Traffic information distribution device, traffic information distribution system, traffic information distribution method, and traffic information distribution program

Abstract

This traffic information distribution device comprises: an acquisition unit that acquires, from a detection device, detection information indicating a result of detecting an object in a target area; an identification unit that identifies, on the basis of the detection information acquired by the acquisition unit, a clear area in which no object is present, within a blind spot area of the detection device in the target area; and a transmission unit that transmits location information about the clear area identified by the identification unit to a vehicle in the target area.

Description

[Technical Field]

[0001] The present disclosure relates to a traffic information distribution device, a traffic information distribution system, a traffic information distribution method, and a traffic information distribution program. This application claims priority based on Japanese Patent Application No. 2021-133049, filed on August 18, 2021, the disclosure of which is incorporated herein in its entirety. [Background technology]

[0002] Patent Document 1 (JP 2018-26009 A) describes the following dynamic map construction method: In the dynamic map construction method, a roadside device 419 transmits first detection data acquired by a first sensor 411 to a sensor integrating server 400, the sensor integrating server 400 extracts an unobservable area that is a blind spot of the first sensor 411 based on the received first detection data and transmits unobservable area information indicating the unobservable area to at least one mobile terminal 439, the mobile terminal 439 extracts second dynamic information indicating an object present in the sensing range of the second sensor 431 based on second detection data acquired by the second sensor 431, determines whether there is an overlapping area between the unobservable area indicated by the received unobservable area information and the sensing range of the second sensor, and if it determines that there is an overlapping area, transmits third dynamic information indicating an object present in the overlapping area from the second dynamic information to the sensor integrating server 400. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-26009 Summary of the Invention

[0004] The traffic information distribution device of the present disclosure includes an acquisition unit that acquires detection information indicating the detection results of an object in a target area from a detection device, an identification unit that identifies a clear area in a blind spot area of ​​the detection device in the target area where no object is present based on the detection information acquired by the acquisition unit, and a transmission unit that transmits location information of the clear area identified by the identification unit to a vehicle in the target area.

[0005] One aspect of the present disclosure can be realized not only as a traffic information distribution device including such a characteristic processing unit, but also as a semiconductor integrated circuit that realizes part or all of the traffic information distribution device. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a traffic information distribution system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating a configuration of a distribution server according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating driving information generated by a distribution server according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram for explaining the amount of communication traffic when it is assumed that the distribution server according to the embodiment of the present disclosure transmits all of the driving information to the distribution destination vehicle. [Figure 5] FIG. 5 is a diagram for explaining the amount of communication traffic when it is assumed that the distribution server according to the embodiment of the present disclosure transmits all of the driving information to the distribution destination vehicle. [Figure 6] FIG. 6 is a diagram illustrating an example of distribution information generated by a specification unit in the distribution server according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram illustrating an example of a format of a frame storing distribution information transmitted from a distribution server according to an embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram illustrating a first modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram illustrating a second modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram illustrating a third modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure. [Figure 11] FIG. 11 is a diagram illustrating a fourth modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure. [Figure 12] FIG. 12 illustrates an example of a sequence that defines the operation procedures of each device in the traffic information distribution system according to the embodiment of the present disclosure. [Figure 13] FIG. 13 is a flowchart defining an operation procedure of the distribution server according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0007] 2. Description of the Related Art Conventionally, in order to support safe driving of a vehicle, a technology has been developed that delivers dynamic information about objects existing around the vehicle to the vehicle.

[0008] [Problem to be solved by this disclosure] The dynamic map construction method described in Patent Document 1 can reduce the amount of communication when a mobile terminal such as an in-vehicle device transmits dynamic information to a sensor integration server. However, it is desirable to reduce the amount of communication not only when uploading dynamic information to a server, but also when distributing dynamic information from a server to an in-vehicle device.

[0009] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a traffic information distribution device, a traffic information distribution system, a traffic information distribution method, and a traffic information distribution program that can reduce the amount of communication when distributing dynamic information to vehicles.

[0010] [Effects of this disclosure] According to the present disclosure, it is possible to reduce the amount of communication traffic when dynamic information is distributed to vehicles.

[0011] [Description of the embodiments of the present disclosure] First, the contents of the embodiments of the present disclosure will be listed and described.

[0012] (1) A traffic information distribution device according to an embodiment of the present disclosure includes an acquisition unit that acquires detection information indicating the detection results of an object in a target area from a detection device, an identification unit that identifies a clear area in a blind spot area of ​​the detection device in the target area based on the detection information acquired by the acquisition unit, where no object is present, and a transmission unit that transmits location information of the clear area identified by the identification unit to a vehicle in the target area.

[0013] In this way, by configuring the traffic information distribution device to transmit to the vehicle the location information of clear areas that have been recognized as blind spots but that have been confirmed to be free of objects, it is possible to distribute dynamic information that is useful to the vehicle and has a reduced data volume, thereby reducing the amount of communication traffic when distributing the dynamic information to the vehicle.

[0014] (2) The identification unit may be capable of identifying a priority area that is an area within the clear area that overlaps with an area that satisfies predetermined area-related conditions, and the transmission unit may transmit location information of the priority area to the vehicle.

