Wrong-direction traveling suppression system, wrong-direction traveling suppression program, and wrong-direction traveling suppression method

Abstract

To notify a driver of a vehicle traveling in a wrong direction that the vehicle is traveling in the wrong direction even when a road surface state of a road on which the vehicle is traveling in the wrong direction is poor.SOLUTION: A wrong-direction traveling suppression system comprises: a plurality of vehicles; and a road management device including a detection sensor installed outside the vehicle. The road management device executes a detection process to detect a vehicle on a road based on information from the detection sensor (S11). The road management device executes a determination process to determine whether the vehicle is traveling in a wrong direction based on the information detected in the detection process (S12). When, in the determination process, it is determined that the vehicle is traveling in the wrong direction, the road management device executes a transmission process to transmit to the vehicle determined in the determination process that the vehicle is traveling in the wrong direction, a message that the vehicle is traveling in the wrong direction (S13). When the vehicle receives the message transmitted in the transmission process that the vehicle is traveling in the wrong direction, the road management device executes a notification process to notify a driver of the vehicle that the vehicle is traveling in a wrong direction (S31).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a reverse running prevention system, a reverse running prevention program, and a reverse running prevention method. [Background technology]

[0002] The technology disclosed in Patent Document 1 includes a plurality of irregularities arranged in a predetermined section of a road to impart a specific vibration pattern to the vehicle when it is traveling. The technology disclosed in Patent Document 1 also includes a vehicle equipped with a microphone, a speaker, and a control device. The microphone detects sounds around the vehicle. The speaker outputs sound to the interior of the vehicle. The control device determines whether the vehicle is traveling in a reverse direction, which is opposite to a predetermined forward direction for traveling along the road. That is, the control device determines whether the vehicle is traveling in the wrong direction. Specifically, the control device uses the microphone to capture sounds generated between the vehicle's tires and the road surface as the vehicle travels along the above-mentioned predetermined section. Next, the control device determines that the vehicle is traveling in the wrong direction if the sound captured by the microphone matches predetermined pattern information for sounds generated in the predetermined section when the vehicle is traveling in the wrong direction. If the control device determines that the vehicle is traveling in the wrong direction, it outputs a warning sound from the speaker to the interior of the vehicle to notify the driver that the vehicle is traveling in the wrong direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 168633 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, when road conditions are poor due to snow accumulation or other factors, a specific vibration pattern may not be applied to the vehicle when the vehicle travels along a specific section. In this case, the sound generated between the vehicle's tires and the road surface deviates from the sound pattern that would be generated when the vehicle is traveling the wrong way along the specific section. As a result, when road conditions are poor, the vehicle described in Patent Document 1 may not be able to notify the driver of the vehicle that the vehicle is traveling the wrong way, even though the vehicle is actually traveling the wrong way. [Means for solving the problem]

[0005] A wrong-way running prevention system for solving the above problems includes a plurality of vehicles (100) and a road management device (200) including a detection sensor (220) installed outside the vehicles, wherein the road management device executes a detection process (S11) for detecting the vehicles on the road based on information from the detection sensor, a determination process (S12) for determining whether the vehicles are running in the wrong direction based on the information detected in the detection process, and a transmission process (S13, S16) for transmitting information that the vehicles determined to be running in the wrong direction by the determination process are running in the wrong direction to the vehicles determined to be running in the wrong direction by the determination process, and when the vehicles receive information that the vehicles are running in the wrong direction in accordance with the transmission process, they execute a notification process (S31) for notifying the driver of the vehicles that the vehicles are running in the wrong direction.

[0006] A wrong-way driving prevention program for solving the above problems is applied to a wrong-way driving prevention system that includes a plurality of vehicles and a road management device including a detection sensor installed outside the vehicles, and causes the road management device to perform a detection process that detects the vehicles on the road based on information from the detection sensor, a determination process that determines whether the vehicles are driving in the wrong direction based on the information detected in the detection process, and a transmission process that, if the determination process determines that the vehicle is driving in the wrong direction, transmits a message to the vehicle determined in the determination process to be driving in the wrong direction that the vehicle is driving in the wrong direction, and, if the vehicle receives a message that the vehicle is driving in the wrong direction in accordance with the transmission process, causes the vehicle to perform a notification process that notifies the driver of the vehicle that the vehicle is driving in the wrong direction.

[0007] A wrong-way running prevention method for solving the above problems is applied to a wrong-way running prevention system comprising a plurality of vehicles and a road management device including a detection sensor installed outside the vehicles, wherein the road management device executes a detection process to detect the vehicles on the road based on information from the detection sensor, a determination process to determine whether the vehicles are running in the wrong direction based on the information detected in the detection process, and a transmission process to notify the vehicles determined to be running in the wrong direction by the determination process that the vehicles are running in the wrong direction, if the determination process determines that the vehicles are running in the wrong direction, and when the vehicles receive information that the vehicles are running in the wrong direction in accordance with the transmission process, the road management device executes a notification process to notify the driver of the vehicles that the vehicles are running in the wrong direction.

[0008] According to the above configuration, even if the road surface condition of the road on which the wrong-way vehicle is located is poor, the driver of the wrong-way vehicle can be notified that the vehicle is traveling in the wrong direction. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic configuration diagram of a reverse running prevention system according to a first embodiment. [Figure 2] FIG. 2 is a schematic configuration diagram of the reverse running prevention system according to the first embodiment. [Figure 3] FIG. 3 is a sequence diagram showing the reverse running suppression control according to the first embodiment. [Figure 4] FIG. 4 is a schematic configuration diagram of a reverse running prevention system according to the second embodiment. [Figure 5] FIG. 5 is a sequence diagram showing reverse running suppression control according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] First Embodiment <Outline of reverse driving prevention system> A first embodiment of the present invention will be described below with reference to Figures 1 to 3. First, the schematic configuration of the reverse running suppression system SR will be described.

