Temporary Stop Determination Device, Temporary Stop Determination System, and Temporary Stop Determination Program

Abstract

To provide a temporary stop determination device, temporary stop determination system, and temporary stop determination program capable of determining that a temporary stop has been performed in multiple steps.SOLUTION: In a temporary stop determination device 40, a CPU 2 acquires respective pieces of position information of an A stop set at a predetermined distance before a temporary stop line S on a road and a B point set between the A point and the temporary stop line S, and detects the position of the temporary stop line S after sequentially passing the A point and the B point. Then, the CPU 2 determines whether stopping is performed at the detected temporary stop line S, and determines that stopping is to be performed again within a predetermined distance after determining the stopping at the temporary stop line S.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a temporary stop determination device, a temporary stop determination system, and a temporary stop determination program for determining that a vehicle has made a temporary stop.

Background Art

[0002] Conventionally, in in-vehicle devices such as digital tachographs, safety driving may be determined based on, for example, the timing of a turn signal or the entering speed when entering an intersection.

[0003] Also, as an invention for performing driving diagnosis at an intersection, the invention described in Patent Document 1 has been proposed. In Patent Document 1, when the host vehicle makes a temporary stop at an intersection, among the respective indexes stored in the storage unit, the stop behavior index, the start and progress behavior index, and the deceleration behavior index of the vehicle that made a temporary stop at the intersection through which the host vehicle has passed are extracted. Then, a deviation value of the stop behavior characteristics is obtained using the extracted stop behavior index as a sample, a deviation value of the start and progress behavior characteristics is obtained using the start and progress behavior index as a sample, a deviation value of the deceleration behavior characteristics is obtained using the deceleration behavior index as a sample, and the sum of the deviation values is used as a diagnosis score.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, at intersections with poor visibility, etc., multi-stage temporary stops are performed so that intersecting vehicles can confirm each other's presence. In particular, in vehicles operated by carriers, etc., multi-stage temporary stops during delivery may be obligatory.

[0006] However, as described above, when performing a safety determination based on the timing of the blinker, the approach speed, etc., whether or not a multi-stage temporary stop has been performed is not considered. Therefore, as long as the items of the blinker timing and the approach speed are observed, it is regarded as safe driving, and there are cases where evaluation and guidance for the driver, etc. cannot be carried out due to the failure to perform a multi-stage temporary stop.

[0007] In addition, since the invention described in Patent Document 1 obtains a deviation value based on various indicators and calculates a diagnosis score, multi-stage temporary stops are not considered.

[0008] Therefore, in view of the above problems, an object of the present invention is to provide a temporary stop determination device, a temporary stop determination system, and a temporary stop determination program that can determine that a multi-stage temporary stop has been performed.

Means for Solving the Problems

[0009] The invention made to solve the above problems includes a position information acquisition unit that acquires position information of a first point set in front of a predetermined distance from a temporary stop line on a road and a second point set between the first point and the temporary stop line, and determines that the first point and the second point have been passed in this order Then , a detection unit that detects the position of the temporary stop line, a first determination unit that determines whether or not the detection unit has stopped at the detected temporary stop line, and a second determination unit that determines whether or not it has stopped again within a predetermined distance after the determination by the first determination unit. A temporary stop determination device characterized by comprising:

Effects of the Invention

[0010] According to the present invention, it is possible to reliably determine whether a multi-stage temporary stop has been performed based on the determination results of the first determination unit and the second determination unit.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a temporary stop determination system 30 according to an embodiment of the present invention. As shown in FIG. 1, it has an in-vehicle device 1 and a PC 21.

[0013] The in-vehicle device 1 includes a CPU 2, a wide-area communication unit 3, an SW input unit 4, an analog I / F 5, a buzzer (BZ) 6, an engine input unit 7, a G-sensor I / F 8, an LCD 9, an SD card I / F 10, a FROM 11, a DHT input I / F 12, an SWU input I / F 13, a GPS input I / F 14, a camera I / F 15, a speed input I / F 16, and an external input I / F 17.

