the water covering information transmitted from the in-vehicle device 100B, the processing control unit 310 executes the process of updating the water covering occurrence information HMI in the storage unit 320. Note that details of the update processing of the water covering occurrence information HMI executed by the processing control unit 310 will be described later.

Further, when the processing control unit 310 receives the water cover warning position distribution request transmitted from the in-vehicle device 100B, the processing control unit 310 executes the generation process of the water cover warning position information for responding to the water cover warning position distribution request. Then, the processing control unit 310 transmits the generated water cover warning position information to the vehicle-mounted apparatus having the vehicle-mounted apparatus ID of the vehicle-mounted apparatus that issued the water cover warning position distribution request.

It should be noted that the details of the processing for distributing the information on the water cover warning position executed by the processing control unit 310 will be described later.

<Operation>
Next, with respect to the operation of the information generation system 400B configured as described above, the detection process and warning process of the occurrence of a flooding event performed by the processing control unit 110B of the in-vehicle device 100B, and the processing control unit of the information management device 300 A description will be given mainly focusing on the update process of the water cover occurrence information HMI executed by 310 and the process of distributing information on the water cover alert position.

It is assumed that the sensor unit 230 has already started operation and sequentially sends detection results to the processing control unit 110B. In addition, it is assumed that the GPS receiving unit 240 has already started operation, and sequentially sends reception results to the processing control unit 110B. Then, it is assumed that the processing control unit 110B accurately detects the current position of the host vehicle CR by using a map matching method while appropriately referring to the map information and the like in the storage unit 120B.

In addition, it is assumed that the photographing unit 260B has already started operation, and sequentially sends photographed images to the processing control unit 110B.

《Detection process for occurrence of water covering event》
First, the detection process of the occurrence of a flooding event performed by the processing control unit 110B will be described.

In the detection process of the occurrence of the water covering event, as shown in FIG. 12, first, in step S41, the processing control unit 110B acquires the captured image sent from the imaging unit 260B. Subsequently, in step S42, the processing control unit 110B performs image analysis processing to determine whether or not a new water covering event has occurred. In this determination, in the second embodiment, the processing control unit 110B determines that a water covering event has occurred when the outer edge of the object in the captured image has become sharply blurred. In addition, after the outer edge of the object in the photographed image is abruptly blurred, it may be determined that the water covering event has occurred when the outer edge of the object is sharply defined by the operation of the wiper.

If the result of the determination in step S42 is negative (step S42: N), the process returns to step S41. Thereafter, the processes in steps S41 and S42 are repeated until the result of the determination in step S42 becomes affirmative.

If the result of the determination in step S42 is affirmative (step S42: Y), the process proceeds to step S43. In this step S43, the process control unit 110B first generates water cover information. When generating such water covering information, the processing control unit 110B specifies the position of the water covering event and the traveling direction at that time based on the current position of the host vehicle CR and the temporal change of the current position. And the new water covering information including the generation | occurrence | production position of the identified water covering event and the traveling direction in that case is produced | generated. Then, the processing control unit 110B transmits new water covering information to the information management apparatus 300.

Thus, when the process of step S43 ends, the process returns to step S41. Thereafter, the processes of steps S41 to S43 are repeated.

《Update process of HMI occurrence information HMI》
Next, the update process of the water covering occurrence information HMI executed by the processing control unit 310 will be described.

In the update process of the water cover occurrence information HMI, as shown in FIG. 13, first, in step S46, the process control unit 310 determines whether or not new water cover information has been received. If the result of the determination in step S46 is negative (step S46: N), the process of step S46 is repeated.

If the result of the determination in step S46 is affirmative (step S46: Y), the process proceeds to step S47. In this step S47, the processing control unit 310 acquires weather history information (for example, information relating to precipitation during the past hour) of the water cover position included in the new water cover information. When acquiring such weather history information, the processing control unit 310 transmits a data distribution request for weather history information specifying the water covering position to the weather information distribution server 600. Then, the processing control unit 310 acquires the distribution data transmitted from the weather information distribution server 600 in response to the data distribution request as weather history information.

Next, in step S48, the processing control unit 310 updates the water covering occurrence information HMI in the storage unit 320. When updating the water cover occurrence information HMI, the processing control unit 310 additionally registers the new water cover information received this time in the storage unit 320 as information corresponding to the classification of the weather history information indicated by the distribution data. . As a result, the water covering occurrence information HMI in the storage unit 320 is updated.

In the second embodiment, for example, when “X ₁ ” in FIG. 11 described above is 5 mm, “X ₂ ” is 10 mm, and the precipitation amount for the past hour is 7 mm, the processing control is performed. The unit 310 additionally registers the newly received water cover information received this time as information corresponding to the classification of the weather history WCN _{2 in} the storage unit 320, and corresponds to each of the classifications of the weather history WCN ₃ , WCN ₄ ,. To be additionally registered in the storage unit 320. This is because there is a high possibility that a flooding event will occur even if the rainfall for the past hour exceeds 7 mm at the location where the flooding event occurred when the rainfall for the past hour was 7 mm. Because it is considered.

Thus, when the process of step S48 is completed, the process returns to step S46. Thereafter, the processes of steps S46 to S48 are repeated.

In the second embodiment, the processing control unit 310 deletes the water cover information that has passed for a certain period (for example, three months) from the registration from the storage unit 320.