[0015] In this way, by configuring to transmit dynamic information that is further limited to an area that satisfies a predetermined condition, it is possible to further reduce the amount of communication traffic when distributing dynamic information to vehicles.

[0016] (3) The target area may include an intersection, and the area that satisfies the specified condition may be the intersection and the area of ​​the driving lane of an oncoming straight-moving vehicle until it reaches the intersection when the vehicle turns right at the intersection.

[0017] With this configuration, it is possible to appropriately select and transmit dynamic information that is useful to a vehicle turning right at an intersection.

[0018] (4) The area that satisfies the specified conditions may be an area of ​​a road along the traveling direction of the vehicle to which the location information of the priority area is sent, and an area in which an object may travel in a direction that intersects with the road along the traveling direction.

[0019] With this configuration, it is possible to appropriately select dynamic information that is useful to a specific destination vehicle and transmit it to the destination vehicle.

[0020] (5) The target area may include an intersection, and the area that satisfies the predetermined condition may be an area that is included within a predetermined range from the center of the intersection.

[0021] With this configuration, dynamic information useful to vehicles traveling through the intersection can be appropriately and easily selected and transmitted.

[0022] (6) The target area may include an intersection, and the area that satisfies the predetermined condition may be an area of ​​a road that corresponds to the color of a signal light installed at the intersection.

[0023] With this configuration, for example, if a traffic light is lit in blue, it is possible to transmit dynamic information that is appropriately selected according to the light color of the traffic light, such as selecting dynamic information about the area of ​​the road that is drivable while the traffic light is lit in blue.

[0024] (7) A traffic information distribution system according to an embodiment of the present disclosure includes a traffic information distribution device that acquires detection information indicating the detection result of an object in a target area from a detection device, and transmits location information of a clear area where no object is present to a vehicle in the target area based on the acquired detection information among blind spots of the detection device in the target area, and an in-vehicle device that is mounted on the vehicle and provides driving assistance to the vehicle based on the location information of the clear area transmitted from the traffic information distribution device.

[0025] In this way, by configuring the traffic information distribution device to transmit to the vehicle the location information of clear areas that have been recognized as blind spots but that have been confirmed to be free of objects, it is possible to distribute dynamic information that is useful to the vehicle and has a reduced data volume, thereby reducing the amount of communication traffic when distributing the dynamic information to the vehicle.

[0026] (8) A traffic information distribution method according to an embodiment of the present disclosure is a traffic information distribution method in a traffic information distribution device, and includes the steps of: acquiring detection information indicating the detection result of an object in a target area from a detection device; identifying a clear area in which no object is present, from a blind spot area of ​​the detection device in the target area, based on the acquired detection information; and transmitting location information of the identified clear area to a vehicle in the target area.

[0027] In this way, by transmitting to the vehicle the location information of clear areas that have been recognized as blind spots by the traffic information distribution device and that have been confirmed to be free of objects, it is possible to distribute dynamic information that is useful to the vehicle and has a reduced data volume, thereby reducing the amount of communication traffic when distributing the dynamic information to the vehicle.

[0028] (9) A traffic information distribution program according to an embodiment of the present disclosure is a traffic information distribution program used in a traffic information distribution device, and is a program for causing a computer to function as an acquisition unit that acquires detection information indicating the detection results of an object in a target area from a detection device, an identification unit that identifies a clear area in a blind spot area of ​​the detection device in the target area where no object exists based on the detection information acquired by the acquisition unit, and a transmission unit that transmits location information of the clear area identified by the identification unit to a vehicle in the target area.

[0029] In this way, by configuring the traffic information distribution device to transmit to the vehicle the location information of clear areas that have been recognized as blind spots but that have been confirmed to be free of objects, it is possible to distribute dynamic information that is useful to the vehicle and has a reduced data volume, thereby reducing the amount of communication traffic when distributing the dynamic information to the vehicle.

[0030] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, identical or corresponding parts are designated by the same reference numerals, and their description will not be repeated. Furthermore, at least some of the embodiments described below may be combined in any manner.

[0031] <Configuration and basic operation> [Overall configuration] FIG. 1 is a diagram illustrating a configuration of a traffic information distribution system according to an embodiment of the present disclosure.

[0032] 1, a traffic information distribution system 300 includes a distribution server (traffic information distribution device) 100, one or more in-vehicle devices 200, and one or more roadside devices 60 installed on the roadside of a target area. The in-vehicle device 200 is mounted on a vehicle 40. The target area includes, for example, an intersection or a branch point of a road.

[0033] The roadside device 60 is capable of communicating with the distribution server 100 via the wireless base station 20 using, for example, ITS (Intelligent Transport System) wireless.

[0034] The roadside device 60 periodically or irregularly detects surrounding objects using sensors such as a camera, LiDAR (Light Detection and Ranging), and millimeter-wave radar device, and transmits detection information indicating the detection results to the distribution server 100 via the wireless base station 20. The objects include vehicles and people. The detection information includes, for example, the type, position, speed, and moving direction of each detected object.

[0035] When the vehicle 40 is present within a target area, the in-vehicle device 200 mounted on the vehicle 40 periodically or irregularly detects surrounding objects using a sensor mounted on the vehicle 40, similar to the roadside device 60. Similar to the roadside device 60, the in-vehicle device 200 transmits detection information indicating the detection results to the distribution server 100 via the wireless base station 20. Hereinafter, each of the roadside device 60 and the in-vehicle device 200 will also be referred to as a detection device.