[0014] The CPU 2 performs processes for realizing various functions required for the in-vehicle device 1 by executing a pre-embedded program. This process includes an operation data recording process as a digital tachograph, etc. In this embodiment, as shown in the figure, the CPU 2 further includes a GPS setting download process 2a, a multi-stage temporary stop determination process 2b, and an intersection right / left turn determination process 2c.

[0015] The GPS setting download process 2a downloads the latitude and longitude information (position information) of point A and point B, which will be described later, from the PC 21 and stores it in, for example, the FROM 11.

[0016] The multi-stage temporary stop determination process 2b determines whether the vehicle equipped with the in-vehicle device 1 has performed a multi-stage temporary stop. Details of the multi-stage temporary stop determination process 2b will be described later.

[0017] The intersection right / left turn determination process 2c determines whether a right / left turn is made at an appropriate timing and speed based on the turn signal timing and the vehicle's speed when entering the intersection, as described in the prior art. For example, the turn signal timing can be set to 30 m before the intersection, and the entering speed can be set to 15 km / h. When an alarm is required as a result of the determination based on the above determination conditions, the buzzer 6 is activated, and the wide-area communication unit 3 notifies the PC 21 of the occurrence of an alarm event.

[0018] The wide-area communication unit 3 communicates with the PC 21 via a wide-area network such as a mobile communication network (also referred to as a mobile communication network).

[0019] The SW input unit 4 receives ON / OFF signals of various buttons provided on the in-vehicle device 1 such as an entry button and an entry button.

[0020] The analog I / F 5 is an interface (I / F) to which signals from a temperature sensor (not shown) for detecting the engine temperature (coolant temperature), a fuel quantity sensor (not shown) for detecting the fuel quantity, etc. are input.

[0021] The buzzer 6 outputs a buzzer sound (alarm sound) based on the processing result of the multi-stage temporary stop determination process 2b and the processing result of the intersection right / left turn determination process 2c, which will be described later.

[0022] The engine input unit 7 receives a rotation pulse signal from an engine speed sensor (not shown).

[0023] The G sensor 8I / F is an I / F to which signals such as acceleration (G value) from an acceleration sensor (G sensor) are input.

[0024] The LCD 9 is a display unit, which is configured as a liquid crystal display (Liquid Crystal Display) in this embodiment, and displays character information such as the date and time, the operating state, and messages in a state where the driver and other crew members can easily view them.

[0025] The SD card I / F 10 has a slot or the like where an SD card can be removably mounted as a storage medium. The SD card I / F 10 outputs operation data measured by the in-vehicle unit 1, video data of images captured by the in-vehicle camera acquired by the camera I / F 15, etc. to the SD card.

[0026] FROM11 is a volatile memory. FROM11 is composed of a semiconductor memory (such as RAM) that can freely read and write data by accessing the CPU 2, and is used to temporarily hold various data generated by the CPU 2 and the like.

[0027] The DHT input I / F 12 is an I / F to which a handy keypad (not shown) is connected. The handy keypad is a terminal equipped with, for example, numeric input keys, a card reader for reading data of a magnetic or IC card, etc.

[0028] The SWU input I / F 13 is an I / F to which a switch unit (SWU; not shown) is connected. The SWU is a unit connected to the in-vehicle unit 1 as an optional device.

[0029] The GPS input I / F 14 is an I / F to which a GPS (Global Positioning System) receiver is connected. The GPS receiver has a GPS antenna, receives signals transmitted from GPS satellites, and acquires the current position.

[0030] The camera I / F 15 is installed in the vehicle and is connected to a camera (imaging unit) that captures at least the front of the vehicle and generates video data. That is, the camera I / F 15 functions as a video acquisition unit that acquires the video captured by the imaging unit. The camera has, for example, an image sensor with pixels such as 1 million pixels and 2 million pixels arranged on the imaging surface captured through a fish-eye lens. The image sensor may be composed of a CMOS (complementary metal oxide semiconductor) sensor or a CCD (charge-coupled device) sensor.

[0031] The speed input I / F 16 receives speed pulses from a vehicle speed sensor (not shown) that detects the speed of the vehicle.

[0032] The external input I / F 17 is connected to an external device (not shown) such as a turn signal activation signal, and receives a signal from the external device.

