On-board device, wrong-way driving detection system, wrong-way driving detection method, and program

Abstract

To provide an on-board device capable of detecting that a vehicle merging from a merging lane to a main line has been driven in a wrong way.SOLUTION: An on-board device includes: a positioning information acquisition unit for acquiring positioning information including a position and a traveling direction of a vehicle; a reverse driving detection information acquisition unit for acquiring reverse driving detection information including information indicating a detection zone where reverse driving is detected and a threshold value of a turning angle of the vehicle in the detection zone; a determination unit for determining whether the vehicle is traveling in the detection zone based on the reverse running detection information and the positioning information; and a detection unit for detecting reverse driving of the vehicle when the angle between the reference direction of travel of the vehicle and the direction of travel of the vehicle indicated by the positioning information acquired while the vehicle is traveling in the detection zone exceeds the threshold value.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to an in-vehicle device, a wrong-way driving detection system, a wrong-way driving detection method, and a program. [Background technology]

[0002] In recent years, various technologies have been developed to monitor and warn drivers of dangerous driving. For example, Patent Document 1 describes a technology that monitors the distance between vehicles and evaluates the driver's driving tendency regarding the distance between vehicles. Furthermore, Patent Document 2 describes a technology that calculates reference values ​​for the vehicle's gravitational acceleration, speed, engine speed, etc. based on traffic information received from a roadside device, and notifies the driver of danger when the driver of the vehicle drives beyond the reference values. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6959025 [Patent Document 2] Patent No. 5362225 Summary of the Invention [Problem to be solved by the invention]

[0004] When a vehicle enters a main lane from a merging lane, it may travel in the opposite direction to the main lane, a practice known as wrong-way driving. Wrong-way driving on expressways often has a high relative speed (e.g., exceeding 100 km / h) compared to other vehicles traveling on the expressway, making it highly likely to cause a serious accident. Wrong-way driving is particularly likely to occur at interchanges and junctions, creating a need for a system that can quickly detect wrong-way driving at these merging points.

[0005] The present disclosure has been made in consideration of such problems, and provides an on-board device, a wrong-way driving detection system, a wrong-way driving detection method, and a program that can detect when a vehicle merging from a merging lane onto a main lane is driving the wrong way. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, an on-board device mounted on a vehicle includes a positioning information acquisition unit that acquires positioning information including the position and direction of travel of the vehicle; a wrong-way driving detection information acquisition unit that acquires wrong-way driving detection information including information indicating a detection section in a merging lane where wrong-way driving detection is performed and a threshold value for the turning angle of the vehicle in the detection section; a determination unit that determines whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; and a detection unit that detects wrong-way driving of the vehicle when the angle between a reference direction of travel that indicates the direction of travel of the vehicle when merging from the merging lane to a main lane while the vehicle is traveling in the detection section exceeds the threshold value.

[0007] According to one aspect of the present disclosure, a wrong-way driving detection system includes a roadside device installed on the roadside of a merging lane, and the in-vehicle device according to the above aspect.

[0008] According to one aspect of the present disclosure, a wrong-way driving detection method includes the steps of acquiring positioning information including the position and direction of travel of a vehicle, acquiring wrong-way driving detection information including information indicating a detection section in a merging lane where wrong-way driving detection is performed and a threshold value for the turning angle of the vehicle in the detection section, determining whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information, and detecting wrong-way driving of the vehicle when an angle between a reference direction of travel while the vehicle is traveling in the detection section and the direction of travel of the vehicle indicated by positioning information acquired after determining that the vehicle is traveling in the detection section exceeds the threshold value.