[0011] As shown in Fig. 1, the wrong-way running prevention system SR includes a plurality of vehicles 100 and a plurality of road management devices 200. Note that Fig. 1 shows only one road management device 200 as a representative.

[0012] A plurality of road management devices 200 are installed along a specific road RI, which is a predetermined road. Specifically, the road management devices 200 are positioned at predetermined intervals along the specific road RI. Examples of the specific road RI include national expressways and expressways. For the specific road RI, a forward direction DA is predetermined as the direction in which the vehicle 100 should travel. In this embodiment, the forward direction DA of the specific road RI coincides with the left direction in FIG. 1. In the following, the direction opposite to the forward direction DA is referred to as the reverse direction DB.

[0013] The road management device 200 includes a support pole 210, a management camera 220, a directional speaker 230, and a processing device 290. The support pole 210 is located near the specific road RI. The support pole 210 has a generally cylindrical shape. The support pole 210 extends upward from the ground near the specific road RI.

[0014] The management camera 220 is attached to the support pole 210 at a position slightly lower than the upper end of the support pole 210. The management camera 220 captures an image of a detection area 221, which is a part of a specific road RI located on the forward direction DA side of the management camera 220 and below the management camera 220, within the periphery of the management camera 220. The management camera 220 then detects the captured image as a road image PR. Here, the detection area 221 is a range in which the management camera 220 can detect the vehicle 100. The detection area 221 is a predetermined area. The orientation, position, etc. of the management camera 220 are determined so that the management camera 220 can detect the detection area 221. In this embodiment, the management camera 220 is an example of a detection sensor installed outside the vehicle 100.

[0015] The directional speaker 230 is attached to the support pole 210 at a portion slightly lower than the management camera 220. The directional speaker 230 outputs sound waves SW to an output area 231, which is a portion of the specific road RI located around the directional speaker 230 on the forward direction DA side of the directional speaker 230 and below the directional speaker 230. Here, the output area 231 is a range that the sound waves SW output by the directional speaker 230 can reach. In other words, the output area 231 is a range in which the sound waves SW are equal to or greater than the minimum sound volume that can be detected by a microphone 76 (described later) provided in the vehicle 100. The output area 231 is a predetermined area. The orientation, position, sound volume, etc. of the directional speaker 230 are determined so that the directional speaker 230 can output sound to the output area 231. In this embodiment, the directional speaker 230 is an example of a transmitter for transmitting information that the vehicle 100 is traveling in the wrong direction.

[0016] In this embodiment, the output end 231A, which is the position of the output area 231 closest to the forward direction DA side, is located on the reverse direction DB side relative to the detection end 221A, which is the position of the detection area 221 closest to the forward direction DA side.

[0017] As shown in FIG. 1, the processing device 290 is attached to the support 210 at a position slightly above the management camera 220. As shown in FIG. 2, the processing device 290 includes an execution device 291 and a storage device 292. An example of the execution device 291 is a CPU. The storage device 292 includes a read-only ROM, a readable and writable volatile RAM, and a readable and writable non-volatile storage. The storage device 292 stores various programs and various data in advance. Specifically, the storage device 292 stores a management program 292A in advance as one of the various programs. The execution device 291 executes the management program 292A stored in the storage device 292 to perform various processes, which will be described later.

[0018] The execution unit 291 of the processing device 290 acquires a road image PR from the management camera 220. The execution unit 291 also controls the directional speaker 230 by outputting a control signal to the directional speaker 230.

[0019] As shown in FIG. 2, the vehicle 100 includes a powertrain system 10, a steering system 20, and a brake system 30. The powertrain system 10 includes an engine, a motor generator, a transmission, etc. The engine is capable of transmitting power to the drive wheels of the vehicle 100 via the transmission. The motor generator is also capable of transmitting power to the drive wheels of the vehicle 100 via the transmission. In this embodiment, the engine and the motor generator are each an example of a drive source for the vehicle 100.

[0020] The steering system 20 includes a rack and pinion type electric steering device. The steering system 20 can change the direction of the steered wheels of the vehicle 100 by controlling a rack and pinion (not shown).

[0021] The brake system 30 includes a so-called friction brake device that brakes the wheels of the vehicle 100 by friction force. In this embodiment, an example of the friction brake device is a so-called disc brake.

[0022] As shown in Fig. 2, the vehicle 100 is equipped with an in-vehicle speaker 40 and a display 50. The in-vehicle speaker 40 is located near the driver's seat of the vehicle 100. The in-vehicle speaker 40 is a device for outputting sound into the interior of the vehicle 100. The display 50 is located near the driver's seat of the vehicle 100. The display 50 is capable of displaying various types of information.

[0023] As shown in FIG. 2, the vehicle 100 is equipped with an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, a steering angle sensor 74, an exterior camera 75, and a microphone .

[0024] The accelerator operation amount sensor 71 detects the accelerator operation amount ACC, which is the amount of operation of the accelerator pedal operated by the driver. The vehicle speed sensor 72 detects the vehicle speed SP, which is the speed of the vehicle 100. The brake operation amount sensor 73 detects the brake operation amount BRA, which is the amount of operation of the brake pedal operated by the driver. The steering angle sensor 74 detects the steering angle SA, which is the angular position of the steering wheel operated by the driver.

