WO2022230251A1 - Système de notification de véhicule anormal et véhicule - Google Patents

Système de notification de véhicule anormal et véhicule Download PDF

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Publication number
WO2022230251A1
WO2022230251A1 PCT/JP2022/001168 JP2022001168W WO2022230251A1 WO 2022230251 A1 WO2022230251 A1 WO 2022230251A1 JP 2022001168 W JP2022001168 W JP 2022001168W WO 2022230251 A1 WO2022230251 A1 WO 2022230251A1
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Prior art keywords
vehicle
abnormal
target vehicle
range
abnormal vehicle
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PCT/JP2022/001168
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English (en)
Japanese (ja)
Inventor
康宏 岡田
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本田技研工業株式会社
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Publication of WO2022230251A1 publication Critical patent/WO2022230251A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an abnormal vehicle notification system and vehicles.
  • Patent Literature 1 discloses a technique of receiving behavior information from each of a plurality of vehicles running in parallel in the front and rear, and detecting an abnormal vehicle based on each behavior information. This technique identifies abnormal vehicles through statistical processing. More specifically, a normal distribution is obtained using a plurality of pieces of behavior information as statistical data, and arithmetic processing is performed to identify a vehicle having data deviating from the normal distribution as an abnormal vehicle.
  • the greater the traffic volume the greater the number of statistical data and the greater the amount of computational processing.
  • the processing load on the arithmetic processing unit increases, and there is a possibility that demerits such as delayed notification of an abnormal vehicle may occur.
  • the present invention has been made in view of the circumstances described above, and aims to make it easier to appropriately detect an abnormal vehicle while suppressing the amount of calculation processing.
  • a communication unit capable of receiving travel information of a plurality of vehicles, an abnormal vehicle detection unit for detecting an abnormal vehicle based on the travel information received by the communication unit, and the abnormal vehicle
  • An abnormal vehicle notification system comprising a notification processing unit that performs processing for notifying an occupant of the target vehicle of the abnormal vehicle when the The range setting unit is characterized by changing the detection range according to the running state of the target vehicle.
  • an abnormal vehicle detection unit for detecting an abnormal vehicle from among the other vehicles based on the traveling information of the other vehicles consisting of a plurality of vehicles, and a process for notifying the occupants of the abnormal vehicle when the abnormal vehicle is specified.
  • a notification processing unit that performs the above-mentioned detection range, the range setting unit for setting a detection range of the abnormal vehicle, and the range setting unit changes the detection range according to the running state of the vehicle. It is characterized by
  • the range setting unit changes the detection range of the abnormal vehicle according to the running state of the target vehicle, an appropriate abnormal vehicle can be detected according to the running state of the target vehicle while suppressing the amount of computation required for detecting the abnormal vehicle.
  • An abnormal vehicle notification system and vehicle can be provided that detectably modifies the detection range.
  • FIG. 1 is a diagram schematically showing a plurality of vehicles traveling on a road from above.
  • FIG. 2 is a block diagram showing the configurations of the target vehicle and the other vehicle of the first embodiment.
  • FIG. 3 is a flow chart showing the operation of the target vehicle involved in the abnormal vehicle notification system.
  • FIG. 4 is a diagram schematically showing the contents of the vehicle detection range setting process.
  • FIG. 5 is a diagram schematically showing the contents of the vehicle detection range setting process.
  • FIG. 6 is a diagram schematically showing the contents of the vehicle detection range setting process.
  • FIG. 7 is a diagram schematically showing the contents of the abnormal vehicle detection process.
  • FIG. 8 is a diagram schematically showing the contents of the abnormal vehicle detection process.
  • FIG. 9 is a diagram showing the configuration of an abnormal vehicle notification system according to the second embodiment.
  • FIG. 1 is a diagram schematically showing a plurality of vehicles traveling on a road from above.
  • FIG. 1 illustrates a congestion situation in which a large number of vehicles 3 (3a, 3b, 3c, 3d, 3e) and 4 (4a, 4b) are densely traveling around a target vehicle 2 traveling on a road 10. is doing.
  • the abnormal vehicle notification system 1 according to the first embodiment identifies an abnormal vehicle from among the vehicles 3 and 4 traveling around the target vehicle 2, and sends the identified abnormal vehicle to a notification target person who is an occupant of the target vehicle 2. It is a system that notifies In particular, in a congestion situation as shown in FIG. 1, if an abnormal vehicle can be notified, the occupant of the target vehicle 2 can easily drive with caution for the abnormal vehicle, and useful information can be provided to the occupant.
  • the target vehicle 2 is a motorcycle.
  • the target vehicle 2 need not be limited to motorcycles.
  • the target vehicle 2 may be any saddle-ride type vehicle or four-wheeled vehicle, or may be appropriately applied to a vehicle traveling on a road.
  • the straddle-type vehicle is not limited to general motorcycles including scooter-type vehicles, and includes all straddle-type vehicles including three-wheel and four-wheel types.
  • Four-wheeled vehicles include passenger car types, buses, trucks, and the like.
  • reference numeral 10C indicates the centerline of the road 10
  • reference numeral 10L indicates a one-way road (hereinafter referred to as "running road") on which the target vehicle 2 travels.
  • Reference numeral 10R denotes a road on the opposite side (also referred to as a road in the opposite lane), hereinafter referred to as "oncoming road”.
  • a vehicle 3 is a vehicle traveling on a road 10L
  • vehicles 3a and 3b are motorcycles
  • vehicles 3c, 3d and 3e are four-wheeled vehicles.
  • the vehicle 4 is a vehicle traveling on the oncoming road 10R
  • the vehicles 4a and 4b are four-wheeled vehicles.
  • arrows indicate traveling directions of the vehicles 3 and 4
  • the lengths of the arrows indicate the traveling speeds of the vehicles 3 and 4.
  • FIG. 1 indicates the centerline of the road 10
  • reference numeral 10L indicates a one-way road (hereinafter referred to as "running road”) on which the target vehicle 2 travels
  • the traveling road 10L shown in FIG. 1 includes a lane L1 (hereinafter referred to as the first lane L1) on the side of the center line 10C, a lane L2 adjacent to the first lane L1 (hereinafter referred to as the second lane L2), and a second lane L2. It has a space L3 (a road shoulder or a lane, which is referred to as a "third lane L3" for convenience of explanation) adjacent to the two lanes L2.