[0009] According to one aspect of the present disclosure, the program causes an onboard device to perform the following steps: acquiring positioning information including the position and direction of travel of the vehicle; acquiring wrong-way driving detection information including information indicating a detection section in a merging lane where wrong-way driving detection is performed and a threshold value for the turning angle of the vehicle in the detection section; determining whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; and detecting wrong-way driving of the vehicle when the angle between a reference direction of travel indicating the direction of travel of the vehicle when merging from the merging lane onto a main lane and the direction of travel of the vehicle indicated by the positioning information acquired while the vehicle is traveling in the detection section exceeds the threshold value. [Effects of the Invention]

[0010] The vehicle-mounted device, wrong-way driving detection system, wrong-way driving detection method, and program according to the present disclosure can detect wrong-way driving by a vehicle entering a main lane from a merging lane. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram illustrating an overall configuration of a wrong-way driving detection system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a block diagram illustrating a functional configuration of a roadside device according to an embodiment of the present disclosure. [Figure 3] FIG. 2 is a block diagram showing a functional configuration of an in-vehicle device according to an embodiment of the present disclosure. [Figure 4] 10 is a flowchart illustrating an example of processing by a roadside device according to an embodiment of the present disclosure. [Figure 5] 4 is a flowchart illustrating an example of processing of an in-vehicle device according to an embodiment of the present disclosure. [Figure 6] FIG. 2 is a diagram for explaining functions of an in-vehicle device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a wrong-way driving detection system 1 and an in-vehicle device 20 according to an embodiment of the present disclosure will be described with reference to the drawings.

[0013] (Overall composition) FIG. 1 is a diagram illustrating the overall configuration of a wrong-way driving detection system according to an embodiment of the present disclosure. As shown in Fig. 1, a wrong-way driving detection system 1 according to this embodiment detects wrong-way driving of a vehicle V merging from a merging lane L2 onto a main line L1 at a point where the merging lane L2 merges into the main line L1. The main line L1 is, for example, a main roadway of a highway. In the following description, among the multiple vehicles V, a vehicle traveling on the main line L1 will also be referred to as a main line vehicle V1, and a vehicle traveling on the merging lane L2 will also be referred to as a merging vehicle V2.

[0014] The wrong-way running detection system 1 includes a roadside device 10 and an in-vehicle device 20.

[0015] The roadside unit 10 is installed on the roadside on the upstream side (-X side) of the merging lane L2. The roadside unit 10 is a communication device that emits radio waves within a predetermined roadside unit communication zone R1 to transmit information to the in-vehicle unit 20 of the merging vehicle V2. The roadside unit communication zone R1 is, for example, a range with a radius of r1 m from the installation position of the roadside unit 10.

[0016] The on-board device 20 is mounted on each of multiple vehicles V (main lane vehicle V1 and merging vehicle V2). The on-board device 20 according to this embodiment functions as a wrong-way driving detection device that detects whether the merging vehicle V2 on which the on-board device 20 is mounted is driving in the wrong direction when merging from the merging lane L2 onto the main lane L1. When the on-board device 20 detects wrong-way driving by the merging vehicle V2, the on-board device 20 notifies the driver of the merging vehicle V2 on which the on-board device 20 is mounted, and also notifies the on-board devices 20 of other vehicles V located within an on-board device communication zone R2 using vehicle-to-vehicle communication (V2V communication). The on-board device communication zone R2 is, for example, a range of a radius r2 m from the vehicle V (on-board device 20).

[0017] (Roadside unit functional configuration) FIG. 2 is a block diagram showing a functional configuration of a roadside device according to an embodiment of the present disclosure. As shown in FIG. 2, the roadside device 10 includes a processor 11, a memory 12, a storage 13, and a communication interface 14.

[0018] The processor 11 functions as a transmission processing unit 110 by operating in accordance with a predetermined program.

[0019] The transmission processing unit 110 transmits wrong-way driving detection information for detecting wrong-way driving to the merging vehicle V2 located within the road-side unit communication zone R1.

[0020] The wrong-way driving detection information includes, for example, information indicating the detection section TA where wrong-way driving detection is performed, information indicating the reference traveling direction (orientation) of the merging vehicle V2 at the detection section TA, and a threshold value θα of the turning angle θn of the merging vehicle V2 at the detection section TA.