[0036] Each detector may be configured to transmit detection information indicating the object detection result to the distribution server 100 via the wireless base station 20 when receiving a request for detection information from the distribution server 100.

[0037] The distribution server 100 receives detection information from one or more detection devices present in the target area via the wireless base station 20. Based on the received detection information, the distribution server 100 generates driving information including detection results of objects in the target area that are wider than the detection range of each detection device, i.e., dynamic information. The driving information indicates the type, position, speed, and movement direction of each object present in the target area.

[0038] Furthermore, the distribution server 100 transmits distribution information based on the generated driving information to the in-vehicle device 200 of the vehicle 40 present in the target area via the wireless base station 20. Hereinafter, the vehicle 40 to which the distribution information is to be transmitted is also referred to as a distribution destination vehicle.

[0039] The in-vehicle device 200 of the vehicle 40, which is the distribution destination vehicle, acquires location information of the vehicle 40 acquired by a Global Navigation Satellite System (GNNS), such as a Global Positioning System (GPS) receiver (not shown), mounted on the vehicle 40. The in-vehicle device 200 also acquires detection results of surrounding objects detected by a sensor mounted on the vehicle 40.

[0040] The in-vehicle device 200 then provides driving assistance for the vehicle 40 based on the acquired position information of the vehicle 40, the object detection results, and the information distributed from the distribution server 100. Specifically, as driving assistance, the in-vehicle device 200 performs control to display a driving route on the screen of a car navigation system, and performs automatic driving by controlling the driving of the vehicle 40, such as the speed.

[0041] [Distribution server] FIG. 2 is a diagram illustrating a configuration of a distribution server according to an embodiment of the present disclosure.

[0042] 2, distribution server 100 includes map generation unit 11, storage unit 12, receiving unit (acquisition unit) 13, identification unit 14, and transmission unit 15. One or both of map generation unit 11 and identification unit 14 are realized by, for example, a processing circuit including one or more processors. Receiving unit 13 and transmission unit 15 are realized by, for example, a communication circuit such as a communication integrated circuit (IC). Storage unit 12 is, for example, a non-volatile memory.

[0043] (Memory unit and map generation unit) Map data of a target area, which is static information, is stored in the memory unit 12. The receiver 13 receives detection information transmitted from the detection device via the wireless base station 20 and outputs the received detection information to the map generator 11.

[0044] The map generating unit 11 receives the detection information output from the receiving unit 13 and generates driving information based on the detection information and the map data stored in the storage unit 12 .

[0045] 3 is a diagram illustrating driving information generated by a distribution server according to an embodiment of the present disclosure. Here, as an example, driving information generated based on detection information from a roadside device 60 will be described.

[0046] 3, map generation unit 11 generates driving information indicating the state of each area when the target area is divided into a grid, for example. Hereinafter, each area will also be referred to as a grid.

[0047] The grid state includes, for example, an "unknown state" in which no detection result can be obtained because the roadside unit 60 is outside its detection range or because map data does not exist, an "object presence state" in which an object is present, a "blind spot state" in which the object is in a blind spot, and a "clear state" in which no object is present.

[0048] Hereinafter, an area in an unknown state will also be referred to as an "unknown area," an area in an object-present state will also be referred to as an "object-present area," an area in a blind spot state will also be referred to as a "blind spot area," and an area in a clear state will also be referred to as a "clear area."

[0049] In FIG. 3, the unknown regions are not hatched, the object-containing regions are hatched with oblique lines, the blind spot regions are hatched with a grid pattern, and the clear regions are hatched with dots.

[0050] The map generation unit 11 determines the state of each grid based on the map data and detection information from the roadside device 60, and generates driving information indicating the determined state of each grid and the position of each grid. The map generation unit 11 then stores the generated driving information in the storage unit 12. The position of each grid is indicated using, for example, latitude and longitude.

[0051] The detection device may determine the state of each grid included in the detection range and transmit the determined state of each grid and detection information indicating the position of each grid to the distribution server 100 via the wireless base station 20.

[0052] (Problem description) Here, the communication volume when it is assumed that the distribution server 100 transmits all of the generated driving information to the distribution destination vehicle will be described.

[0053] 4 and 5 are diagrams for explaining the amount of communication traffic when it is assumed that the distribution server according to the embodiment of the present disclosure transmits all of the driving information to the distribution destination vehicle.

[0054] 4 and 5, for example, the map generating unit 11 represents four patterns of states, namely, an unknown state, an object presence state, a blind spot state, and a clear state, using two-bit data amounts of "00," "01," "02," and "03," respectively.

[0055] Furthermore, assume that the target area is a 50 meter x 50 meter range, and one grid in the driving information corresponds to a 2 meter x 2 meter range, as shown in Figure 4. In this case, the number of grids indicated by the driving information is 25 x 25 = 625, and the amount of data required to indicate the state of each grid is 2 bits x 625 / 8 = 157 bytes.