《Warning processing》
Next, a warning process executed by the process control unit 110B will be described.

In the warning process, as shown in FIG. 14, first, in step S51, the processing control unit 110B determines whether or not the information on the water cover warning position around the current position of the host vehicle CR has been acquired. If the result of the determination in step S51 is affirmative (step S51: Y), the process proceeds to step S54 described later.

If the result of the determination in step S51 is negative (step S51: N), the process proceeds to step S52. In step S 52, the processing control unit 110 B transmits a water cover warning position distribution request that specifies the current position of the host vehicle CR to the information management apparatus 300.

Subsequently, in step S53, it is determined whether or not the processing control unit 110B has received the information on the water cover warning position distributed from the information management apparatus 300. If the result of the determination in step S53 is negative (step S53: N), the process of step S53 is repeated.

If the result of determination in step S53 is affirmative (step S53: Y), the process proceeds to step S54. In this step S54, it is determined whether or not the processing control unit 110B has approached the water covering warning position. If the result of the determination in step S54 is negative (step S54: N), the process returns to step S51. Thereafter, the processes in steps S51 to S54 are repeated until the result of the determination in step S54 becomes affirmative.

If the result of the determination in step S54 is affirmative (step S54: Y), the process proceeds to step S55. In step S55, the process control unit 110B determines whether or not a warning condition is satisfied. In the second embodiment, the warning condition is that the traveling direction indicated by the water covering information including the water covering position corresponding to the water covering warning position matches the traveling direction of the host vehicle CR.

If the result of the determination in step S55 is negative (step S55: N), the process returns to step S51. Thereafter, the processes in steps S51 to S55 are repeated until the result of the determination in step S55 becomes affirmative.

If the result of the determination in step S55 is affirmative (step S55: Y), the processing control unit 110B determines that there is a possibility of being covered with water. Then, the process proceeds to step S56. In step S56, the process control unit 110B first generates warning information.

In the second embodiment, as in the case of the first embodiment described above, the warning information includes a warning sound and a warning image. Here, as the warning voice, for example, a voice such as “There is a possibility of being covered with water in a puddle on the front side.” Moreover, as a warning image, the picked-up image itself is mentioned, for example.

Subsequently, the processing control unit 110B generates warning sound data, sends it to the sound output unit 210 as output sound data, generates warning image data, and sends it to the display unit 220 as display image data. As a result, a warning sound is output from the sound output unit 210 and a warning image is displayed on the display unit 220.

Thus, when the process of step S56 is completed, the process returns to step S51. Thereafter, the processes of steps S51 to S56 are repeated.

《Delivery process of information on water cover alert location》
Next, the distribution processing of the information on the water cover warning position executed by the processing control unit 310 will be described.

In the process of distributing the information on the water cover warning position, as shown in FIG. 15, first, in step S61, the processing control unit 310 determines whether or not a water cover warning position distribution request has been received. If the result of the determination in step S61 is negative (step S61: N), the process of step S61 is repeated.

If the result of the determination in step S61 is affirmative (step S61: Y), the process proceeds to step S62. In this step S62, the process control unit 310 acquires the weather history information of the current position included in the water cover warning position distribution request. When acquiring such weather history information, the processing control unit 310 transmits a data distribution request for weather history information specifying the current position to the weather information distribution server 600. Then, the processing control unit 310 acquires the distribution data transmitted from the weather information distribution server 600 in response to the data distribution request as weather history information.

Next, in step S63, the processing control unit 310 first refers to the water covering occurrence information HMI in the storage unit 320, and from among the water covering information of the classification corresponding to the received distribution data, the water covering warning position distribution. The water cover information around the current position included in the request is extracted as information on the water cover alert position. Then, the processing control unit 310 transmits the extracted information about the water covering warning position to the in-vehicle device that has issued the current water covering warning position distribution request.

FIG. 16 shows an example of a warning image displayed by the process in step S56 of FIG. 14 described above.

As described above, in the information processing system 400B of the second embodiment, the processing control unit 110B of the in-vehicle device 100B detects a water covering event that the own vehicle CR suffers from the puddle of water puddleed by another vehicle. Then, when detecting a water covering event, the processing control unit 110B transmits water covering information including the position of the water covering event and the traveling direction of the host vehicle CR when the water covering event occurs to the information management apparatus 300.

In the information management device 300 that has received the water cover information, the processing control unit 310 associates the water cover information with the water history information on the water cover occurrence position included in the water cover information, and stores the water cover information in the storage unit 320. It is additionally registered in the occurrence information HMI. Here, the classification based on the weather history information is a classification corresponding to the amount of precipitation for the most recent predetermined time at the flooding occurrence position.

In the information management device 300, when receiving a water cover warning position distribution request that is transmitted from the in-vehicle device 100B and that specifies the current position of the host vehicle CR, the processing control unit 310 refers to the water cover occurrence information in the storage unit 320. Then, the water cover information around the current position corresponding to the classification of the weather history at the current position of the host vehicle CR at that time is extracted as information on the water cover alert position. Then, the process control unit 310 transmits the extracted information on the water cover warning position to the in-vehicle device 100B.