[0021] The detection section TA indicates, for example, the range of the merging lane L2 from the installation position of the roadside device 10 to the merging point where the main lane L1 and the merging lane L2 meet. The information indicating the detection section TA is, for example, the distance dα from the installation position of the roadside device 10 to the merging point.

[0022] The reference traveling direction is the direction assumed as the direction of entry when merging from the merging lane L2 onto the main lane L1 at the end of the detection section TA, and is expressed, for example, as an angle θ0 with respect to a predetermined direction.

[0023] The turning angle θn of the merging vehicle V2 at the detection section TA is expressed as the angle between the reference traveling direction and the actual traveling direction of the merging vehicle V2.

[0024] The distance dα, angle θ0, and threshold value θα of the detection section TA are set arbitrarily depending on the angle between the main lane L1 and the merging lane L2, the road shape, and the like.

[0025] The memory 12 has a memory area necessary for the operation of the processor 11 .

[0026] The storage 13 is a so-called auxiliary storage device, such as a hard disk drive (HDD) or a solid state drive (SSD).

[0027] The communication interface 14 is an interface for transmitting and receiving various information (signals) to and from the vehicle-mounted device 20.

[0028] (Functional configuration of the on-board device) FIG. 3 is a block diagram showing a functional configuration of the vehicle-mounted device according to an embodiment of the present disclosure. As shown in FIG. 3, the vehicle-mounted device 20 includes a processor 21, a memory 22, a storage 23, a communication interface 24, and an output unit 25.

[0029] The processor 21 operates in accordance with a predetermined program to function as a positioning information acquisition unit 210, a wrong-way driving detection information acquisition unit 211, a determination unit 212, a detection unit 213, and a notification unit 214.

[0030] The positioning information acquisition unit 210 acquires positioning information including the position and traveling direction (bearing) of the vehicle V. The positioning information acquisition unit 210 continues to acquire positioning information at predetermined intervals (for example, every second) while the vehicle-mounted device 20 is operating.

[0031] The wrong-way driving detection information acquisition unit 211 acquires wrong-way driving detection information including information indicating the detection section TA where wrong-way driving detection is performed and a threshold value for the turning angle of the merging vehicle V2 in the detection section TA. Note that the wrong-way driving detection information acquisition unit 211 according to this embodiment acquires the wrong-way driving detection information from the road-side unit 10.

[0032] The determination unit 212 determines whether the merging vehicle V2 is traveling through the detection section TA based on the wrong-way driving detection information and the positioning information.

[0033] The detection unit 213 detects that the merging vehicle V2 is traveling in the wrong direction when the angle between the reference traveling direction of the merging vehicle V2 and the traveling direction of the merging vehicle V2 indicated by the positioning information acquired after determining that the merging vehicle V2 is traveling in the detection section TA exceeds a threshold value.

[0034] The notification unit 214 notifies the interior (driver) of the merging vehicle V2 of the detection of the wrong-way driving of the merging vehicle V2 via the output unit 25. The notification unit 214 also notifies other vehicles V traveling around the merging vehicle V2 (within the vehicle-mounted device communication section R2) of the detection of the wrong-way driving of the merging vehicle V2.

[0035] The memory 22 has a memory area necessary for the operation of the processor 21 .

[0036] The storage 23 is a so-called auxiliary storage device, such as a hard disk drive (HDD) or a solid state drive (SSD).

[0037] The communication interface 24 is an interface for transmitting and receiving various information (signals) between the roadside device 10 and the vehicle-mounted device 20 of another vehicle V.

[0038] The output unit 25 is a speaker, a display, or a combination thereof that outputs the wrong-way driving notification from the notification unit 214 in the form of sound, image, text, or the like.

[0039] The predetermined programs executed by the processor 11 of the roadside device 10 and the processor 21 of the vehicle-mounted device 20 are stored in a computer-readable recording medium. Computer-readable recording media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, and semiconductor memories. The computer programs may be distributed to a computer via a communication line, and the computer that receives the programs may execute the programs. The programs may also be programs for implementing some of the above-described functions. Furthermore, the programs may be so-called differential files (differential programs) that can realize the above-described functions in combination with a program already stored in a computer system.

