Traffic safety system

Abstract

To suppress a data amount transmitted from a vehicle to a server when identifying a special attention requiring point on a road through communications between the vehicle and the server.SOLUTION: A traffic safety system comprises a server and a vehicle. The server includes a database. The database stores location data of a plurality of special attention requiring points registered based on a first reference. The vehicle exchanges data with the server. The server individually evaluates whether the registration of the plurality of special attention requiring points based on the first reference is appropriate or not based on data of a driving environment and a second reference. The server keeps the location data of special attention requiring points evaluated appropriate in the database and deletes the location data of special attention requiring points evaluated inappropriate from the database.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a system that collects data acquired by a vehicle and utilizes it for traffic safety by a server.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2014-095987 discloses a system for preventing vehicle accidents. This conventional system includes a vehicle and a server that communicates with the vehicle. The vehicle detects a driver's careless behavior including distracted driving and drowsy driving based on image data of the driver captured by an in-vehicle camera. The server collects the position data of the vehicle when careless behavior is detected. The server identifies a location where the number of reported position data is large as a location where careless behavior frequently occurs, and provides the position data of this frequently-occurring location to the vehicle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] From the perspective of ensuring traffic safety on the road, it is considered to identify locations that require attention by the vehicle or the driver (hereinafter, also referred to as "attention-required locations"). In this case, following the method of the conventional system, it is considered effective to collect the position data of the vehicle when an event such as sudden deceleration occurs.

[0005] However, this method uses the occurrence of an event during the running of the vehicle as a trigger for collecting position data. Therefore, there is a possibility that position data collection may not be performed on roads that the vehicle rarely passes through or when no event occurs. Then, since the number of samples of the position data is insufficient, it is difficult to identify attention-required locations.

[0006] In this regard, if the position where data is collected is registered in advance and data is collected when the vehicle passes this position, it becomes possible to identify points that require attention. However, in this case, since data even when no event occurs is also collected, there is a problem that the amount of data transmitted from the vehicle to the server significantly increases.

[0007] One object of the present invention is to provide a technology capable of suppressing the amount of data transmitted from a vehicle to a server when identifying points that require attention on a road by communication between the vehicle and the server.

Means for Solving the Problem

[0008] The present invention is a traffic safety system for identifying points that require attention on a road and has the following features. The traffic safety system includes a server and a vehicle. The server includes a database storing a list of position data of a plurality of points that require attention registered based on a first criterion. The vehicle transmits and receives data to and from the server. The vehicle receives the position data of the plurality of points that require attention from the server, and when passing any of the plurality of points that require attention, transmits data on the driving environment of the vehicle before and after passing the point to the server. The server individually evaluates whether the registration of the plurality of points that require attention based on the first criterion is appropriate based on the data on the driving environment and a second criterion, leaves the position data of the points that require attention evaluated as appropriate in the list, and deletes the position data of the points that require attention evaluated as inappropriate from the list. The first criterion includes that the point is on a road where there is a risk of a collision between the vehicle and another moving object. The second criterion includes that there was actually a risk of a collision between the vehicle that transmitted the driving environment data and another moving object.

Advantages of the Invention

[0009] According to the present invention, whether the registration of the attention-required position based on the first criterion is appropriate is evaluated based on the second criterion and the data of the driving environment before and after passing through this attention-required point. Then, the position data of the attention-required point evaluated as appropriate is left in the list, and the position data of the attention-required point evaluated as inappropriate is deleted from the list.

[0010] Therefore, although the amount of data transmitted from the vehicle to the server is large at the initial stage of registration, the position data of the attention-required point is deleted from the list as a result of the validity evaluation, so that it is possible to reduce the amount of data transmitted at this attention-required point over time. On the other hand, the fact that the position data of the attention-required point is left in the list as a result of the validity evaluation means that it is necessary to continue to identify it as an attention-required point. Therefore, it is possible to continue to collect driving environment data at this attention-required point and utilize this data for various controls of the vehicle to ensure traffic safety.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0012] Hereinafter, with reference to the drawings, a traffic safety system according to an embodiment of the present invention will be described. In each figure, the same or corresponding parts are denoted by the same reference numerals, and the description thereof is simplified or omitted.

[0013] 1. Configuration Example of Traffic Safety System Figs. 1 and 2 are diagrams for explaining a configuration example of a traffic safety system according to an embodiment. In the example shown in Fig. 1, the traffic safety system 1 includes a vehicle 2 and a server 3. The number of vehicles 2 constituting the traffic safety system 1 is at least one. Communication between the vehicle 2 and the server 3 is performed via a network 4. In this communication, communication data COM2 is transmitted from the vehicle 2 to the server 3. On the other hand, communication data COM3 is transmitted from the server 3 to the vehicle 2.

