Information generating device, information generating method and recording medium

Abstract

The disclosed information generating device comprises: a measuring unit for obtaining multiple measurement results by measuring the vehicle size of the same traveling vehicle multiple times; a sensing unit for sensing the accuracy of each of the multiple measurement results; and a determining unit for determining the vehicle size of the traveling vehicle from the multiple measurement results based on the accuracy.

Description

Technical Field

[0001] The present disclosure relates to an information generating device, an information generating method, and a computer program. Background Art

[0002] Conventionally, various systems for assisting driving of a vehicle traveling on a road have been proposed (see Patent Document 1).

[0003] Such driving assistance requires detection of a vehicle, which is detected by a sensor such as a radar sensor or a camera.

[0004] Patent Document 2 discloses a traveling vehicle grasping device that grasps the vehicle status using a radar sensor. The radar sensors of Patent Document 2 are installed at multiple locations on a road and irradiate a vehicle with a pulsed laser beam.

[0005] Patent document 3 discloses a vehicle type identification device that identifies a vehicle type based on image data obtained by a camera that photographs a vehicle. The vehicle type identification device of Patent document 3 uses a grid pattern provided on a road to photograph vehicles traveling on the pattern. The vehicle type identification device calculates the vehicle length based on the image data obtained by photographing, and identifies the vehicle type based on the calculated vehicle length.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2003-288686

[0009] Patent Document 2: Japanese Patent Application Publication No. 2000-20876

[0010] Patent Document 3: Japanese Patent Application Laid-Open No. 6-309588 Summary of the invention

[0011] One aspect of the present disclosure is an information generating device. The disclosed information generating device comprises: a measuring unit for obtaining a plurality of measurement results by measuring the vehicle dimensions of the same traveling vehicle multiple times; a sensing unit for sensing the accuracy of each of the plurality of measurement results; and a determining unit for determining the vehicle dimensions of the traveling vehicle from the plurality of measurement results based on the accuracy.

[0012] Another aspect of the present disclosure is an information generation method. The disclosed information generation method includes: obtaining multiple measurement results by measuring the vehicle size of the same traveling vehicle multiple times; sensing the accuracy of each of the multiple measurement results; and determining the vehicle size of the traveling vehicle from the multiple measurement results based on the accuracy.

[0013] Another aspect of the present disclosure is a computer program. The disclosed computer program is used to cause a computer to operate as an information generating device. The information generating device comprises: a measuring unit for obtaining a plurality of measurement results by measuring the vehicle dimensions of the same traveling vehicle multiple times; a sensing unit for sensing the accuracy of each of the plurality of measurement results; and a determining unit for determining the vehicle dimensions of the traveling vehicle from the plurality of measured vehicle dimensions based on the accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing the overall configuration of the traffic information providing system according to the first embodiment.

[0015] Figure 2 This is a block diagram showing the configuration of the traffic flow measuring device according to the first embodiment.

[0016] Figure 3 This is a diagram showing the measurement results of each measurement point output from the sensor.

[0017] Figure 4 This is a diagram for explaining a method of determining the vehicle length by the vehicle length determining unit.

[0018] Figure 5 This is a diagram showing an example of information stored in the storage unit.

[0019] Figure 6 This is a flowchart showing an example of the processing procedure of the traffic flow measuring device according to the first embodiment.

[0020] Figure 7 It is a diagram showing the overall configuration of a traffic information providing system according to a second embodiment.

[0021] Figure 8 It is a block diagram showing the configuration of a driving assistance device according to a second embodiment.

[0022] Fig. 9 This is a flowchart showing an example of a processing procedure of the driving assistance device according to the second embodiment.

[0023] Fig.10 This is a diagram illustrating the distance between vehicles. DETAILED DESCRIPTION

[0024] [Problems to be Solved by the Present Disclosure]

[0025] When a vehicle is sensed by a sensor such as a radar sensor or a camera, it is advantageous to expand the area in which a single sensor can sense the vehicle. That is, when the senseable area is wide, the number of sensors to be installed can be reduced, and the installation cost can be suppressed.

[0026] However, when the area where the vehicle can be sensed is wide, the measurement accuracy of the vehicle length or other vehicle dimensions may differ depending on the position in the area. For example, when the technology disclosed in Patent Document 3 is used, the grid pattern appears small at a location far from the camera, so the measurement accuracy of the vehicle length deteriorates. In the case of a radar sensor, the measurement accuracy of the vehicle dimensions may also differ depending on the measurement position.

[0027] Therefore, it is desired to obtain vehicle dimensions such as vehicle length with high accuracy.

[0028] [Description of Embodiments of the Present Disclosure]

[0029] (1) The information generating device of the embodiment includes: a measuring unit for obtaining a plurality of measurement results by measuring the vehicle size of the same traveling vehicle a plurality of times; a sensing unit for sensing the accuracy of each of the plurality of measurement results; and a determining unit for determining the vehicle size of the traveling vehicle from the plurality of measurement results based on the accuracy. According to this configuration, a measurement result with good accuracy among a plurality of vehicle size measurement results for the same traveling vehicle can be determined as the vehicle size. Therefore, even if a measurement result with poor accuracy is included among the plurality of measurement results, the vehicle size can be appropriately determined.

[0030] (2) Preferably, the determination unit is configured to determine the measurement result with the highest accuracy among the plurality of measurement results as the vehicle size. In this case, the measurement result with the highest accuracy is determined as the vehicle size.

[0031] (3) Preferably, the plurality of measurement results are measurement results respectively measured at a plurality of positions. When the vehicle dimensions are measured at a plurality of times, the moving vehicle is located at different positions due to movement. In this case, the plurality of measurement results are measurement results respectively measured at a plurality of positions.

[0032] (4) Preferably, the information generating device further includes a tracking unit configured to determine that the vehicles sensed at the plurality of positions are the same traveling vehicle. The tracking unit can determine that the vehicles sensed at the plurality of positions are the same traveling vehicle.

[0033] (5) Preferably, the information generating device further includes a vehicle model determining unit configured to determine the vehicle model of the traveling vehicle based on the vehicle size determined by the determining unit. In this case, the vehicle model can be determined with high accuracy based on the vehicle size with good accuracy.

[0034] (6) Preferably, the information generating device further includes a measuring unit for measuring the traffic flow of each vehicle type based on the vehicle type determined by the vehicle type determining unit. In this case, the traffic flow of each vehicle type can be measured with high accuracy based on the vehicle type determined with high accuracy.

[0035] (7) Preferably, the traffic flow for each vehicle type includes the number of vehicles of each vehicle type. In this case, the number of vehicles of each vehicle type can be measured with high accuracy. The number of vehicles is measured, for example, as the number of vehicles at predetermined time intervals.

[0036] (8) Preferably, the information generating device further includes a providing unit for providing first information based on the vehicle size determined by the determining unit. In this case, the first information based on the determined vehicle size can be used for driving assistance of other vehicles. It should be noted that the driving of other vehicles can be either human-driven or automatic driving.