[0040] (Roadside unit processing flow) FIG. 4 is a flowchart illustrating an example of processing by a roadside device according to an embodiment of the present disclosure. Here, an example of the processing of the roadside device 10 will be described with reference to FIG.

[0041] The transmission processing unit 110 transmits the wrong-way driving detection information to the merging vehicle V2 located within the roadside unit communication zone R1 (step S100). For example, the transmission processing unit 110 constantly emits radio waves for transmitting the wrong-way driving detection information to the roadside unit communication zone R1. This makes it possible to transmit the wrong-way driving detection information to the in-vehicle units 20 of all merging vehicles V2 traveling on the merging lane L2 with a simple configuration that only requires the installation of the roadside unit 10.

[0042] In another embodiment, the roadside device 10 may detect the presence of the merging vehicle V2 using a vehicle detector (not shown) and control the start and end of radio wave emission. In this way, the roadside device 10 only needs to emit radio waves while the merging vehicle V2 is present, thereby reducing power consumption.

[0043] (Processing flow of the on-board device) FIG. 5 is a flowchart illustrating an example of processing by the vehicle-mounted device according to an embodiment of the present disclosure. FIG. 6 is a diagram for explaining functions of the vehicle-mounted device according to an embodiment of the present disclosure. Here, an example of the processing of the vehicle-mounted device 20 will be described with reference to FIGS.

[0044] First, when the merging vehicle V2 enters the roadside device communication section R1, the wrong-way driving detection information acquisition unit 211 acquires wrong-way driving detection information from the roadside device 10 (step S200). Upon acquiring the wrong-way driving detection information, the detection unit 213 determines that the merging vehicle V2 has entered the wrong-way driving detection section TA, and thereafter starts processing to detect wrong-way driving.

[0045] The positioning information acquisition unit 210 stores the first positioning information acquired after acquiring the wrong-way driving detection information (the first positioning information acquired first in the detection section TA) in the storage 23 as reference positioning information (step S201). In the example of Fig. 6, the positioning information P0 is the first positioning information acquired first in the detection section TA. The position pt0 of the merging vehicle V2 indicated by this first positioning information P0 is also referred to as the reference position pt0.

[0046] Next, the positioning information acquisition unit 210 acquires new positioning information Pn (second positioning information) (step S202).

[0047] When the second positioning information Pn is acquired, the determination unit 212 calculates the distance Dn that the merging vehicle V2 has traveled from the reference position pt0 (step S203). For example, when the second positioning information P1 is acquired, the determination unit 212 calculates the distance D1 of the line segment connecting the reference position pt0 and the current position pt1 indicated in the second positioning information P1. Similarly, when the second positioning information P2 is acquired, the determination unit 212 calculates the distance D2 of the line segment connecting the reference position pt0 and the current position pt2 indicated in the second positioning information P2. The same applies to the other second positioning information P3, P4, and P5.

[0048] Furthermore, upon acquiring the second positioning information Pn, the detection unit 213 calculates the turning angle θn (n=1, 2, 3, . . .) of the merging vehicle V2 with respect to the reference traveling direction included in the wrong-way driving detection information (step S204). For example, upon acquiring the second positioning information P1, the determination unit 212 calculates the angle θ1 between the reference traveling direction and the actual traveling direction of the merging vehicle V2 indicated in the second positioning information P1. Similarly, upon acquiring the second positioning information P2, the determination unit 212 calculates the angle θ2 between the reference traveling direction and the actual traveling direction of the merging vehicle V2 indicated in the second positioning information P2. The same applies to the other second positioning information P3, P4, and P5. The order of the processes of steps S203 to S204 may be reversed, or steps S203 and S204 may be performed in parallel.