  • the vehicles 3 and 4 other than the target vehicle 2 are referred to as "other vehicles 3 and 4" in order to facilitate understanding of the description.
  • the other vehicles 3 and 4 are vehicles that travel around the target vehicle 2 and have a function of wirelessly transmitting travel information DS of each of the other vehicles 3 and 4 .
  • the target vehicle 2 is a vehicle in which a person to be notified rides, and has a function of wirelessly receiving traveling information DS wirelessly transmitted from other vehicles 3 and 4 .
  • the travel information DS is information that can specify the behavior of each of the other vehicles 3 and 4, and includes at least travel speed (also referred to as vehicle speed), position information indicating the current position of each vehicle 3 and 4, and information indicating the direction of travel.
  • the target vehicle 2 has a function of detecting an abnormal vehicle from among the other vehicles 3 and 4 based on the travel information DS of the other vehicles 3 and 4, and the detected abnormal vehicle is detected by the target vehicle 2. It has a function to notify the crew of Next, configuration examples of the vehicles 2 to 4 will be described.
  • FIG. 2 is a block diagram showing the configuration of the target vehicle 2 and other vehicles 3 (3a, 3c, 3d). 2 shows only the configuration related to the notification system 1 of each vehicle 2, 3, and the configuration not directly related to the notification system 1 is omitted. Further, the other vehicles 3 and 4 have the same configuration related to the notification system 1, and the illustration of the configuration of the other vehicle 4 is omitted.
  • the other vehicles 3 and 4 are provided with a vehicle communication section 31, a control section 32, a storage section 33, and a vehicle information acquisition section 34.
  • the vehicle communication unit 31 includes a communication module for V2X (Vehicle to X) communication, and wirelessly transmits travel information DS under the control of the control unit 32 .
  • the communication method between the other vehicles 3, 4 and the target vehicle 2 may be a direct communication method or a communication method via a relay device such as a relay server. Just do it.
  • the control unit 32 has a computer configuration including a CPU and peripheral circuits, and controls each unit of the other vehicles 3 and 4 according to a control program stored in the storage unit 33.
  • the storage unit 33 is configured by, for example, a semiconductor memory or an HDD.
  • the control unit 32 continuously acquires the travel information DS by the vehicle information acquisition unit 34 at time intervals, and wirelessly transmits the acquired travel information DS. As a result, the travel information DS of the other vehicles 3 and 4 is received by the target vehicle 2 substantially in real time.
  • the vehicle information acquisition unit 34 acquires the travel information DS of the other vehicles 3 and 4 having this vehicle information acquisition unit 34 .
  • the travel information DS includes information indicating travel speed, position information, and traveling direction.
  • the vehicle information acquisition unit 34 has a sensor for detecting the running speed and a position/direction positioning module for acquiring position information and traveling direction using GNSS (Global Navigation Satellite System). to acquire the travel information DS of the other vehicles 3 and 4 respectively.
  • GNSS Global Navigation Satellite System
  • the position/azimuth positioning module is preferably capable of positioning with high accuracy (for example, positioning accuracy within several tens of centimeters) by using positioning technology using quasi-zenith satellites. If highly accurate position information can be obtained, it becomes easier to accurately detect whether or not the vehicle behaves abnormally, that is, whether the vehicle is an abnormal vehicle, by means of statistical processing, which will be described later. Also, as the position/orientation positioning module, a module built in a portable device (for example, a smart phone) carried by the occupant of the target vehicle 2 may be used.
  • a portable device for example, a smart phone
  • the vehicle communication unit 31 of the other vehicle 3 and 4 communicates with the portable device by short-range wireless communication so that the portable device It is sufficient to acquire the position information and the information on the direction of travel from.
  • the vehicle information acquisition unit 34 acquires the driving information (throttle opening, brake operation, steering wheel operation, etc.) of the other vehicles 3 and 4 via a predetermined sensor or the like, and converts this driving information into the driving information DS may be included in and transmitted. It is possible to detect whether or not the vehicle is an abnormal vehicle by applying the same method as the statistical processing to be described later based on such driving information.
  • the target vehicle 2 includes a vehicle communication section 21 , a control section 22 , a storage section 23 , a vehicle information acquisition section 24 and a notification device 25 .
  • the vehicle communication unit 21 includes a communication module for V2X communication, and wirelessly receives travel information DS transmitted from the other vehicles 3 and 4 under the control of the control unit 22 .
  • the control unit 22 has a computer configuration including a CPU and peripheral circuits, and controls each part of the target vehicle 2 according to a control program 23A stored in the storage unit 23.
  • the control unit 22 also functions as an abnormal vehicle detection unit 22A, a range setting unit 22B, and a notification processing unit 22C by executing the control program 23A.
  • the abnormal vehicle detection unit 22A performs abnormal vehicle detection processing based on the travel information DS of the other vehicles 3 and 4.
  • the range setting unit 22B performs processing for setting a detection range H of an abnormal vehicle (hereinafter referred to as vehicle detection range H).
  • 22 C of notification process parts perform the process which notifies the passenger
  • the abnormal vehicle detection unit 22A, the range setting unit 22B, and the notification processing unit 22C are not limited to those realized by software processing, and may be realized by hardware, or by cooperation of hardware and software. The configuration may be realized. The processing contents of the abnormal vehicle detection unit 22A, the range setting unit 22B, and the notification processing unit 22C will be described later.
  • the storage unit 23 stores a control program 23A, acquired information 23B, map information 23C, and the like.
  • the storage unit 23 is composed of, for example, a semiconductor memory or an HDD.
  • the acquired information 23B includes the travel information DS of the other vehicles 3 and 4 received via the vehicle communication section 21 and the travel information DS2 acquired by the vehicle information acquisition section 24 of the target vehicle 2 .
  • the driving information DS and DS2 only the most recent several times may be temporarily stored in the storage unit 23. In other words, it is necessary for the vehicle detection range H setting process and the abnormal vehicle detection process, which will be described later. It suffices to memorize only as much as possible.