Upon receiving the information about the water cover warning position, the processing control unit 110B causes the driver of the own vehicle CR to be warned of the water cover based on the information on the water cover warning position and the traveling direction of the own vehicle CR. Generate information for

Therefore, when there is a possibility that the own vehicle may suffer from the puddle of water puddleed by another vehicle, the driver changes the lane in which the vehicle travels to a lane farther from the puddle area by warning the driver in advance. It is possible to take measures in advance such as changing lanes, reducing the speed of the host vehicle, or moving the wiper at the maximum speed. For this reason, according to 2nd Example, the self-defense of the own vehicle can be performed with respect to the event which receives the water of the puddle which the other vehicle jumped up.

Further, in the second embodiment, the processing control unit 110B analyzes the photographed image through the window by the photographing unit 260B disposed in the passenger compartment of the host vehicle CR, and detects the occurrence of the water covering event. For this reason, it is possible to detect the occurrence of the water covering event reasonably with a simple configuration.

[Modification of Second Embodiment]
Various modifications can be made to the second embodiment.

For example, in the second embodiment, when it is determined that there is a possibility of being covered with water, warning information is presented to the driver of the own vehicle regardless of the own vehicle speed. On the other hand, the warning information may be presented only when the host vehicle speed is traveling at a reference speed or higher. This is because, when the speed of the host vehicle is low, there is relatively little danger even if it is covered with water. The “reference speed” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of driving safety.

Also, in the second embodiment described above, warning information is presented when it is determined that there is a possibility that the own vehicle may suffer from the puddle of water puddleed by another vehicle. On the other hand, instead of or in addition to presenting the warning information, driving control (support control) of the host vehicle may be performed. Specifically, when it is determined that there is a possibility that the vehicle will be covered with water from the puddle, the lane is changed to a lane far from the puddle area, or the vehicle speed is reduced. Operation control to be performed may be performed automatically.

In the second embodiment, the water cover information includes the water cover position and the traveling direction. On the other hand, the water cover information may further include information on the lane that was running when the water cover event occurred. In this case, it is possible to improve the accuracy of determining the possibility of occurrence of a water covering event related to the host vehicle.

Further, in the second embodiment, the water cover alert position information includes the water cover information as it is. On the other hand, when there are a plurality of near-water-covering positions (for example, within 10 m), by setting the representative position and the water-covering range centered on the representative position by a statistical method, You may perform the process put together as one water covering warning area | region.

[Third embodiment]
Next, a third embodiment will be described with reference to FIGS. In the third embodiment, the in-vehicle device detects the occurrence of a water covering event that the own vehicle suffers from the water splashed by another vehicle, and sends the water covering information including the position of the water covering event to the outside peripheral area. Broadcast by inter-vehicle communication. Further, the in-vehicle device acquires the water covering information broadcast from other vehicles in the peripheral area of the host vehicle through inter-vehicle communication. And a vehicle-mounted apparatus performs a warning to a driver based on the acquired water covering information.

<Configuration>
FIG. 17 shows the positioning of the in-vehicle device 100C according to the third embodiment. As shown in FIG. 17, the in-vehicle device 100C is arranged and operated in the host vehicle CR.

As shown in FIG. 17, the own vehicle CR has a sound output unit 210, a display unit 220, a sensor unit 230, a GPS receiving unit 240 in addition to the in-vehicle device 100 C, as in the case of the second embodiment described above. The photographing unit 260B is arranged. The sound output unit 210, the display unit 220, the sensor unit 230, the GPS receiving unit 240, and the photographing unit 260B are connected to the in-vehicle device 100C.

The in-vehicle device 100C can communicate with other vehicles around the host vehicle CR by inter-vehicle communication.

<< Configuration of On-vehicle Device 100C >>
As shown in FIG. 18, the in-vehicle device 100C includes a processing control unit 110C instead of the processing control unit 110B, compared to the in-vehicle device 100B (see FIG. 9) of the second embodiment described above, and wireless. The difference is that a wireless communication unit 140C is provided instead of the communication unit 140B.

The above-described processing control unit 110C performs overall control of the entire on-vehicle apparatus 100C. The processing control unit 110C will be described later.

The wireless communication unit 140C communicates with other vehicles around the host vehicle CR by inter-vehicle communication. The wireless communication unit 140C receives the water covering information sent from the processing control unit 110C. Then, the wireless communication unit 140C transmits the water covering information to the periphery of the host vehicle CR by inter-vehicle communication.

Further, the wireless communication unit 140C receives the water covering information broadcast from other vehicles around the host vehicle CR by inter-vehicle communication. Then, the wireless communication unit 140B sends the water covering information to the processing control unit 110C.

Next, the processing control unit 110C will be described. The processing control unit 110C includes a central processing unit (CPU) and its peripheral circuits. The processing control unit 110C executes various programs, thereby realizing various functions as the in-vehicle device 100C.

Note that the program executed by the processing control unit 110C is recorded on a computer-readable recording medium such as a hard disk, a CD-ROM, or a DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Here, the processing control unit 110C appropriately refers to the map information and the like in the storage unit 120B based on the sensor data sent from the sensor unit 230 and the GPS data received from the GPS receiving unit 240, and uses the map matching method. The current position is detected with high accuracy.

The processing control unit 110C detects a water covering event that the host vehicle CR has suffered based on the photographed image sent from the photographing unit 260B. When the water covering event is detected, the processing control unit 110C detects the occurrence position of the water covering event (including the traveling direction of the host vehicle CR at that time). Then, the processing control unit 110B broadcasts the detection result as water covering information to the periphery of the host vehicle CR using the wireless communication unit 140C.