[0056] Also, if the target area is an area of ​​100 meters x 100 meters and one grid in the driving information corresponds to an area of ​​2 meters x 2 meters, the number of grids indicated by the driving information will be 2,500, and the amount of data required to indicate the status of each grid will be 625 bytes.

[0057] Also, assume that the target area is a 50 meter x 50 meter range, and one grid in the driving information corresponds to a 1 meter x 1 meter range, as shown in Figure 5. In this case, the number of grids indicated by the driving information is 50 x 50 = 2500, and the amount of data required to indicate the state of each grid is 625 bytes.

[0058] Also, if the target area is an area of ​​100 meters x 100 meters and one grid in the driving information corresponds to an area of ​​1 meter x 1 meter, the number of grids indicated by the driving information will be 10,000, and the amount of data required to indicate the status of the grid will be 2,500 bytes.

[0059] In this way, if all of the driving information indicating the status of each grid is transmitted to the destination vehicle, the communication volume of the driving information will be large. Therefore, as will be described later, the distribution server 100 generates distribution information that has a smaller communication volume than the driving information based on the driving information, and transmits the generated distribution information to the in-vehicle device 200 of the destination vehicle.

[0060] (Identification unit and transmission unit) Referring back to FIG. 2, the identifying unit 14 identifies a clear area based on the detection information received by the receiving unit 13 from among the blind spots of the detecting devices in the target area.

[0061] For example, the identification unit 14 generates driving information based on detection information from the roadside device 61, and identifies a blind spot area of ​​the roadside device 61 in the target area based on the generated driving information. Furthermore, when the identification unit 14 receives detection information from the in-vehicle device 200, it updates the driving information based on the detection information, and identifies an area that has changed from a blind spot state to a clear state based on the updated driving information.

[0062] Then, the specifying unit 14 generates distribution information including the position information of the specified clear area based on the updated driving information, for example, and outputs the generated distribution information to the transmitting unit 15.

[0063] FIG. 6 is a diagram illustrating an example of distribution information generated by a specification unit in the distribution server according to the embodiment of the present disclosure.

[0064] 3 and 6, the map generation unit 11 generates driving information based on detection information from the roadside unit 60 as shown in FIG. 3, and then receives detection information from each of the on-board devices 200a, 200b, and 200c corresponding to the vehicles 40a, 40b, and 40c, respectively, via the wireless base station 20 and the receiving unit 13.

[0065] Furthermore, based on the newly received detection information, the map generation unit 11 determines that the state of the area R1, which is part of the blind spot area shown in Figure 3, is clear, as shown in Figure 6, and updates the driving information stored in the memory unit 12.

[0066] The identification unit 14 refers to the driving information stored in the storage unit 12, and if there is an area that has changed from a blind spot state to a clear state before and after updating the driving information, the identification unit 14 identifies the area R1 that is the clear area and generates distribution information including position information of the identified area R1. The identification unit 14 then outputs the generated distribution information to the transmission unit 15.

[0067] The transmitter 15 receives the distribution information output from the identifier 14 and transmits the distribution information to one or more destination vehicles in the target area via the wireless base station 20. For example, the transmitter 15 broadcasts a frame in which the distribution information is stored to a plurality of vehicles 40 in the target area.

[0068] FIG. 7 is a diagram illustrating an example of a format of a frame storing distribution information transmitted from a distribution server according to an embodiment of the present disclosure.

[0069] Referring to FIG. 7, the distribution information is stored in a data area of ​​a frame, and includes, for example, a providing point management number, providing point coordinate information, and status information.

[0070] The provision point management number includes, for example, the code of the prefecture that includes the target area, a provision point type code that indicates whether the target area is an intersection or a parking area, and a provision point ID (Identification) that is unique to each target area.

[0071] The provision point coordinate information includes, for example, position information of the region R1 identified by the identification unit 14, that is, the latitude and longitude of each grid included in the region R1.

[0072] The status information indicates the status of each grid. That is, the status information indicates that all grids included in the region R1 are in a clear state. Note that the distribution information does not necessarily have to include the status information.

[0073] When the in-vehicle device 200 receives the distribution information broadcast from the distribution server 100 via the wireless base station 20, it checks, for example, the provision point ID included in the frame in which the distribution information is stored, and determines whether or not to use the contents of the distribution information for driving assistance of the vehicle 40.

[0074] Specifically, for example, when the provision point ID is an intersection ID within a predetermined range from the position of the vehicle 40 in which the in-vehicle device 200 is installed, the in-vehicle device 200 determines to use the content of the distributed information for driving assistance. Then, the in-vehicle device 200 provides driving assistance for the vehicle 40 based on the position information of the area R1 indicated by the distributed information, the position information of the vehicle 40, etc.

[0075] The transmitter 15 is not limited to a configuration that broadcasts distribution information to a plurality of vehicles 40, but may be a configuration that unicasts distribution information to one or a plurality of vehicles 40 in the target area.

[0076] The identification unit 14 may also be configured not to identify blind spot areas of the detection devices in the target area. In this case, for example, the identification unit 14 assumes that the state of all grids in the target area is a blind spot state as an initial value, and identifies areas that have changed from a blind spot state to a clear state based on detection information from the detection devices.