[0037] (9) Preferably, the first information is also based on the position of the traveling vehicle. In this case, the first information based on the determined vehicle size and the position of the traveling vehicle can be provided. As a result, driving assistance for other vehicles becomes more appropriate.

[0038] (10) Preferably, the providing unit is configured to further provide second information indicating the measurement time of the position. In this case, other vehicles can also use the measurement time of the position of the traveling vehicle.

[0039] (11) The first information includes vehicle-to-vehicle data of a first traveling vehicle and a second traveling vehicle traveling behind the first traveling vehicle, the vehicle size at least indicating a vehicle length, and the vehicle-to-vehicle data is obtained using at least the vehicle length indicated by the vehicle size of the first traveling vehicle.

[0040] (12) Preferably, the vehicle-to-vehicle data includes at least one of a vehicle-to-vehicle distance and a vehicle-to-vehicle time length. The vehicle-to-vehicle distance or vehicle-to-vehicle time length between the first vehicle and the second vehicle is useful for assisting the driving of another vehicle that intends to enter between the first vehicle and the second vehicle.

[0041] (13) Preferably, the first information is provided to a vehicle that intends to enter the lane in which the first and second vehicles are traveling. The vehicle that intends to enter the lane in which the first and second vehicles are traveling can smoothly enter the lane in which the first and second vehicles are traveling by using the first information including the vehicle-to-vehicle data.

[0042] (14) Preferably, the vehicle size indicates at least the vehicle length. Preferably, the information generating device further includes a providing unit for providing first information based on the vehicle length indicated by the vehicle size and the position of the traveling vehicle. Preferably, the first information is provided to other vehicles. For example, the other vehicle is a vehicle that intends to enter the lane in which the traveling vehicle is traveling.

[0043] (15) Preferably, the measurement result is obtained based on image data obtained by photographing a road. Preferably, the accuracy is sensed based on the number of pixels included in the image of the traveling vehicle in the image data. In most cases, the larger the vehicle appears in the image data, the higher the accuracy of the measurement result. Therefore, the accuracy can be sensed by using the number of pixels included in the image of the traveling vehicle.

[0044] (16) Preferably, the measurement result is obtained based on a cluster of measurement points obtained from reflected waves of transmission waves irradiated onto a road by a radar sensor. Preferably, the accuracy is sensed based on the number of measurement points included in the cluster. In most cases, the greater the number of measurement points, the higher the measurement accuracy of the vehicle size. Therefore, the accuracy can be sensed by using the number of measurement points.

[0045] (17) Preferably, the measurement result is obtained based on the reflected wave of the transmission wave irradiated onto the road by the radar sensor. Preferably, the accuracy is sensed based on the position of the traveling vehicle whose vehicle size is measured. For example, the relationship between the measurement error of the vehicle size and the position of the vehicle is investigated in advance, thereby enabling the accuracy of the vehicle size to be sensed according to the position of the vehicle based on the investigation result.

[0046] (18) The information generation method of the implementation method includes: obtaining multiple measurement results by measuring the vehicle length of the same traveling vehicle multiple times; sensing the measurement accuracy of each of the multiple measurement results; and determining the vehicle length of the traveling vehicle from the multiple measurement results based on the accuracy.

[0047] (19) The computer program of the embodiment causes a computer to operate as an information generating device. The information generating device comprises: a measuring unit for obtaining a plurality of measurement results by measuring the vehicle dimensions of the same traveling vehicle a plurality of times; a sensing unit for sensing the accuracy of each of the plurality of measurement results; and a determining unit for determining the vehicle dimensions of the traveling vehicle from the plurality of measurement results based on the accuracy.

[0048] It should be noted that the above-mentioned computer program can be circulated via a non-temporary recording medium readable by a computer such as a CD-ROM (Compact Disc-Read Only Memory) or a communication network such as the Internet, which is self-evident. In addition, part or all of the information generating device can also be implemented by a semiconductor integrated circuit. The information generating device can be used in a system including the information generating device.

[0049] [Details of the embodiments of the present disclosure]

[0050] Hereinafter, the embodiments of the present disclosure will be described in detail using the accompanying drawings. It should be noted that the embodiments described below all represent a preferred specific example of the present invention. The numerical values, shapes, materials, constituent elements, configuration positions of constituent elements, connection forms, steps, order of steps, etc. shown in the following embodiments are only examples, and their purpose is not to limit the present invention. The present invention is defined by the claims. Therefore, for the constituent elements of the following embodiments that are not recorded in the independent claims representing the highest concept of the present invention, they are described as constituent elements that are not necessarily required to complete the subject of the present invention but constitute a more preferred mode.

[0051] In addition, the same reference numerals are attached to the same components, and their functions and names are also the same, so their descriptions are appropriately omitted.

[0052] [First embodiment]

[0053] <Overall structure of the traffic information provision system>

[0054] Figure 1 It is a diagram showing the overall configuration of the traffic information providing system according to the first embodiment.

[0055] The traffic information providing system 1 is a system for measuring the traffic flow of vehicles 60 traveling on a road 100. The traffic information providing system 1 includes a sensor 2 and a traffic flow measuring device 3 as an information generating device.

[0056] The sensor 2 is, for example, a radar sensor. The radar sensor transmits radio waves (transmission waves) to an area 70 on the road 100 and receives reflected waves of the transmission waves. The area 70 has a length of several hundred meters in the traveling direction of the vehicle 60, for example.

[0057] The sensor 2 obtains a plurality of measurement points corresponding to the object in the area 70 based on the received reflected waves. The measurement points are, for example, where the level of the reflected waves is greater than a threshold value for sensing. The sensor 2 receives reflected waves from a plurality of measurement points of the object in the area 70, and measures the distance from the sensor 2 to each measurement point, the direction (horizontal angle) of each measurement point with reference to the sensor 2, and the speed of each measurement point based on the received reflected waves. In order to sense the vehicle, the plurality of measurement points are clustered as described below.

[0058] As an example, the sensor 2 is configured to include a transmitting antenna and a plurality of receiving antennas with different settings. The sensor 2 uses a frequency modulated continuous wave (FM-CW) method to measure the position, direction and speed of each measuring point based on the reflected wave. The sensor 2 outputs the measurement results including the position, direction and speed of the measuring point to the traffic flow measuring device 3 as an information generating device. It should be noted that the radio wave is, for example, a millimeter wave in the 24 GHz band, the 79 GHz band or the 76 GHz band. Instead of the radio wave, the transmitting wave may also be an ultrasonic wave with a frequency of 20 kHz or more.

[0059] For example, Figure 1 As shown, the sensor 2 is installed so that the position of the vehicle 60 can be measured from the front of the vehicle 60 traveling upstream of the sensor 2. However, the installation position of the sensor 2 is not limited to this. For example, the sensor 2 may be installed so that the position of the vehicle 60 can be measured from the rear of the vehicle 60 traveling downstream of the sensor 2. In addition, the sensor 2 may be installed so that the position of the vehicle 60 can be measured from above or to the side of the vehicle 60.