[0014] The vehicle 2 is, for example, an automobile powered by an internal combustion engine such as a diesel engine or a gasoline engine, an electric vehicle powered by an electric motor, or a hybrid vehicle equipped with an internal combustion engine and an electric motor. The electric motor is driven by a battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell.

[0015] The vehicle 2 travels by the operation of the driver of the vehicle 2. The traveling of the vehicle 2 may be performed by a control system mounted on the vehicle 2. This control system supports, for example, the traveling of the vehicle 2 based on the driver's operation, or performs control for the automatic driving of the vehicle 2. The former is collectively referred to as driving support control, and the latter is collectively referred to as automatic driving control.

[0016] As shown in Fig. 2, the vehicle 2 includes a GNSS (Global Navigation Satellite System) device 21, an internal sensor 22, an external sensor 23, a map database (map DB) 24, an external memory 25, a communication device 26, and a data processing device 27. Elements such as the GNSS device 21 and the data processing device 27 are connected by, for example, an in-vehicle network (for example, CAN (Controller Area Network)).

[0017] The GNSS device 21 is a device that receives signals from three or more artificial satellites. The GNSS device 21 acquires the position data of the vehicle 2 (specifically, latitude and longitude data; the same applies hereinafter). The GNSS device 21 calculates the position and attitude (azimuth) of the vehicle 2 based on the received signals. The GNSS device 21 transmits the data of the position and attitude to the data processing device 27.

[0018] The internal sensor 22 acquires data related to the driving status of the vehicle 2. Examples of the internal sensor 22 include a wheel speed sensor, an acceleration sensor, a yaw rate sensor, and a steering angle sensor. The wheel speed sensor detects the rotational speed of each wheel of the vehicle 2 per unit time. The acceleration sensor detects the acceleration of the vehicle 2. The yaw rate sensor detects the yaw rate around the vertical axis of the center of gravity of the vehicle 2. The steering angle sensor detects the steering angle of the steering wheel. The internal sensor 22 transmits the acquired data to the data processing device 27.

[0019] The external sensor 23 acquires data related to the surrounding environment of the vehicle 2. Examples of the external sensor 23 include a camera, a millimeter-wave radar, and a LIDAR (Laser Imaging Detection and Ranging). The millimeter-wave radar detects targets around the vehicle 2 using millimeter waves. The LIDAR detects targets around the vehicle 2 using light. The camera images the external situation of the vehicle 2. The external sensor 23 transmits the acquired data to the data processing device 27.

[0020] Map database (map DB) 24 stores map data. Examples of the map data include road position data, road shape data (e.g., types of curves, straight lines), intersection and structure position data. The map data also includes a list of position data WAT of the points of attention WP. The map database 24 is formed in an in-vehicle storage device (e.g., hard disk, flash memory). The map database 24 may also be formed in a computer (e.g., server 3) that can communicate with the vehicle 2.

[0021] The external memory 25 is an in-vehicle storage device such as a hard disk or a flash memory. The driving environment data DRV is stored in the external memory 25. The driving environment data DRV includes the position and attitude data of the vehicle 2 acquired by the GNSS device 21, the data regarding the driving situation of the vehicle 2 acquired by the internal sensor 22, and the data regarding the surrounding environment of the vehicle 2 acquired by the external sensor 23. Note that the position and attitude data of the vehicle 2 and the data regarding the driving situation and the surrounding environment of the vehicle 2 are associated with each other.

[0022] The communication device 26 performs wireless communication with a base station (not shown) of the network 4. Examples of the communication standard for this wireless communication include mobile communication standards such as 4G, LTE, or 5G. The connection destination of the communication device 26 includes the server 3. In the communication with the server 3, the communication device 26 transmits the communication data COM2 received from the data processing device 27 to the server 3. This communication data COM2 includes the driving environment data DRV before and after passing through the point requiring attention WP.

[0023] The data processing device 27 is a computer for processing various data. The data processing device 27 is composed of, for example, a microcomputer having at least one processor 28 and at least one memory 29. The processor 28 includes a CPU (Central Processing Unit). The memory 29 is a volatile memory such as a DDR memory and performs the deployment of the programs used by the processor 28 and the temporary storage of various data. When the program stored in the memory 29 is read out and executed by the processor 28, various functions of the data processing device 27 are realized. Examples of data processing by the data processing device 27 will be described later.