  • the map information 23C is data that can specify the position and shape of the road 10 on which the target vehicle 2 travels.
  • the map information 23C is data capable of specifying the position, size and shape of the roads 10L, 10R and the lanes L1 to L3, and is also data capable of specifying the position of the center line 10C.
  • high-precision map data used for automatic driving is used.
  • the vehicle information acquisition unit 24 acquires the travel information DS2 of the target vehicle 2.
  • the travel information DS2 includes travel speed (vehicle speed) of the target vehicle 2, position information indicating the current position of the target vehicle 2, and information indicating the traveling direction of the target vehicle 2.
  • the vehicle information acquisition unit 24 has a sensor for detecting the running speed of the target vehicle 2 and a position/orientation positioning module using GNSS, and acquires the running information DS2 of the target vehicle 2 by these.
  • the notification device 25 is a display device capable of notifying the occupant of the target vehicle 2 of predetermined information, and is, for example, an indicator provided in the meter unit of the target vehicle 2 or the like.
  • a wide range of devices that can display the presence and position of an abnormal vehicle can be applied to the display device, such as a display panel and a warning light.
  • the notification device is not limited to the display device, and may be an audio output device or a vibration device.
  • the device for notification can widely apply the HMI (Human Machine Interface) device which can notify a passenger
  • HMI Human Machine Interface
  • FIG. 3 is a flow chart showing the operation of the target vehicle 2 involved in the abnormal vehicle notification system 1.
  • the control unit 22 of the target vehicle 2 causes the vehicle information acquisition unit 24 to start acquiring travel information DS ⁇ b>2 of the target vehicle 2 .
  • information indicating the traveling speed, position information, and traveling direction of the target vehicle 2 is acquired.
  • the target vehicle 2 appropriately receives the travel information DS transmitted from the other vehicles 3 and 4 within the communication area and stores it in the storage unit 23 . Further, acquisition of the travel information DS2 of the target vehicle 2 may be started at an appropriate timing such as before or after the process of step S1.
  • step S2 the control unit 22 of the target vehicle 2 determines whether or not the running speed of the target vehicle 2 (hereinafter appropriately referred to as "running speed V2") exceeds a predetermined speed Vs. If the running speed V2 does not exceed the predetermined speed Vs (step S2; YES), the control unit 22 proceeds to step S3 to start the process of detecting an abnormal vehicle.
  • running speed V2 the running speed of the target vehicle 2
  • the predetermined speed Vs is set to the lower limit of the speed range for stopping the abnormal vehicle detection process, and is set to 20 km/h, for example.
  • the predetermined speed Vs may be set to an appropriate value by the manufacturer of the target vehicle 2 or by the passenger, and may be set to 40 km/h, for example. If the traveling speed V2 exceeds the predetermined speed Vs in the determination of step S2 (step S2; NO), the control unit 22 stops the operation of the target vehicle 2 related to the abnormal vehicle notification system 1.
  • control unit 22 of the target vehicle 2 executes the flowchart shown in FIG. 3 at a predetermined cycle while the target vehicle 2 is in a state where it can be assumed that a passenger is on board (for example, while the ignition is on). Therefore, when the running speed V2 of the target vehicle 2 returns from exceeding the predetermined speed Vs to below the predetermined speed Vs, the operation of the target vehicle 2 related to the abnormal vehicle notification system 1 is resumed.
  • the operation of the target vehicle 2 related to the abnormal vehicle notification system 1 is stopped. It is possible to reduce the frequency and total time of performing related arithmetic processing. In this embodiment, even when the target vehicle 2 is stopped, the result of step S2 is negative, and the operation of the target vehicle 2 related to the abnormal vehicle notification system 1 is stopped. This also makes it possible to reduce the frequency and total time of performing arithmetic processing related to the abnormal vehicle notification system 1 . Further, when the target vehicle 2 is stopped by a stop signal, it is expected that the other vehicles 3 in the surrounding area are also stopped. It is expected that the operation of the target vehicle 2 will not be greatly hindered. It should be noted that, depending on the selection of the occupant, an abnormal vehicle may be detected and notified even when the target vehicle 2 is stopped.
  • step S3 the control section 22 of the target vehicle 2 starts the process of setting the vehicle detection range H (hereinafter appropriately referred to as "vehicle detection range setting process") by the range setting section 22B.
  • the vehicle detection range H is the range of other vehicles 3 and 4 that are subject to detection of abnormal vehicles.
  • the process of detecting an abnormal vehicle from among the vehicles 3 and 4 becomes complicated. If it becomes complicated, the arithmetic processing amount of the arithmetic processing unit (for example, the CPU of the control unit 22) will increase, and it may take time to detect the abnormal vehicle, and there is no need to notify the occupants of the target vehicle 2 because it is far away from the target vehicle 2. There is a risk that even abnormal vehicles will be detected and notified. On the other hand, if the vehicle detection range H is too narrow, there is a risk that an abnormal vehicle that is appropriate to be notified to the occupants of the target vehicle 2 cannot be detected.
  • the range setting unit 22B performs processing for changing the vehicle detection range H according to the running state of the target vehicle 2 as vehicle detection range setting processing. Specifically, as shown in FIG. 4, the range setting unit 22B sets a rectangular range including the target vehicle 2 as the vehicle detection range H. As shown in FIG. 4, the vehicle detection range H, which is a rectangular range, is set to a size that includes the travel road 10L on which the target vehicle 2 travels in the width direction of the road 10 . As a result, the vehicle detection range H includes all lanes L1 to L3 on the travel road 10L.
  • the vehicle detection range H is set to a strip-shaped range including the front and rear of the target vehicle 2 , that is, the vehicle detection range H is set so as to extend front and rear along the shape of the road 10 .
  • the vehicle detection range H can include other vehicles 3 traveling to the left, right, front, and rear of the target vehicle 2.
  • the vehicle detection range H can be excluded from the
  • the vehicle detection range H is set to include the two lanes, and if the road 10L has one lane, the vehicle detection range H is set to include the one lane.
