WO2022162855A1 - 車載装置、路面画像の送信方法及びプログラム記録媒体 - Google Patents
車載装置、路面画像の送信方法及びプログラム記録媒体 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 14
- 230000005856 abnormality Effects 0.000 claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
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- 230000008569 process Effects 0.000 claims description 5
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- 238000004891 communication Methods 0.000 description 9
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- 238000004590 computer program Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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- 238000005096 rolling process Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
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- 238000004040 coloring Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. potholes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Definitions
- the present invention relates to an in-vehicle device, a road surface image transmission method, and a program recording medium.
- Patent Literature 1 discloses a road abnormality collection system capable of shortening the time required to identify a portion of a road that requires repair.
- the in-vehicle device of this road anomaly collection system includes means for recording travel history data of the vehicle while traveling on the road, means for detecting road anomalies while traveling on the road, and means for identifying and reporting an abnormal location on the road based on the abnormality and the travel history data of the vehicle; means for transmitting to a management center together with location information of the place.
- the management center is provided with road abnormality accumulation means for storing and accumulating images and location information of abnormal places on the road transmitted from the in-vehicle device.
- Patent Document 2 discloses a center-side system and a vehicle-side system that enable the vehicle to know the damaged road before traveling.
- the center-side system has a center-side receiving unit that receives vehicle vibration information, which is information about vibrations occurring in the probe vehicle, and probe vehicle position information, which is information about the position of the probe vehicle, from the vehicle-side system. Prepare. Based on the vehicle vibration information and the probe vehicle position information received by the center-side receiving unit, the center-side system includes a traffic condition estimating unit that estimates damaged roads, and a center that transmits the estimation results of the traffic condition estimating unit to the outside. and a side transmitter.
- Patent Literature 1 an abnormal spot on a road is detected by abnormal acceleration or the like when a vehicle passes over it.
- the in-vehicle camera is oriented toward the front of the vehicle, there is a problem that it is not possible to photograph local road anomalies after the anomaly is detected.
- road abnormalities can be detected, there are cases in which road administrators have to go to the site to investigate.
- Japanese Unexamined Patent Application Publication No. 2002-100000 a user goes to an abnormal location, takes a picture of a damaged part of the road using a digital camera or the like, and manages the pictures taken with the digital camera or the like via an in-vehicle device. Transmission to the center is performed (see paragraphs 0024-0025).
- Patent document 2 also does not consider the above point, and although the damaged road is estimated based on the vehicle vibration information and the vehicle position information, it does not mention the function of photographing the local road abnormality. Not done.
- An object of the present invention is to provide an in-vehicle device, a road surface image transmission method, and a program recording medium that can contribute to facilitating diagnosis of road abnormalities based on images received from vehicles.
- an abnormal section identification unit that identifies a road section where there is a high possibility that an abnormality has occurred on the road surface based on the output value of a sensor mounted on the vehicle; and a camera mounted on the vehicle.
- an image selection unit that selects an image of the specified road section from a plurality of images captured at predetermined time intervals in , and a transmission unit that transmits the selected image to a predetermined server.
- an in-vehicle device equipped with a camera and a sensor identifies a road section where there is a high possibility that an abnormality has occurred on the road surface based on the output value of the sensor,
- a road surface image transmission method for selecting an image of the specified road section from a plurality of images captured by a camera at predetermined time intervals and transmitting the selected image to a predetermined server.
- the method is tied to a specific machine, the on-board equipment of the vehicle, which is equipped with cameras and sensors.
- a computer program (hereinafter referred to as "program") is provided for realizing each function of the in-vehicle device described above.
- This program is input to the computer device via an input device or an external communication interface, stored in a storage device, and drives the processor according to predetermined steps or processes.
- this program can display the results of processing, including intermediate states, at each stage via a display device as required, or can communicate with the outside via a communication interface.
- a computer device for that purpose typically includes a processor, a storage device, an input device, a communication interface, and optionally a display device, which are interconnected by a bus, as an example.
- the program can also be recorded on a computer-readable (non-transitory) storage medium.