[0049] Next, the determination unit 212 determines whether the merging vehicle V2 has passed the detection section TA or is currently traveling (step S205). Specifically, if the distance Dn calculated in step S203 is greater than the distance dα of the detection section TA included in the wrong-way driving detection information (step S205; YES), the determination unit 212 determines that the merging vehicle V2 has passed the detection section TA and ends the process. On the other hand, if the distance Dn is equal to or less than the distance dα of the detection section TA (step S205; NO), the process proceeds to the next step S206.

[0050] If the merging vehicle V2 is traveling through the detection section TA (step S205; NO), the detection unit 213 determines whether the turning angle θn of the merging vehicle V2 with respect to the reference traveling direction is greater than the threshold θα included in the wrong-way driving detection information (step S206).

[0051] If the turning angle θn of the merging vehicle V2 with respect to the reference traveling direction is greater than the threshold value θα (step S206; YES), the detection unit 213 detects that the merging vehicle V2 is traveling in the wrong direction (step S207). For example, as shown in FIG. 6, the turning angle θ5 of the merging vehicle V2 at the time when the positioning information P5 is acquired is greater than the threshold value θα (step S207; YES). In this case, the detection unit 213 detects that the merging vehicle V2 is traveling in the wrong direction (step S207).

[0052] Then, the notification unit 214 notifies the interior (driver) of the merging vehicle V2 via the output unit 25 that wrong-way driving has been detected (step S208). The notification unit 214 also notifies other vehicles V (main line vehicle V1 and merging vehicle V2) located within the on-board device communication section R2 of the merging vehicle V2 that wrong-way driving of the merging vehicle V2 has been detected (step S208). After notifying the wrong-way driving detection, the on-board device 20 returns to step S202 and continues to detect wrong-way driving of the merging vehicle V2 in the detection section TA.

[0053] Furthermore, in the in-vehicle device 20 of the other vehicle V that has received this notification, the notification unit 214 notifies the inside of the vehicle V (driver) via the output unit 25 that there is a wrong-way vehicle (merging vehicle V2 that has detected wrong-way driving). This allows the in-vehicle device 20 to immediately issue a warning to the driver and the other vehicle V when it detects wrong-way driving. Note that the wrong-way driving notification may include information indicating the location of the wrong-way vehicle. In this case, the notification unit 214 may notify the driver of the location of the wrong-way vehicle via the output unit 25.

[0054] On the other hand, if the turning angle θn of the merging vehicle V2 with respect to the reference traveling direction is equal to or smaller than the threshold value θα (step S206; NO), the detection unit 213 determines that the merging vehicle V2 is not traveling in the wrong direction. For example, as shown in Fig. 6, the turning angle θ1 of the merging vehicle V2 at the time when the second positioning information P1 is acquired is equal to or smaller than the threshold value θα (step S207; NO). In this case, the detection unit 213 determines that the merging vehicle V2 is not traveling in the wrong direction.

[0055] If the wrong-way driving of the merging vehicle V2 is not detected, the notification unit 214 determines whether the wrong-way driving detection notification has already been issued (step S209). If the notification unit 214 has not issued the wrong-way driving detection notification (step S209; NO), the in-vehicle device 20 returns to step S202 and continues to detect the wrong-way driving of the merging vehicle V2 in the detection section TA.

[0056] Furthermore, if wrong-way driving was detected based on the previous second positioning information Pn but is no longer detected based on the latest second positioning information Pn (step S206; NO and step S209; YES), the notification unit 214 notifies the driver and the in-vehicle devices 20 of other surrounding vehicles V that the previous wrong-way driving detection has been canceled (step S210). This allows the notification unit 214 to cancel, for example, an erroneous detection of wrong-way driving due to a positioning error. Also, if wrong-way driving is no longer detected because the previous notification has enabled the driver to avoid it (the driver has corrected the traveling direction of the merging vehicle V2), the notification to cancel the wrong-way driving detection is also issued in this manner. After notifying the cancellation of the wrong-way driving detection, the in-vehicle device 20 returns to step S202 and continues to perform wrong-way driving detection of the merging vehicle V2 in the detection section TA.