  • a vehicle detection range H is set. If the amount of arithmetic processing required for the process of detecting an abnormal vehicle does not matter, or if the width of the road 10 is relatively narrow, the vehicle detection range H is set so as to include the oncoming road 10R. may
  • the vehicle detection range H when the road 10L is curved, it is preferable to change the vehicle detection range H along the curved shape of the road 10L. For example, by matching the left and right contours of the travel road 10L with the left and right contours of the vehicle detection range H, the vehicle detection range H can be set in a fan-like shape that covers the travel road 10L. When the oncoming road 10R is included in the vehicle detection range H, the left and right contours of the road 10 and the left and right contours of the vehicle detection range H may be matched.
  • the range setting unit 22B uses the travel information DS2 of the target vehicle 2 acquired by the vehicle information acquisition unit 24 .
  • the range setting unit 22B refers to the map information 23C based on the position information and traveling direction included in the travel information DS of the target vehicle 2, and specifies the travel road 10L along which the target vehicle 2 travels.
  • the range setting unit 22B sets the vehicle detection range H so as to include the front, rear, left, and right of the target vehicle 2 and all the lanes L1 to L3 of the travel road 10L according to the shape of the specified travel road 10L. set. As a result, even when the target vehicle 2 travels through different positions such as positions A to C shown in FIG.
  • the range setting unit 22B also identifies the position of the center line 10C of the road 10 based on the position information and traveling direction of the target vehicle 2 and the map information 23C.
  • the vehicle detection range H may be set so as to enclose the lanes (L1 to L3).
  • the other vehicle 3 to be detected as an abnormal vehicle is driven on the road 10L in the same direction as the target vehicle 2. I've narrowed it down to 3 vehicles. Further, the other vehicle 4 traveling on the oncoming road 10R is excluded from the abnormal vehicle detection targets. As a result, the amount of arithmetic processing required for detecting an abnormal vehicle is suppressed, and a situation is avoided in which the other vehicle 4, which has a relatively low influence on the running of the target vehicle 2, is notified as an abnormal vehicle.
  • the vehicle detection range H is a quadrangular rectangular range as shown in FIG. This makes it easier to include in the vehicle detection range H other vehicles 3 that may approach the target vehicle 2 .
  • the range of the vehicle detection range H may be a rectangular range other than a quadrangle (a polygonal range other than a quadrangle), or may be a shape other than a rectangle.
  • the range setting unit 22B sets the vehicle detection range H wider as the traveling speed V2 of the target vehicle 2 acquired by the vehicle information acquisition unit 24 is higher. More specifically, when the running speed V2 of the target vehicle 2 is a speed that can be considered to be in a traffic jam (for example, 0 km/h ⁇ V2 ⁇ 10 km/h), the range setting unit 22B relatively sets the vehicle detection range H to Set to a small range. In addition, when the traveling speed V2 is a speed during low-speed traveling that is faster than the speed that can be regarded as being in a traffic jam (for example, 10 km/h ⁇ V2 ⁇ 20 km/h), the range setting unit 22B sets the vehicle detection range H to relatively Set to a large range.
  • the vehicle detection range H shown in FIG. 5 schematically shows the size of the range, and the area of the vehicle detection range H may be changed to be large or small within the rectangular range described above.
  • the higher the traveling speed V2 the greater the inter-vehicle distance between the target vehicle 2 and the other vehicle 3 .
  • the change characteristic of the size of the vehicle detection range H may be set according to the inter-vehicle distance that changes according to the running speed V2. This makes it easier to avoid a situation in which the number of other vehicles 3 and 4 within the vehicle detection range H becomes enormous and the amount of calculation processing increases too much when detecting an abnormal vehicle.
  • FIG. 5 illustrates a case in which the width of the vehicle detection range H is changed in two stages according to the running speed V2, it may be changed in three or more stages.
  • the vehicles 2 to 4 on the road 10 are not congested, it is predicted that the vehicles 2 to 4 on the road 10 are traveling at a speed that can be regarded as normal traveling, or at a speed higher than that speed.
  • the running speed V2 of the target vehicle 2 is equal to or higher than the speed that can be regarded as normal running (corresponding to running speed V2>Vs)
  • a negative result is determined in step S2, and the vehicle is detected.
  • Range H is not set, and no abnormal vehicle is detected. Therefore, when the vehicles 2 to 4 on the road 10 are not congested, in other words, when it is relatively difficult for abnormal vehicles such as slipping vehicles to occur, the amount of processing related to the notification system 1 is greatly reduced. can.
  • the position of the vehicle detection range H can be set to a range shifted in the longitudinal direction of the road 10 with respect to the target vehicle 2 .
  • a pattern 1 shown in FIG. 6 schematically shows a case where the vehicle detection range H is evenly expanded in the longitudinal direction of the target vehicle 2 .
  • the vehicle detection range H can be set so as to evenly include the other vehicles 3 around the target vehicle 2 .
  • a pattern 2 shown in FIG. 6 schematically shows a case in which the vehicle detection range H is relatively widened forward of the target vehicle 2 rather than rearward.
  • the vehicle detection range H can be set so as to preferentially include the other vehicle 3 existing in front of the target vehicle 2 . Therefore, it becomes easier to detect, for example, a reverse-running vehicle ahead of the target vehicle 2 (the vehicle indicated by reference numeral 3z in FIG. 7) while suppressing an increase in the amount of arithmetic processing required for detecting an abnormal vehicle.
  • a pattern 3 shown in FIG. 6 schematically shows a case where the vehicle detection range H is widened relatively to the rear of the target vehicle 2 rather than to the front.
  • the vehicle detection range H can be set so as to preferentially include the other vehicle 3 existing in front of the target vehicle 2 . Therefore, while suppressing an increase in the amount of arithmetic processing required for detecting an abnormal vehicle, for example, an abnormal vehicle behind the target vehicle 2 (passing-by vehicle 3x, lane-changing vehicle 3y, etc. shown in FIG. 7) can be easily detected preferentially.
  • Which of the patterns 1 to 3 is to be selected may be appropriately determined by the manufacturer of the target vehicle 2 or by the passenger.
  • step S4 the control unit 22 of the target vehicle 2 identifies the other vehicle 3 within the vehicle detection range H based on the position information included in the travel information DS received from the other vehicles 3 and 4. .
  • step S5 the control unit 22 performs abnormal vehicle detection processing based on the travel information DS of the other vehicle 3 within the vehicle detection range H by the abnormal vehicle detection unit 22A.
