Roadside device and notification method

Abstract

The invention provides a roadside device and a notification method, which improve the technology of notifying pedestrians and vehicles of information for reminding attention. A roadside device (20) is provided with a control unit (24) that stores a reference image captured in a state in which the roadside device (20) is installed in a reference orientation, calculates the amount of shift between the imaging range of an image captured after the reference image has been stored and the imaging range of the reference image, and, when the amount of shift is equal to or greater than a threshold value, controls the roadside device (20) to be installed in the reference orientation, and if the amount of shift is equal to or greater than the threshold value, controls the roadside device (20) to be installed in the reference orientation. The server (30) is notified of information that prompts the restoration of the posture of the roadside device (20).

Description

Technical Field

[0001] The present disclosure relates to a roadside device and a notification method. Background Art

[0002] Conventionally, there has been known a technique for notifying information to pedestrians and vehicles. For example, in Patent Document 1, there is disclosed a notification system that notifies vehicles and pedestrians other than the autonomous driving vehicle of passability or caution information, etc., based on the behavior of an autonomous driving vehicle expected to pass through a prescribed traffic area.

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2023 - 50629

[0004] The roadside device can be installed at an arbitrary location, and if a pedestrian is detected from an image captured by a camera mounted on the roadside device, a notification is made. Here, for example, in the case where a pedestrian or the like hits the roadside device, if the orientation of the roadside device inadvertently changes for some reason after installation, the viewing angle or the shooting range of the camera will change, which may lead to a decrease in the detection accuracy of pedestrians. Therefore, there is still room for improvement in the technique for notifying information to pedestrians and vehicles. Summary of the Invention

[0005] In view of this situation, an object of the present disclosure is to improve the technique for notifying information to pedestrians and vehicles.

[0006] A roadside device according to one embodiment of the present disclosure includes a notification unit, a shooting unit, a storage unit, and a control unit. The control unit stores a reference image captured by the shooting unit in the storage unit in a state where the roadside device is installed in a reference posture, calculates an offset amount between a shooting range of an image captured by the shooting unit after the reference image is stored and a shooting range of the reference image, and when the offset amount is equal to or greater than a threshold value, notifies the server of information prompting repair of the posture of the roadside device via the notification unit.

[0007] A notification method according to one embodiment of the present disclosure is a notification method executed by a roadside device, and includes the following processes: storing a reference image captured in a state where the roadside device is installed in a reference posture; calculating an offset amount between a shooting range of an image captured after the reference image is stored and a shooting range of the reference image; and when the offset amount is equal to or greater than a threshold value, notifying the server of information prompting repair of the posture of the roadside device.

[0008] According to one embodiment of the present disclosure, the technique for notifying information to pedestrians and vehicles is improved. Brief Description of the Drawings

[0009] Figure 1 is a block diagram showing a schematic configuration example of the system according to one embodiment of the present disclosure.

[0010] Figure 2 is a flowchart showing an operation example of the roadside device.

[0011] Figure 3 is a sketch showing an installation example of the roadside device.

[0012] Figure 4 is a sketch showing an example of the posture of the roadside device.

[0013] Figure 5 is a sketch explaining the shooting range of the image.

[0014] Figure 6 is a sketch explaining the offset amount of the shooting range of the image.

[0015] Explanation of reference numerals:

[0016] 1... system; 2... network; 3... lane; 4... pedestrian; 5... crosswalk; 6... roadside strip; 7... sidewalk; 10... vehicle (autonomous vehicle); 11... communication unit; 12... output unit; 13... control unit; 20... roadside device; 20A... pillar; 21... notification unit; 22... shooting unit; 22A... camera; 23... storage unit; 24... control unit; 30... server (server of the administrator); 31... communication unit; 32... storage unit; 33... control unit. Detailed Description of the Embodiment

[0017] Hereinafter, embodiments of the present disclosure will be described.

[0018] (Summary of the Embodiment)

[0019] Refer to Figure 1 to explain the outline of the system 1 according to the embodiment of the present disclosure. The system 1 includes a vehicle 10, a roadside device 20, and a server 30. The vehicle 10, the roadside device 20, and the server 30 are connected to a network 2 including, for example, the Internet and a mobile communication network so as to be able to communicate.