[0060] The traffic flow measuring device 3 receives the measurement result from the sensor 2 and measures the traffic flow of the vehicles 60 traveling on the road 100. The traffic flow includes, for example, at least one of the number of vehicles per unit time and the average speed. The traffic flow is measured for each vehicle type. That is, the number of vehicles is measured for each vehicle type, and the average speed is also measured for each vehicle type. The traffic flow measuring device 3 sends traffic information indicating the measured traffic flow to the central device 10. The traffic flow measuring device 3 sends the traffic information to the central device 10 using a communication network such as a mobile phone network, a dedicated wireless line, or a wired line. The central device 10 is, for example, a server installed in a traffic control center.

[0061] <Configuration of traffic flow measuring device>

[0062] Figure 2 This is a block diagram showing the configuration of the traffic flow measurement device 3 according to the first embodiment.

[0063] The traffic flow measuring device 3 includes a vehicle position measuring unit 31 , a speed measuring unit 32 , a vehicle length measuring unit 33 , an accuracy sensing unit 34 , a vehicle tracking unit 35 , a vehicle length determining unit 36 ​​, a vehicle type determining unit 37 , a traffic flow measuring unit 38 , a traffic information providing unit 39 , and a storage unit 40 .

[0064] It should be noted that the traffic flow measuring device 3 may also be constituted by a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a communication I / F (interface), etc. Each processing unit 31 to 39 is functionally realized by executing a computer program on the CPU.

[0065] The vehicle position measuring unit 31 measures the position of the vehicle 60 . More specifically, the vehicle position measuring unit 31 measures the position of the vehicle 60 based on the measurement results of each measurement point output from the sensor 2 .

[0066] Reference Figure 3 , a method for measuring the position of the vehicle 60 is described. Figure 3 2 is a diagram showing the measurement results of each measurement point output from the sensor 2. The measurement results of each measurement point are represented as a point in a three-dimensional space consisting of distance, direction, and speed ( Figure 3 black dots in the image).

[0067] The vehicle position measuring unit 31 calculates the position of the point ( Figure 3 The vehicle position measuring unit 31 clusters the points with a speed within x (km / h) and a direction within y (°) into one cluster. Here, the measured points are classified into two clusters, clusters CA and CB. One cluster represents one vehicle 60. Therefore, the vehicle position measuring unit 31 determines, for each cluster, the point with the smallest distance as the point of the front position of the vehicle 60 corresponding to the cluster. The vehicle position measuring unit 31 calculates the front position based on the distance and direction corresponding to the point of the front position, thereby measuring the front position of the vehicle 60 as the position of the vehicle 60. The position can be represented by two-dimensional coordinates, for example.

[0068] It should be noted that, when the sensor 2 measures the vehicle 60 traveling downstream of the sensor 2, the vehicle position measuring unit 31 may measure the rear end position of the vehicle 60 as the position of the vehicle 60. In addition, when the sensor 2 measures the vehicle 60 from above or from the side, the vehicle position measuring unit 31 may measure a predetermined position between the front end position and the rear end position of the vehicle 60 as the position of the vehicle 60.

[0069] The vehicle position measuring unit 31 associates information on the measured position of the vehicle 60 with information on the time when the position was measured, and stores the information in the storage unit 40 for each vehicle 60 .

[0070] The speed measuring unit 32 measures the speed of the vehicle 60 based on the measurement results of each measurement point output from the sensor 2 .

[0071] Reference Figure 3 , a method for measuring the speed of the vehicle 60 is described. As described above, the measurement points obtained by the sensor 2 are classified into clusters for each vehicle 60. Therefore, the speed measuring unit 32 measures the speed of the vehicle 60 corresponding to the cluster based on the speed corresponding to the measurement points included in each cluster. For example, the speed measuring unit 32 can measure the average value or median of the speed of each measurement point included in the cluster as the speed of the vehicle 60 corresponding to the cluster. The speed measuring unit 32 stores the information of the measured speed of the vehicle 60 in the storage unit 40.

[0072] The vehicle length measuring unit (vehicle dimension measuring unit) 33 measures the vehicle length of the vehicle 60. More specifically, the vehicle length measuring unit 33 measures the vehicle length of the vehicle 60 based on the measurement results of each measurement point output from the sensor 2. For example, the vehicle length measuring unit 33 measures the difference between the maximum value and the minimum value of the distances of the measurement points included in each cluster as the vehicle length of the vehicle 60 corresponding to the cluster. Figure 3 In the example shown, the vehicle length of the vehicle 60 corresponding to the cluster CA is measured as LA, and the vehicle length of the vehicle 60 corresponding to the cluster CB is measured as LB.

[0073] It should be noted that the clusters CA and CB also represent the vehicle width, so the vehicle size measuring unit 33 can also measure the vehicle width based on the clusters CA and CB. In addition, depending on the installation position of the sensor 2, the clusters CA and CB will represent the vehicle height, so the vehicle size measuring unit 33 can also measure the vehicle height based on the clusters CA and CB.

[0074] The vehicle length measuring unit 33 stores information on measured vehicle dimensions such as the measured vehicle length (measured vehicle length) of the vehicle 60 in the storage unit 40. The measured vehicle dimensions (measured vehicle length, etc.) stored here are vehicle dimensions that are provisional values.

[0075] The accuracy sensing unit 34 senses the measurement accuracy of the vehicle length measurement result (measured vehicle length) measured by the vehicle length measuring unit 33. More specifically, the accuracy sensing unit 34 determines the accuracy of the vehicle length measurement result of the vehicle 60 based on the measurement results of each measurement point output from the sensor 2.

[0076] Reference Figure 3, a method for sensing the accuracy of the vehicle length measurement result is described. As described above, the measurement points obtained by the sensor 2 are classified into clusters for each vehicle 60. The more measurement points a cluster of each vehicle 60 contains, the higher the accuracy of the vehicle length measurement result of the vehicle 60. Therefore, the accuracy sensing unit 34 calculates the accuracy of the vehicle length measurement result of the vehicle 60 based on the number of measurement points contained in the cluster of each vehicle 60. The accuracy sensing unit 34 may use the number of measurement points contained in the cluster of each vehicle 60 itself as the accuracy of the vehicle length measurement result of the vehicle 60, or may use an indicator calculated based on the number of measurement points as the accuracy.

[0077] The accuracy sensing unit 34 stores information on the accuracy of the measurement result of the vehicle length of the vehicle 60 (measurement accuracy; vehicle length accuracy) in the storage unit 40 .

[0078] That is, the storage unit 40 stores, for each vehicle 60 , information on the position of the vehicle 60 , the time at which the position is measured, the speed, the vehicle length, and the accuracy of the measurement result of the vehicle length.