[0077] Furthermore, in addition to identifying an area that has changed from a blind spot state to a clear state, the identification unit 14 may further identify an area that has changed from a clear state to a blind spot state. For example, when the identification unit 14 identifies both an area that has changed from a blind spot state to a clear state and an area that has changed from a clear state to a blind spot state before and after updating the driving information, the identification unit 14 generates delivery information including the position information of each of both identified areas based on the driving information.

[0078] [Variations of distribution information] As described above, the distribution server 100 is not limited to a configuration in which distribution information including location information of the area R1 that has changed from a blind spot state to a clear state is transmitted, but may also be configured to further identify a priority area within the area R1 that satisfies predetermined conditions regarding the area, and transmit distribution information including location information of the identified priority area.

[0079] (Variation 1) FIG. 8 is a diagram illustrating a first modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure.

[0080] 3, 6, and 8, in Modification 1, the area satisfying the predetermined condition is an intersection and an area of ​​a travel lane of an oncoming vehicle traveling straight until it reaches the intersection when vehicle 40 turns right at the intersection. As shown in Fig. 8, it is assumed that roads extend in four directions (east, west, north, south) from the intersection. In this case, the area satisfying the predetermined condition includes the intersection and the travel lane of vehicle 40 traveling toward the intersection among the roads in the four directions (east, west, north, south).

[0081] Specifically, it is assumed that the map generation unit 11 generates driving information for a target area including an intersection, as shown in Fig. 3. It is also assumed that the map generation unit 11 determines that the state of an area R1, which is part of the blind spot area shown in Fig. 3, is clear based on the received detection information, as shown in Fig. 6. In Fig. 8, the area R1 is hatched with vertical lines.

[0082] In this case, the identification unit 14 refers to the driving information stored in the storage unit 12 and identifies, as a priority area, an area R22 that overlaps an area R1 that has changed from a blind spot state to a clear state before and after updating the driving information, an intersection, and an area R21 of the driving lane of an oncoming vehicle traveling straight until it reaches the intersection when the vehicle 40 turns right at the intersection, as shown in Fig. 8. In Fig. 8, the area R21 is hatched with thick diagonal lines, and the area R22 is filled in.

[0083] Then, the specifying unit 14 generates distribution information including position information of the specified priority area based on the driving information, for example, and outputs the generated distribution information to the transmitting unit 15.

[0084] The transmitter 15 broadcasts or unicasts the distribution information received from the identification unit 14 to the in-vehicle device 200 of the destination vehicle via the wireless base station 20, in the same manner as when transmitting distribution information including the location information of the clear area described above.

[0085] (Variation 2) FIG. 9 is a diagram illustrating a second modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure.

[0086] 3, 7 and 9, in variant example 2, the area that satisfies the specified conditions is the area of ​​the road along the driving direction of the destination vehicle, and the area in which the object may travel in a direction that intersects with the road along the driving direction.

[0087] Specifically, it is assumed that the map generation unit 11 generates driving information for the target area as shown in Fig. 3. Furthermore, it is assumed that the map generation unit 11 determines that the state of an area R1, which is part of the blind spot area shown in Fig. 3, is clear based on the received detection information as shown in Fig. 6. In Fig. 9, the area R1 is hatched with vertical lines.

[0088] In this case, the identification unit 14 refers to the driving information stored in the storage unit 12 and identifies, for example, a vehicle 40d approaching an intersection included in the target area as a distribution destination vehicle, as shown in FIG.

[0089] Furthermore, the identification unit 14 refers to the driving information and identifies, as a priority area, an area R32 that overlaps an area R1 that has changed from a blind spot state to a clear state before and after updating the driving information, and an area R31 that is an area where an object may proceed in a direction intersecting with the road, such as an area of ​​a road along the driving direction of the vehicle 40d and an area of ​​a crosswalk intersecting with the road, as shown in Fig. 9. In Fig. 9, the area R31 is hatched with thick diagonal lines, and the area R32 is filled in.

[0090] Then, the specifying unit 14 generates distribution information including position information of the specified priority area based on the driving information, for example, and outputs the generated distribution information to the transmitting unit 15.

[0091] The transmitter 15 unicasts the distribution information received from the identifier 14 via the wireless base station 20 to the in-vehicle device 200d of the vehicle 40d, which is the distribution destination vehicle.

[0092] (Variation 3) FIG. 10 is a diagram illustrating a third modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure.

[0093] 3, 7 and 10, in the third modification, the area that satisfies the predetermined condition is the area of ​​the road included within a predetermined range from the center of the intersection.

[0094] Specifically, it is assumed that the map generation unit 11 generates driving information for a target area including an intersection, as shown in Fig. 3. It is also assumed that the map generation unit 11 determines that the state of an area R1, which is part of the blind spot area shown in Fig. 3, is clear based on the received detection information, as shown in Fig. 6. In Fig. 10, the area R1 is hatched with vertical lines.

[0095] In this case, the identification unit 14 refers to the driving information stored in the storage unit 12 and identifies, as the priority area, an area R42 that overlaps an area R1 that has changed from a blind spot state to a clear state before and after updating the driving information and an area R41 that is included within a predetermined range from the center of the intersection, as shown in Fig. 10. In Fig. 10, the area R41 is hatched with thick diagonal lines, and the area R42 is filled in.