[0025] The exterior camera 75 is located near the driver's seat of the vehicle 100. The exterior camera 75 captures an image of the area around the vehicle 100 that is in front of the vehicle 100, and detects the image as an exterior image PO.

[0026] The microphone 76 detects external sound SE, which is sound outside the vehicle 100. In this embodiment, the microphone 76 is located around the front bumper of the vehicle 100. The microphone 76 is capable of receiving sound waves SW from the directional speaker 230 in reverse running prevention control, which will be described later. In this embodiment, the microphone 76 is an example of a receiver for receiving information that the vehicle 100 is running in the wrong direction.

[0027] 2, the vehicle 100 is equipped with a control device 90. The control device 90 acquires various types of information from an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, a steering angle sensor 74, an exterior camera 75, and a microphone 76.

[0028] The control device 90 includes an execution device 91 and a storage device 92. An example of the execution device 91 is a CPU. The storage device 92 includes a read-only ROM, a readable and writable volatile RAM, and a readable and writable non-volatile storage. The storage device 92 stores various programs and various data in advance. Specifically, the storage device 92 stores a control program 92A in advance as one of the various programs. The execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes described below.

[0029] In this embodiment, the control device 90 of the vehicle 100 and the processing device 290 of the road management device 200 execute various processes related to the wrong-way running prevention method. The control program 92A and the management program 292A are examples of a wrong-way running prevention program.

[0030] The execution unit 91 of the control device 90 calculates a vehicle required driving force, which is a required value of driving force necessary for the vehicle 100 to travel, based on the accelerator operation amount ACC and the vehicle speed SP. The execution unit 91 then controls the powertrain system 10 by outputting a control signal to the powertrain system 10 in accordance with the vehicle required driving force. The execution unit 91 also controls the steering system 20 by outputting a control signal to the steering system 20 in accordance with the steering angle SA. The execution unit 91 also controls the brake system 30 by outputting a control signal to the brake system 30 in accordance with the brake operation amount BRA. The execution unit 91 also controls the in-vehicle speaker 40 by outputting a control signal to the in-vehicle speaker 40. The execution unit 91 also controls the display 50 by outputting a control signal to the display 50.

[0031] <Reverse driving prevention control> Next, with reference to Fig. 3, a description will be given of the reverse running suppression control executed by the control device 90 of the vehicle 100 and the processing device 290 of the road management device 200. This reverse running suppression control is a control for suppressing reverse running of the vehicle 100. In this embodiment, the execution device 291 of the processing device 290 starts the reverse running suppression control at each predetermined control cycle.

[0032] As shown in FIG. 3, when the execution unit 291 of the processing device 290 starts the reverse-running prevention control, it executes the process of step S11. In step S11, the execution unit 291 executes a detection process to detect the vehicle 100 on the specific road RI based on information from the management camera 220. For example, the execution unit 291 detects the vehicle 100 as follows. First, the execution unit 291 acquires multiple road images PR from the start of the current reverse-running prevention control until a predetermined specified period. An example of the specified period is approximately 0.1 to 1 second. Next, the execution unit 291 analyzes the multiple acquired road images PR to detect the vehicle 100 in each road image PR. Here, if the execution unit 291 has not detected the vehicle 100 continuously for the specified period, it terminates the current reverse-running prevention control. On the other hand, if the execution unit 291 has detected the vehicle 100 continuously for the specified period, it proceeds to step S12.

[0033] In step S12, the execution device 291 executes a determination process to determine whether or not the vehicle 100 is traveling in the wrong direction, based on the information detected in the detection process of step S11. For example, the execution device 291 determines whether or not the vehicle 100 is traveling in the wrong direction as follows. First, the execution device 291 identifies the position coordinates PC of the vehicle 100 detected in step S11, indicating the position of the vehicle 100. Then, the execution device 291 determines whether or not the vehicle 100 is traveling in the wrong direction, based on time-series data of the position coordinates PC of the vehicle 100. As a specific example, the execution device 291 determines that the target vehicle 100 is traveling in the wrong direction when the position coordinates PC of the target vehicle 100 are moving in the wrong direction DB on the road image PR. Here, if the vehicle 100 is not traveling in the wrong direction, the execution device 291 terminates the current wrong-way running suppression control. On the other hand, if the vehicle 100 is traveling in the wrong direction, the execution device 291 advances the process to step S13. In other words, if the execution device 291 determines through the determination process that the vehicle 100 is traveling in the wrong direction, it advances the process to step S13.

[0034] In step S13, the execution device 291 executes a transmission process to transmit a message to the vehicle 100 determined to be traveling in the wrong direction in the determination process of step S12 that the vehicle 100 is traveling in the wrong direction. Specifically, the execution device 291 outputs a control signal to the directional speaker 230, thereby causing the directional speaker 230 to output sound waves SW, which are sounds of a predetermined frequency. At this time, the execution device 291 continues to output the sound waves SW from the directional speaker 230 until a predetermined period has elapsed from the start of step S13. An example of the predetermined period is several seconds. The predetermined frequency of the sound waves SW is, for example, a predetermined frequency between 20 Hz and 20,000 Hz. In this embodiment, the transmission process of step S13 also serves as a first transmission process. When the control device 90 of the vehicle 100 traveling in the wrong direction acquires the sound waves SW as the external sound SE, the execution device 91 of the control device 90 advances the process to step S31. In other words, when the execution device 91 receives information that the vehicle 100 is traveling in the wrong direction in response to the transmission process, the execution device 91 advances the process to step S31.