[0079] The traffic flow measuring device 3 senses the vehicles 60 whose positions change due to traveling in the area 70 at a plurality of positions in the area 70. That is, the vehicle position measuring unit 31 measures the vehicle positions of the same vehicle at a plurality of positions in the area 70. In addition, the speed measuring unit 32 measures the speed of the same vehicle at a plurality of positions in the area 70, and the vehicle length measuring unit 33 measures the vehicle length of the same vehicle at a plurality of positions in the area 70.

[0080] Therefore, information on the measurement time of the position of the vehicle 60 , the speed, the vehicle length, and the accuracy of the vehicle length measurement result is measured or sensed at a plurality of positions within the area 70 , and stored in the storage unit 40 for each of the plurality of positions.

[0081] The vehicle tracking unit 35 tracks the vehicle 60. The vehicle tracking unit 35 operates in a manner that determines the traveling vehicles 60 sensed at multiple positions within the area 70 as the same vehicle. In more detail, the vehicle tracking unit 35 establishes correspondence between the information of each vehicle 60 stored in the storage unit 40 and the information of the vehicles 60 at different measurement times, thereby tracking the vehicle 60. For example, the vehicle tracking unit 35 uses a Kalman filter to estimate the position of the first vehicle at the second measurement time based on information such as the position and speed of the first vehicle at the first measurement time. The vehicle tracking unit 35 determines that the second vehicle having the measurement position at the second measurement time that is closest to the estimated position of the first vehicle is the same vehicle as the first vehicle, thereby tracking the first vehicle.

[0082] The vehicle tracking unit 35 assigns the same vehicle ID (identifier) ​​to the first vehicle and the second vehicle determined to be the same vehicle, and stores the same vehicle ID in the storage unit 40 .

[0083] The vehicle length determination unit 36 ​​obtains a determined vehicle size (determined vehicle length) as a fixed value from the measured vehicle length (measured vehicle size) as a provisional value. The vehicle length determination unit 36 ​​compares the accuracy of the vehicle length measurement results of the same traveling vehicle based on the vehicle tracking result obtained by the vehicle tracking unit 35 and the determination result of the accuracy of the vehicle length measurement result obtained by the accuracy sensing unit 34. The vehicle length determination unit 36 ​​determines the vehicle length of the vehicle based on the comparison result of the accuracy. In the embodiment, the vehicle length determination unit 36 ​​determines the vehicle length determined to be the highest in accuracy among the vehicle lengths of the same vehicle as the vehicle length (determined vehicle length) of the vehicle.

[0084] Figure 4 FIG. 2 is a diagram for explaining a method for determining the vehicle length by the vehicle length determining unit. Figure 4 , it is assumed that the vehicle 60 travels in the area 70 on the road 100 in the order of positions P1, P2, P3, P4, P5, and P6. The vehicle length measuring unit 33 measures the vehicle length of the vehicle 60 at each position P1, P2, P3, P4, P5, and P6. The accuracy sensing unit 34 obtains the accuracy (hereinafter referred to as "vehicle length accuracy") of each measurement result of the measured vehicle length (hereinafter referred to as "measured vehicle length"). For example, it is assumed that the set of the measured vehicle length and the vehicle length accuracy of the vehicle 60 at position P1 is (L1, 30), and the above sets at positions P2 to P6 are (L2, 42), (L3, 49), (L4, 56), (L5, 40), and (L6, 30), respectively.

[0085] That is, it is assumed that the vehicle length accuracy of the vehicle 60 increases as it moves forward from position P1, reaches the highest accuracy at position P4, and then decreases. This is because the number of measurement points of the vehicle 60 decreases at a position far from the sensor 2, and the vehicle length accuracy decreases. On the other hand, when the vehicle 60 is too close to the sensor 2, the number of measurement points included in one cluster decreases due to the influence of noise.

[0086] The vehicle length determination unit 36 ​​determines the vehicle length of the vehicle 60 in the order of the positions P1, P2, P3, P4, P5, and P6. The vehicle length determination unit 36 ​​determines the vehicle length of the vehicle 60 at each position, whichever is the most accurate among the vehicle lengths of the vehicle 60 measured before, as the vehicle length of the vehicle 60 at that position (determined vehicle length).

[0087] For example, the vehicle length determination unit 36 ​​measures only the measured vehicle length L1 at the position P1, and the measured vehicle length L1 has the highest accuracy, so the measured vehicle length L1 is set as the determined vehicle length. In addition, among the vehicle length accuracies of the measured vehicle lengths L1 and L2 at the position P2, the vehicle length accuracy "42" of the measured vehicle length L2 has the highest accuracy, so the vehicle length determination unit 36 ​​sets the measured vehicle length L2 as the determined vehicle length. Similarly, the vehicle length determination unit 36 ​​sets the measured vehicle lengths L3 and L4 at the positions P3 and P4, respectively, as the determined vehicle lengths.

[0088] Furthermore, the vehicle length accuracy "56" of the vehicle length L4 measured at the position P5 is the highest among the vehicle length accuracies of the vehicle lengths L1 to L5 measured at the position P5, and thus the vehicle length determination unit 36 ​​sets the measured vehicle length L4 as the determined vehicle length. Furthermore, the vehicle length accuracy "56" of the vehicle length L4 measured at the position P6 is the highest among the vehicle length accuracies of the vehicle lengths L1 to L6 measured at the position P6, and thus the vehicle length determination unit 36 ​​sets the measured vehicle length L4 as the determined vehicle length.

[0089] In this way, the determined vehicle length is sequentially updated up to the position P4 where the vehicle length accuracy continues to increase. However, when exceeding the position P4, the determined vehicle length is not updated because the vehicle length accuracy continues to decrease.

[0090] It should be noted that the vehicle length determination unit 36 ​​may determine the vehicle lengths at positions P1 to P6 after the vehicle 60 passes through the area 70. In this case, since the vehicle length accuracy "56" for measuring the vehicle length L4 is the highest accuracy among the vehicle length accuracy for measuring the vehicle lengths L1 to L6, the vehicle length determination unit 36 ​​may determine all the determined vehicle lengths at positions P1 to P6 to be L4. The vehicle length determination unit 36 ​​stores the determined vehicle lengths in the storage unit 40.

[0091] Refer again Figure 2 The vehicle type determination unit 37 determines the vehicle type of the vehicle 60 based on the vehicle length determined by the vehicle length determination unit 36. For example, the vehicle type determination unit 37 determines the vehicle type of the vehicle 60 as a large vehicle when the vehicle length is determined to be greater than 5.5 m, and determines the vehicle type of the vehicle 60 as a small vehicle when the vehicle length is determined to be less than 5.5 m.

[0092] It should be noted that, for the same vehicle 60, the vehicle length may be different depending on the location. In such a case, the vehicle model determination unit 37 may determine the vehicle model based on the vehicle length with the highest accuracy. Figure 4 In the illustrated example, the vehicle model determination unit 37 determines the vehicle model based on the determined vehicle length L4 at the position P4 where the vehicle length accuracy is the highest.