- FIG. 1 is a functional block diagram showing the configuration of a vehicle equipped with an in-vehicle device according to a first embodiment of the present invention;
- FIG. It is a figure for demonstrating operation
- FIG. 4 is a flow chart showing the operation of the in-vehicle device according to the first embodiment of the present invention
- FIG. 5 is a functional block diagram showing the configuration of a vehicle equipped with an in-vehicle device according to a second embodiment of the present invention
- It is a flowchart showing operation
- It is a figure which shows an example of the image which the vehicle-mounted apparatus of the 2nd Embodiment of this invention produces.
- FIG. 11 is a functional block diagram showing the configuration of a vehicle equipped with an in-vehicle device according to a third embodiment of the present invention; It is a flowchart showing operation
- connection lines between blocks in drawings and the like referred to in the following description include both bidirectional and unidirectional connections.
- the unidirectional arrows schematically show the flow of main signals (data) and do not exclude bidirectionality.
- a program is executed via a computer device, and the computer device includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device.
- this computer device is configured to be able to communicate with internal or external devices (including computers) via a communication interface, regardless of whether it is wired or wireless. Also, although there are ports or interfaces at the input/output connection points of each block in the figure, they are omitted from the drawing.
- an in-vehicle device 20 including an abnormal section identification unit 23, an image selection unit 24, and a transmission unit 25 can be implemented.
- the abnormal section identification unit 23 identifies road sections where there is a high possibility that an abnormality has occurred on the road surface, based on the output value of the sensor 22 mounted on the vehicle.
- the image selection unit 24 selects an image of the specified road section from among a plurality of images captured at predetermined time intervals by the camera 21 mounted on the vehicle.
- the image captured by the camera 21 may be a moving image. In that case, a plurality of frames forming a moving image will be used. Also, if this moving image is encoded using a frame prediction method, an I frame close to the intended timing should be selected.
- the transmission unit 25 is configured to be able to transmit the selected image to a predetermined server.
- FIG. 2 is a diagram for explaining an example of the operation of the in-vehicle device 20 of this embodiment.
- Images P 0 to P 6 show images captured by the camera 21 at timings t 0 to t 6 while the vehicle V is traveling from left to right in FIG. Since the camera 21 mounted on the vehicle V captures the front, the image P i captured at the time t i captures the road surface that the vehicle V passes after the time t i+1 . In other words, when an abnormality is detected on the road surface at time t i , the road surface is reflected in the image before time t i ⁇ 1 .
- a pothole PH exists in the section through which the vehicle V passes from time t4 to t5.
- an acceleration sensor that measures vertical acceleration is used as the sensor, the presence of the pothole PH is detected in the vertical direction when the tire of the vehicle V passes over the pothole PH after time t4. can be detected by changes in the acceleration of However, the photographed image immediately after time t5 is P5 , and the pothole PH is not shown.
- the in-vehicle device 20 of the present embodiment identifies a road section (time t 4 to t 5 ) where there is a high possibility that an abnormality has occurred on the road surface.
- the in-vehicle device 20 further selects an image P 3 that captures the road surface of the specified road section (time t 4 to t 5 ) at the closest position from among the plurality of images captured by the camera 21. select.
- the in - vehicle device 20 transmits the selected image P3 to a predetermined server. This allows the given server to obtain the presence of the pothole PH and its set of images.
- the rule for selecting an image obtained by photographing a specified road section from a plurality of images is not limited to the example shown in FIG.
- the distance between the photographing position of the image showing the pothole PH and the position of the pothole PH when the camera 21 is installed at the depression angle ⁇ 1 is represented by D1.
- the depression angle of the camera 21 is ⁇ 2, which is smaller than ⁇ 1
- the photographing position of the image showing the pothole PH and the position of the pothole PH are D2, which is longer than D1.
- the image selection unit 24 selects a past image by tracing back the traveling time of D 1 (D 2 ), which is a distance determined by the position and the angle of view of the camera 21, so that it is possible that an abnormality has occurred on the road surface. It is possible to select an image that captures a road section with a high probability.
- the rule for selecting an image obtained by photographing a specified road section from a plurality of images changes depending on the mounting position and angle of view of the camera of the vehicle V, so it is necessary to appropriately set for each vehicle.