[0020] The vehicle 10 is, for example, an automobile, but is not limited thereto, and may be any vehicle. The automobile may be a gasoline vehicle, a BEV (Battery Electric Vehicle), a HEV (Hybrid Electric Vehicle), a PHEV (Plug-in Hybrid Electric Vehicle), an FCEV (Fuel Cell Electric Vehicle), or the like, but is not limited to these. In the present disclosure, the vehicle 10 is an autonomous vehicle 10 having an autonomous driving function. However, the vehicle 10 is not limited to the autonomous vehicle 10. The number of autonomous vehicles 10 included in the system 1 can also be arbitrarily determined. The autonomous vehicle 10 is connected to the roadside device 20 via the network 2 so as to be able to communicate.

[0021] The roadside device 20 is an information communication device that, when detecting a pedestrian facing the lane from the camera image, notifies the pedestrian and notifies the autonomous vehicle 10 approaching the pedestrian. In addition, the roadside device 20 notifies the server 30 of information for prompting the restoration of the posture of the roadside device 20. The roadside device 20 is connected to the autonomous vehicle 10 and the server 30 via the network 2 so as to be able to communicate.

[0022] The server 30 is a computer owned by the manager (management center) of the roadside device 20. The server 30 communicates with the roadside device 20 via the network 2.

[0023] First, an overview of the present embodiment will be described, and then a detailed description will be given. The roadside device 20 stores the reference image captured by the imaging unit 22 in the storage unit 23 in a state where the roadside device 20 is set in the reference posture. After storing the reference image, the roadside device 20 calculates the offset amount between the imaging range of the image captured by the imaging unit 22 and the imaging range of the reference image. When the offset amount is equal to or greater than the threshold value, the roadside device 20 notifies the server 30 of information for prompting the restoration of the posture of the roadside device 20 via the notification unit 21.

[0024] In this way, when the offset amount between the imaging range of the captured image and the imaging range of the reference image of the roadside device 20 is equal to or greater than the threshold value, the roadside device 20 notifies the server 30 of information for prompting the restoration of the posture of the roadside device 20. Since the manager of the server 30 that has received the notification can identify the change in the posture of the roadside device 20 at an early stage, it is possible to quickly take corresponding measures such as returning the posture of the roadside device 20 to the reference posture. Therefore, in terms of improving the detection accuracy of pedestrians facing the lane, the technology of notifying information to pedestrians and vehicles has been improved.

[0025] Next, each structure of the system 1 will be described in detail.

[0026] (Structure of the vehicle)

[0027] As Figure 1 shown, the vehicle 10 (autonomous vehicle 10) includes a communication unit 11, an output unit 12, and a control unit 13.

[0028] The communication unit 11 includes one or more communication interfaces connected to the network 2. This communication interface corresponds to, for example, mobile communication standards such as 4G (4th Generation) or 5G (5th Generation), or in-vehicle networks (such as CAN (Controller Area Network)), but is not limited to these. In the present embodiment, the autonomous vehicle 10 communicates with the roadside device 20 via the communication unit 11 and the network 2.

[0029] The output unit 12 includes at least one sound output interface capable of outputting sound and at least one display interface capable of displaying text or images. The sound output interface is, for example, a speaker that outputs information received from the roadside device 20 through sound. The display interface is, for example, a display such as an LCD or an organic EL display that outputs map information or information received from the roadside device 20 through text or images. However, the sound output interface and the display interface are not limited to these.

[0030] The control unit 13 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor dedicated to specific processing, but is not limited to these. The programmable circuit is, for example, an FPGA (Field-Programmable Gate Array), but is not limited thereto. The dedicated circuit is, for example, an ASIC (Application Specific Integrated Circuit), but is not limited thereto. The control unit 13 controls the overall operation of the autonomous vehicle 10.