[0093] In addition, when the vehicle width or height can be measured instead of the vehicle length, the vehicle model determination unit 37 may determine the vehicle model by thresholding the vehicle width or height. The vehicle model determination unit 37 stores the determined vehicle model in the storage unit 40 .

[0094] The storage unit 40 is composed of a storage device such as a HDD (Hard Disk Drive) or a flash memory, and stores the above-mentioned various information.

[0095] Figure 5 It is a diagram showing an example of information stored in the storage unit 40 .

[0096] The storage unit 40 stores the vehicle ID, position, measurement time, measured vehicle length, vehicle length accuracy, determined vehicle length, and vehicle model of the vehicle 60 in groups. For example, information on the vehicle ID "C1" is information on the same vehicle tracked by the vehicle tracking unit 35.

[0097] The traffic flow measuring unit 38 measures the traffic flow of each vehicle type 60 based on the tracking result obtained by the vehicle tracking unit 35. As an example, the traffic flow measuring unit 38 refers to the information stored in the storage unit 40 and measures the number of large vehicles and the number of small vehicles passing through the area 70 within a certain period of time as traffic flow. It should be noted that the traffic flow measuring unit 38 regards the information determined by the vehicle tracking unit 35 as the same vehicle and the same vehicle ID as the information of the same vehicle 60 to measure the number of vehicles 60. The traffic flow is not limited to the number of vehicles 60, and may be, for example, the average speed of the vehicle 60. The average speed may also be measured for each vehicle type.

[0098] The traffic information providing unit 39 transmits information on the traffic flow of each type of vehicle 60 measured by the traffic flow measuring unit 38 to the central device 10 as traffic information, thereby providing the traffic information.

[0099] <Processing process of traffic flow measuring device>

[0100] Figure 6 This is a flowchart showing an example of the processing procedure of the traffic flow measurement device according to the first embodiment of the present disclosure.

[0101] Reference Figure 6 The vehicle position measuring unit 31 measures the position of the vehicle 60 based on the measurement results of each measurement point output from the sensor 2, and stores the measurement results together with the vehicle ID of the vehicle 60 in the storage unit 40 (S1). It should be noted that the vehicle position measuring unit 31 generates a value that has not been assigned as the vehicle ID before, for example, randomly or sequentially, and assigns the value as the vehicle ID.

[0102] The speed measuring unit 32 measures the speed of the vehicle 60 based on the measurement results of each measurement point outputted from the sensor 2, and stores the measurement results in the storage unit 40 (S2). The measurement results are associated with the vehicle ID generated in step S1.

[0103] The vehicle length measuring unit 33 measures the vehicle length of the vehicle 60 based on the measurement results of each measurement point outputted from the sensor 2, and stores the measured vehicle length in the storage unit 40 (S3). The measured vehicle length is associated with the vehicle ID generated in step S1.

[0104] The accuracy sensing unit 34 determines the accuracy of the vehicle length measurement result of the vehicle 60 based on the measurement results of each measurement point outputted from the sensor 2, and stores the determined vehicle length accuracy in the storage unit 40 (S4). It should be noted that the vehicle length accuracy is associated with the vehicle ID generated in step S1.

[0105] The vehicle tracking unit 35 tracks the vehicle 60 by associating the information of the vehicles 60 at different measurement times based on the information of each vehicle 60 stored in the storage unit 40 (S5). It should be noted that the vehicle tracking unit 35 updates the vehicle ID so that the vehicle IDs of the associated information have the same value.

[0106] When the vehicle 60 is tracked (YES in S5 ), the vehicle length determination unit 36 ​​determines whether the vehicle length measured in step S3 has the highest accuracy among the vehicle lengths of the same vehicle ID ( S6 ).

[0107] If the measured vehicle length is not of the highest accuracy (No in S6 ), the vehicle length determination unit 36 ​​replaces the measured vehicle length with the vehicle length of the highest accuracy, thereby determining the replaced vehicle length as the vehicle length of the vehicle 60 ( S7 ).

[0108] Then, the vehicle length determination unit 36 ​​stores the determined vehicle length in the storage unit 40 (S8). It should be noted that the determined vehicle length is associated with the vehicle ID.

[0109] If the measured vehicle length has the highest accuracy (YES in S6 ), the vehicle length determination unit 36 ​​determines the measured vehicle length as the vehicle length of the vehicle 60 , and stores it in the storage unit 40 in association with the vehicle ID ( S8 ).

[0110] When the vehicle 60 is not tracked (No in S5 ), the measured vehicle length of the vehicle 60 is determined as the vehicle length of the vehicle 60 , and is stored in the storage unit 40 in association with the vehicle ID.

[0111] The vehicle model determination unit 37 determines whether a certain time (for example, 1 minute) has elapsed since the start of the process of step S1 based on the output of the timer or the like ( S9 ).

[0112] If the predetermined time has not passed ("No" in S9), the processing after step S1 is repeatedly performed. By repeatedly performing the processing after step S1, the vehicle position, vehicle speed, and vehicle length are measured multiple times for the same traveling vehicle. The measurement accuracy of the vehicle length is sensed for each of the multiple measured vehicle lengths.

[0113] If a certain time has passed ("Yes" in S9), the vehicle type determination unit 37 determines the vehicle type according to the vehicle length for each information stored in the storage unit 40, and stores the determined vehicle type and vehicle ID in the storage unit 40 in correspondence (S10). Figure 5 The information shown is stored in the storage unit 40 .

[0114] The traffic flow measuring unit 38 refers to the information stored in the storage unit 40 and measures the number of large vehicles and the number of small vehicles passing through the area 70 within a certain period of time as traffic flows ( S11 ).

[0115] The traffic information providing unit 39 transmits information on the traffic flow of each type of vehicle 60 measured by the traffic flow measuring unit 38 to the central device 10 as traffic information, thereby providing the traffic information ( S12 ).

[0116] The traffic flow measurement device 3 determines whether a predetermined termination condition is satisfied (S13). For example, the traffic flow measurement device 3 may determine that the termination condition is satisfied when receiving a stop instruction signal for the process of the traffic flow measurement device 3 from the outside.

[0117] When the termination condition is satisfied ("Yes" in S13), the traffic flow measurement device 3 terminates the process. When the termination condition is not satisfied ("No" in S13), the process after step S1 is repeatedly executed.

[0118] <Effects of the First Embodiment>

[0119] As described above, according to the first embodiment, it is possible to track the vehicle 60, compare the accuracy of the vehicle length measurement result measured at a certain position at a certain time with the accuracy of the vehicle length measurement result measured at other positions at other times for the same traveling vehicle 60, and determine the vehicle length of the vehicle 60 based on the comparison result. As a result, it is possible to use a vehicle length with higher accuracy and determine it as the vehicle length of the vehicle 60. In addition, according to this configuration, even if the area 70 for sensing the vehicle 60 is expanded and there is a place in the area 70 where the measurement accuracy of the vehicle size is reduced, it is possible to avoid using the vehicle size with low measurement accuracy. Therefore, the area 70 can be expanded, and the number of sensors to be installed can be suppressed. Therefore, the vehicle length of the vehicle 60 can be determined with high accuracy at a low installation cost.