- FIG. 4 is a diagram showing the configuration of the first embodiment of the present invention.
- a configuration is shown in which a road management server 100 and a vehicle 200 equipped with an in-vehicle device are connected via a network.
- a configuration may be adopted in which a plurality of vehicles 200 transmit images to the road management server 100.
- the road management server 100 receives an image of the road on which an abnormality was observed from the vehicle 200 and allows the road administrator to view it.
- the road administrator refers to the browsed images to determine whether or not road repair is necessary and to formulate a long-term repair plan.
- the vehicle 200 has a road inspection function and has a function of transmitting measurement data such as crack rate, rut amount, and IRI (International Roughness Index)
- IRI International Roughness Index
- FIG. 5 is a functional block diagram showing the configuration of a vehicle equipped with an in-vehicle device according to the first embodiment of the present invention.
- vehicle 200 including camera 201, sensor 202, abnormal section identification unit 203, image selection unit 204, transmission unit 205, and image storage unit 206 is shown.
- the in-vehicle device can be configured to include the abnormal section identification unit 203, the image selection unit 204, and the transmission unit 205 among these.
- at least one of the camera 201, the sensor 202, and the image storage unit 206 may be included in the in-vehicle device.
- the camera 201 is a camera that photographs the road surface in front of the vehicle at predetermined time intervals.
- the type of camera 201 can be selected according to the type of road anomaly to be detected. Therefore, the camera 201 may be an optical camera that captures images in the visible light range, an infrared camera, or a TOF (Time of Flight) camera that can measure distance using the reflection time of light.
- TOF Time of Flight
- the sensor 202 is a sensor capable of measuring at least one of the vehicle 200's speed, acceleration, and tire rotation speed.
- a sensor capable of measuring acceleration in the vertical direction (Z direction) of the vehicle 200 is used.
- An acceleration sensor provided for IRI measurement can also be used as such an acceleration sensor.
- the abnormal section identification unit 203 identifies an abnormal section of the road based on changes in acceleration measured by the sensor 202 .
- FIG. 6 is a diagram for explaining the operation of the abnormal section identification unit 203. As shown in FIG. As shown in the upper part of FIG. 6, when a crack cr occurs in the road surface ahead of the vehicle V traveling on the road, the sensor 202 measures the vibration transmitted through the tires. The interval t 11 to t 12 in which this vibration occurs and its observation time can be specified as an abnormal interval.
- the image accumulation unit 206 accumulates images captured by the camera 201 for a predetermined period.
- FIG. 7 is a diagram showing an example of image information accumulated in the image accumulation unit 206. As shown in FIG. In the example of FIG. 7, images captured by the camera 201 are accumulated every second. Since the storage capacity of the image storage unit 206 is limited, images after a certain period of time have passed are deleted from the image storage unit 206 .
- the image selection unit 204 selects an image obtained by photographing the abnormal section identified by the abnormal section identification unit 203 from the images accumulated in the image accumulation unit 206 and transmits the image to the transmission unit 205 .
- the image obtained by photographing the abnormal section is a past image obtained by photographing the position of the tire when the sensor observes the abnormality. Therefore, the image selection unit 204 extracts an image at a time preceding the time when the abnormal value of the sensor 202 corresponding to the abnormal section was observed by the travel time of a predetermined distance. It is possible to select an image that captures an abnormal section that has been detected.
- the image of the position of the tire at the time when the sensor observes the abnormality is the distance D 1 (D 2 ) corresponding to the position and depression angle of the camera 201 and the time calculated based on the vehicle speed. It can be obtained by selecting images in the past by the number of minutes (see FIG. 3). For example, if it takes N seconds for the vehicle V to travel the distance D 1 (D 2 ), the crack cr in FIG. You can select an image that has Furthermore, in selecting the past images, the time required for observing (detecting) an abnormality may be taken into consideration. If the time required for observation (detection) of this abnormality is n, the image obtained by photographing the crack cr in FIG. can. In addition, when the abnormality is continuous like the crack cr in FIG. 6, the image selection unit continuously selects images so that the number of images corresponding to the length of the crack is selected. become.