[0033] The PC 21 is installed in an office 20 of an operator or the like who operates the vehicle equipped with the in-vehicle unit 1. The PC 21 has a communication unit 21a, a CPU 21b, etc., and is a personal computer (PC) that operates with a general-purpose operating system.

[0034] The communication unit 21a is composed of, for example, a communication interface, etc., and functions as a receiving unit that receives various information transmitted from the in-vehicle unit 1. The CPU 21b operates with a general-purpose operating system and functions as an analysis unit that performs analysis, etc., for guiding a driver or the like based on various information transmitted from the in-vehicle unit 1.

[0035] Next, the multi-stage temporary stop determination process 2b in the in-vehicle unit 1 having the above-described configuration will be described with reference to the flowchart of FIG. 2. The flowchart shown in FIG. 2 is configured as a computer program (temporary stop determination program) executed by the CPU 2.

[0036] First, when an occupant such as a driver turns on the ignition of the vehicle to start the in-vehicle unit 1 (step S101), the CPU 2 downloads the GPS setting for multi-stage temporary stop (step S102). The GPS setting for multi-stage temporary stop refers to setting information including the latitude and longitude information of point A (first point) set in front of the temporary stop line and point B (second point) set between point A and the temporary stop line. In this step S102, the above-described GPS setting is downloaded from the PC 21. That is, the CPU 2 functions as a position information acquisition unit that acquires the position information of the first point set a predetermined distance in front of the temporary stop line on the road and the second point set between the first point and the temporary stop line.

[0037] Regarding the above-mentioned point A and point B, a specific example is shown in FIG. 3. FIG. 3 is a diagram showing the intersection point of road R1 and road R2. In FIG. 3, when the vehicle V travels from road R1 towards road R2, there is a house H on the left side in front of the intersection, and the view of the intersection is blocked by a fence or the like. Also, on road R1, a stop line S is displayed in front of the intersection.

[0038] Point A is a point set at a predetermined distance in front of the stop line S, and point B is a point set between point A and the stop line S. Here, the predetermined distance is not limited to a uniform distance, and may be appropriately changed according to the speed limit, road width, number of lanes, etc. of the target road. Also, point B is not limited to the midpoint between point A and the stop line S. As will be described later, it is sufficient if the stop line S can be recognized by the in-vehicle camera. The vehicle V equipped with the in-vehicle device 1 passes through point A and point B in this order as shown in FIG. 3 and heads towards the stop line S (intersection).

[0039] These point A and point B may be preset in the PC21 based on, for example, past driving data, near-miss information, etc. Also, in this embodiment, although it is described with two points, three or more points may be used.

[0040] Next, when the driver or the like operates an out button or the like to perform an out process (step S103), then the CPU2 determines whether it has been stored (step S104). The determination of storage may be made, for example, based on the presence or absence of an operation of an in button or the like. If it has been stored (step S104; YES), the CPU2 performs a predetermined storage process (step S105) and the flowchart ends.

[0041] On the other hand, if it has not been stored (step S104; NO), the CPU2 determines whether it has passed through the set point A (step S106). The set point A refers to the point A described in FIG. 3. In step S106, the determination is made based on the latitude and longitude information of point A downloaded in step S102 and the current position information input to the GPS input I / F14. For example, if the latitude and longitude indicated by the current position information match the latitude and longitude of point A, it is determined that point A has been passed through.

[0042] As a result of the determination in step S106, if the vehicle has not passed point A (step S106; NO), the process returns to step S104. On the other hand, as a result of the determination in step S106, if the vehicle has passed point A (step S106; YES), the CPU 2 determines whether it has passed the set point B (step S107). The set point B refers to the point B described in FIG. 3. In step S107, the determination is made based on the latitude and longitude information of point B downloaded in step S102 and the current position information input to the GPS input I / F 14, similar to step S106. For example, if the latitude and longitude indicated by the current position information match the latitude and longitude of point B, it is determined that point B has been passed.