[0096] Then, the specifying unit 14 generates distribution information including position information of the specified priority area based on the driving information, for example, and outputs the generated distribution information to the transmitting unit 15.

[0097] The transmitting unit 15 broadcasts or unicasts the distribution information received from the identifying unit 14 to the in-vehicle device 200 of the distribution destination vehicle via the wireless base station 20.

[0098] (Variation 4) FIG. 11 is a diagram illustrating a fourth modification of distribution information generated by the identification unit in the distribution server according to the embodiment of the present disclosure.

[0099] 3, 6 and 11, in the fourth modification, the area that satisfies the predetermined condition is an area of ​​a road that corresponds to the light color of a traffic light installed at an intersection.

[0100] Specifically, it is assumed that the map generation unit 11 generates driving information for a target area including an intersection, as shown in Fig. 3. It is also assumed that the map generation unit 11 determines that the state of an area R1, which is part of the blind spot area shown in Fig. 3, is clear based on the received detection information, as shown in Fig. 6. In Fig. 11, the area R1 is hatched with vertical lines.

[0101] In addition, the receiving unit 13 receives light color control information indicating the light color of the signal light 30 from a signal controller (not shown) that controls the light color of the signal light 30 installed at an intersection included in the target area via the wireless base station 20, and outputs the received light color control information to the identification unit 14.

[0102] For example, suppose that signal light 30a located north of the center of the intersection and signal light 30b located south of the center are lit blue, and signal light 30c located east of the center and signal light 30d located west of the center of the intersection are lit red.

[0103] In this case, the identification unit 14 identifies, based on the driving information and the light color control information, for example, an area R52 where an area R1 that has changed from a blind spot state to a clear state before and after updating the driving information overlaps with an area R51 of roads that are drivable when the signal lamps 30 are lit green, i.e., roads running in a north-south direction, as a priority area, as shown in Fig. 11. In Fig. 11, the area R51 is hatched with thick diagonal lines, and the area R52 is solid.

[0104] Then, the specifying unit 14 generates distribution information including position information of the specified priority area based on the driving information, for example, and outputs the generated distribution information to the transmitting unit 15.

[0105] The transmitting unit 15 broadcasts or unicasts the distribution information received from the identifying unit 14 to the in-vehicle device 200 of the distribution destination vehicle via the wireless base station 20.

[0106] The specification unit 14 may specify the priority area by combining two or more of the above-described first, second, third, and fourth modifications.

[0107] Furthermore, the identification unit 14 may generate distribution information that includes both the position information of the area R1 that has changed from a blind spot state to a clear state and the position information of the priority area. However, in this case, the amount of communication of the distribution information transmitted from the distribution server 100 to the vehicle 40 increases. For this reason, when the identification unit 14 generates distribution information that includes the position information of the priority area, it is preferable that the distribution information does not include the position information of the area R1.

[0108] <Operation flow> Each device in the traffic information distribution system 300 is equipped with a computer including a memory, and a processing unit such as a CPU in the computer reads from the memory and executes a program including some or all of the steps in the following flowcharts and sequences. The programs for these multiple devices can each be installed externally. The programs for these multiple devices are each distributed in a state stored on a recording medium or via a communication line.

[0109] [Operational flow of each device in the traffic information distribution system] FIG. 12 illustrates an example of a sequence that defines the operation procedures of each device in the traffic information distribution system according to the embodiment of the present disclosure.

[0110] Referring to FIG. 12, first, the roadside device 60 detects surrounding objects (step S10), and transmits detection information indicating the detection result to the distribution server 100 (step S11).

[0111] Next, the distribution server 100 receives the detection information transmitted from the roadside device 60, and generates driving information indicating the detection result of the object in the target area based on the detection information (step S12).

[0112] Next, the distribution server 100 broadcasts a request for detection information to, for example, vehicles 40 present in the target area. Here, it is assumed that the in-vehicle devices 200a, 200b, and 200c corresponding to the vehicles 40a, 40b, and 40c, respectively, receive the request from the distribution server 100 (step S13).

[0113] Next, each of the in-vehicle devices 200a, 200b, and 200c detects surrounding objects (step S14) and transmits detection information indicating the detection results to the distribution server 100 (step S15).

[0114] Next, the distribution server 100 receives the detection information transmitted from each of the in-vehicle devices 200a, 200b, and 200c, and updates the driving information based on the received plurality of pieces of detection information (step S16).

[0115] Next, the distribution server 100 generates distribution information to be distributed to the vehicle 40 in the target area based on the driving information (step S17).

[0116] Next, distribution server 100 broadcasts the generated distribution information to, for example, one or more vehicles 40 in the target area. Here, it is assumed that in-vehicle device 200d of vehicle 40d receives the distribution information (step S18).

[0117] Next, the in-vehicle device 200d detects surrounding objects (step S19).

[0118] Next, the in-vehicle device 200d checks the provision point ID and the like included in the distribution information from the distribution server 100 and decides to use the content of the distribution information for driving assistance. In this case, the in-vehicle device 200d extracts, for example, position information of the clear area and the like from the distribution information as information to be used for driving assistance (step S20).

[0119] Next, the in-vehicle device 200d determines whether the vehicle 40d can travel based on the object detection result performed in step S19, the position information of the clear area extracted from the distributed information, the position information of the vehicle 40d, and the like.