- an image in which an abnormal section is captured is selected using the image capturing time, but it is also possible to specify an image using position information.
- the abnormal section identification unit 203 needs to identify the abnormal section by a combination of position information such as latitude and longitude obtained by GPS (Global Positioning System).
- GPS Global Positioning System
- the image captured by the camera 201 is associated with the position information obtained by the GPS.
- the image selection unit 204 selects an image obtained by photographing an abnormal section specified by a combination of position information using the position information of the subject (road) or the like.
- the transmission unit 205 transmits the selected image to the road management server 100 .
- the form of connection between the transmission unit 205 and the network may be via a wireless communication network provided by a mobile communication carrier, or via a roadside unit placed near the road. may be
- FIG. 8 is a flow chart showing the operation of the vehicle-mounted device according to the first embodiment of the present invention.
- images are captured by the camera 201 at predetermined time intervals and stored in the image storage unit 206 .
- the in-vehicle device mounted in the vehicle 200 performs the processing shown in FIG. 8 at predetermined time intervals.
- the abnormal section identification unit 203 of the in-vehicle device checks whether there is an abnormality on the road surface based on the measured value of the sensor 202 (step S001).
- the image selection unit 204 selects an image of the road surface determined to have an abnormality from the images accumulated in the image accumulation unit 206. (step S002). If it is determined that there is no road surface abnormality (No in step S001), the in-vehicle device omits subsequent processing.
- the image selection unit 204 selects an image of the road surface determined to have an abnormality from among the images accumulated in the image accumulation unit 206 (step S002).
- the transmission unit 205 transmits the selected image to the road management server 100 (step S003). For example, when the vehicle V travels through the section where the crack cr exists in FIG. 6, the in-vehicle device continuously transmits images of the road surface where the crack cr exists.
- this embodiment it is possible not only to detect the presence or absence of an abnormality on the road surface, but also to send an image of the road surface with the abnormality to the road management server 100. This eliminates the need for the road administrator or the like to dispatch personnel to the site, thereby facilitating the diagnosis of road abnormalities.
- FIG. 9 is a functional block diagram showing the configuration of a vehicle equipped with an in-vehicle device according to the second embodiment of the invention.
- a structural difference from the first embodiment shown in FIG. 5 is that a position specifying unit 207 and an image processing unit 208 are added to the vehicle 200a. Since other configurations are substantially the same as those of the first embodiment, the differences will be mainly described below.
- the position specifying unit 207 includes a GPS module and specifies the position of the vehicle 200a.
- the image processing unit 208 processes the image selected by the image selection unit 204 by adding the vehicle position information specified by the position specifying unit 207, and then sends the processed image to the transmission unit 205.
- FIG. 10 is a flow chart showing the operation of the vehicle-mounted device according to the second embodiment of the present invention.
- the difference from the operation of the in-vehicle device of the first embodiment shown in FIG. 8 is that image processing is added after selecting the image of the abnormal location in step S002. The difference will be mainly described below.
- the image processing unit 208 After the image selection unit 204 selects an image of the road surface determined to have an abnormality from among the images accumulated in the image accumulation unit 206 (step S002), the image processing unit 208 Output the image.
- the image processing unit 208 requests the position specifying unit 207 to specify the current position of the vehicle 200a, and receives the position information of the vehicle 200a (step S004).
- the image processing unit 208 adds vehicle position information as additional information to the image selected by the image selection unit 204 in step S002 (step S005).
- the transmission unit 205 transmits the processed image to the road management server 100 (step S003a).
- FIG. 11 is a diagram showing an example of an image created by the in-vehicle device of this embodiment.
- the character "abnormality detected" and the position information (latitude and longitude information) of the vehicle are added to the upper left of the image of the cracked road. Since this position information is not the position where the image was captured, but the position where the sensor detected the abnormality, it can be said that it indicates the position of the abnormal spot on the road.
- position information latitude and longitude information
- position information is not limited to the example in FIG.
- information on the road on which the abnormality was detected (prefectural road No. XX) and position information on the road (10 m from the YY intersection) may be added. good.
- position information can be created by, for example, using map information or the like to determine the corresponding road and its relative position from latitude and longitude information.