[0043] Next, as a result of the determination in step S107, if the vehicle has not passed point B (step S107; NO), the process returns to step S104. The case where the vehicle has not passed point B includes, for example, the case where point B cannot be found even after traveling a predetermined distance from point A, or the case where a left or right turn occurs before passing point B. On the other hand, as a result of the determination in step S107, if the vehicle has passed point B (step S107; YES), the CPU 2 determines whether it has recognized a stop line (step S108). The determination in step S108 is made based on the result of image recognition by the CPU 2 based on the video from the in-vehicle camera that images the front of the vehicle. That is, the CPU 2 functions as a detection unit that detects the position of the stop line S after passing the first point and the second point in order.

[0044] Next, as a result of the determination in step S108, if the stop line is not recognized (step S108; NO), the process returns to step S104. The case where the stop line is not recognized includes, for example, the case where the stop line cannot be found even after traveling a predetermined distance from point B. On the other hand, as a result of the determination in step S108, if the stop line is recognized (step S108; YES), the CPU 2 determines whether it has stopped at the recognized stop line (step S109). Step S109 may be determined, for example, as having stopped at the stop line when it has stopped within the specified distance after the recognized stop line has disappeared from the video captured by the in-vehicle camera due to the vehicle moving forward (when it can no longer be recognized). That is, the CPU 2 functions as a first determination unit that determines whether it has stopped at the stop line detected by the detection unit.

[0045] Next, as a result of the determination in step S109, if it is determined that it has not stopped at the stop line (step S109; NO), the CPU 2 turns on the non-stop warning flag for the stop line (step S110). The non-stop warning flag for the stop line is a flag indicating that it has not stopped at the stop line and is stored, for example, in a memory or the like within the CPU 2.

[0046] On the other hand, as a result of the determination in step S109, if it is not determined that it has stopped at the stop line (step S109; YES), the CPU 2 determines whether it has made a stop for display (step S111). Step S111 may be determined, for example, as having made a stop for display when it has stopped within the specified distance after starting to drive after stopping at the stop line. That is, the CPU 2 functions as a second determination unit that determines whether it will stop again within a predetermined distance after the determination by the first determination unit. Here, the stop in the multi-stage stop will be described with reference to FIG. 4.

[0047] FIG. 4 is an explanatory diagram of each stage of the stop in the multi-stage temporary stop. First, the driver of the vehicle V recognizes the temporary stop line S (a). Next, the driver temporarily stops the vehicle V at the temporary stop line S (b). Next, the driver stops the vehicle V again at a position (distance d1) where the nose of the vehicle V has entered the intersection from the temporary stop line (c). This stop is called a "stop for showing" and is a stop made to inform the surroundings of the presence of the vehicle V. Next, the driver further advances from the "stop for showing" and stops the vehicle V again at a position (distance d2) where the driver can check left and right (d). This stop is called a "confirmation stop" and is a stop made for the driver to check left and right. As the multi-stage temporary stop, many perform the above three-stage stop, and this embodiment will also be described on the premise of the multi-stage temporary stop in FIG. 4.

[0048] Note that as the multi-stage temporary stop, it may be a two-stage temporary stop where the vehicle stops at the temporary stop line (stop position) and stops again at the entrance of the intersection for safety confirmation. In that case, steps S113 and S114 described later may be omitted. And the warning event occurrence office notification (step S117) described later may also be performed based on the results of steps S109 to S112.

[0049] Returning to the description of FIG. 2. As a result of the determination in step S111, if the stop for showing has not been performed (step S111; NO), the CPU 2 turns on the stop for showing warning flag (step S112). The stop for showing warning flag is a flag indicating that the above-described stop for showing has not been executed and is stored, for example, in the memory in the CPU 2.

[0050] On the other hand, if it is determined as a result of the determination in step S111 that a stop for display has been performed (step S111; YES), the CPU 2 determines whether a confirmation stop has been performed (step S113). For step S113, for example, after the stop for display, if it is determined that a confirmation stop has been performed when the vehicle stops within a specified distance after starting to run, it is sufficient. Note that the specified distance (d1) in step S111 and the specified distance (d2) in step S113 do not have to be the same distance. Also, since the specified distance may vary depending on the vehicle shape and the degree of poor visibility at intersections, it may be appropriately changed for each vehicle or each intersection. That is, the CPU 2 functions as a third determination unit that determines whether to stop again within a predetermined distance after the determination by the second determination unit.