Note that details of the water covering event detection processing executed by the processing control unit 110C will be described later.

Also, the processing control unit 110C receives the water covering information broadcast from other vehicles around the host vehicle CR by inter-vehicle communication. Then, the processing control unit 110C executes warning processing for water covering based on the water covering information received so far, the current position of the host vehicle CR, and the direction in which the host vehicle CR is currently traveling.

The details of the warning process executed by the process control unit 110C will be described later.

[Operation]
Next, the operation of the in-vehicle device 100C configured as described above will be described mainly focusing on the detection process and warning process of the water covering event executed by the processing control unit 110C.

It is assumed that the sensor unit 230 has already started operation and sequentially sends detection results to the processing control unit 110C. In addition, it is assumed that the GPS reception unit 240 has already started operation and sequentially sends reception results to the processing control unit 110C. Then, it is assumed that the processing control unit 110C detects the current position of the host vehicle CR with high accuracy using a map matching method while appropriately referring to the map information and the like in the storage unit 120B.

In addition, it is assumed that the photographing unit 260B has already started operation, and sequentially sends photographed images to the processing control unit 110C.

《Detection process for occurrence of water covering event》
First, the detection process of the occurrence of a flooding event performed by the processing control unit 110C will be described.

In the detection process of the occurrence of the water covering event, as shown in FIG. 19, first, in step S71, the processing control unit 110C acquires the photographed image sent from the photographing unit 260B. Subsequently, in step S72, the processing control unit 110C performs an image analysis process similar to that in step S42 of the second embodiment described above, and determines whether or not a new flooding event has been detected.

If the result of the determination in step S72 is negative (step S72: N), the process returns to step S71. Thereafter, the processes in steps S71 and S72 are repeated until the result of the determination in step S72 becomes affirmative.

If the result of the determination in step S72 is affirmative (step S72: Y), the process proceeds to step S73. In this step S73, the processing control unit 110B first performs image analysis processing similar to that in step S43 of the second embodiment described above to generate new water covering information. Then, the processing control unit 110C broadcasts the generated water covering information to the peripheral area of the host vehicle CR.

Thus, when the process of step S73 ends, the process returns to step S71. Thereafter, the processes of steps S71 to S73 are repeated.

《Warning processing》
Next, warning processing executed by the processing control unit 110C will be described. Note that, as described above, the processing control unit 110C receives the flooding information broadcast from other vehicles around the host vehicle CR, the current position of the host vehicle CR, and the current position of the host vehicle CR. Based on the direction in which the vehicle CR is traveling, warning processing for water covering is executed.

In the warning process, as shown in FIG. 20, first, in step S76, it is determined whether or not the process control unit 110C has approached the water covering occurrence position. If the result of the determination in step S76 is negative (step S76: N), the process of step S76 is repeated.

If the result of the determination in step S76 is affirmative (step S76: Y), the process proceeds to step S77. In step S77, the process control unit 110C determines whether or not a warning condition is satisfied. In the third embodiment, the warning condition is that the traveling direction indicated by the water covering information including the new water covering position matches the traveling direction of the host vehicle CR.

If the result of the determination in step S77 is negative (step S77: N), the process returns to step S76. Thereafter, the processes in steps S76 and S77 are repeated until the result of the determination in step S77 becomes affirmative.

If the result of the determination in step S77 is affirmative (step S77: Y), the process control unit 110C determines that there is a possibility of being covered with water. Then, the process proceeds to step S78. In step S78, the processing control unit 110C performs the same process as in step S56 in the second embodiment described above, generates warning sound data, and sends it to the sound output unit 210 as output sound data. Warning image data is generated and sent to the display unit 220 as display image data. As a result, a warning sound is output from the sound output unit 210 and a warning image is displayed on the display unit 220. For this reason, the same warning information as in the second embodiment described above is presented to the driver of the host vehicle CR.

Thus, when the process of step S78 ends, the process returns to step S76. Thereafter, the processes in steps S76 to S78 are repeated.

As described above, in the third embodiment, the processing control unit 110C of the in-vehicle device 100C detects a water covering event that the own vehicle CR suffers from the puddle of water puddleed by another vehicle. When a new water covering event is detected, the processing control unit 110C wirelessly transmits water covering information including the position where the new water covering event occurs and the traveling direction of the host vehicle CR when the new water covering event occurs. Using the communication unit 140C, broadcast transmission is performed around the host vehicle CR.

The processing control unit 110C uses the wireless communication unit 140C to receive the flood cover information broadcast from the vehicle in the peripheral area of the host vehicle CR, the current position of the host vehicle CR, and the host vehicle at the present time. Based on the direction in which the CR is traveling, warning processing for water covering is executed.

Therefore, when it is determined that there is a possibility that the own vehicle may suffer from the puddle of water that the other vehicle has jumped up, the driver can warn the driver of the own vehicle in advance so that the driving lane is moved away from the puddle region. It is possible to take measures in advance such as changing the lane to be changed, decelerating the vehicle speed, or moving the wiper at the maximum speed. For this reason, according to 3rd Example, it can contribute to the self-defense of the own vehicle with respect to the event which receives the water of the puddle which the other vehicle jumped up.