[0035] In step S31, the execution device 91 of the control device 90 executes a notification process to notify the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction. For example, the execution device 91 notifies the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction as follows. First, the execution device 91 outputs a control signal to the in-vehicle speaker 40 to notify the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction. As a specific example, the execution device 91 notifies the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction by generating a message such as "traveling in the wrong direction" as a sound from the in-vehicle speaker 40. Furthermore, the execution device 91 notifies the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction by outputting a control signal to the display 50. As a specific example, the execution device 91 notifies the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction by displaying a message such as "traveling in the wrong direction" on the display 50. The notification process in step S31 is also the first notification process. After step S31, the execution device 91 advances the process to step S32.

[0036] In step S32, the execution device 91 executes a vehicle speed limiting process to limit the vehicle speed SP to a predetermined specified vehicle speed SPA or less. For example, the execution device 91 limits the vehicle speed SP to the specified vehicle speed SPA as follows. First, the execution device 91 outputs a control signal to the powertrain system 10 to limit the power transmitted from the engine and motor generator, which are the drive sources of the vehicle 100, to the drive wheels of the vehicle 100 to a predetermined specified power or less. In other words, the execution device 91 limits the output of the drive sources of the vehicle 100. Furthermore, the execution device 91 outputs a control signal to the brake system 30 to cause the brake system 30 to generate a braking force for the vehicle 100. An example of the specified vehicle speed SPA is zero kilometers per hour. Therefore, in this embodiment, the execution device 91 forcibly stops the vehicle 100. The process of step S32 also serves as an output limiting process. After step S32, the execution device 91 ends the current reverse running prevention control.

[0037] <Operation of this embodiment> As shown by the two-dot chain line in FIG. 1 , assume that the vehicle 100 is traveling in the opposite direction DB on the specific road RI, i.e., the vehicle 100 is traveling in the wrong direction. Furthermore, assume that the vehicle 100 traveling in the wrong direction is about to pass through the detection area 221 of the management camera 220. In this case, as shown in FIG. 3 , in the detection process of step S11 of the wrong-way running prevention control, the processing device 290 of the road management device 200 detects the vehicle 100 on the specific road RI based on information from the management camera 220. Next, in the determination process of step S12, the processing device 290 determines that the vehicle 100 is traveling in the wrong direction based on the information detected in the detection process of step S11. Then, in the transmission process of step S13, the processing device 290 transmits a message that the vehicle 100 is traveling in the wrong direction to the vehicle 100 determined to be traveling in the wrong direction in the determination process of step S12. If the control device 90 of the vehicle 100 receives a message that the vehicle 100 is traveling in the wrong direction in response to the transmission process, the control device 90 of the vehicle 100 proceeds to step S31. In step S31, the control device 90 executes a notification process to notify the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction.

[0038] <Effects of this embodiment> (1-1) According to this embodiment, in the detection process of step S11, the vehicle 100 is detected using information from the management camera 220 installed outside the vehicle 100. Therefore, the information used in the determination process of step S12, i.e., the information detected in the detection process of step S11, is less affected by the road surface conditions of the specific road RI on which the vehicle 100 is traveling. As a result, even if, for example, the road surface conditions of the specific road RI on which the wrong-way vehicle 100 is located are poor, it is determined in the determination process of step S12 that the vehicle 100 is traveling in the wrong direction. As a result, even if, for example, the road surface conditions of the specific road RI on which the wrong-way vehicle 100 is located are poor, the driver of the wrong-way vehicle 100 can be notified that the vehicle 100 is traveling in the wrong direction.

[0039] (1-2) As shown in Fig. 3, when the control device 90 of the vehicle 100 receives a signal that the vehicle 100 is traveling in the wrong direction in response to the transmission process, the control device 90 executes the process of step S32. In the vehicle speed limiting process of step S32, the control device 90 limits the vehicle speed SP to a predetermined specified vehicle speed SPA or less. This prevents the vehicle speed SP of the vehicle 100 traveling in the wrong direction from exceeding the specified vehicle speed SPA.

[0040] (1-3) In the vehicle speed limiting process of step S32, the specified vehicle speed SPA is zero kilometers per hour. Therefore, the vehicle 100 traveling in the wrong direction is stopped by the vehicle speed limiting process. If the vehicle 100 stops in this way regardless of the driver's operation, the driver of the vehicle 100 can easily recognize that some kind of abnormality has occurred.

[0041] (1-4) In step S32, the execution device 91 executes an output limiting process to limit the output of the drive source of the vehicle 100. Therefore, the output of the drive source of the vehicle 100 is limited regardless of the operation of the driver of the vehicle 100. This prevents the vehicle speed SP of the vehicle 100 traveling in the wrong direction from becoming excessively high. In addition, the driver of the vehicle 100 can recognize that some kind of abnormality has occurred in the vehicle 100.

[0042] (1-5) The road management device 200 includes a directional speaker 230 as a transmitter for transmitting information that the vehicle 100 is traveling in the wrong direction. The vehicle 100 includes a microphone 76 as a receiver for receiving information that the vehicle 100 is traveling in the wrong direction. According to the above configuration, the sound waves SW are output from the directional speaker 230 to the output area 231 in the transmission process of step S13, so that only vehicles 100 passing through the output area 231 can receive the sound waves SW from the directional speaker 230. This makes it possible to prevent vehicles 100 other than the vehicle 100 traveling in the wrong direction from receiving the sound waves SW, compared to a configuration in which the sound waves SW are output from a non-directional speaker, for example.