[0057] (Action, effect) As described above, the vehicle-mounted device 20 according to this embodiment includes a positioning information acquisition unit 210 that acquires positioning information of the merging vehicle V2, a wrong-way driving detection information acquisition unit 211 that acquires wrong-way driving detection information from the roadside device 10, a determination unit 212 that determines whether the merging vehicle V2 is traveling in the detection section TA based on the wrong-way driving detection information and the positioning information, and a detection unit 213 that detects wrong-way driving by the merging vehicle V2 when the angle θn between the reference traveling direction of the merging vehicle V2 and the traveling direction of the merging vehicle V2 indicated by the positioning information acquired while the merging vehicle V2 is traveling in the detection section TA exceeds a threshold value θα.

[0058] In this way, the vehicle-mounted device 20 can detect that the merging vehicle V2 is traveling in the wrong direction in the detection section TA of the merging lane L2.

[0059] In addition, the determination unit 212 determines that the merging vehicle V2 is traveling through the detection section TA when the distance Dn from the position of the merging vehicle V2 indicated by the first positioning information acquired first after the wrong-way driving detection information is acquired to the position of the merging vehicle V2 indicated by the second positioning information acquired after the first positioning information is shorter than the distance dα of the detection section TA.

[0060] In this way, the vehicle-mounted device 20 can determine by itself whether the merging vehicle V2 is traveling through the detection section TA, which eliminates the need to install a wireless communication device or the like that notifies the vehicle-mounted device 20 of the end of the detection section TA (the merging point of the merging lane L2 and the main road L1).

[0061] The vehicle-mounted device 20 further includes a notification unit 214 that notifies the interior (driver) of the merging vehicle V2 that the wrong-way driving of the merging vehicle V2 has been detected.

[0062] As a result, the in-vehicle device 20 can notify the driver of the merging vehicle V2 of the wrong-way driving at an early stage before the vehicle V2 enters the main lane L1, i.e., while the vehicle V2 is traveling through the detection section TA of the merging lane L2. This makes it possible to prevent wrong-way driving from occurring.

[0063] The notification unit 214 may further notify the in-vehicle devices 20 of other vehicles V traveling in the vicinity that the wrong-way driving of the merging vehicle V2 has been detected.

[0064] In this way, when the vehicle-mounted device 20 detects that the merging vehicle V2 is traveling in the wrong direction, it can immediately issue a warning to other vehicles V (for example, the main lane vehicle V1).

[0065] As described above, several embodiments according to the present disclosure have been described, but all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as defined in the claims, as well as in the scope and spirit of the invention.

[0066] For example, in the above embodiment, an example has been described in which the wrong-way driving detection information acquired from the roadside device 10 includes information on the reference traveling direction of the merging vehicle V2, but this is not limiting. In other embodiments, the vehicle-mounted device 20 may use, as the reference traveling direction, the traveling direction included in the first positioning information P0 acquired after acquiring the wrong-way driving detection information.

[0067] Furthermore, in the above-described embodiment, an example has been described in which the wrong-way driving detection information acquisition unit 211 of the in-vehicle device 20 acquires wrong-way driving detection information from the roadside device 10, but the present invention is not limited to this. In other embodiments, the in-vehicle device 20 may store in advance in the storage 23 map information indicating wrong-way driving detection sections at each merging point and wrong-way driving detection information for each detection section. In this case, when the wrong-way driving detection information acquisition unit 211 of the in-vehicle device 20 detects that the merging vehicle V2 has entered a detection section TA based on the positioning information and map information acquired by the positioning information acquisition unit 210 in step S200 of FIG. 5 , it acquires wrong-way driving detection information corresponding to the detection section TA from the storage 23. In this manner, the in-vehicle device 20 can independently detect whether the merging vehicle VA2 is driving the wrong way without communicating with the roadside device 10.

[0068] <Additional Notes> The vehicle-mounted device, the wrong-way driving detection system, the wrong-way driving detection method, and the program described in the above-described embodiments can be understood, for example, as follows.