In the third embodiment, the processing control unit 110C analyzes the photographed image through the window by the photographing unit 260B disposed in the passenger compartment of the host vehicle CR, and detects the occurrence of the water covering event. For this reason, it is possible to detect the occurrence of the water covering event reasonably with a simple configuration.

[Modification of the third embodiment]
Various modifications can be made to the third embodiment.

For example, in the third embodiment, as in the first and second embodiments, the warning information may be presented only when the host vehicle speed is traveling above the reference speed. .

In the third embodiment, as in the first and second embodiments, vehicle driving control (support control) may be performed instead of or in addition to the presentation of warning information. . Specifically, when it is determined that there is a possibility that the vehicle will be covered with water from the puddle, the lane is changed to a lane far from the puddle area, or the vehicle speed is reduced. Operation control to be performed may be performed automatically.

Further, in the third embodiment, as in the case of the second embodiment, the water cover information may further include information on the lane that was running when the water cover event occurred. . In this case, it is possible to improve the accuracy of determining the possibility of occurrence of a water covering event related to the host vehicle.

[Fourth embodiment]
Next, a fourth embodiment will be described with reference to FIGS. In the fourth embodiment, the in-vehicle device acquires information on a water cover alert position where another vehicle has encountered a water cover event in a weather situation corresponding to a weather history around the host vehicle. Then, the in-vehicle device searches for a travel route to a destination that bypasses the water covering warning position indicated by the information about the water covering warning position.

<Configuration>
FIG. 21 shows the configuration of an information processing system 400D according to the fourth embodiment. As shown in FIG. 21, the information processing system 400D is different from the information processing system 400B of the second embodiment described above in that a route searching device 100D is provided instead of the in-vehicle device 100B. And as FIG. 22 shows, the route search apparatus 100D differs in the point provided with the process control unit 110D instead of the process control unit 110B compared with the vehicle-mounted apparatus 100B.

The input unit 130 can be input with a route search command specifying a destination, a guidance route setting command, and the like.

The processing control unit 110D performs overall control of the entire route search device 100D. The processing control unit 110D includes a central processing unit (CPU) and its peripheral circuits. Various functions as the route search device 100D are realized by the processing control unit 110D executing various programs.

Note that the program executed by the processing control unit 110D is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Here, the processing control unit 110D is similar to the processing control unit 110B described above, based on the sensor data sent from the sensor unit 230 and the GPS data received from the GPS receiving unit 240, the map information in the storage unit 120B, etc. The current position is accurately detected using a map matching technique with reference to the above.

Also, the processing control unit 110D is configured to execute a water covering event detection process in the same manner as the processing control unit 110B.

Further, when the processing control unit 110D receives a route search command sent from the input unit 130, the processing control unit 110D executes a search process.

<Operation>
Next, the operation of the information generation system 400D configured as described above will be described mainly focusing on search processing executed by the processing control unit 110D of the route search device 100D.

It is assumed that the sensor unit 230 has already started operation and sequentially sends detection results to the processing control unit 110D. In addition, it is assumed that the GPS reception unit 240 has already started operation and sequentially sends reception results to the processing control unit 110D. Then, it is assumed that the processing control unit 110D accurately detects the current position of the host vehicle CR using a map matching method while appropriately referring to the map information and the like in the storage unit 120B.

In addition, it is assumed that the photographing unit 260B has already started operation, and sequentially sends photographed images to the processing control unit 110D.

Further, it is assumed that the processing control unit 110D has already started the operation and is performing the detection process of the water covering event. In addition, it is assumed that the processing control unit 310 of the information management apparatus 300 has already started the operation and is executing the update process of the flooding occurrence information HMI.

《Search process》
A search process executed by the process control unit 110D will be described. The search process is executed in parallel with the detection process for the occurrence of the flooding event described in the second embodiment.

In the search process, as shown in FIG. 23, first, in step S81, it is determined whether or not the process control unit 110D has received a route search command sent from the input unit 130. If the result of the determination in step S81 is negative (step S81: N), the process of step S81 is repeated.

If the result of the determination in step S81 is affirmative (step S81: Y), the process proceeds to step S82. In this step S82, the processing control unit 110D transmits to the information management device 300 a water cover warning position distribution request specifying the vehicle-mounted device ID of the route search device 100D and the current position of the host vehicle CR.

Subsequently, in step S83, it is determined whether or not the processing control unit 110D has received the information on the water cover warning position distributed from the information management apparatus 300. If the result of the determination in step S83 is negative (step S83: N), the process of step S83 is repeated.

If the result of the determination in step S83 is affirmative (step S83: Y), the process proceeds to step S84. In step S84, the process control unit 110D performs an initial route search. In the initial route search, the processing control unit 110D searches for a travel route to a destination that bypasses the water cover position included in the water cover alert position information. Then, the processing control unit 110D uses the display unit 220 to present the searched travel route to the user.

When one travel route selected from the searched travel routes is set, in step S85, the processing control unit 110D starts guidance guidance for travel along the set travel route. In such guidance guidance, the processing control unit 110D performs guidance guidance using the sound output unit 210 and the display unit 220 while referring to the map information in the storage unit 120B based on the current position of the host vehicle CR.

In parallel with the guidance for traveling along the set travel route, in step S86, the processing control unit 110D determines whether or not it has arrived at the destination based on the current position of the host vehicle CR. If the result of the determination in step S86 is negative (step S86: N), the process proceeds to step S87.