[0043] (1-6) At the time when the transmission processing of step S13 is executed, the vehicle 100 determined to be traveling in the wrong direction in the determination processing of step S12 is not located on the forward direction DA side of the detection end 221A, which is the position furthest to the forward direction DA side of the detection area 221. Here, it is assumed that the output end 231A, which is the position furthest to the forward direction DA side of the output area 231, is located on the forward direction DA side of the detection end 221A, which is the position furthest to the forward direction DA side of the detection area 221. In this case, there is a possibility that the sound wave SW corresponding to the transmission processing of step S13 will be received by a vehicle 100 other than the vehicle 100 determined to be traveling in the wrong direction in the determination processing of step S12.

[0044] 1, output terminal 231A, which is located closest to the forward direction DA side of output area 231, is located on the reverse direction DB side of detection terminal 221A, which is located closest to the forward direction DA side of detection area 221. Therefore, sound waves SW from directional speaker 230 are less likely to reach an area on the forward direction DA side of detection terminal 221A. This makes it possible to prevent vehicles 100 other than the vehicle 100 traveling in the opposite direction from receiving sound waves SW corresponding to the transmission processing in step S13, compared to a configuration in which output terminal 231A is located on the forward direction DA side of detection terminal 221A, for example.

[0045] (1-7) In step S13, the execution device 291 outputs sound waves SW, which are sounds of a predetermined frequency, from the directional speaker 230. The predetermined frequency of the sound waves SW is a predetermined frequency, for example, between 20 Hz and 20,000 Hz. In other words, the predetermined frequency of the sound waves SW is a frequency that can be recognized by humans. Therefore, the driver of the vehicle 100 traveling in the wrong direction can recognize that the vehicle 100 is traveling in the wrong direction by recognizing the sound waves SW output from the directional speaker 230.

[0046] Second Embodiment A second embodiment of the present invention will be described below with reference to Figures 4 and 5. In the second embodiment, the configuration of the reverse running suppression system SR is partially different from that of the first embodiment. In addition, in the second embodiment, the processing of the reverse running suppression control is partially different from that of the first embodiment. Note that the description of the second embodiment will focus on the differences from the first embodiment, and the same components as in the first embodiment will be denoted by the same reference numerals, and the description will be omitted or simplified.

[0047] <Outline of reverse driving prevention system> As shown in FIG. 4, the road management device 200 is equipped with a management communication device 240 instead of the directional speaker 230. The management communication device 240 is capable of wireless communication with devices external to the road management device 200 via the communication network NW. Therefore, the execution device 291 of the processing device 290 is capable of wireless communication with devices external to the road management device 200 via the management communication device 240. The management communication device 240 is attached to the support 210 near the processing device 290. In this embodiment, the management communication device 240 is an example of a first communication device that outputs electromagnetic waves as a transmitter to transmit information that the vehicle 100 is traveling in the wrong direction.

[0048] As shown in FIG. 4, the vehicle 100 is equipped with a DCM 60 instead of the microphone 76. The DCM 60 is capable of wireless communication with devices external to the vehicle 100 via the communication network NW. Therefore, the execution device 91 of the control device 90 is capable of wireless communication with devices external to the vehicle 100 via the DCM 60. Note that "DCM" is an abbreviation for Data Communication Module. In this embodiment, the DCM 60 is an example of a second communication device that receives electromagnetic waves from a first communication device as a receiver for receiving information that the vehicle 100 is traveling in the wrong direction.

[0049] 4, the wrong-way running prevention system SR includes an external device 300. The external device 300 is capable of wireless communication with devices external to the external device 300 via a communication network NW. An example of the external device 300 is a server owned by an organization that manages a specific road RI, a server owned by the police that has jurisdiction over the specific road RI, etc.

[0050] <Reverse driving prevention control> Next, with reference to FIG. 5, a description will be given of the reverse-running suppression control executed by the control device 90 of the wrong-way driving vehicle 100, the control device 90 of a vehicle 100 other than the wrong-way driving vehicle 100, the processing device 290 of the road management device 200, and the external device 300. This reverse-running suppression control is a control for suppressing wrong-way driving of the vehicle 100 and for notifying the presence of a wrong-way driving vehicle 100. In this embodiment, the execution device 291 of the processing device 290 starts the reverse-running suppression control at each predetermined control cycle. Note that, hereinafter, the wrong-way driving vehicle 100 may also be referred to as a wrong-way driving vehicle 100A. Furthermore, the vehicle 100 other than the wrong-way driving vehicle 100 may also be referred to as another vehicle 100B.

[0051] 5, the execution device 291 of the processing device 290 of the road management device 200 executes the detection process of step S11 and the determination process of step S12. The processes of steps S11 and S12 are the same as those in the first embodiment, so a description thereof will be omitted. If the execution device 291 determines that the vehicle 100 is traveling in the wrong direction by the determination process of step S12, the process proceeds to step S16.

[0052] In step S16, the execution device 291 executes a first transmission process to transmit information that the vehicle 100, which was determined to be traveling in the wrong direction in the determination process of step S12, is traveling in the wrong direction. Specifically, the execution device 291 transmits information that the vehicle 100 is traveling in the wrong direction via the management communication device 240 to the vehicle 100, which was determined to be traveling in the wrong direction in the determination process of step S12. Then, when the control device 90 of the vehicle 100 traveling in the wrong direction acquires information from the road management device 200, the execution device 91 of the control device 90 proceeds to step S31. In other words, when the execution device 91 receives information that the vehicle 100 is traveling in the wrong direction in response to the first transmission process, it proceeds to step S31. Then, the execution device 91 executes the processes of steps S31 and S32. The processes of steps S31 and S32 are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0053] After step S16 described above, the execution device 291 of the processing device 290 of the road management device 200 advances the process to step S51. In step S51, the executing device 291 executes a second transmission process to transmit information about the presence of the wrong-way vehicle 100A to another vehicle 100B, which is a vehicle 100 other than the wrong-way vehicle 100A, which is the vehicle 100 determined to be traveling the wrong way in the determination process of step S12. Specifically, the executing device 291 transmits information about the presence of the wrong-way vehicle 100A to the other vehicle 100B via the management communication device 240. Furthermore, the executing device 291 transmits, to the other vehicle 100B via the management communication device 240, location information of the road management device 200 that detected the wrong-way vehicle 100A. In other words, the executing device 291 transmits, to the other vehicle 100B via the management communication device 240, location information about the wrong-way vehicle 100A. Here, the other vehicle 100B is, for example, a vehicle 100 located within a predetermined distance from the wrong-way vehicle 100A among multiple vehicles 100 traveling on the specific road RI. Then, when the control device 90 of the other vehicle 100B acquires information from the road management device 200, the execution device 91 of the control device 90 of the other vehicle 100B advances the process to step S61. In other words, when the execution device 91 of the control device 90 of the other vehicle 100B receives, in response to the second transmission process, information that a wrong-way vehicle 100A is present, the execution device 91 advances the process to step S61.