[0024] Also, as shown in FIG. 2, the server 3 includes a map database (map DB) 31, an external memory 32, a communication device 33, and a data processing device 34. The elements such as the map database 31 and the data processing device 34 are connected by a dedicated network.

[0025] The map database 31 is formed in a predetermined storage device (for example, a hard disk, a flash memory). Map data is stored in the map database 31. Examples of the map data have been described above. That is, the map data also includes position data WAT.

[0026] Here, the point of attention WP is registered in advance based on the first criterion. The first criterion includes the risk of a collision occurring between the vehicle and other moving objects (for example, pedestrians, bicycles, other vehicles). Whether there is a risk at a certain position on the road can be determined, for example, by normalizing the following elements and substituting them into the variables of a predetermined determination model. · Road width · Road speed limit · Height of structures around the road · Shape of the roadside strip (pedestrian strip) of the road (including the presence or absence of lane lines and curbstones) · Whether there are structures around the intersection · Height of structures existing around the intersection · Whether a traffic signal is provided at the intersection · Whether traffic signs are provided at the intersection or on the road · Whether a side mirror is provided · Whether it is attached to a traffic signal at a crosswalk · Whether it is an intersection or a road with many parked vehicles

[0027] The external memory 32 is a storage device such as a hard disk or a flash memory. Driving environment data DRV is stored in the external memory 32. Examples of the driving environment data DRV have been described above.

[0028] The communication device 33 performs wireless communication with the base station of the network 4. Examples of the communication standard for this wireless communication include mobile communication standards such as 4G, LTE, or 5G. The communication destination of the communication device 33 includes the vehicle 2. In the communication with the vehicle 2, the communication device 33 transmits the communication data COM3 received from the data processing device 34 to the vehicle 2. This communication data COM3 includes a list of position data WAT.

[0029] The data processing device 34 is a computer for processing various data. The data processing device 34 includes, for example, at least one processor 35 and at least one memory 36. The processor 35 includes a CPU. The memory 36 performs the deployment of programs used by the processor 35 and temporarily stores various data. By reading the programs stored in the memory 36 and executing them on the processor 35, various functions of the data processing device 34 are realized. Examples of data processing by the data processing device 34 will be described later.

[0030] 2. Example of Data Processing 2-1. Example of Data Processing by the Data Processing Device 27 Figure 3 is a flowchart showing an example of data processing by the data processing device 27 (processor 28). The routine shown in Figure 3 is repeatedly executed at a predetermined control cycle.

[0031] In the routine shown in Figure 3, first, the current position data POS of the vehicle 2 is acquired (step S11). The current position data POS is specified by the data of the position and attitude of the vehicle 2 acquired by the GNSS device 21.

[0032] Subsequent to the processing of step S11, it is determined whether the vehicle 2 has passed through the point requiring attention WP (step S12). The processing of step S12 is performed, for example, by determining whether there is position data WAT that matches the current position data POS acquired by the processing of step S11. If the determination result of step S12 is negative, the current processing ends.

[0033] When the determination result in step S12 is affirmative, the driving environment data DRV at the attention point WP is recorded in the external memory 25 (step S13). The driving environment data DRV at the attention point WP is, for example, the driving environment data DRV for 10 seconds before and after passing the attention point WP. It has already been described that the driving environment data DRV is associated with the data of the position and attitude of the vehicle 2 and the data regarding the driving situation and the surrounding environment of the vehicle 2.

[0034] The driving environment data DRV at the attention point WP recorded in the external memory 25 is encoded and output to the communication device 26. During the encoding process, the driving environment data DRV may be compressed. The encoded driving environment data DRV is transmitted to the server 3 as communication data COM2. The timing of sending the driving environment data DRV to the server 3 may be immediately after passing the attention point WP or the timing after a certain period of time has elapsed after passing the attention point WP. Examples of the latter include the timing during a temporary stop of the vehicle 2 and the timing after the vehicle 2 has come to a complete stop.

[0035] When the server 3 receives the driving environment data DRV, the server 3 (processor 35) decodes the driving environment data DRV and writes it into the external memory 32. As a result, the driving environment data DRV at the attention point WP is stored in the external memory 32. By collecting the driving environment data DRV at the attention point WP, it becomes possible to evaluate the validity of the registration of this attention point WP.