In step S87, the process control unit 110D executes a re-search process. Details of the re-search process will be described later.

When the process of step S87 is completed, the process returns to step S86. Thereafter, the processes of steps S86 and S87 are repeated.

If the result of the determination in step S86 is affirmative (step S86: Y), the process proceeds to step S88. In step S88, the processing control unit 110D ends the travel guidance along the set travel route. Then, the process returns to step S81. Thereafter, the processes of steps S81 to S88 are repeated.

《Re-search process》
Next, the re-search process executed in step S87 will be described.

In the re-search process, as shown in FIG. 24, first, in step S91, the process control unit 110D determines whether or not the information on the water cover warning position around the current position of the host vehicle CR has been acquired. . If the result of the determination in step S91 is affirmative (step S91: Y), the process of step S87 ends. And a process returns to step S86 of FIG. 23 mentioned above.

If the result of the determination in step S91 is negative (step S91: N), the process proceeds to step S92. In step S92, the processing control unit 110D transmits to the information management device 300 a water cover warning position distribution request that specifies the in-vehicle device ID of the route search device 100D and the current position of the host vehicle CR.

Subsequently, in step S93, it is determined whether or not the processing control unit 110D has received the information on the water cover warning position distributed from the information management apparatus 300. When the result of the determination in step S93 is negative (step S93: N), the process of step S93 is repeated.

If the result of determination in step S93 is affirmative (step S93: Y), the process proceeds to step S94. In this step S94, the processing control unit 110D determines whether or not a water cover warning position exists on the travel route being set. If the result of the determination in step S94 is negative (step S94: N), the process of step S87 ends. Then, the process returns to step S86 in FIG.

If the result of the determination in step S94 is affirmative (step S94: Y), the process proceeds to step S95. In step S95, the processing control unit 110D performs a reroute search. In the re-route search, the processing control unit 110D searches for a travel route to a destination that bypasses the water cover position included in the information on the water cover alert position. Then, the processing control unit 110D uses the display unit 220 to present the re-searched travel route to the user.

When one travel route selected from the re-searched travel routes is set, in step S96, the process control unit 110D starts guidance guidance for travel along the set new travel route. Thereafter, the process of step S87 ends. Then, the process returns to step S86 in FIG.

Thus, until reaching the destination, the processing control unit 110D performs guidance for driving to the destination while repeating the flooding alert position distribution request and the re-searching of the driving route.

As described above, in the route search device 100D according to the fourth embodiment, the processing control unit 110D is in a weather situation corresponding to the weather history in the vicinity of the host vehicle CR. Get location information. Then, the processing control unit 110D searches for a travel route to a destination that bypasses the water cover warning position indicated by the water cover warning position information.

Therefore, it is possible to present to the driver of the own vehicle a travel route that bypasses the water cover warning position where the own vehicle may be covered with water from a puddle that has been splashed by another vehicle. For this reason, according to 4th Example, it can contribute to the self-defense of the own vehicle with respect to the event which receives the water of the puddle which the other vehicle jumped up.

Further, in the fourth embodiment, when the information about the water covering warning position is acquired during the setting of the travel route, and the water covering warning position exists on the route being set, the processing control unit 110D is in the process of setting. Re-search for a route to the destination that bypasses the water cover warning position on the travel route. For this reason, even during the setting of the travel route, it is possible to contribute to self-defense from encountering a water covering event.

[Modification of Fourth Embodiment]
Various modifications can be made to the fourth embodiment.

For example, in the above-described fourth embodiment, the device (route search device 100D in the fourth embodiment) arranged in the host vehicle performs a travel route search process. On the other hand, the information management device may acquire the current position of the host vehicle, a route search command, and the like from a device that does not have a search function, and perform a travel route search process. In this case, the result of the search process is provided to the device arranged in the own vehicle by the information management device transmitting to the device arranged in the own vehicle.

In the fourth embodiment, the water cover information includes the water cover position and the traveling direction. On the other hand, as in the case of the second embodiment, the water cover information may further include information on the lane that was running when the water cover event occurred. In this case, by searching for a travel route that further considers the lane that was traveling when the flooding event occurred, a more reasonable travel route than in the case of the third embodiment is searched. Can do.

In addition, the information on the water cover warning position includes the water cover information as it is. On the other hand, in the same way as in the second embodiment, when there are a plurality of near-covered positions (for example, within 10 m), the representative position and the representative position are centered by a statistical method. It is also possible to perform a process of grouping as one water cover warning area by setting the water cover occurrence range.

[Fifth embodiment]
Next, a fifth embodiment will be described with reference to FIGS. In the fifth embodiment, there is a possibility that the in-vehicle device arranged in the own vehicle may cause a flooding event that the own vehicle suffers from the water splashed by the other vehicle based on the actual traveling environment situation. Judgment is made. If the result of the determination is affirmative, the in-vehicle device transmits attention recommendation information to the outside in order to call attention to the driver of the other vehicle.

<Configuration>
FIG. 25 shows the positioning of the in-vehicle device 100E according to the fifth embodiment. As shown in FIG. 25, the in-vehicle device 100E is arranged and operated in the own vehicle CR.