- FIG. 13 is a functional block diagram showing the configuration of a vehicle equipped with an in-vehicle device according to the third embodiment of the invention.
- a structural difference from the first embodiment shown in FIG. 5 is that an abnormal region extraction unit 209 and an image processing unit 208b are added to the vehicle 200b. Since other configurations are substantially the same as those of the first embodiment, the differences will be mainly described below.
- the abnormal region extracting unit 209 uses an area detector created in advance to identify a region in the image in which a road abnormality has occurred, and the image processing unit 208b, the information of the area where the road abnormality occurs in the image is output.
- the area detector can be created by machine learning, for example, by preparing a teacher data set labeled with an image of a road prepared in advance and its abnormal mode.
- the image processing unit 208b sends the image selected by the image selection unit 204 to the abnormal area extraction unit 209, and requests identification of the area in the image where the road abnormality occurs.
- the image processing unit 208b selects the image selected by the image selection unit 204 so that the road abnormality is detected. Perform processing to emphasize the area where it occurs.
- the image processing unit 208 b sends the processed image to the transmission unit 205 .
- FIG. 14 is a flow chart showing the operation of the in-vehicle device according to the third embodiment of the present invention.
- the difference from the operation of the in-vehicle device of the first embodiment shown in FIG. 8 is that image processing is added after selecting the image of the abnormal location in step S002. The difference will be mainly described below.
- the image selecting unit 204 selects an image of the road surface determined to have an abnormality from among the images accumulated in the image accumulating unit 206 (step S002)
- the selected image is sent to the image processing unit 208b.
- the image processing unit 208b requests the abnormal area extracting unit 209 to identify an area of the road in the image received from the image selecting unit 204, where the road is abnormal. receive information on the area where the abnormality is occurring (step S104).
- the image processing unit 208b uses the information on the area in the image where the road abnormality has occurred to change the area in the image in which the road abnormality has occurred selected by the image selection unit 204 in step S002. is processed to emphasize (step S105).
- the transmission unit 205 transmits the processed (enhanced) image to the road management server 100 (step S003b).
- FIG. 15 and 16 are diagrams showing examples of images created by the in-vehicle device of this embodiment.
- an arrow and a dotted line surrounding the cracked portion are added to the cracked portion of the image of the cracked road.
- the section length in which the crack was detected is displayed as "Crack detected continuously for 15 m".
- processing for emphasizing an area where an abnormality has occurred is not limited to the examples of FIGS. 15 and 16.
- processing for emphasizing the outline of the cracked portion, processing for coloring, or the like may be performed.
- the sensor 202 is an acceleration sensor, but the sensor 202 may be information from various gauges installed in the vehicle. For example, when a vehicle travels over an abnormal portion of the road surface such as a crack, a decrease in vehicle speed and an increase in the amount of depression of the accelerator are observed due to an increase in rolling friction. Using these changes, the abnormal section identifying unit 203 may identify abnormal sections of the road. Similarly, when a vehicle travels over an abnormal portion of the road surface such as a crack, a decrease in tire rotation speed and an increase in accelerator depression amount are observed due to an increase in rolling friction. Using these changes, the abnormal section identifying unit 203 may identify abnormal sections of the road.
- running state information indicating the running state of vehicle 200 (vehicle speed, acceleration, shift position, engine speed, accelerator depression amount, etc.) to the image transmitted by transmission unit 205 .
- the road surface anomalies are described as potholes and cracks, but the road surface anomalies are not limited to these. Any road surface anomaly that can be detected by a vehicle sensor, or any other anomaly may be used.
- the procedures shown in the above-described first to third embodiments can be realized by a program that causes a computer (9000 in FIG. 17) functioning as an in-vehicle device to realize the functions of these devices.
- a computer is exemplified by a configuration comprising a CPU (Central Processing Unit) 9010, a communication interface 9020, a memory 9030, and an auxiliary storage device 9040 in FIG. That is, the CPU 9010 in FIG. 17 may execute an abnormal section identification processing program and an image selection program to update each calculation parameter held in the auxiliary storage device 9040 or the like.