[0036] 2-2. Example of data processing by the data processing device 34 FIG. 4 is a flowchart showing an example of data processing by the data processing device 34 (processor 35). The routine shown in FIG. 4 is repeatedly executed at a predetermined control cycle.

[0037] In the routine shown in FIG. 4, first, the driving environment data DRV at the attention point WP is read from the external memory 32 (step S21). The driving environment data DRV is read for each position data WAT. The read driving environment data DRV is such that the number of samples of the position data WAT exceeds a predetermined number (for example, 200 to 500). That is, the target of the process in step S21 is the attention point WP where the number of samples of the position data WAT exceeds the predetermined number.

[0038] In addition, it is considered that the process of step S22 only needs to be performed once for one attention point WP. Therefore, in the process of step S21, the attention point WP that has been the target of this process in the past may be excluded from the target.

[0039] Subsequent to the process of step S21, the validity of the registration of the attention point WP is evaluated (step S22). In the process of step S22, using the driving environment data DRV read in the process of step S21, it is evaluated based on the second criterion whether the registration of the attention point WP was appropriate. The second criterion includes the fact that there was actually a risk of a collision between the vehicle and another moving object. Whether there was actually a risk of a collision between the vehicle and another moving object is determined based on, for example, the number of occurrences of the following events. · Another moving object was detected in front of vehicle 2 from the data on the surrounding environment, and it was detected that the longitudinal or lateral acceleration of vehicle 2 changed significantly from the data on the driving situation · A sudden stop of another moving object was detected in front of vehicle 2 from the data on the surrounding environment

[0040] In the process of step S22, when the number of occurrences of the event exceeds a predetermined threshold, or when the ratio of the number of occurrences to the number of samples exceeds a predetermined threshold, the registration of the attention point WP is evaluated as appropriate. If neither case applies, the registration of the attention point WP is evaluated as inappropriate.

[0041] Following the process of step S22, the list of position data WAT is updated (step S23). The process of step S23 is performed based on the result of the evaluation in step S22. Specifically, when it is evaluated that the registration of the point of attention WP is appropriate, the registration of the position data WAT is maintained. That is, in this case, the position data WAT of the point of attention WP that is the object of evaluation remains in the list. On the other hand, when it is evaluated that the registration of the point of attention WP is not appropriate, the registration of the position data WAT is deleted. That is, in this case, the position data WAT of the point of attention WP that is the object of evaluation is deleted from the list.

[0042] 3. Effects According to the embodiment described above, the validity of the registration of the point of attention WP based on the first criterion is retrospectively evaluated based on the second criterion, and the registration of the position data WAT is maintained or deleted. Therefore, it becomes possible to continue to identify the point of attention WP for which the registration has been maintained as the point of attention WP. Also, for the point of attention WP for which the registration has been maintained, since the collection of the driving environment data DRV is continued, it is possible to ensure traffic safety by making use of this data for various controls of the vehicle (for example, automatic driving control). On the other hand, for the point of attention WP for which the registration has been discarded, it is not necessary to record the driving environment data DRV and transmit it to the server 3, so it is possible to reduce the processing load on the data processing device 27. Also, although the amount of data transmitted from the vehicle 2 to the server 3 is large at the initial stage of the registration of the position data WAT, it is possible to reduce the amount of data transmitted over time as the evaluation progresses.

Explanation of Reference Numerals

[0043] 1 Traffic safety system 2 Vehicle 3 Server 24, 31 Map database 25, 32 External memory 26, 33 Communication device 27, 34 Data processing device 28, 35 Processor 29, 36 Memory WP Point of attention DRV Driving environment data POS Current position data WAT Location data of points requiring attention

Claims

[Claim 1] A traffic safety system for identifying caution points on a road, comprising: a server including a database storing a list of position data of a plurality of caution points registered based on a first criterion; A vehicle that transmits and receives data to and from the server; Equipped with The vehicle is receiving position data of the plurality of caution points from the server; When the vehicle passes any one of the plurality of caution points, the driving environment data of the vehicle before and after passing the point is transmitted to the server; The server, Evaluating whether or not the registration of the plurality of caution points based on the first criterion is appropriate individually based on the driving environment data and a second criterion; leaving the location data of the caution points evaluated as valid in the list, and deleting the location data of the caution points evaluated as invalid from the list; The first criterion includes a point on a road where there is a risk of a collision occurring between the vehicle and another moving object; The second criterion includes that there was an actual risk of a collision occurring between the vehicle that transmitted the driving environment data and another moving object. A traffic safety system comprising:

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