[0054] In step S61, the execution device 91 of the control device 90 of the other vehicle 100B executes a second notification process to notify the driver of the other vehicle 100B of the presence of the wrong-way vehicle 100A. For example, the execution device 91 notifies the driver of the vehicle 100B of the presence of the wrong-way vehicle 100A as follows. First, the execution device 91 notifies the driver of the vehicle 100 of the presence of the wrong-way vehicle 100A by outputting a control signal to the in-vehicle speaker 40. As a specific example, the execution device 91 notifies the driver of the vehicle 100 of the presence of the wrong-way vehicle 100A by generating a sound from the in-vehicle speaker 40, such as a message saying, "A wrong-way vehicle is present xx kilometers ahead." Furthermore, the execution device 91 notifies the driver of the vehicle 100 of the presence of the wrong-way vehicle 100A by outputting a control signal to the display 50. As a specific example, the execution device 91 notifies the driver of the vehicle 100 that a wrong-way vehicle 100A is present by displaying a message on the display 50 such as "There is a wrong-way vehicle ●● kilometers ahead."

[0055] Furthermore, after the above-mentioned step S51, the execution device 291 of the processing device 290 of the road management device 200 advances the processing to step S71. In step S71, the executing device 291 executes a third transmission process to transmit to the external device 300 information about the presence of the wrong-way vehicle 100A. Specifically, the executing device 291 transmits information about the presence of the wrong-way vehicle 100A to the external device 300 via the management communication device 240. The executing device 291 also transmits, to the external device 300 via the management communication device 240, location information of the road management device 200 that detected the wrong-way vehicle 100A. In other words, the executing device 291 transmits, to the external device 300 via the management communication device 240, location information of the wrong-way vehicle 100A. Furthermore, the executing device 291 transmits, to the external device 300 via the management communication device 240, a plurality of road images PR from the start of the current wrong-way driving suppression control up to a predetermined specified period ago. In other words, the executing device 291 transmits data of a road image PR including the wrong-way driving vehicle 100A captured by the management camera 220. Then, when the external device 300 acquires information from the road management device 200, the external device 300 stores the data of the road image PR. After step S71, the executing device 291 ends the current wrong-way driving suppression control.

[0056] <Effects of this embodiment> In addition to the above advantages (1-1) to (1-4), the present embodiment also provides the following advantages (2-1) to (2-3).

[0057] (2-1) As shown in FIG. 5, in the second transmission process of step S51, the processing device 290 of the road management device 200 transmits a signal to another vehicle 100B, which is a vehicle 100 other than the wrong-way vehicle 100A, that the wrong-way vehicle 100A is present. Then, when the control device 90 of the other vehicle 100B receives a signal that the wrong-way vehicle 100A is present in response to the second transmission process, the control device 90 proceeds to step S61. In the second notification process of step S61, the control device 90 of the other vehicle 100B notifies the driver of the other vehicle 100B that the wrong-way vehicle 100A is present. This allows the driver of the other vehicle 100B other than the wrong-way vehicle 100A to recognize the presence of the wrong-way vehicle 100A.

[0058] (2-2) In the third transmission process of step S71, the processing device 290 of the road management device 200 transmits information that a wrong-way vehicle 100A is present to the external device 300. This allows a person using the external device 300, such as an administrator who manages the specific road RI, to know that a wrong-way vehicle 100A is present based on the information transmitted from the road management device 200.

[0059] (2-3) In the third transmission process of step S71, the processing device 290 of the road management device 200 notifies the external device 300 of the presence of the wrong-way vehicle 100A and also transmits data of a road image PR including the wrong-way vehicle 100A captured by the management camera 220. This allows a user of the external device 300, such as an administrator managing the specific road RI, to grasp detailed information about the vehicle type of the wrong-way vehicle 100A based on the road image PR.

[0060] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0061] The reverse running suppression control in the first embodiment may be modified. For example, the transmission process in step S13 may be changed. As a specific example, the predetermined frequency of the sound waves SW may be a frequency of 20 Hz or less, or a frequency of 20,000 Hz or more. In other words, the predetermined frequency of the sound waves SW does not have to be a frequency that can be recognized by humans.

[0062] For example, the notification process in step S31 may be modified. As a specific example, in step S31, the execution device 91 of the control device 90 may notify the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction using only one of the in-vehicle speaker 40 and the display 50. Note that the above-mentioned modifications can also be applied to the wrong-way running suppression control in the second embodiment.