[0031] (Structure of the roadside device)

[0032] As Figure 1 shown, the roadside device 20 includes a notification unit 21, a photographing unit 22, a storage unit 23, a control unit 24, and a support column 20A.

[0033] The communication unit 21 includes one or more communication interfaces connected to the network 2. Such communication interfaces correspond to, for example, mobile body communication standards, wired LAN (Local Area Network) standards, or wireless LAN standards, but are not limited to these and can also correspond to any communication standard. In the present embodiment, the roadside device 20 communicates with the autonomous driving vehicle 10 and the server 30 via the communication unit 21 and the network 2.

[0034] Furthermore, the notification unit 21 includes at least one of (i) a speaker for notifying the situation where a pedestrian approaches the autonomous driving vehicle 10 by sound, (ii) a display for notifying by text or image, and (iii) a signal lamp for notifying by flashing of light, but the method of notifying information is not limited to these.

[0035] The imaging unit 22 includes a camera 22A and captures a moving image or a still image of a pedestrian facing the lane.

[0036] The storage unit 23 includes one or more memories. Each memory included in the storage unit 23 can function, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 23 stores any information for the operation of the roadside device 20. For example, the storage unit 23 can also store system programs, application programs, databases, and images captured by the imaging unit 22. The information stored in the storage unit 23 can be updated, for example, by using information obtained from the network 2 via the communication unit 21.

[0037] The control unit 24 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 24 controls the overall operation of the roadside device 20.

[0038] The pillar 20A is a column used to support the roadside device 20 (notification unit 21, imaging unit 22, storage unit 23, and control unit 24). The pillar 20A is provided on the roadside strip of the lane or the like, but the installation location is not limited to this.

[0039] (Structure of the server)

[0040] As Figure 1 shown, the server 30 includes a communication unit 31, a storage unit 32, and a control unit 33.

[0041] The communication unit 31 includes one or more communication interfaces connected to the network 2. The communication interface corresponds to, for example, a mobile communication standard, a wired LAN (Local Area Network) standard, or a wireless LAN standard, but is not limited to these and may correspond to any communication standard. In the present embodiment, the server 30 communicates with the roadside device 20 via the communication unit 31 and the network 2.

[0042] The storage unit 32 includes one or more memories. Each memory included in the storage unit 32 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores any information for the operation of the server 30. For example, the storage unit 32 may store a system program, an application program, a database, and information related to the roadside device 20 to be managed. The information stored in the storage unit 32 may be updated, for example, by using information obtained from the network 2 via the communication unit 31.

[0043] The control unit 33 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 33 controls the overall operation of the server 30.

[0044] (Operation flow of roadside device)

[0045] Refer to Figure 2 The operation of the roadside device 20 according to the present embodiment will be described. This operation is about the notification of information for promoting the restoration of the posture of the roadside device 20.

[0046] Figure 3 It is a schematic diagram showing an installation example of the roadside device. As Figure 3 shown, the autonomous driving vehicle 10 travels on the lane 3, and the pedestrian 4 crosses the lane 3 at the crosswalk 5 or the like. The roadside device 20 can be installed in any place. In Figure 3 the example shown, the roadside device 20 is installed, for example, on the pillar 20A of the road shoulder 6 of the lane 3 located near the crosswalk 5. The imaging unit 22 of the roadside device 20 includes a camera 22A. The position and direction of the camera 22A are adjusted so as to be able to detect the pedestrian 4 facing the lane.

[0047] S101 - S102: The control unit 24 stores the reference image captured by the imaging unit 22 (camera 22A) in the storage unit 23 in a state where the roadside device 20 is set in the reference posture.

[0048] The imaging unit 22 (camera 22A) captures a moving image or a still image of the pedestrian 4 facing the lane 3. In Figure 3In the example, the camera 22A is installed, for example, on the column 20A of the roadside strip 6 provided on the lane 3, but the installation location can also be any location on the column 20A.