[0120] Furthermore, it can be determined that the more measurement points there are for the reflected waves of the irradiated radio waves, the higher the accuracy of the vehicle length measurement result. Thus, the accuracy of the vehicle length measurement result can be accurately determined.

[0121] In addition, the vehicle type can be determined based on the high-precision vehicle length and the traffic flow of each vehicle type can be measured. Specifically, the number of vehicles 60 of each vehicle type at every predetermined time can be measured. Therefore, the traffic flow of each vehicle type can be measured with high precision.

[0122] [First Modification of First Embodiment]

[0123] In the first embodiment described above, a radar sensor is used as an example of the sensor 2, but the sensor 2 is not limited to a radar sensor. As the sensor 2, any other device can be used as long as it can observe the area 70 substantially at the same time. For example, as the sensor 2, a camera or a LiDAR (Light Detection and Ranging; laser radar) can be used.

[0124] In the first modified example, a case where a camera is used as the sensor 2 is described. In this case, the vehicle position measuring unit 31 of the traffic flow measuring device 3 performs image processing on the image data obtained by the camera imaging area 70, thereby determining the position of the vehicle 60. For example, the vehicle position measuring unit 31 determines the position of the vehicle 60 using a background difference method or the like. That is, the vehicle position measuring unit 31 binarizes the difference data between the background image data obtained by imaging the area 70 at a time point when the vehicle 60 is not included and the image data output from the camera, thereby creating binary image data. The vehicle position measuring unit 31 extracts the image of the vehicle 60 from the binary image data, and estimates the position of each vehicle 60. For example, in the binary image data, the uppermost position is determined for each image of the vehicle 60, and the position in the three-dimensional space (real space) corresponding to the position is determined as the position of the vehicle 60. It should be noted that the relationship between the position in the image data and the position in the three-dimensional space is known by a pre-calibration or the like.

[0125] The vehicle length measuring unit 33 measures the vehicle length of the vehicle 60 based on the length of the image of the vehicle 60 in the binary image data. It is assumed that the relationship between the length of the image at each position in the image data and the vehicle length is known by prior calibration or the like.

[0126] The accuracy sensing unit 34 determines the accuracy of the vehicle length measurement result measured by the vehicle length measuring unit 33 based on the image of the vehicle 60 in the binary image data. For example, the accuracy sensing unit 34 may determine that the accuracy of the vehicle length measurement result is higher as the number of pixels included in the image of the vehicle 60 is greater. That is, the accuracy sensing unit 34 may determine the accuracy based on the number of pixels based on the table information indicating the relationship between the number of pixels and the accuracy.

[0127] It should be noted that when a camera is used as the sensor 2 , the vehicle tracking unit 35 can recognize a license plate based on image data output from the camera, for example, and associate vehicles 60 having the same license plate between frames, thereby tracking the vehicle 60 .

[0128] [Second Modification of First Embodiment]

[0129] The accuracy sensing unit 34 of the traffic flow measurement device 3 of the first embodiment described above senses the accuracy of the vehicle length measurement result based on the number of measurement points included in the clusters, but the accuracy sensing method is not limited to this.

[0130] For example, using the experimental vehicle 60 in advance, the error between the vehicle length measured by the vehicle length measuring unit 33 at each position of the vehicle 60 and the correct vehicle length is calculated, and the relationship information between the position of the vehicle 60 and the accuracy of the vehicle length measurement result is calculated, such that the smaller the error, the higher the accuracy of the vehicle length measurement result.

[0131] During operation, the accuracy sensing unit 34 refers to the relationship information and senses the accuracy of the result of measuring the vehicle length of the vehicle 60 existing at the position based on the position of the vehicle 60 measured by the vehicle position measuring unit 31 .

[0132] It should be noted that, instead of calculating the above-mentioned relationship information based on the error between the position of the experimental vehicle 60 and the vehicle length, the relationship information can be calculated based on, for example, the horizontal angle or elevation angle up to the experimental vehicle 60 and the error between the measured value of the horizontal angle or elevation angle and the true value.

[0133] According to the second modification, for example, the relationship between the vehicle length measurement error and the vehicle position is investigated in advance, and thus, based on the relationship information as the investigation result, the accuracy of the vehicle length measurement result can be sensed according to the position of the vehicle 60. Thus, the accuracy of the vehicle length measurement result can be accurately sensed.

[0134] [Second embodiment]

[0135] <Overall structure of the traffic information provision system>

[0136] Figure 7 It is a diagram showing the overall configuration of a traffic information providing system according to a second embodiment.

[0137] The traffic information providing system 1A is a system for assisting vehicle driving, and includes a sensor 2 and a driving assistance device 5 as an information generating device. The driving assistance device 5 of the embodiment assists driving of a vehicle 60 that is trying to enter a lane 101 from outside the lane 101 .

[0138] Hereinafter, as the entry into the lane 101, a lane change from the second lane 102 included in the road 100 to the first lane 101 included in the road 100 will be described as an example. However, the entry into the lane 101 may also be entering the road 100 from a location outside the road 100 such as a parking lot.

[0139] The sensor 2 is the same radar sensor as in the first embodiment, for example, Figure 7As shown, the sensor 2 is provided so as to be able to measure the position of the vehicle 60, 60A, 60B from the front of the vehicle 60, 60A, 60B traveling in the area 70 upstream of the sensor 2. The area 70 where the vehicle 60, 60A, 60B is sensed by the sensor 2 includes the first lane 101 and the second lane 102 of the road 100. It should be noted that the sensor 2 may be provided so as to be able to measure the position of the vehicle 60, 60A, 60B from the rear of the vehicle 60, 60A, 60B traveling in the area 70, as in the first embodiment. In addition, the sensor 2 may be provided so as to be able to measure the position of the vehicle 60, 60A, 60B from above or to the side of the vehicle 60, 60A, 60B.

[0140] Hereinafter, driving assistance for the vehicle 60 when the vehicle 60 traveling in the second lane 102 changes lanes to the first lane 101 in which the first and second vehicles 60A and 60B are traveling will be described. In order to assist the vehicle 60 in changing lanes, information related to the vehicles 60A and 60B traveling in the first lane is provided to the vehicle 60. However, the driving assistance described below is also used when the vehicles 60A and 60B traveling in the first lane 101 change lanes to the second lane 102.