[0120] For example, when vehicle 40d is turning right at an intersection, if the in-vehicle device 200d confirms that the area included in the path of movement from the current position of vehicle 40d to turning right at the intersection, and the area of ​​the lane of oncoming vehicles moving straight toward the intersection, are both clear, the in-vehicle device 200d determines that vehicle 40d can turn right.

[0121] On the other hand, when vehicle 40d is turning right at an intersection, if at least a part of the area included in the path of movement from the current position of vehicle 40d to turning right at the intersection and the area of ​​the driving lane of an oncoming vehicle going straight toward the intersection are blind spots or object-containing areas, the in-vehicle device 200d determines that vehicle 40d should not turn right (step S21).

[0122] Then, the in-vehicle device 200d performs driving assistance for the vehicle 40d depending on the result of the determination as to whether the vehicle 40d can travel.

[0123] For example, if the in-vehicle device 200d determines that the vehicle 40d can turn right, it controls the traveling of the vehicle 40d so that the vehicle 40d turns right at the intersection. On the other hand, if the in-vehicle device 200d determines that the vehicle 40d should not turn right, it performs control such as slowing down the speed of the vehicle 40d or stopping the vehicle 40d (step S22).

[0124] Each of the in-vehicle devices 200a, 200b, and 200c may be configured to detect surrounding objects (step S14) before receiving a request from the distribution server 100 to transmit the detection information.

[0125] Furthermore, the in-vehicle device 200d may be configured to detect surrounding objects (step S19) before receiving the distribution information from the distribution server 100.

[0126] [Flow of operations of distribution server] 13 is a flowchart defining an operation procedure of a distribution server according to an embodiment of the present disclosure. Here, a case will be described in which distribution server 100 identifies a priority area that satisfies a predetermined area-related condition from area R1 that has changed from a blind spot state to a clear state, as described in Modifications 1, 2, 3, and 4, and transmits distribution information including location information of the identified priority area.

[0127] Referring to FIG. 13, first, the receiver 13 receives detection information indicating the object detection result from at least one of one or more roadside devices 60, which are detection devices, and one or more in-vehicle devices 200, and outputs the received detection information to the map generator 11 (step S31).

[0128] Next, the map generation unit 11 generates driving information indicating the detection results of the object in the target area based on the detection information received from the receiving unit 13 and the map data stored in the memory unit 12, and stores the generated driving information in the memory unit 12. Note that if the driving information has already been stored in the memory unit 12, the map generation unit 11 updates the driving information stored in the memory unit 12 based on the newly received detection information (step S32).

[0129] Next, the identification unit 14 identifies a clear area from among the areas that were in a blind spot state. For example, the identification unit 14 checks whether there is an area that has changed from a blind spot state to a clear state before and after updating the driving information.

[0130] When the driving information is generated for the first time in step S32, the identification unit 14 may compare the generated driving information with the map data stored in the storage unit 12. For example, when the map data indicates a blind spot area that is a blind spot of a fixed object, the identification unit 14 checks whether there is an area that is a blind spot in the map data but is clear in the driving information (step S33).

[0131] Next, if there is an area R1 that has changed from a blind spot state to a clear state, i.e., if the identification unit 14 has identified an area R1 that is a clear area ("YES" in step S33), the identification unit 14 checks whether there is a priority area within the area R1 that satisfies predetermined conditions regarding the area (step S34).

[0132] Next, if there is a priority area, that is, if the priority area is identified ("YES" in step S34), the identification unit 14 generates distribution information including location information of the priority area based on the latest driving information stored in the storage unit 12. Specifically, the identification unit 14 generates distribution information including, for example, the latitude and longitude of each grid included in the priority area (step S35).

[0133] Next, the identification unit 14 outputs the generated distribution information to the transmission unit 15. Then, the transmission unit 15 transmits the distribution information received from the identification unit 14 to the in-vehicle device 200 of the distribution destination vehicle via the wireless base station 20 (step S36). Then, the operations from step S31 onwards are performed again.

[0134] Note that some or all of the functions of the distribution server 100 according to the embodiment of the present disclosure may be provided by cloud computing. That is, the distribution server 100 according to the embodiment of the present disclosure may be configured by multiple cloud servers, etc.

[0135] The above-described embodiments should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0136] Each process (each function) in the above-described embodiments is realized by a processing circuit including one or more processors. The processing circuit may be configured as an integrated circuit or the like that combines one or more memories, various analog circuits, and various digital circuits in addition to the one or more processors. The one or more memories store programs (instructions) that cause the one or more processors to execute each of the processes. The one or more processors may execute each of the processes according to the programs read from the one or more memories, or according to logic circuits pre-designed to execute each of the processes. The processor may be various processors suitable for computer control, such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), and an application-specific integrated circuit (ASIC). Note that the physically separate processors may cooperate with each other to execute each of the processes. For example, the processors mounted on a plurality of physically separated computers may cooperate with each other to execute the above processes via a network such as a LAN (Local Area Network), a WAN (Wide Area Network), the Internet, etc. The program may be installed into the memory from an external server device or the like via the network, or may be distributed in a state stored on a recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), or a semiconductor memory, and installed into the memory from the recording medium.