[0049] Figure 4 It is a schematic diagram showing an example of the posture of the roadside device 20. As Figure 4 shown, in the present disclosure, the reference posture refers to the posture of the column 20A that supports the roadside device 20, and it is the posture of the column 20A facing the vertical direction lp. However, the column 20A can also be erected in such a manner that it has a specified tolerance α in the circumferential direction from the vertical direction lp. The camera 22A installed on the column 20A erected in this basic posture is adjusted to a position and orientation that can ensure a shooting range R1 for detecting pedestrians 4 facing the lane 3. As Figure 4 shown, if the posture of the column 20A changes from the basic posture due to a collision of a vehicle (motorcycle) or the like, the shooting range of the camera 22A also shifts (changes) accordingly.

[0050] S103: The imaging unit 22 starts imaging.

[0051] After storing the reference image, the control unit 24 starts imaging. The control unit 24 can also store the captured image in the storage unit 23 every time the imaging unit 22 captures an image.

[0052] S104: After storing the reference image, the control unit 24 calculates the offset amount between the shooting range of the image captured by the imaging unit 22 (camera 22A) and the shooting range of the reference image.

[0053] Figure 5 It is a schematic diagram for explaining the shooting range of the image. Sometimes, due to some unexpected factors after the roadside device 20 is put into use, the posture of the column 20A changes, and thus the shooting range R1 of the reference image at the time of setting shown in the Figure 5 left figure shifts to the shooting range R2. Regarding the unexpected factors, for example, consider the existence of factors such as Figure 4 shown, a collision of a vehicle or contact of a pedestrian, etc., but the factors are not limited to these. If such an offset of the shooting range occurs, the detection accuracy of the pedestrian 4 may decrease. For example, in the Figure 5 shown example, if the shooting range shifts to R2, the pedestrians 4 (a family of four) crossing the crosswalk 5 are outside the range of the shooting range R2, and thus cannot be detected.

[0054] S105: The control unit 24 determines whether the offset amount λ is equal to or greater than the threshold value X.

[0055] The offset λ is the ratio (%) obtained by dividing the area of the range R2 of the image captured by the imaging unit 22 after the reference image is stored, which does not overlap with the capture range R1 of the reference image (the range where R2 is offset relative to R1), by the area of the capture range R1 of the reference image. The threshold X is set to 20%, for example, but the set value is not limited to 20%.

[0056] Figure 6 is a schematic diagram for explaining the offset λ of the capture range of the image. As Figure 6 shown, due to certain factors, the capture range R1 of the reference image is offset to the capture range R2 during the operation of the roadside device 20. In this case, if the areas of the capture ranges R1 and R2 are set as S1, and the area of the range where R1 and R2 overlap is set as S2, the offset λ (%) is calculated based on the following formula (1).

[0057] λ = (S1 - S2) / S1 (1)

[0058] The control unit 24 determines whether the offset λ (%) is equal to or greater than the threshold X (%) based on the following formula (2).

[0059] λ ≥ X (2)

[0060] S106: When the offset λ is equal to or greater than the threshold X, the control unit 24 notifies the server 30 via the notification unit 21 of information prompting the correction of the posture of the roadside device 20.

[0061] Since the administrator of the server 30 that receives the notification can identify the change in the posture of the roadside device 20 at an early stage, corresponding measures such as returning the posture of the roadside device 20 to the reference posture can be taken promptly. Further, the control unit 24 may also temporarily store the captured image in the storage unit 23 every time the imaging unit 22 captures an image. The control unit 24 may also send the image when the offset λ becomes equal to or greater than the threshold X and the image immediately before the offset λ becomes equal to or greater than the threshold X to the server 30 in order for the administrator of the server 30 to determine the factor that caused the offset of the posture of the roadside device 20.

[0062] On the other hand, when the offset λ is less than the threshold X, the control unit 24 may continue to capture images by the imaging unit 22. In addition, the control unit 24 may perform offset correction on the captured image through image processing. By using offset correction to improve the accuracy of the captured image, the detection accuracy of the pedestrian 4 is further improved.