[0063] For example, the output limiting process in step S32 may be modified. As a specific example, the execution device 91 may limit the rate of change of power transmitted from the engine and motor generator, which are the drive sources of the vehicle 100, to the drive wheels of the vehicle 100 to a predetermined rate of change or less. If limited in this way, the behavior of the vehicle 100 will change compared to when the output limiting process in step S32 is not executed, and the driver of the vehicle 100 will be able to recognize that some kind of abnormality has occurred in the vehicle 100. Note that the above-mentioned modifications can also be applied to the reverse running suppression control in the second embodiment.

[0064] For example, the specified vehicle speed SPA in step S32 may be changed. As a specific example, the specified vehicle speed SPA may be set to a speed of several kilometers per hour to a dozen kilometers per hour. Note that such changes can also be applied to the reverse-running prevention control in the second embodiment.

[0065] For example, the vehicle speed limiting process and the output limiting process may be omitted. As a specific example, since the notification process in step S31 can notify the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction, one or both of the vehicle speed limiting process and the output limiting process in step S32 may be omitted. Note that the above-mentioned changes can also be applied to the wrong-way running suppression control in the second embodiment.

[0066] The configuration of the reverse running prevention system SR in the first embodiment may be changed. For example, the positional relationship between the detection area 221 of the management camera 220 and the output area 231 of the directional speaker 230 may be changed. As a specific example, the output end 231A located at the most forward direction DA side of the output area 231 may be located at the same position as the detection end 221A located at the most forward direction DA side of the detection area 221. As another specific example, the output end 231A located at the most forward direction DA side of the output area 231 may be located on the forward direction DA side of the detection end 221A located at the most forward direction DA side of the detection area 221. Even in this case, the transmission process of step S13 using the directional speaker 230 can be realized as long as the most backward direction DB side position of the output area 231 is located on the backward direction DB side of the detection end 221A located at the most forward direction DA side of the detection area 221.

[0067] For example, the road management device 200 may include other sensors as detection sensors in addition to or instead of the management camera 220. Specifically, the road management device 200 may include a LIDAR as a detection sensor. "LIDAR" is an abbreviation for Laser Imaging Detection and Ranging. Specifically, the road management device 200 may include a speed sensor as a detection sensor. Here, the speed sensor is a sensor for detecting the speed of the vehicle 100 traveling on the specific road RI. In this case, in step S12, the execution device 291 determines whether the vehicle 100 is traveling in the wrong direction based on the speed of the vehicle 100 detected by the speed sensor. Specifically, when the speed of the vehicle 100 traveling in the forward direction DA is a positive value, the execution device 291 determines that the target vehicle 100 is traveling in the wrong direction if the speed of the vehicle 100 detected by the speed sensor is a negative value. The above-described modifications can also be applied to the wrong-way driving prevention system SR in the second embodiment.

[0068] For example, the road management device 200 may be equipped with an omnidirectional speaker as a transmitter instead of the directional speaker 230. Even in this case, the sound waves SW attenuate as the distance from the omnidirectional speaker increases, so the range that the sound waves SW from the omnidirectional speaker can reach is limited. Therefore, in step S13, the executing device 291 may execute a transmission process using the omnidirectional speaker to transmit a message that the vehicle 100 determined to be traveling in the wrong direction in the determination process of step S12 is traveling in the wrong direction.

[0069] For example, the drive source of the vehicle 100 may be changed. As a specific example, the vehicle 100 may be provided with only one of an engine and a motor generator as a drive source. For example, the configuration of the control device 90 may be modified. Specifically, the control device 90 may be configured as a circuit including one or more processors that execute various processes according to a computer program (software). The control device 90 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that execute at least some of the various processes, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., the computer-readable medium, includes any medium accessible by a general-purpose or dedicated computer. The above modifications can also be applied to the reverse running prevention system SR in the second embodiment.

[0070] For example, the configuration of the processing device 290 may be modified. Specifically, the processing device 290 may be configured as a circuit including one or more processors that execute various processes according to a computer program (software). The processing device 290 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that execute at least some of the various processes, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., the computer-readable medium, includes any medium accessible by a general-purpose or dedicated computer. The above modifications can also be applied to the reverse running prevention system SR in the second embodiment.

[0071] The reverse running suppression control in the second embodiment may be modified. For example, the second transmission process of step S51 may be modified. As a specific example, the execution device 291 may notify the other vehicle 100B of the presence of the wrong-way driving vehicle 100A, and may also transmit a plurality of road images PR from the start of the current wrong-way driving suppression control up to a predetermined specified period of time ago to the other vehicle 100B. Then, the control device 90 of the other vehicle 100B may display the road images PR on the display 50 by outputting a control signal to the display 50. This allows the driver of the other vehicle 100B to grasp detailed information such as the vehicle type of the wrong-way driving vehicle 100A based on the road images PR.

[0072] For example, the second transmission process of step S51 may be omitted. As a specific example, the second transmission process of step S51 may be omitted from the viewpoint of only notifying the driver of the wrong-way driving vehicle 100 that the vehicle 100 is driving in the wrong direction. Note that, when the second transmission process of step S51 is omitted, after step S71, the external device 300 may execute the second transmission process of transmitting information about the presence of the wrong-way driving vehicle 100A to another vehicle 100B, which is a vehicle 100 different from the wrong-way driving vehicle 100A.

[0073] For example, the third transmission process of step S71 may be changed. As a specific example, the executing device 291 may transmit only the road image PR at the start of the current reverse-running prevention control to the external device 300 via the management communication device 240. Also, as a specific example, the executing device 291 may omit the process of transmitting the road image PR to the external device 300 via the management communication device 240.