  • the traveling speed and traveling direction which can also be referred to as azimuth or azimuth angle
  • statistical processing is used for abnormal vehicle detection processing.
  • the abnormal vehicle detection unit 22A detects, as an abnormal vehicle, another vehicle 3 whose travel information DS satisfies any one of the first, second, and third criteria.
  • a first criterion is that at least the driving speed is a statistical outlier.
  • the second criterion is that at least the direction of travel is a statistical outlier and the direction of travel is not opposite to the direction of travel of the subject vehicle 2 .
  • the third criterion is that the direction of travel is statistically an outlier and that the direction of travel can be regarded as the direction opposite to the direction of travel of the target vehicle 2 .
  • Abnormal vehicles satisfying these first to third criteria are detected by the following processing.
  • the abnormal vehicle detection unit 22A Based on the travel information DS of the other vehicle 3 in the vehicle detection range H and the travel information DS of the target vehicle 2, the abnormal vehicle detection unit 22A detects the relative speed and relative direction between the target vehicle 2 and the other vehicle 3. identify each.
  • the abnormal vehicle detection unit 22A identifies vehicles that are statistically outliers as abnormal vehicles by statistically processing the identified relative velocities and relative azimuths.
  • the results of statistical processing of the specified relative speed values are obtained, and the abnormal vehicle satisfying the first criterion is detected by detecting the other vehicle 3 whose relative speed is a statistical outlier.
  • the other vehicle 3 corresponding to the data separated from the median value by k ⁇ (k is a coefficient, selected from values 2 to 6, for example) is selected as an abnormal vehicle (shown in FIG. 8) that satisfies the first criterion. , pass-by vehicle 3x, etc.).
  • each relative direction obtains the result of statistically processing the value of each specified relative direction, and detects the other vehicle 3 whose relative direction is a statistical outlier.
  • This is a process for detecting an abnormal vehicle that satisfies the conditions. For example, as indicated by symbol B in FIG. 8, an approximated curve of a normal distribution for each relative orientation data is obtained, and the median value and standard deviation ⁇ of the approximated curve are calculated.
  • the other vehicle 3 corresponding to the data separated from the median value by k ⁇ (k is a coefficient, selected from values 2 to 6, for example) is selected as an abnormal vehicle (shown in FIG. 8) that satisfies the second criterion. , vehicle 3y) that changes course.
  • the traveling speed information may be any one of speed per hour, speed per minute, and speed per second.
  • azimuth angular velocity information may be used as the traveling direction information.
  • more limited abnormal vehicles may be detected by using the position information of the other vehicle 3 included in the travel information DS. For example, by detecting the other vehicle 3 whose running speed is statistically an outlier, whose running speed is higher than that of the target vehicle 2, and whose position is behind the target vehicle 2, , the passing vehicle 3x located behind the target vehicle 2 can be detected. Further, for example, by detecting another vehicle 3 whose traveling direction is statistically an outlier and which is positioned behind the target vehicle 2, the course is changed behind the target vehicle 2 as illustrated in FIG. Detection can be limited to the vehicle 3y. By detecting the abnormal vehicles 3x and 3y behind the target vehicle 2 in this way, it is possible to efficiently detect an abnormal vehicle that is difficult for the occupant of the target vehicle 2 to notice.
  • an abnormal vehicle is detected based on the statistical results of the relative speed and relative direction between the target vehicle 2 and the other vehicle 3. It becomes easy to detect with high accuracy the other vehicle 3 having a behavior that can be regarded as abnormal when viewed.
  • step S6 the control unit 22 of the target vehicle 2 determines whether or not an abnormal vehicle is detected. If an abnormal vehicle is detected (step S6; YES), the process proceeds to step S7. do. On the other hand, when an abnormal vehicle is not detected (step S6; NO), the control unit 22 stops the operation of the target vehicle 2 related to the abnormal vehicle notification system 1.
  • step S7 the control unit 22 of the target vehicle 2 performs processing for notifying the occupant of the target vehicle 2 of the abnormal vehicle by the notification processing unit 22C.
  • This process uses the notification device 25 of the target vehicle 2 to notify the occupant of the presence of the abnormal vehicle by at least one of display, sound, and vibration (it can also be called a warning).
  • the content of the notification preferably includes, for example, at least one of the presence of an abnormal vehicle, the position of the abnormal vehicle, and the type of the abnormal vehicle (a passing vehicle, a vehicle changing course, a vehicle running in the wrong direction, etc.).
  • the vehicle communication unit 21 is used to transmit information indicating the content of the notification to a portable device carried by the occupant of the target vehicle 2, and the portable device transmits the content of the notification to the occupant by display, sound, or vibration. may be notified to Also, as for the notification process, a known notification process may be employed as appropriate.
  • the target vehicle 2 of the present embodiment includes the vehicle communication unit 21 functioning as a communication unit capable of receiving travel information DS of a plurality of other vehicles 3 and 4, and detecting an abnormality based on the received travel information DS.
  • An abnormal vehicle detection unit 22A that detects a vehicle
  • a notification processing unit 22C that performs processing for notifying an occupant of the target vehicle 2 of the abnormal vehicle
  • a vehicle detection range H that changes according to the running state of the target vehicle 2.
  • a range setting unit 22B According to this configuration, it becomes easy to change the vehicle detection range H according to the running state of the target vehicle 2 so that an appropriate abnormal vehicle can be detected while suppressing the amount of arithmetic processing required for detecting an abnormal vehicle.
  • the running state of the target vehicle 2 includes the running speed V2, and the range setting unit 22B sets the vehicle detection range H wider as the running speed V2 of the target vehicle 2 increases.
  • the higher the running speed V2 the wider the inter-vehicle distance between the target vehicle 2 and the other vehicle 3. Therefore, the possibility of affecting the travel of the target vehicle 2 is relatively increased in accordance with the increase in the inter-vehicle distance.