[0069] (1) According to a first aspect of the present disclosure, an on-board device (20) mounted on a vehicle includes a positioning information acquisition unit (210) that acquires positioning information including the position and traveling direction of the vehicle, a wrong-way driving detection information acquisition unit (211) that acquires wrong-way driving detection information including information indicating a detection section where wrong-way driving detection is performed and a threshold value of the vehicle's turning angle in the detection section, a determination unit (212) that determines whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information, and a detection unit (213) that detects wrong-way driving of the vehicle when the angle between a reference traveling direction indicating the traveling direction when merging from a merging lane onto a main lane and the traveling direction of the vehicle indicated by the positioning information acquired while the vehicle is traveling in the detection section exceeds a threshold value.

[0070] In this way, the vehicle-mounted device can detect that the merging vehicle is traveling in the wrong direction in the detection section of the merging lane.

[0071] (2) According to a second aspect of the present disclosure, in the vehicle-mounted device (20) according to the first aspect, the determination unit (212) determines that the vehicle is traveling in the detection section when the distance from the vehicle position indicated by the first positioning information acquired first after the wrong-way driving detection information is acquired to the vehicle position indicated by the second positioning information acquired after the first positioning information is shorter than the distance in the vehicle's traveling direction in the detection section.

[0072] This allows the on-board device to determine by itself whether a merging vehicle is traveling in the detection section, which eliminates the need to install a wireless communication device that notifies the on-board device of the end of the detection section (the point where the merging lane merges with the main lane).

[0073] (3) According to a third aspect of the present disclosure, the vehicle-mounted device (20) according to the first or second aspect further includes a notification unit (214) that notifies the interior of the vehicle that the vehicle has detected wrong-way driving.

[0074] This allows the on-board device to notify the driver of the merging vehicle of wrong-way driving at an early stage, before the vehicle enters the main lane, i.e., while the vehicle is traveling through the detection section of the merging lane, thereby making it possible to prevent wrong-way driving from occurring.

[0075] (4) According to a fourth aspect of the present disclosure, in the vehicle-mounted device (20) according to the third aspect, the notification unit (214) further notifies other vehicles traveling around the vehicle that it has detected that the vehicle is traveling in the wrong direction.

[0076] In this way, when the vehicle-mounted device detects that a merging vehicle is traveling in the wrong direction, it can immediately issue a warning to other vehicles.

[0077] (5) According to a fifth aspect of the present disclosure, a wrong-way driving detection system (1) includes a roadside device (10) installed on the roadside of a merging lane, and an on-board device (20) according to any one of the first to fourth aspects.

[0078] (6) According to a sixth aspect of the present disclosure, a wrong-way driving detection method includes the steps of acquiring positioning information including the position and direction of travel of a vehicle, acquiring wrong-way driving detection information including information indicating a detection section in a merging lane where wrong-way driving detection is performed and a threshold value for the vehicle's turning angle in the detection section, determining whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information, and detecting wrong-way driving of the vehicle when the angle between a reference direction of travel indicating the direction of travel when the vehicle merges from the merging lane onto a main lane and the direction of travel of the vehicle indicated by the positioning information acquired while the vehicle is traveling in the detection section exceeds a threshold value.

[0079] (7) According to a seventh aspect of the present disclosure, the program causes the onboard device (20) to execute the following steps: acquiring positioning information including the position and traveling direction of the vehicle; acquiring wrong-way driving detection information including information indicating a detection section in the merging lane where wrong-way driving detection is performed and a threshold value for the vehicle's turning angle in the detection section; determining whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; and detecting wrong-way driving of the vehicle when the angle between a reference traveling direction indicating the traveling direction when the vehicle merges from the merging lane to the main lane and the traveling direction of the vehicle indicated by the positioning information acquired while the vehicle is traveling in the detection section exceeds a threshold value. [Explanation of symbols]

[0080] 1. Wrong-way driving detection system 10 Roadside unit 11 processors 110 Transmission processing unit 12 Memory 13. Storage 14 Communication Interface 20 Onboard equipment 21 processors 210 Positioning information acquisition unit 211 Wrong-way driving detection information acquisition unit 212 Judgment section 213 Detection unit 214 Notification Department 22 Memory 23 Storage 24 Communication Interface 25 Output section