[0051] If it is determined as a result of the determination in step S113 that a confirmation stop has not been performed (step S113; NO), the CPU 2 turns on the confirmation stop warning flag (step S114). The confirmation stop warning flag is a flag indicating that the above-described confirmation stop has not been executed, and is stored, for example, in a memory in the CPU 2 or the like.

[0052] On the other hand, if it is determined as a result of the determination in step S113 that a confirmation stop has been performed (step S113; YES), the CPU 2 determines whether a right or left turn has been performed (step S115). Note that step S115 is also performed after steps S110, S112, and S114 are executed. If it is determined as a result of the determination in step S115 that a right or left turn has not been performed (step S115; NO), the process proceeds to step S118 described later. In the present embodiment, after the confirmation stop determination or after any warning flag is turned on, if a right or left turn is not performed within a certain distance, a temporary non-stop warning is not issued. The execution of a right or left turn may be determined, for example, based on the presence or absence of a turn signal operation. Any warning flag refers to any one of the above-described temporary stop line non-stop warning flag (step S110), stop warning flag for display (step S112), and confirmation stop warning flag (step S114).

[0053] That is, the CPU 2 functions as a straight-ahead determination unit that determines whether or not it has gone straight after passing the stop line S. If it is determined that it has gone straight, the buzzer 6 (warning unit) is not the target of warning (no warning is given).

[0054] As a result of the determination in step S115, if a right or left turn is performed (step S115; YES), it is determined whether any of the warning flags is ON (step S116). Any of the warning flags refers to any one of the three warning flags described above. As a result of the determination in step S116, if all three warning flags are OFF (step S116; NO), the process proceeds to step S118 described later.

[0055] On the other hand, as a result of the determination in step S116, if any of the warning flags is ON (step S116; YES), it is notified to the office that a warning event has occurred (step S117). In step S117, event occurrence information including information indicating the content of the warning flag that has become ON is transmitted to the PC 21 via the wide area communication unit 3. Also, at the timing of this step S117, since the warning flag is ON, the buzzer 6 is sounded. That is, the buzzer 6 (warning unit) gives a warning based on the determination results of the first determination unit, the second determination unit, and the third determination unit.

[0056] Then, all the warning flags are reset to OFF (step S118), and the process returns to step S104. Since the warning flag becomes OFF, the sounding of the buzzer 6 stops.

[0057] As is clear from the above description, the CPU 2, the buzzer 6, the GPS input I / F 14, and the camera I / F 15 constitute a stop determination device according to an embodiment of the present invention.

[0058] According to this embodiment, the stop determination device 40 causes the CPU 2 to acquire the position information of each of point A set in front of a predetermined distance from the stop line S on the road and point B set between point A and the stop line S. After passing point A and point B in this order, the CPU 2 detects the position of the stop line S. Then, the CPU 2 determines whether it has stopped at the detected stop line S, and after determining whether it has stopped at the stop line S, determines whether it stops again within a predetermined distance.

[0059] Since the stop determination device 40 is configured as described above, it is possible to reliably determine whether a multi-stage stop has been performed based on the two determination results. In addition, by setting point A and point B, it is possible to reliably detect that the vehicle is heading in the direction of the intersection, and false determination can be prevented.

[0060] Further, since the stop determination device 40 includes a buzzer 6 that issues an alarm indicating that a multi-stage stop has not been executed based on the determination result performed by the CPU 2, it is possible to immediately notify a crew member such as a driver that a multi-stage stop has not been executed.

[0061] Further, after the above two determinations, the stop determination device 40 determines whether the CPU 2 stops again within a predetermined distance, and issues an alarm by the buzzer 6 based on the three determination results, so that it can correspond to the three stages of stopping at the stop line, stopping for showing, and stopping for confirmation.

[0062] Further, the stop determination device 40 determines whether the CPU 2 has gone straight after passing the stop line S, and if it is determined that the CPU 2 has gone straight, it is excluded from the target of the alarm of the buzzer 6, so that unnecessary alarms can be prevented.