As shown in FIG. 25, in the own vehicle CR, in the same manner as in the first embodiment described above, in addition to the in-vehicle device 100E, a sound output unit 210, a display unit 220, a sensor unit 230, a GPS receiving unit 240. In addition, an imaging unit 260A is arranged. The sound output unit 210, the display unit 220, the sensor unit 230, the GPS receiving unit 240, and the photographing unit 260A are connected to the in-vehicle device 100E.

The in-vehicle device 100E can communicate with other vehicles around the host vehicle CR by inter-vehicle communication.

<< Configuration of On-vehicle Device 100E >>
As shown in FIG. 26, the in-vehicle device 100E includes a processing control unit 110E in place of the processing control unit 110C, compared to the in-vehicle device 100C (see FIG. 18) of the third embodiment described above, and storage. The difference is that a storage unit 120A is provided instead of the unit 120B.

The above-described processing control unit 110E performs overall control of the on-vehicle apparatus 100E. The processing control unit 110E includes a central processing unit (CPU) and its peripheral circuits. Various functions as the in-vehicle device 100E are realized by the processing control unit 110E executing various programs.

Note that the program executed by the processing control unit 110E is recorded on a computer-readable recording medium such as a hard disk, a CD-ROM, and a DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Here, the processing control unit 110E appropriately refers to the map information in the storage unit 120A based on the sensor data sent from the sensor unit 230 and the GPS data received from the GPS receiving unit 240, and uses a map matching method. The current position is detected with high accuracy.

The processing control unit 110E determines the possibility that a flooding event occurs in which the own vehicle CR is covered with water splashed by another vehicle based on the captured image sent from the imaging unit 260A. If the result of this determination is affirmative, the processing control unit 110E transmits attention recommendation information for transmitting attention recommendation information to the outside in order to call attention to the driver of the other vehicle. The details of the attention recommendation information transmission processing for performing such processing will be described later.

Further, the processing control unit 110E outputs warning information regarding water splashing to the driver of the host vehicle CR when the host vehicle CR is designated in the warning recommendation information transmitted from the other vehicle and sent from the wireless communication unit 140C. Process. Details of the attention information output process will be described later.

[Operation]
Next, the operation of the in-vehicle device 700E configured as described above will be described mainly focusing on the attention recommendation information transmission processing and the attention information output processing executed by the processing control unit 110E.

It is assumed that the sensor unit 230 has already started operation and sequentially sends detection results to the processing control unit 110E. In addition, it is assumed that the GPS receiving unit 240 has already started operation and sequentially sends reception results to the processing control unit 110E. Then, it is assumed that the processing control unit 110E detects the current position of the host vehicle CR with high accuracy using a map matching method while appropriately referring to the map information and the like in the storage unit 120A.

<< Attention advisory information transmission process >>
First, the attention recommendation information transmission process executed by the process control unit 110E will be described.

In the attention recommendation information transmission process, as shown in FIG. 27, in steps S101 to S105, the process control unit 110E performs the processes of steps S11 to S15 executed by the process control unit 110A in the first embodiment described above. Similar processing is performed. Subsequently, in step S16, the processing control unit 110E determines whether or not there is a possibility of being covered with water. If the result of the determination in step S106 is negative (step S106: N), the process returns to step S101. Thereafter, the processes in steps S101 to S106 are repeated until the result of the determination in step S106 becomes affirmative.

If the result of the determination in step S106 is affirmative (step S106: Y), the process proceeds to step S107. In this step S107, first, the processing control unit 110E further performs image analysis to recognize the written characters on the license plate of the other vehicle that causes water splashing that may cause the vehicle CR to be covered with water. Do. Then, the process control unit 110E specifies the character recognition as another vehicle identifier (specific information of other vehicle) for designating the alert destination.

Next, in step S108, the process control unit 110E generates attention recommendation information including the specific information of the other vehicle specified in step S107. Then, the processing control unit 110E broadcasts the generated caution recommendation information by inter-vehicle communication using the wireless communication unit 140C.

When the process in step S108 ends, the process returns to step S101. Thereafter, the processes of steps S101 to S108 are repeated.

<< Attention information output process >>
Next, attention information output processing executed by the processing control unit 110E will be described.

In the attention information output process, as shown in FIG. 28, first, in step S111, the processing control unit 110E determines whether or not the attention recommendation information specifying the host vehicle CR has been received. At the time of such determination, the processing control unit 110E determines whether or not the specific information of the host vehicle CR is included in the attention recommendation information sent from the wireless communication unit 140C. If the result of the determination in step S111 is negative (step S111: N), the process of step S111 is repeated.

If the result of the determination in step S111 is affirmative (step S111: Y), the process proceeds to step S112. In step S112, the processing control unit 110E generates attention information for water splash based on the captured image or the like sent from the imaging unit 260A.

In the fifth embodiment, the attention information includes an attention voice and an attention image. Here, examples of the caution voice include “There is a puddle ahead. Please drive at a reduced speed of the vehicle”. Further, as the attention image, for example, an image in which character information is superimposed on the captured image sent from the imaging unit 260A is raised.

Next, in step S113, the processing control unit 110E generates caution sound data and sends it to the sound output unit 210 as output sound data, and also generates caution image data and sends it to the display unit 220 as display image data. . As a result, a caution sound is output from the sound output unit 210 and a caution image is displayed on the display unit 220.

When the process of step S113 is completed, the process returns to step S111. Thereafter, the processes in steps S111 to S113 are repeated.