Claims

1. An on-board device mounted on a vehicle, a positioning information acquisition unit that acquires positioning information including the position and traveling direction of the vehicle; a wrong-way driving detection information acquisition unit that acquires, from a roadside device installed on the roadside of a merging lane, wrong-way driving detection information including information indicating a detection section in which wrong-way driving detection is performed in the merging lane, a threshold value for the turning angle of the vehicle in the detection section, and a reference traveling direction indicating the traveling direction of the vehicle when merging from the merging lane onto a main lane; a determination unit that determines whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; a detection unit that detects wrong-way driving of the vehicle when an angle formed between the reference traveling direction and a traveling direction of the vehicle indicated by positioning information acquired while the vehicle is traveling in the detection section exceeds the threshold; An on-board device comprising:

2. An on-board device mounted on a vehicle, a positioning information acquisition unit that acquires positioning information including the position and traveling direction of the vehicle; a wrong-way driving detection information acquisition unit that acquires, from a roadside device installed on the roadside of a merging lane, wrong-way driving detection information including information indicating a detection section in which wrong-way driving detection is performed in the merging lane and a threshold value of the turning angle of the vehicle in the detection section; a determination unit that determines whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; a detection unit that sets the traveling direction included in the first positioning information acquired after acquiring the wrong-way driving detection information as a reference traveling direction, and detects wrong-way driving of the vehicle when an angle formed between the reference traveling direction and the traveling direction of the vehicle indicated by the positioning information acquired while the vehicle is traveling in the detection section exceeds the threshold value; An on-board device comprising:

3. the determination unit determines that the vehicle is traveling in the detection section when a distance from a position of the vehicle indicated by first positioning information acquired first after acquiring the wrong-way driving detection information to a position of the vehicle indicated by second positioning information acquired after the first positioning information is shorter than a distance in the vehicle traveling direction of the detection section; The vehicle-mounted device according to claim 1 or 2.

4. A notification unit is further provided to notify an interior of the vehicle that the vehicle is running in the wrong direction. The vehicle-mounted device according to any one of claims 1 to 3.

5. The notification unit further notifies other vehicles traveling around the vehicle that the wrong-way driving of the vehicle has been detected. The vehicle-mounted device according to claim 4.

6. A roadside unit installed on the roadside of a merging lane; The vehicle-mounted device according to any one of claims 1 to 5, A wrong-way driving detection system.

7. A step in which an on-board device acquires positioning information including the position and traveling direction of a vehicle; a step in which the on-board device acquires, from a roadside device installed on the roadside of a merging lane, wrong-way driving detection information including information indicating a detection section in which wrong-way driving detection is performed in the merging lane, a threshold value of a turning angle of the vehicle in the detection section, and a reference traveling direction indicating the traveling direction when the vehicle merges from the merging lane onto a main lane; a step in which the on-board device determines whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; a step in which the on-board device detects that the vehicle is traveling in the wrong direction when an angle formed between the reference traveling direction and the traveling direction of the vehicle indicated by positioning information acquired while the vehicle is traveling in the detection section exceeds the threshold; A wrong-way driving detection method comprising:

8. obtaining positioning information including a position and a heading of a vehicle; acquiring, from a roadside device installed on the roadside of a merging lane, wrong-way driving detection information including information indicating a detection section in which wrong-way driving detection is performed in the merging lane, a threshold value for the turning angle of the vehicle in the detection section, and a reference traveling direction indicating the traveling direction of the vehicle when merging from the merging lane onto a main lane; determining whether the vehicle is traveling in the detection section based on the wrong-way driving detection information and the positioning information; detecting wrong-way driving of the vehicle when an angle formed between the reference traveling direction and the traveling direction of the vehicle indicated by positioning information acquired while the vehicle is traveling in the detection section exceeds the threshold; A program that causes the onboard device to execute the above.

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