  • the abnormal vehicle detection unit 22A performs processing for detecting an abnormal vehicle when the running speed V2 of the target vehicle 2 does not exceed the predetermined speed Vs, and detects an abnormal vehicle when the running speed V2 exceeds the predetermined speed Vs. Do not process to According to this configuration, since the running speed V2 of the target vehicle 2 exceeds the predetermined speed Vs, it is difficult for an abnormal vehicle such as a passing vehicle to exist. When the vehicle-to-vehicle distance between the vehicle and the abnormal vehicle is sufficiently maintained, it is possible to avoid a situation in which processing for detecting the abnormal vehicle is performed.
  • the running state of the target vehicle 2 includes position information that can specify the road 10 and the lane (one of L1 to L3) on which the target vehicle 2 runs. Since the range setting unit 22B changes the vehicle detection range H in accordance with the road 10 specified from the position information, it is effective in detecting abnormal vehicles to be notified to the occupants of the target vehicle 2 in accordance with the road 10. It becomes easy to set a suitable vehicle detection range H. Moreover, since the range setting unit 22B changes the vehicle detection range H according to the lane (one of L1 to L3) in which the target vehicle 2 specified from the position information travels, , it becomes easier to set a more effective vehicle detection range H for detecting an abnormal vehicle to be notified to the occupants of the target vehicle 2 .
  • the range setting unit 22B changes the vehicle detection range H to a range including a plurality of lanes L1 to L3 in the same direction as the lane (one of L1 to L3) on which the target vehicle 2 travels.
  • the vehicle detection range H a range including a plurality of lanes L1 to L3 in the same direction as the lane (one of L1 to L3) on which the target vehicle 2 travels.
  • the vehicle detection range H is changed to include all the lanes L1 to L3 in the same direction as the lane in which the target vehicle 2 travels, it is not limited to this.
  • the vehicle detection range H may be set so as to exclude lanes separated by a predetermined distance or more from the lane in which the target vehicle 2 travels. More specifically, when the road 10L on which the target vehicle 2 travels is a wide road with five or more lanes, it includes only adjacent multiple lanes (for example, three lanes) including the lane on which the target vehicle 2 travels.
  • the vehicle detection range H may be set as follows.
  • the range setting unit 22B changes the vehicle detection range H according to the shape of the road 10 on which the target vehicle 2 travels. This makes it easier to set the vehicle detection range H so as to include the other vehicle 3 that is highly likely to approach the target vehicle 2, and another vehicle that is unlikely to approach the target vehicle 2 (for example, the other vehicle 4). It becomes easy to set the vehicle detection range H so as not to include . Therefore, it becomes easy to reduce useless arithmetic processing when detecting an abnormal vehicle.
  • the range setting unit 22B sets the vehicle detection range H to a rectangular range including the target vehicle 2. This also makes it easier to set the vehicle detection range H so as to include other vehicles 3 that are likely to approach the target vehicle 2 . Therefore, it becomes easy to reduce useless arithmetic processing when detecting an abnormal vehicle.
  • the abnormal vehicle detection unit 22A detects the relative speed between the target vehicle 2 and the other vehicle 3 based on the travel information DS2 of the target vehicle 2 and the travel information DS of the other vehicle 3 acquired by the vehicle communication unit 21. , and relative heading, and detect abnormal vehicles based on the relative velocity and relative heading. According to this configuration, it becomes easier to detect an abnormal vehicle traveling abnormally relatively easily from the relative speed and relative azimuth. Moreover, statistical processing is performed on each of the relative speed and relative heading, and an abnormal vehicle is detected based on the results of the statistical processing. becomes easier.
  • the range setting unit 22B can set the vehicle detection range H to a range relatively wider forward than the rear of the target vehicle 2, as shown in FIG. According to this configuration, it becomes easy to preferentially detect an abnormal vehicle (for example, a reverse-running vehicle 3z shown in FIG. 7) existing in front of the target vehicle 2 while suppressing the amount of arithmetic processing required for detecting an abnormal vehicle.
  • an abnormal vehicle for example, a reverse-running vehicle 3z shown in FIG. 7
  • the target vehicle 2 since the target vehicle 2 has the vehicle communication unit 21, the abnormal vehicle detection unit 22A, the notification processing unit 22C, and the range setting unit 22B, in addition to the various effects described above, Accordingly, it is possible to change the detection range of the abnormal vehicle and provide a vehicle capable of detecting the abnormal vehicle within the detection range.
  • a device for example, a mobile device such as a smartphone
  • the communication unit capable of receiving the travel information DS of the other vehicles 3 and 4 is the object. It may be used as a communication module of a portable device carried by a passenger of the vehicle 2 or the like.
  • the target vehicle 2 is provided with a short-range wireless communication module capable of short-range wireless communication with the portable device so that the target vehicle 2 receives the traveling information DS of the other vehicles 3 and 4 via the mobile device. do it.
  • short-range wireless communication for example, Bluetooth (registered trademark) technology may be used. This eliminates the need to provide the target vehicle 2 with a communication module for direct communication with the other vehicles 3, 4, etc., and enables effective use of the portable device owned by the passenger as a communication module. Become.
  • travel information DS is received from a large number of other vehicles 3, 4, and based on the position information of the other vehicles 3, 4, the other vehicles 3, 4 within the vehicle detection range H are specified.
  • a communication module capable of variably controlling the communication range is used in the vehicle communication unit 21 of the target vehicle 2, and the range setting unit 22B uses the function of the communication module to set the vehicle detection range H. , the range of the other vehicles 3 and 4 from which the vehicle communication unit 21 receives the travel information DS.
  • a change in the communication range (receiving range) can be realized by employing a known technique such as employing a directional antenna.
  • FIG. 9 is a diagram showing the configuration of an abnormal vehicle notification system 1 according to the second embodiment.
  • An abnormal vehicle notification system 1 according to the second embodiment includes a server 5 capable of wireless communication with a target vehicle 2 and other vehicles 3 and 4. This server 5 performs abnormal vehicle detection processing and vehicle detection range setting processing. This point differs from the first embodiment.
  • the same reference numerals are assigned to the same configurations as in the first embodiment, and repeated explanations will be omitted.
  • the server 5 is a service providing server that provides a service of notifying the occupant of the target vehicle 2 of an abnormal vehicle.
  • the number of target vehicles 2 to which the server 5 provides the above service is not particularly limited.
  • the server 5 includes a server communication section 51 , a server control section 52 and a server storage section 53 .