Note that FIG. 29 shows an example of a caution image displayed on the display unit 220 by the process of step S113.

As described above, in the in-vehicle device 100E of the fifth embodiment, the processing control unit 110E acquires the position of the puddle region. Subsequently, the processing control unit 110E determines whether or not there is a possibility that the other vehicle may receive the splashed water based on the traveling direction of the host vehicle CR and the position of the puddle region. Then, when it is determined that there is a possibility that the processing control unit 110E may be covered with water, attention recommendation information that urges the other vehicle to pay attention to the puddle is transmitted to the outside.

Therefore, when it is determined that there is a possibility that the own vehicle may suffer from the puddle of water that the other vehicle has splashed, the driver of the other vehicle can be alerted to the water splash. For this reason, according to 5th Example, it can contribute to the self-defense of the own vehicle with respect to the event which receives the water of the puddle which the other vehicle jumped up.

Further, in the fifth embodiment, the processing control unit 110E calculates the own vehicle arrival time until the own vehicle CR approaches the puddle region and the other vehicle arrival time until the other vehicle reaches the puddle region. When the time difference is within a predetermined range, it is determined that the own vehicle CR may suffer from the water in the puddle that another vehicle has splashed. For this reason, as in the case of the first embodiment described above, it is possible to reasonably determine the possibility of the host vehicle CR from the water in the puddle that another vehicle has splashed.

[Modification of the fifth embodiment]
Various modifications can be made to the fifth embodiment.

For example, in the fifth embodiment, when it is determined that there is a possibility of being covered with water, the caution recommendation information is transmitted regardless of the speed of the host vehicle. On the other hand, the caution recommendation information may be transmitted only when the vehicle speed is traveling at a reference speed or higher. This is because, when the speed of the host vehicle is low, there is relatively little danger even if it is covered with water. The “reference speed” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of driving safety.

In the fifth embodiment, the position of the other vehicle and the relative speed with respect to the host vehicle are acquired based on the image taken by the camera. On the other hand, you may acquire using the radar which measures the distance with an object using a millimeter wave or a laser, the sonar which measures the distance with an object using an ultrasonic wave, etc.

In the fifth embodiment, the puddle area is detected based on the camera image. On the other hand, a known technique for detecting a puddle region may be adopted based on measurement of Lidar (Light Detection and Ranging). In this case, the position of the puddle region can be detected with higher accuracy than in the case of the fifth embodiment.

In the fifth embodiment, the vehicle speed information is acquired based on the center data sent from the sensor unit 230. On the other hand, the host vehicle speed information may be calculated based on the time change of the current position of the host vehicle detected by performing GPS positioning, map matching, or the like.

In the fifth embodiment, the description information in the number plate of the other vehicle is used as the specific information of the other vehicle. However, other information may be used as the specific information of the other vehicle.

In the fifth embodiment, when it is determined that there is a possibility of being covered with water, caution recommendation information including specific information of other vehicles is broadcast by inter-vehicle communication. On the other hand, you may make it transmit the caution recommendation information containing the specific information of another vehicle to the external relay server which can communicate via a network. In this case, the relay server stores the vehicle specific information and the vehicle specific address corresponding to the specific information in association with each other. Then, the relay server may transfer the caution recommendation information by designating a unique address corresponding to the received specific information.

In the above fifth embodiment, even if there is a possibility of a flooding event, the driver of the own vehicle is not warned about the flooding of the own vehicle. On the other hand, when there is a possibility of occurrence of a flooding event, warning information regarding the possibility of occurrence of a flooding event may be presented to the driver of the host vehicle.

Claims

An acquisition unit for acquiring the position of the puddle area;
A determination unit that determines whether or not there is a possibility that another vehicle may be splashed with water based on a traveling direction of the host vehicle and a position of the puddle region;
A generation unit that generates information for executing at least one of warning to the driver of the host vehicle and driving support control when the determination unit determines that there is a possibility of being covered with water;
A vehicle-mounted device comprising:
The determination unit determines that a time difference between the own vehicle arrival time until the own vehicle approaches the puddle region and the other vehicle arrival time until the other vehicle reaches the puddle region is within a predetermined range. The in-vehicle device according to claim 1, wherein in this case, it is determined that there is a possibility that the own vehicle may suffer from the water in the puddle splashed by the other vehicle.
The said generation part produces | generates the information for performing at least one of the said warning and driving assistance control, when the speed of the said own vehicle is more than predetermined | prescribed reference speed, The Claim 1 or 2 characterized by the above-mentioned. The in-vehicle device described.
The in-vehicle device according to any one of claims 1 to 3, wherein the travel support control includes at least one of lane change control and speed change control.
An information processing method used in an in-vehicle device including an acquisition unit, a determination unit, and a generation unit,
An acquisition step in which the acquisition unit acquires a position of a puddle region;
A determination step in which the determination unit determines whether there is a possibility that another vehicle may be splashed with water based on a traveling direction of the host vehicle and a position of the puddle region;
A generation step of generating information for causing the generation unit to execute at least one of a warning to the driver of the host vehicle and a driving support control when it is determined that there is a possibility of being covered with water in the determination step; ;
An information processing method comprising:
An information processing program causing a computer included in an in-vehicle device to execute the information processing method according to claim 5.
A recording medium in which the information processing program according to claim 6 is recorded so as to be readable by a computer included in the in-vehicle device.