[0137] The above description includes the following additional features. [Appendix 1] an acquisition unit that acquires detection information indicating a detection result of an object in a target area from a detection device; an identification unit that identifies a clear area where no object exists, based on the detection information acquired by the acquisition unit, from a blind spot area of ​​the detection device in the target area; a transmitter that transmits position information of the clear area identified by the identification unit to a vehicle in the target area, the acquisition unit acquires the detection information periodically or irregularly, The identification unit further identifies, based on the detection information acquired by the acquisition unit, an area in the target area that has changed from a clear state in which no object is present to a blind spot state in which the area is a blind spot for an object; The transmission unit transmits to the vehicle position information of the area that has changed from the clear state to the blind spot state, as identified by the identification unit.

[0138] [Appendix 2] a traffic information distribution device that acquires detection information indicating the detection result of an object in a target area from a detection device, and transmits position information of a clear area where no object is present, among blind spots of the detection device in the target area, to a vehicle in the target area based on the acquired detection information; an in-vehicle device mounted on the vehicle and providing driving assistance to the vehicle based on the position information of the clear area transmitted from the traffic information distribution device; The in-vehicle device detects surrounding objects, determines whether the vehicle can travel based on at least one of the object detection results, the position information of the clear area received from the traffic information distribution device, and the position information of the vehicle, and provides driving assistance to the vehicle according to the determination result of whether the vehicle can travel.

[0139] [Appendix 3] A traffic information distribution device, a processing circuit; The processing circuitry obtaining detection information from the detection device indicating a detection result of an object in the target region; Identifying a clear area where no object is present based on the acquired detection information from a blind spot area of ​​the detection device in the target area; A traffic information distribution device that transmits location information of the identified clear area to vehicles in the target area. [Explanation of symbols]

[0140] 11 Map generation section 12 Storage section 13 Receiving unit (acquiring unit) 14 Specific section 15 Transmitter 20 Wireless Base Stations 30,30a,30b,30c,30d Signal light equipment 40, 40a, 40b, 40c, 40d vehicles 60 Roadside unit 100 Distribution server (traffic information distribution device) 200,200a,200b,200c,200d On-vehicle equipment 300 Traffic Information Distribution System R1,R21,R22,R31,R32,R41,R42,R51,R52 area

Claims

1. an acquisition unit that acquires detection information indicating a detection result of an object in a target area from a detection device; an identification unit that identifies a clear area where no object exists, based on the detection information acquired by the acquisition unit, from a blind spot area of ​​the detection device in the target area; a transmitter that transmits position information of the clear area identified by the identification unit to a vehicle in the target area, the specifying unit is capable of specifying a priority area, which is an area that overlaps with an area that satisfies a predetermined condition regarding an area, within the clear area; The transmission unit transmits, to the vehicle, location information of the priority area among the location information of the clear area.

2. the region of interest includes an intersection; 2. The traffic information distribution device according to claim 1, wherein the area satisfying the predetermined condition is the intersection and an area of ​​a lane in which an oncoming vehicle traveling straight reaches the intersection when the vehicle turns right at the intersection.

3. 3. The traffic information distribution device according to claim 1, wherein the area satisfying the predetermined condition is an area of ​​a road along the traveling direction of the vehicle to which the location information of the priority area is to be transmitted, and an area where an object may travel in a direction intersecting the road along the traveling direction.

4. the region of interest includes an intersection; 3. The traffic information distribution device according to claim 1, wherein the area satisfying the predetermined condition is an area included within a predetermined range from the center of the intersection.

5. the region of interest includes an intersection; 3. The traffic information distribution device according to claim 1, wherein the area that satisfies the predetermined condition is an area of ​​a road that corresponds to a light color of a traffic light provided at the intersection.

6. a traffic information distribution device that acquires detection information indicating the detection result of an object in a target area from a detection device, and transmits position information of a clear area where no object is present, among blind spots of the detection device in the target area, to a vehicle in the target area based on the acquired detection information; an in-vehicle device mounted on the vehicle and providing driving assistance to the vehicle based on the position information of the clear area transmitted from the traffic information distribution device; The traffic information distribution device transmits to the vehicle location information of a priority area, which is an area of ​​the clear area that overlaps with an area that satisfies a predetermined area-related condition.

7. A traffic information distribution method in a traffic information distribution device, comprising: obtaining detection information from the detection device indicative of a detection result of an object in the target region; Identifying a clear area where no object exists, based on the acquired detection information, from a blind spot area of ​​the detection device in the target area; identifying a priority area from the clear area that overlaps with an area that satisfies a predetermined area-related condition; and transmitting location information of the identified priority area to vehicles in the target area.

8. A traffic information distribution program used in a traffic information distribution device, Computer, an acquisition unit that acquires detection information indicating a detection result of an object in a target area from a detection device; an identification unit that identifies a clear area where no object exists, based on the detection information acquired by the acquisition unit, from a blind spot area of ​​the detection device in the target area; a transmitter that transmits position information of the clear area identified by the identification unit to a vehicle in the target area; It is a program to function as the specifying unit is capable of specifying a priority area, which is an area that overlaps with an area that satisfies a predetermined condition regarding an area, within the clear area; The transmission unit transmits location information of the priority area from among the location information of the clear area to the vehicle.

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