  • the server communication unit 51 includes a communication module for wirelessly communicating with the target vehicle 2 and the other vehicles 3 and 4, and under the control of the server control unit 52, travel information DS transmitted from the other vehicles 3 and 4, and , the traveling information DS2 transmitted from the target vehicle 2 is received by radio.
  • the communication method of the server communication unit 51 is not limited to a method of directly communicating with the target vehicle 2 and the other vehicles 3 and 4, but a method of communicating with the target vehicle 2 and the other vehicles 3 and 4 via a relay device such as a relay server. Alternatively, a known communication method may be applied as appropriate.
  • the server control section 52 has a computer configuration including a CPU and peripheral circuits, and controls each section of the server 5 according to a control program 53A stored in the server storage section 53 .
  • the server control unit 52 also functions as an abnormal vehicle detection unit 52A, a range setting unit 52B, and a notification processing unit 52C by executing the control program 53A.
  • the abnormal vehicle detection unit 52A performs abnormal vehicle detection processing based on the travel information DS of the other vehicles 3 and 4 .
  • the range setting unit 52B performs processing for setting the vehicle detection range H.
  • the notification processing unit 52C performs processing for notifying the occupant of the target vehicle 2 of the abnormal vehicle.
  • the notification processing unit 52 ⁇ /b>C wirelessly transmits a notification instruction DN including information about the abnormal vehicle to the target vehicle 2 via the server communication unit 51 .
  • the target vehicle 2 that has received this notification instruction performs notification processing similar to step S7 by the notification processing unit 22C of the target vehicle 2 .
  • the server storage unit 53 stores a control program 53A, acquired information 53B, map information 53C, and the like.
  • Acquired information 53B includes travel information DS transmitted from a large number of other vehicles 3 and 4 existing around a large number of target vehicles 2 for which the server 5 provides the above service, and travel information transmitted from each target vehicle 2.
  • the map information 53C may be the same information as the map information 23C of the first embodiment, or may be map information with a larger amount of data.
  • the server 5 notifies each occupant of the target vehicle 2 of abnormal vehicles located around the target vehicle 2 by executing the same processing as in FIG. 3 for each target vehicle 2 .
  • an appropriate abnormal vehicle is detected in accordance with the running state of the target vehicle 2 while suppressing the amount of arithmetic processing required for detecting an abnormal vehicle. can be detected, and the vehicle detection range H can be easily changed.
  • the server 5 since the server 5 performs the abnormal vehicle detection process and the vehicle detection range setting process, the processing load on the target vehicle 2 side can be reduced, and an arithmetic processing unit (for example, the CPU of the control unit 22) on the target vehicle 2 side can be used. ) does not require high computing power.
  • the target vehicle 2 and the server 5 may be configured to wirelessly communicate via a portable device carried by a passenger of the target vehicle 2 or the like. Also, the portable device carried by the occupant of the target vehicle 2 may notify the occupant of the abnormal vehicle by display, sound, or vibration.
  • the server 5 may be configured as a distributed system in which a plurality of computers connected via a communication network share the work, or may be configured as a single computer.
  • each program used by the target vehicle 2, the other vehicles 3 and 4, and the server 5 may be stored in an external apparatus or device and acquired via a communication network.
  • Each program can also be recorded in a computer-readable recording medium.
  • a magnetic or optical recording medium or a semiconductor memory device can be used as the recording medium. Specific examples include portable or fixed recording media such as flexible discs, various optical discs, magneto-optical discs, flash memories, and card-type recording media.
  • the recording medium may be a non-volatile storage device such as a RAM, ROM, HDD, etc., which is an internal storage device included in the image display device.
  • a communication unit capable of receiving travel information of a plurality of vehicles, an abnormal vehicle detection unit that detects an abnormal vehicle based on the travel information received by the communication unit, and when the abnormal vehicle is detected , an abnormal vehicle notification system comprising: a notification processing unit that performs processing for notifying an occupant of a target vehicle of the abnormal vehicle, a range setting unit that sets a detection range of the abnormal vehicle, the range setting unit comprising: An abnormal vehicle notification system, wherein the detection range is changed according to the running state of the target vehicle.
  • (Configuration 2) Configuration 1 wherein the running state of the target vehicle includes a running speed, and the range setting unit sets the detection range wider as the running speed of the target vehicle increases.
  • Abnormal vehicle notification system According to this configuration, the higher the traveling speed, the greater the distance between the target vehicle and the other vehicle. It becomes easy to appropriately set the detection range so as to include the vehicle of the .
  • the abnormal vehicle detection unit performs processing for detecting the abnormal vehicle when the running speed of the target vehicle does not exceed a predetermined speed, and detects the abnormal vehicle when the running speed exceeds the predetermined speed.
  • the abnormal vehicle notification system according to configuration 1 or 2, wherein processing for detecting is not performed. According to this configuration, since the running speed of the target vehicle exceeds the predetermined speed, it is difficult for an abnormal vehicle to exist, or even if an abnormal vehicle exists, the distance between the target vehicle and the abnormal vehicle is reduced. It is possible to avoid a situation in which processing for detecting an abnormal vehicle is performed when a sufficient distance is maintained.
  • the driving state of the target vehicle includes information capable of specifying a lane in which the target vehicle travels, and the range setting unit changes the detection range according to the lane in which the target vehicle travels.
  • the abnormal vehicle notification system according to any one of configurations 1 to 3, characterized by: According to this configuration, it becomes easy to set an effective detection range for detecting an abnormal vehicle to be notified to the occupants of the target vehicle in accordance with the lane in which the target vehicle travels. It becomes easy to reduce the arithmetic processing.
  • (Configuration 5) The abnormal vehicle notification system according to configuration 4, wherein the range setting unit changes the detection range to include a plurality of lanes in the same direction as the lane in which the target vehicle travels.
  • the detection range can be set so as to include other vehicles traveling in the same direction as the target vehicle but not include other vehicles traveling on the opposite road. Therefore, it is possible to detect an abnormal vehicle that is likely to approach the target vehicle, while reducing the amount of arithmetic processing required to detect the abnormal vehicle.