[0141] The driving assistance device 5 receives the measurement result from the sensor 2, and provides first information based on the position and vehicle length of the vehicles 60A and 60B traveling on the first lane 101. For example, the driving assistance device 5 can provide the information of the position and vehicle length of the vehicles 60A and 60B traveling on the first lane 101 to the vehicle 60 traveling on the second lane 102 as vehicle information (first information). In addition, the driving assistance device 5 can generate information such as the inter-vehicle distance between the vehicles 60A and 60B and the inter-vehicle time length between the vehicles 60A and 60B based on the position and vehicle length of the vehicles 60A and 60B as vehicle information (first information), and provide the vehicle information to the vehicle 60. It should be noted that the vehicles 60A and 60B traveling on the first lane 101 and the vehicle 60 traveling on the second lane 102 are distinguished by the position (direction) of the vehicle measured by the sensor 2.

[0142] <Configuration of driving assistance devices>

[0143] Figure 8 It is a block diagram showing the configuration of a driving assistance device 5 according to the second embodiment.

[0144] The driving support device 5 includes a vehicle position measuring unit 31 , a speed measuring unit 32 , a vehicle length measuring unit 33 , an accuracy sensing unit 34 , a vehicle tracking unit 35 , a vehicle length determining unit 36 ​​, a vehicle information providing unit 51 , and a storage unit 40 .

[0145] It should be noted that the driving assistance device 5 may be constituted by a computer including a CPU, a ROM, a RAM, a communication I / F, etc. The processing units 31 to 36 and 51 are functionally realized by executing a computer program on the CPU.

[0146] The processing units 31 to 36 are the same as those described in the first embodiment, and therefore, their detailed description will not be repeated here.

[0147] The vehicle information providing unit 51 generates vehicle information (first information) based on the positions of the vehicles 60A and 60B measured by the vehicle position measuring unit 31 and the vehicle lengths of the vehicles 60A and 60B determined by the vehicle length determining unit 36. The vehicle information (first information) is information for assisting the vehicle 60 traveling in the second lane 102 to change lanes to the first lane 101. The vehicle information providing unit 51 wirelessly transmits the generated vehicle information (first information) to the vehicle 60. It should be noted that the vehicle information may also be received by the vehicles 60A and 60B.

[0148] Preferably, the vehicle information (first information) of the embodiment includes at least information based on determining the vehicle size (determining the vehicle length). The information based on determining the vehicle size (determining the vehicle length) may be the determining vehicle size (determining the vehicle length) itself, or information obtained based on the determining vehicle size (determining the vehicle length). Preferably, the vehicle information (first information) includes information based on the position of the vehicle. The information based on the position of the vehicle may be the position of the vehicle itself, or information obtained based on the position of the vehicle. For example, the vehicle information providing unit 51 may generate information on the position and vehicle length (determining the vehicle length) of the vehicles 60A and 60B traveling on the first lane 101 as the vehicle information (first information).

[0149] The vehicle information providing unit 51 may generate vehicle information (first information) including vehicle distance and vehicle time information of the vehicle 60. Specifically, the vehicle information providing unit 51 determines the front end position P1, P2 and the rear end position P11, P12 (see FIG. 1 ) for each vehicle 60A, 60B based on the position of the vehicle 60A, 60B and the vehicle length of each vehicle 60A, 60B. Fig.10). For example, the vehicle information providing unit 51 determines the rear end position P11 of the vehicle 60A by adding the front end position P1 of the vehicle 60A measured by the vehicle position measuring unit 31 to the vehicle length (determined vehicle length). The vehicle information providing unit 51 calculates the inter-vehicle distance (inter-vehicle data) as the distance from the rear end position P11 of the front vehicle 60A to the front end position P2 of the rear vehicle 60B for each group of vehicles 60A and 60B adjacent to each other in the front and rear directions traveling on the first lane 101. It should be noted that the vehicle information providing unit 51 can calculate the time required for the rear vehicle 60B to travel the inter-vehicle distance as the inter-vehicle time length (inter-vehicle data) based on the inter-vehicle distance and the speed of the rear vehicle 60B.

[0150] The inter-vehicle data is useful when a vehicle 60 other than the vehicles 60A and 60B intends to travel between the vehicle 60A and the vehicle 60B. The vehicle 60 travels between the vehicle 60A and the vehicle 60B, for example, when the vehicle 60 changes lanes. In addition, the vehicle 60 intends to travel between the vehicle 60A and the vehicle 60B when the vehicle 60 crosses the opposite lane at an intersection to turn. For example, in a country such as Japan where vehicles travel on the left lane, crossing the opposite lane at an intersection occurs when turning right. In this case, the inter-vehicle data is useful.

[0151] The vehicle information providing unit 51 transmits the created vehicle information (first information) to the vehicle 60. Thus, the vehicle 60 traveling in the second lane 102 can determine a lane change position or lane change timing to the first lane 101, and can smoothly change lanes.

[0152] It should be noted that when the vehicle information providing unit 51 sends the vehicle information, it can establish a correspondence between the information (second information) of the measurement time of the position of the vehicles 60A, 60B and the vehicle information (first information) and send it. Depending on the communication status between the driving assistance device 5 and the vehicle 60, a time delay sometimes occurs before the vehicle 60 receives the vehicle information provided by the vehicle information providing unit 51. However, according to this configuration, the information of the measurement time of the position of the vehicles 60A, 60B and the like can be provided to the vehicle 60. Therefore, on the vehicle 60 side, the position of the vehicles 60A, 60B can be corrected based on the measurement time and the current time. As a result, the vehicle 60 traveling on the second lane 102 can accurately determine the lane change position to the first lane 101, the lane change timing, etc.

[0153] It should be noted that, when the vehicle information (first information) provided to vehicle 60 includes the positions of vehicles 60A, 60B and the determined vehicle length of each vehicle 60A, 60B, but does not include workshop data, the vehicle 60 that receives the vehicle information can generate workshop data based on the positions of vehicles 60A, 60B and the determined vehicle length of each vehicle 60A, 60B.

[0154] The storage unit 40 stores Figure 5 The information shown is the same as the information on the model. However, the information on the model is not stored.

[0155] <Processing of driving assistance device>

[0156] Fig. 9 This is a flowchart showing an example of the processing procedure of the driving assistance device 5 according to the second embodiment.

[0157] Reference Fig. 9 , the driving assistance device 5 executes the processing of steps S1 to S8. These processing and use Figure 6 Therefore, the detailed description is not repeated here.

[0158] The vehicle information providing unit 51 generates vehicle information for assisting the vehicle 60 traveling in the second lane 102 to change lanes to the first lane 101 based on the position of the vehicle 60 measured by the vehicle position measuring unit 31 and the determined vehicle length of the vehicle 60 determined by the vehicle length determining unit 36 ​​( S21 ).

[0159] The vehicle information providing unit 51 transmits the created vehicle information to the vehicle 60 by wireless, thereby providing the vehicle information ( S22 ).

[0160] The driving assistance device 5 determines whether or not the same termination condition as that described in the first embodiment is satisfied ( S13 ).

[0161] If the termination condition is satisfied ("Yes" in S13), the driving assistance device 5 terminates the process. If the termination condition is not satisfied ("No" in S13), the process after step S1 is repeatedly executed.