- a CPU Central Processing Unit
- each part (processing means, function) of each device shown in the above-described first to third embodiments executes the above-described processing using the hardware in the processor installed in these devices. It can be implemented by a computer program that causes
- the sensor is a sensor that measures at least one of speed, acceleration, and tire rotation speed
- the abnormal section identification unit, A configuration can be adopted in which a section in which the road surface is highly likely to have an abnormality is identified based on the change pattern of the output value of the sensor.
- the vehicle-mounted device described above further comprises: An image processing unit that adds information about the specified road section to the image to be transmitted to the predetermined server, The transmission unit A configuration can be adopted in which the processed image is transmitted to the predetermined server.
- the image processing unit of the vehicle-mounted device may be configured to add information indicating the shooting location of the image selected by the image selection unit.
- the above-described in-vehicle device includes an abnormal area extraction unit that analyzes the image selected by the image selection unit and extracts an abnormal area,
- the image processing section may be configured to carry out processing for highlighting the region extracted by the abnormal region extraction section.
- the vehicle-mounted device described above can have a function of adding information indicating the running state of the vehicle to the image to be transmitted to the predetermined server.
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Abstract
Description
続いて、本発明の第1の実施形態について図面を参照して詳細に説明する。図4は、本発明の第1の実施形態の構成を示す図である。図4を参照すると、道路管理サーバ100と、車載装置を搭載した車両200とがネットワークを介して接続された構成が示されている。なお、図4の例では、1台の車両200が示されているが、複数の車両200が道路管理サーバ100に画像を送信する構成であってもよい。
続いて、車載装置が送信する画像に、道路の異常の診断をさらに容易化する情報を付加するようにした第2の実施形態について説明する。図9は、本発明の第2の実施形態の車載装置が搭載された車両の構成を表した機能ブロック図である。図5に示した第1の実施形態との構成上の相違点は、車両200aに位置特定部207と、画像加工部208とが追加されている点である。その他の構成は第1の実施形態とほぼ同様であるので、以下、その相違点を中心に説明する。
続いて、車載装置が送信する画像に、異常箇所の特定を容易化する情報を付加するようにした第3の実施形態について説明する。図13は、本発明の第3の実施形態の車載装置が搭載された車両の構成を表した機能ブロック図である。図5に示した第1の実施形態との構成上の相違点は、車両200bに異常領域抽出部209と、画像加工部208bとが追加されている点である。その他の構成は第1の実施形態とほぼ同様であるので、以下、その相違点を中心に説明する。
[第1の形態]
(上記第1の視点による車載装置参照)
[第2の形態]
上記した車載装置の画像選択部は、
前記車両のカメラが撮影した画像の中から、前記センサーで異常を観測した時点のタイヤの位置を撮影している画像を選択することで前記特定した道路区間を撮影した画像を選択する構成を採ることができる。
[第3の形態]