[0063] In addition, the temporary stop determination system 30 includes an in-vehicle device 1 having a temporary stop determination device 40 and a wide-area communication unit 3, and a PC 21 including a communication unit 21a that receives information transmitted from the in-vehicle device 1 and a CPU 21b that analyzes the received information. According to the temporary stop determination system 30 configured in this way, it is possible to surely determine whether a multi-stage temporary stop has been performed. Therefore, an operator or the like can evaluate and instruct a crew member or the like about the multi-stage temporary stop.

[0064] In addition, in the above-described embodiment, the video data captured at the time of an alarm input to the camera I / F 15 may also be included in the event occurrence information and transmitted. The time of the alarm preferably includes not only the exact time of alarm occurrence but also video for a predetermined time before and after the alarm occurrence. By including the video data as well, it is possible to instruct a crew member or the like while checking the situation when the multi-stage temporary stop was not executed.

[0065] Further, the present invention is not limited to the above-described embodiment. That is, those skilled in the art can variously modify and implement it in accordance with conventionally known knowledge without departing from the gist of the present invention. As long as the configuration of the temporary stop determination device, the temporary stop determination system, and the temporary stop determination program of the present invention is still provided by such a modification, of course, it is included in the scope of the present invention.

Explanation of Reference Numerals

[0066] 1 In-vehicle device 2 CPU (Position information acquisition unit, detection unit, first determination unit, second determination unit, third determination unit, straight-ahead determination unit) 3 Wide-area communication unit (transmission unit) 6 Buzzer (alarm unit) 15 Camera I / F (video acquisition unit) 21 PC (analysis device) 21a Communication unit (reception unit) 21b CPU (analysis unit) 30 Temporary stop determination system 40 Temporary stop determination device

Claims

1. A position information acquisition unit that acquires position information of a first point set a predetermined distance before a stop line on a road and a second point set between the first point and the stop line; A detection unit that detects the position of the stop line when it is determined that the first point and the second point have been passed in this order; A first determination unit that determines whether the vehicle has stopped at the stop line detected by the detection unit; A temporary stop determination device comprising a second determination unit that determines whether the vehicle has stopped again within a predetermined distance after the determination by the first determination unit.

2. The temporary stop determination device according to claim 1, further comprising an alarm unit that gives an alarm based on at least the determination results of the first determination unit and the second determination unit.

3. Comprising a third determination unit that determines whether the vehicle has stopped again within a predetermined distance after the determination by the second determination unit, wherein the alarm unit gives an alarm based on the determination results of the first determination unit, the second determination unit, and the third determination unit. The temporary stop determination device according to claim 2, characterized in that.

4. Comprising a straight-ahead determination unit that determines whether the vehicle has traveled straight after passing the stop line, wherein when the straight-ahead determination unit determines that the vehicle has traveled straight, the vehicle is excluded from the target of the alarm by the alarm unit. The temporary stop determination device according to claim 2 or 3.

5. An in-vehicle device comprising the temporary stop determination device according to any one of claims 1 to 4, and a transmission unit that transmits information indicating that the alarm has occurred when the alarm by the alarm unit occurs; An analysis device comprising a reception unit that receives the information transmitted from the in-vehicle device and an analysis unit that analyzes the received information. A temporary stop determination system characterized by comprising.

6. The in-vehicle device comprises a video acquisition unit that acquires the video imaged by an imaging unit that images the video in front of the vehicle, wherein the transmission unit also transmits the video for a predetermined time including the time when the alarm occurs. The temporary stop determination system according to claim 5.

7. A position information acquisition unit that acquires position information of a first point set a predetermined distance before a stop line on a road and a second point set between the first point and the stop line; A detection unit that detects the position of the stop line when it is determined that the first point and the second point have been passed in this order; A first determination unit that determines whether the vehicle has stopped at the stop line detected by the detection unit; A temporary stop determination program, characterized by causing a computer to function as a second determination unit that determines whether the vehicle has stopped again within a predetermined distance after the determination by the first determination unit.

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