[0063] As described above, the roadside device 20 according to the present embodiment stores a reference image captured by the imaging unit 22 in the storage unit 23 in a state where the roadside device 20 is set in a reference posture, and calculates an offset amount λ between a shooting range R2 of an image captured by the imaging unit 22 after the reference image is stored and a shooting range R1 of the reference image. When the offset amount λ is equal to or greater than a threshold value X, information prompting repair of the posture of the roadside device 20 is notified to the server 30 via the notification unit 21.

[0064] According to this configuration, when the offset amount λ between the shooting range R2 of the captured image and the shooting range R1 of the reference image of the roadside device 20 is equal to or greater than the threshold value X, information prompting repair of the posture of the roadside device 20 is notified to the server 30. Since the administrator of the server 30 that has received the notification can identify a change in the posture of the roadside device 20 at an early stage, it is possible to quickly perform a response such as returning the posture of the roadside device 20 to the reference posture. Therefore, in terms of improving the detection accuracy of the pedestrian 4 facing the lane 3, the technology of notifying information to the pedestrian 4 and the vehicle 10 has been improved.

[0065] The present disclosure has been described based on the respective drawings and embodiments. However, it should be noted that those skilled in the art can also make various modifications and changes based on the present disclosure. Therefore, it should be noted that these modifications and changes are included in the scope of the present disclosure. For example, functions included in each structural part or each step can be reconfigured in a logically consistent manner, multiple structural parts or steps can be combined into one, or can be divided.

[0066] For example, in the above-described embodiment, there may be an embodiment in which the structure and operation of the roadside device 20 are distributed among a plurality of computers capable of communicating with each other. Further, for example, there may be an embodiment in which a part or all of the constituent elements of the roadside device 20 are provided at a plurality of locations according to each functional part, and the respective functional parts are connected by wire or wirelessly so as to be able to communicate with each other. For example, the imaging unit 22, the notification unit 21, the storage unit 23, and the control unit 24 may be provided at different positions of the same pillar 20A, or may be distributed among a plurality of pillars 20A.

[0067] For example, in the above-described embodiment, when the posture of the pillar 20A changes from the basic posture due to an unexpected factor such as a collision of a vehicle (motorcycle), the shooting range R1 of the camera 22A shifts to R2, and this has been described. However, the factor causing the shooting range R1 of the camera 22A to shift is not limited to this. A change over time in the mounting portion of the camera 22A or a collision of a person, an animal, or an object against the camera 22A itself may also be a factor causing the shooting range R1 to shift.

[0068] In addition, for example, there may also be an embodiment in which a general-purpose computer functions as the roadside device 20 according to the above-described embodiment. Specifically, a program describing the processing contents for implementing each function of the roadside device 20 according to the above-described embodiment is stored in the memory of a general-purpose computer, and the program is read out and executed by a processor. Therefore, the present disclosure can also be implemented as a program executable by a processor or a non-transitory computer-readable medium storing the program.

Claims

1. A roadside device, comprising a notification unit, a photographing unit, a storage unit and a control unit, wherein: The control unit stores in the storage unit a reference image captured by the shooting unit when the roadside device is set in a reference posture, and calculates an offset between a shooting range of an image captured by the shooting unit after the reference image is stored and a shooting range of the reference image, and when the offset is greater than a threshold value, notifies the server via the notification unit of information prompting the roadside device to repair its posture.

2. The roadside device according to claim 1, wherein: The reference posture is a posture in which a support column supporting the roadside device faces in a vertical direction.

3. The roadside device according to claim 1, wherein: The offset amount is a ratio obtained by dividing an area of ​​a range in which a photographing range of an image photographed by the photographing unit after the reference image is stored and the photographing range of the reference image does not overlap with an area of ​​the photographing range of the reference image.

4. The roadside device according to claim 1, wherein: When the amount of deviation is smaller than the threshold value, the control unit continues capturing of images by the capturing unit.

5. A notification method is a notification method performed by a roadside device, wherein: This includes the following processing, namely: storing a reference image captured when the roadside device is set in a reference posture; calculating a shooting range of an image captured after the reference image is stored and an offset from the shooting range of the reference image; as well as When the deviation is equal to or greater than a threshold value, information prompting the roadside device to restore its posture is notified to the server.

Images