上記した車載装置の画像選択部は、前記車両のカメラの位置と、前記カメラの画角とに基づいて決定した距離の走行時間に相当する時間分の過去の画像を選択することにより、前記センサーで異常を観測した時点のタイヤの位置を撮影している画像を選択する構成を採ることができる。
[第4の形態]
上記した車載装置において、センサーは、速度、加速度、タイヤ回転数の少なくとも1つ以上を計測するセンサーであり、
前記異常区間特定部は、
前記センサーの出力値の変化パターンに基づいて、前記路面に異常が生じている可能性の高い区間を特定する構成を採ることができる。
[第5の形態]
上記した車載装置は、さらに、
前記所定のサーバーに対し、送信する画像に、前記特定した道路区間に関する情報を付加する画像加工部を備え、
前記送信部は、
前記所定のサーバーに対し、前記加工後の画像を送信する構成を採ることができる。
[第6の形態]
上記した車載装置の前記画像加工部は、前記画像選択部が選択した画像の撮影地点を示す情報を付加する構成を採ることができる。
[第7の形態]
上記した車載装置は、前記画像選択部が選択した画像を分析して異常領域を抽出する異常領域抽出部を備え、
前記画像加工部は、前記異常領域抽出部が抽出した領域を強調表示する加工を行う構成を採ることができる。
[第8の形態]
上記した車載装置は、前記所定のサーバーに対し送信する画像に、前記車両の走行状態を示す情報を付加する機能を備えることができる。
[第9の形態]
(上記第2の視点による路面画像の送信方法参照)
[第10の形態]
(上記第3の視点によるプログラム参照)
なお、上記第9~第10の形態は、第1の形態と同様に、第2~第8の形態に展開することが可能である。
21、201 カメラ
22、202 センサー
23、203 異常区間特定部
24、204 画像選択部
25、205 送信部
100 道路管理サーバ
200、200a、200b、V 車両
206 画像蓄積部
207 位置特定部
208、208b 画像加工部
209 異常領域抽出部
PH ポットホール
cr ひび割れ
9000 コンピュータ
9010 CPU
9020 通信インターフェース
9030 メモリ
9040 補助記憶装置
Claims (10)
- 車両に搭載されたセンサーの出力値に基づいて、路面に異常が生じている可能性の高い道路区間を特定する異常区間特定部と、
前記車両に搭載されたカメラにて所定の時間間隔で撮影した複数の画像から、前記特定した道路区間を撮影した画像を選択する画像選択部と、
所定のサーバーに対し、前記選択した画像を送信可能な送信部と、
を備える車載装置。 - 前記画像選択部は、
前記車両のカメラが撮影した画像の中から、前記センサーで異常を観測した時点のタイヤの位置を撮影している画像を選択することで前記特定した道路区間を撮影した画像を選択する請求項1の車載装置。 - 前記画像選択部は、
前記車両のカメラの位置と、前記カメラの画角とに基づいて決定した距離の走行時間に相当する時間分の過去の画像を選択することにより、前記センサーで異常を観測した時点のタイヤの位置を撮影している画像を選択する請求項2の車載装置。 - 前記センサーは、速度、加速度、タイヤ回転数の少なくとも1つ以上を計測するセンサーであり、
前記異常区間特定部は、
前記センサーの出力値の変化パターンに基づいて、前記路面に異常が生じている可能性の高い区間を特定する請求項1から3いずれか一の車載装置。 - さらに、
前記所定のサーバーに対し、送信する画像に、前記特定した道路区間に関する情報を付加する画像加工部を備え、
前記送信部は、
前記所定のサーバーに対し、前記加工後の画像を送信する請求項1から4いずれか一の車載装置。 - 前記画像加工部は、前記画像選択部が選択した画像の撮影地点を示す情報を付加する請求項5の車載装置。
- さらに、
前記画像選択部が選択した画像を分析して異常領域を抽出する異常領域抽出部を備え、
前記画像加工部は、前記異常領域抽出部が抽出した領域を強調表示する加工を行う、
請求項5又は6の車載装置。 - 前記所定のサーバーに対し送信する画像に、前記車両の走行状態を示す情報を付加する請求項1から7いずれか一の車載装置。
- カメラと、センサーと、を搭載した車両の車載装置が、
前記センサーの出力値に基づいて、路面に異常が生じている可能性の高い道路区間を特定し、
前記カメラにて所定の時間間隔で撮影された複数の画像から、前記特定した道路区間を撮影した画像を選択し、
所定のサーバーに対し、前記選択した画像を送信する、
路面画像の送信方法。 - カメラと、センサーと、を搭載した車両の車載装置に、
前記センサーの出力値に基づいて、路面に異常が生じている可能性の高い道路区間を特定する処理と、
前記カメラにて所定の時間間隔で撮影された複数の画像から、前記特定した道路区間を撮影した画像を選択する処理と、
所定のサーバーに対し、前記選択した画像を送信する処理と、
を実行させるプログラムを記録したプログラム記録媒体。
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JP2018120409A (ja) * | 2017-01-25 | 2018-08-02 | 株式会社ユピテル | データ収集装置、道路状態評価支援装置、及びプログラム |
JP2020180437A (ja) * | 2019-04-23 | 2020-11-05 | ダットジャパン株式会社 | 路面評価システム、路面評価方法、および路面評価プログラム |
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JP2018120409A (ja) * | 2017-01-25 | 2018-08-02 | 株式会社ユピテル | データ収集装置、道路状態評価支援装置、及びプログラム |
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