  • (Configuration 7) The abnormal vehicle notification system according to any one of configurations 1 to 6, wherein the range setting unit sets the detection range to a rectangular range including the target vehicle. According to this configuration, it becomes easy to set the detection range so as to include other vehicles that are highly likely to be close to the target vehicle, and it becomes easy to reduce useless arithmetic processing when detecting an abnormal vehicle.
  • the abnormal vehicle detection unit based on the travel information of the target vehicle and the travel information of the vehicle acquired by the communication unit, determines the relative speed and the relative velocity between the target vehicle and the vehicle.
  • the abnormal vehicle notification system according to any one of configurations 1 to 8, wherein an orientation is specified, and an abnormal vehicle is detected based on the relative speed and relative orientation. According to this configuration, it becomes relatively easy to detect an abnormal vehicle from the relative speed and the relative azimuth.
  • the range setting unit can set the detection range to a range that is relatively wider forward than to the rear of the target vehicle.
  • Abnormal Vehicle Notification System as described. According to this configuration, it becomes easy to preferentially detect an abnormal vehicle existing in front of the target vehicle while suppressing the amount of arithmetic processing required for detecting an abnormal vehicle.
  • Configuration 11 Any one of configurations 1 to 10, wherein the communication unit is included in a predetermined portable device, and the abnormal vehicle detection unit and the range setting unit are included in the target vehicle. Abnormal Vehicle Notification System as described. According to this configuration, there is no need to provide the target vehicle with a communication module for direct communication with other vehicles, etc., and it is also possible to effectively use the portable device owned by the occupant of the target vehicle as a communication module. .
  • An abnormal vehicle detection unit that detects an abnormal vehicle from among the other vehicles based on travel information of the other vehicle consisting of a plurality of vehicles, and notifies an occupant of the abnormal vehicle when the abnormal vehicle is specified. and a notification processing unit that performs processing to detect the abnormal vehicle, and has a range setting unit that sets a detection range of the abnormal vehicle, wherein the range setting unit sets the detection range according to the running state of the vehicle.
  • a vehicle characterized by modifying According to this configuration, it is possible to provide a vehicle capable of changing the detection range of an abnormal vehicle according to the running state of the vehicle and detecting an abnormal vehicle within the detection range. Also, the higher the traveling speed, the wider the distance between the target vehicle and other vehicles. Thus, it becomes easier to set the detection range appropriately.
  • Abnormal Vehicle Notification System 2 Object Vehicle 3 (3a, 3b, 3c, 3d, 3e), 4 (4a, 4b) Vehicle 5 Server 10 Road 21, 31 Vehicle Communication Section 22, 32 Control Section 22A, 52A Abnormal Vehicle Detection Section 22B, 52B range setting unit 22C, 52C notification processing unit 23, 33 storage unit 24, 34 vehicle information acquisition unit 25 notification device 51 server communication unit 52 server control unit 53 server storage unit DS travel information of vehicles 3 and 4 DS2 target Driving information of vehicle 2 DN notification instruction

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  • General Physics & Mathematics (AREA)
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Abstract

La présente invention facilite une détection correcte d'un véhicule anormal tout en supprimant le volume de traitement arithmétique.　Un système de notification de véhicule anormal (1) comprend : une unité de communication de véhicule (21) qui fonctionne comme une unité de communication qui permet de recevoir des informations de déplacement (DS) d'une pluralité d'autres véhicules (3a, 3b, 3c, etc.) ; une unité de détection de véhicule anormal (22A) qui détecte un véhicule anormal sur la base des informations de déplacement reçues (DS) ; une unité de traitement de notification (22C) qui exécute un processus pour notifier le véhicule anormal à un occupant d'un véhicule cible (2) ; et une unité de réglage de plage (22B) qui change la plage de détection du véhicule anormal en fonction de l'état de déplacement du véhicule cible (2).
PCT/JP2022/001168 2021-04-28 2022-01-14 Système de notification de véhicule anormal et véhicule WO2022230251A1 (fr)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10185597A (ja) * 1996-10-25 1998-07-14 Toyota Motor Corp 車両用情報提供装置
JPH10186032A (ja) * 1996-12-20 1998-07-14 Toyota Motor Corp 車両用周辺監視装置
JP2006330980A (ja) * 2005-05-25 2006-12-07 Nissan Motor Co Ltd 先行車検出装置
WO2012144144A1 (fr) * 2011-04-22 2012-10-26 株式会社小糸製作所 Dispositif de détection d'obstacle
JP2012221126A (ja) * 2011-04-06 2012-11-12 Toyota Motor Corp 車載制御装置
JP2017178267A (ja) * 2016-03-31 2017-10-05 パナソニックＩｐマネジメント株式会社 運転支援方法およびそれを利用した運転支援装置、自動運転制御装置、車両、プログラム
JP2019087076A (ja) * 2017-11-08 2019-06-06 住友電気工業株式会社 車両検知システム、サーバ、車両検知方法、車両検知プログラム
WO2020129687A1 (fr) * 2018-12-20 2020-06-25 ソニー株式会社 Dispositif de commande de véhicule, procédé de commande de véhicule, programme et véhicule

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10185597A (ja) * 1996-10-25 1998-07-14 Toyota Motor Corp 車両用情報提供装置
JPH10186032A (ja) * 1996-12-20 1998-07-14 Toyota Motor Corp 車両用周辺監視装置
JP2006330980A (ja) * 2005-05-25 2006-12-07 Nissan Motor Co Ltd 先行車検出装置
JP2012221126A (ja) * 2011-04-06 2012-11-12 Toyota Motor Corp 車載制御装置
WO2012144144A1 (fr) * 2011-04-22 2012-10-26 株式会社小糸製作所 Dispositif de détection d'obstacle
JP2017178267A (ja) * 2016-03-31 2017-10-05 パナソニックＩｐマネジメント株式会社 運転支援方法およびそれを利用した運転支援装置、自動運転制御装置、車両、プログラム
JP2019087076A (ja) * 2017-11-08 2019-06-06 住友電気工業株式会社 車両検知システム、サーバ、車両検知方法、車両検知プログラム
WO2020129687A1 (fr) * 2018-12-20 2020-06-25 ソニー株式会社 Dispositif de commande de véhicule, procédé de commande de véhicule, programme et véhicule

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