[0074] For example, the third transmission process of step S71 may be omitted. As a specific example, from the viewpoint of only notifying the driver of the vehicle 100 that the vehicle 100 is traveling in the wrong direction, the third transmission process of step S71 may be omitted. [Explanation of symbols]

[0075] NW...communication network RI...specific road SR...wrong-way driving prevention system 10...powertrain system 20...steering system 30...brake system 40...on-board speaker 50...display 60...DCM 71...accelerator operation amount sensor 72...vehicle speed sensor 73...brake operation amount sensor 74...steering angle sensor 75...exterior camera 76...microphone 90...control device 91...execution device 92...storage device 92A...control program 100...vehicle 100A...wrong-way vehicle 100B...other vehicle 200...road management device 210...support 220...management camera 221...detection area 221A...detection end 230...directional speaker 231...output area 231A...output end 240...management communication device 290...processing device 291...execution device 292...storage device 292A... Management program 300... External device

Claims

1. A road management device (200) including a plurality of vehicles (100) and a detection sensor (220) installed outside the vehicles, The road management device a detection process (S11) for detecting the vehicle on the road based on information from the detection sensor; a determination process (S12) for determining whether the vehicle is traveling in the wrong direction based on the information detected in the detection process; When it is determined that the vehicle is traveling in the wrong direction by the determination process, a transmission process (S13, S16) is executed to transmit a message to the vehicle determined to be traveling in the wrong direction by the determination process that the vehicle is traveling in the wrong direction; The vehicle is When receiving a signal that the vehicle is traveling in the wrong direction in response to the transmission process, a notification process (S31) is executed to notify the driver of the vehicle that the vehicle is traveling in the wrong direction. Reverse driving prevention system.

2. The vehicle is When receiving information that the vehicle is traveling in the wrong direction in response to the transmission process, a vehicle speed limiting process (S32) is executed to limit the speed of the vehicle to a predetermined specified vehicle speed or less. The reverse running prevention system according to claim 1 .

3. The vehicle is When receiving a signal that the vehicle is traveling in the wrong direction in response to the transmission process, an output limiting process (S32) is executed to limit the output of the drive source of the vehicle. The reverse running prevention system according to claim 1 or 2.

4. the road management device includes a directional speaker (230) that outputs sound waves to a predetermined output area as a transmitter for transmitting information that the vehicle is traveling in the wrong direction; The vehicle includes a microphone (76) that receives sound waves from the directional speaker as a receiver for detecting that the vehicle is traveling in the wrong direction. The reverse running prevention system according to claim 1 or 2.

5. When a predetermined traveling direction on the road is defined as a forward direction (DA) and a direction opposite to the forward direction is defined as a reverse direction (DB), The position (231A) on the most forward side of the range (231) that the sound waves output by the directional speaker can reach is on the opposite side of the position (221A) on the most forward side of the range (221) that the detection sensor can detect the vehicle. The reverse running prevention system according to claim 4.

6. the road management device includes a first communication device (240) that outputs electromagnetic waves as a transmitter for transmitting information that the vehicle is traveling in the wrong direction, The vehicle includes a second communication device (60) that receives electromagnetic waves from the first communication device as a receiver for receiving information that the vehicle is traveling in the wrong direction, When the transmission process is a first transmission process and the notification process is a first notification process, The road management device When it is determined by the determination process that the vehicle is traveling in the wrong direction, a second transmission process (S51) is executed to transmit information that the wrong-way vehicle is present to a vehicle other than the wrong-way vehicle, which is the vehicle determined to be traveling in the wrong direction by the determination process, among the plurality of vehicles; The vehicle is When receiving a signal indicating that the wrong-way vehicle is present in response to the second transmission process, a second notification process (S61) is executed to notify the driver of the vehicle that the wrong-way vehicle is present. The reverse running prevention system according to claim 1 or 2.

7. The road management device When it is determined that the vehicle is traveling in the wrong direction by the determination process, a third transmission process (S71) is executed to transmit information that the vehicle is traveling in the wrong direction to an external device other than the plurality of vehicles. The reverse running prevention system according to claim 6.

8. the detection sensor includes a camera that captures an image; The road management device In the third transmission process, in addition to the presence of the wrong-way driving vehicle, data of an image including the wrong-way driving vehicle captured by the camera is transmitted to the external device. The reverse running prevention system according to claim 7.

9. The present invention is applied to a wrong-way running prevention system including a plurality of vehicles and a road management device including a detection sensor installed outside the vehicles, The road management device includes: a detection process for detecting the vehicle on a road based on information from the detection sensor; a determination process for determining whether the vehicle is traveling in the wrong direction based on the information detected in the detection process; When it is determined by the determination process that the vehicle is traveling in the wrong direction, a transmission process is executed to transmit to the vehicle determined by the determination process that the vehicle is traveling in the wrong direction, The vehicle, When receiving a signal that the vehicle is traveling in the wrong direction in response to the transmission process, a notification process is executed to notify the driver of the vehicle that the vehicle is traveling in the wrong direction. Wrong-way driving prevention program.

10. The present invention is applied to a wrong-way running prevention system including a plurality of vehicles and a road management device including a detection sensor installed outside the vehicles, The road management device a detection process for detecting the vehicle on a road based on information from the detection sensor; a determination process for determining whether the vehicle is traveling in the wrong direction based on the information detected in the detection process; When it is determined by the determination process that the vehicle is traveling in the wrong direction, a transmission process is executed to transmit to the vehicle determined by the determination process that the vehicle is traveling in the wrong direction, The vehicle, When receiving a signal that the vehicle is traveling in the wrong direction in response to the transmission process, a notification process is executed to notify the driver of the vehicle that the vehicle is traveling in the wrong direction. Reverse running prevention method.

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