[0162] <Effects of the Second Embodiment>

[0163] As described above, according to the second embodiment, vehicle information such as the position and vehicle length of the vehicles 60A and 60B traveling in the first lane 101 can be provided to the vehicle 60 traveling in the second lane 102. As a result, the vehicle 60 traveling in the second lane 102 can determine the lane change position and lane change timing to the first lane 101, thereby assisting the vehicle 60 in changing lanes.

[0164] [Note]

[0165] The computer program for causing the computer to function as the traffic flow measurement device 3 or the driving support device 5 may be recorded in a computer-readable non-transitory recording medium such as a HDD, a CD-ROM, or a semiconductor memory.

[0166] Furthermore, the above-mentioned computer program can be transmitted via an electric communication line, a wireless or wired communication line, a network represented by the Internet, data broadcasting, or the like.

[0167] Furthermore, each of the above-mentioned devices may also be implemented by a plurality of computers.

[0168] In addition, part or all of the functions of the above-mentioned devices may be provided by cloud computing. That is, part or all of the functions of each device may be implemented by a cloud server. For example, the following configuration may be adopted: the function of the traffic flow measuring unit 38 of the traffic flow measuring device 3 is implemented by a cloud server, and the traffic flow measuring device 3 sends information stored in the storage unit 40 to the cloud server and receives traffic flow information from the cloud server.

[0169] Furthermore, at least a part of the above-described embodiment and the above-described modified examples may be arbitrarily combined.

[0170] The embodiments disclosed this time should be considered as illustrative in all aspects and not restrictive. The scope of the present invention is indicated by the claims rather than the above meaning, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0171] Description of Reference Numerals

[0172] 1: Traffic information provision system

[0173] 1A: Traffic information provision system

[0174] 2: Sensor

[0175] 3: Traffic flow measuring device

[0176] 5: Driving assistance devices

[0177] 10: Central Device

[0178] 31: Vehicle position measurement unit

[0179] 32: Speed ​​measurement unit

[0180] 33: Vehicle length measuring unit (vehicle dimension measuring unit)

[0181] 34: Precision sensing unit

[0182] 35: Vehicle Tracking Department

[0183] 36: Vehicle length determination unit

[0184] 37: Model Decision Department

[0185] 38: Traffic flow measurement department

[0186] 39: Traffic Information Provision Department

[0187] 40: Storage

[0188] 51: Vehicle information provision department

[0189] 60: Vehicles

[0190] 60A: Vehicle

[0191] 60B: Vehicles

[0192] 70: Area

[0193] 100: Road

[0194] 101: Lane 1

[0195] 102: Second lane

[0196] P1: Front position

[0197] P11: Backend location

[0198] P12: Backend position

[0199] P2: front position.

Claims

1. An information generating device, comprising: A measuring unit for obtaining a plurality of measurement results by measuring the vehicle dimensions of the same traveling vehicle a plurality of times; a sensing unit configured to sense the accuracy of each of the plurality of measurement results; and a determination unit configured to determine the vehicle size of the traveling vehicle from among the plurality of measurement results based on the accuracy, The measurement result is obtained based on clustering of measurement points obtained from reflected waves of transmission waves irradiated onto the road by the radar sensor, The accuracy is sensed based on the number of the measurement points included in the cluster.

2. The information generating device according to claim 1, wherein: The determination unit is configured to determine, among the plurality of measurement results, a measurement result having the highest accuracy as the vehicle size.

3. The information generating device according to claim 1 or 2, wherein: The plurality of measurement results are measurement results respectively measured at a plurality of locations.

4. The information generating device according to claim 3, wherein: The device further includes a tracking unit configured to determine that the vehicles sensed at the plurality of positions are the same traveling vehicle.

5. The information generating device according to claim 1 or 2, wherein: The vehicle further includes a vehicle type determination unit configured to determine a vehicle type of the traveling vehicle based on the vehicle size determined by the determination unit.

6. The information generating device according to claim 5, wherein: The vehicle further includes a measuring unit configured to measure a traffic flow for each vehicle type based on the vehicle type determined by the vehicle type determination unit.

7. The information generating device according to claim 6, wherein: The traffic flow of each type of vehicle includes the number of vehicles of each type of vehicle.

8. The information generating device according to claim 1 or 2, wherein: The vehicle further includes a providing unit configured to provide first information based on the vehicle size determined by the vehicle size determining unit.

9. The information generating device according to claim 8, wherein: The first information is also based on the position of the moving vehicle.

10. The information generating device according to claim 9, wherein: The providing unit is configured to further provide second information indicating a time at which the position is measured.

11. The information generating device according to claim 8, wherein: The first information includes vehicle-to-vehicle data of a first vehicle and a second vehicle traveling behind the first vehicle. The vehicle dimensions represent at least the vehicle length, The inter-vehicle data is obtained using at least a vehicle length indicated by the vehicle size of the first traveling vehicle.

12. The information generating device according to claim 11, wherein: The vehicle-to-vehicle data includes at least one of a vehicle-to-vehicle distance and a vehicle-to-vehicle time length.

13. The information generating device according to claim 11 or 12, wherein: The first information is provided to a vehicle that intends to enter a lane in which the first traveling vehicle and the second traveling vehicle are traveling.

14. The information generating device according to claim 1, wherein: The vehicle dimensions represent at least the vehicle length, The information generating device further includes a providing unit configured to provide first information based on the vehicle length indicated by the vehicle size and the position of the traveling vehicle. The first information is used to provide to other vehicles.

15. The information generating device according to claim 1 or 2, wherein: The measurement result is obtained based on image data obtained by photographing the road. The accuracy is sensed based on the number of pixels included in the image of the traveling vehicle in the image data.

16. The information generating device according to claim 1 or 2, wherein: The measurement result is obtained based on the reflected wave of the transmission wave irradiated onto the road by the radar sensor. The accuracy is sensed based on the position of the traveling vehicle whose vehicle size is measured.

17. A method for generating information, comprising: A plurality of measurement results are obtained by measuring the vehicle dimensions of the same moving vehicle multiple times; sensing the accuracy of each of the plurality of measurement results; as well as determining the vehicle size of the traveling vehicle from the plurality of measurement results based on the accuracy, The measurement result is obtained based on clustering of measurement points obtained from reflected waves of transmission waves irradiated onto the road by the radar sensor, The accuracy is sensed based on the number of the measurement points included in the cluster.

18. A computer-readable recording medium having a computer program recorded thereon, the computer program being configured to cause a computer to operate as an information generating device. The information generating device comprises: A measuring unit for obtaining a plurality of measurement results by measuring the vehicle dimensions of the same traveling vehicle a plurality of times; a sensing unit configured to sense the accuracy of each of the plurality of measurement results; and a determination unit configured to determine the vehicle size of the traveling vehicle from among the plurality of measurement results based on the accuracy, The measurement result is obtained based on clustering of measurement points obtained from reflected waves of transmission waves irradiated onto the road by the radar sensor, The accuracy is sensed based on the number of the measurement points included in the cluster.

Images