Arithmetic device, arithmetic method, and program

Abstract

To properly calculate a road surface condition in a controlled section.SOLUTION: A processing unit includes: a controlled section acquisition unit that acquires location information of a start point and an end point of a controlled section SA of a road R; a behavior information acquisition unit for acquiring behavior information indicating a behavior of a vehicle moving along a detection section SB of the road R and location information of a start point and an end point of the detection section SB; an overlap length calculation unit that calculates an overlap length between the controlled section SA and the detection section SB based on the location information of the start point and the end point of the controlled section SA and the location information of the start point and end point of the detection section SB; and a road surface condition calculation unit that calculates a road surface condition in the controlled section SA based on the length of the controlled section SA, the overlap length, and the behavior information in the detection section SB.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a computing device, a computing method, and a program. [Background technology]

[0002] For example, as disclosed in Patent Document 1, a technique is known in which the acceleration of a vehicle traveling on a road is detected and the acceleration data is input into a learning model to estimate the state of the road surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-86960 Summary of the Invention [Problem to be solved by the invention]

[0004] When estimating road surface conditions from the detection results of vehicles traveling on a road, the road surface conditions are calculated for each specified section. Meanwhile, management organizations that manage roads, such as local governments, also set sections based on their own standards and manage roads for each set management section. Therefore, there is a risk that the sections used to calculate the road surface conditions may not match the management sections, making it impossible to properly calculate the road surface conditions for the management sections.

[0005] The present invention has been made in view of the above, and has an object to provide a calculation device, a calculation method, and a program that are capable of appropriately calculating the road surface conditions in a managed section. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the calculation device according to the present disclosure includes a management section acquisition unit that acquires position information of the start and end points of a management section of a road; a behavior information acquisition unit that acquires behavior information indicating the behavior of a vehicle that has moved in a detection section of the road and position information of the start and end points of the detection section; an overlap length calculation unit that calculates an overlap length between the management section and the detection section based on the position information of the start and end points of the management section and the position information of the start and end points of the detection section; and a road surface condition calculation unit that calculates the road surface condition in the management section based on the length of the management section, the overlap length, and the behavior information in the detection section. The road surface condition calculation unit calculates the road surface condition in the management section by correcting the behavior information in the detection section based on the ratio of the overlap length to the length of the management section. .

[0007] In order to solve the above-mentioned problems and achieve the object, the calculation method according to the present disclosure includes: A computing method executed by a computing device, comprising: The method includes the steps of: acquiring position information of the start and end points of a managed section of a road; acquiring behavior information indicating the behavior of a vehicle that has moved in a detected section of the road and position information of the start and end points of the detected section; calculating an overlap length between the managed section and the detected section based on the position information of the start and end points of the managed section and the position information of the start and end points of the detected section; and calculating a road surface condition in the managed section based on the length of the managed section, the overlap length, and the behavior information in the detected section. and in the step of calculating the road surface condition, the behavior information in the detection section is corrected based on a ratio of the overlap length to the length of the management section, thereby calculating the road surface condition in the management section. .

[0008] In order to solve the above-mentioned problems and achieve the object, the program of the present disclosure includes the steps of: acquiring position information of the start and end points of a managed section of a road; acquiring behavior information indicating the behavior of a vehicle that has moved in a detected section of the road and position information of the start and end points of the detected section; calculating an overlap length between the managed section and the detected section based on the position information of the start and end points of the managed section and the position information of the start and end points of the detected section; and calculating a road surface condition in the managed section based on the length of the managed section, the overlap length, and the behavior information in the detected section. In the step of calculating the road surface condition, the road surface condition in the management section is calculated by correcting the behavior information in the detection section based on a ratio of the overlap length to the length of the management section. . [Effects of the Invention]

[0009] According to the present invention, the road surface conditions in the managed section can be calculated appropriately. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic block diagram of a detection system according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram of a vehicle. [Figure 3] FIG. 3 is a schematic block diagram of the arithmetic unit. [Figure 4] FIG. 4 is a schematic diagram illustrating the control section and the detection section. [Figure 5] FIG. 5 is a schematic diagram for explaining calculation of the overlap length. [Figure 6] FIG. 6 is a schematic diagram for explaining calculation of the overlap length. [Figure 7] FIG. 7 is a flowchart illustrating the calculation flow of the road surface conditions of the managed section. [Figure 8] FIG. 8 is a flowchart illustrating the calculation flow of the road surface conditions of the managed section. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0012] (Detection System) FIG. 1 is a schematic block diagram of a detection system according to this embodiment. As shown in FIG. 1, the detection system 1 according to this embodiment includes a vehicle 10, a measurement data acquisition device 12, and a calculation device 14. The detection system 1 calculates the road surface condition based on the behavior information using the calculation device 14. In this embodiment, the road surface condition is an index indicating the degree of road surface roughness. More specifically, in this embodiment, the road surface condition is the International Roughness Index (IRI). However, the road surface condition is not limited to the IRI and may be any index indicating the road surface condition. For example, the road surface condition may be at least one of the IRI, road surface flatness, cracks, rutting, and the Maintenance Control Index (MCI).

[0013] In the detection system 1, a vehicle 10 detects behavior information and position information while traveling on a road, and transmits the detected behavior information and position information to a measurement data acquisition device 12. The behavior information and position information will be described later. The measurement data acquisition device 12 is, for example, a device (computer) managed by an entity that manages the road. The measurement data acquisition device 12 transmits the behavior information and position information transmitted from the vehicle 10 to a calculation device 14. In this way, the calculation device 14 acquires the behavior information and position information via the measurement data acquisition device 12, but this is not limited to this. For example, the detection system 1 may not be provided with a measurement data acquisition device 12, and the calculation device 14 may acquire the behavior information and position information from the vehicle 10.

[0014] (vehicle) FIG. 2 is a schematic diagram of a vehicle. As shown in FIG. 2, the vehicle 10 includes a position sensor 10A, a behavior sensor 10B, and a measurement device 10C. The position sensor 10A is a sensor that acquires position information of the vehicle 10. The position information of the vehicle 10 is information that indicates the Earth coordinates of the vehicle 10. In this embodiment, the position sensor 10A is a module for a GNSS (Global Navigation Satellite System). Note that the Z direction in FIG. 2 indicates the vertically upward direction, and FIG. 2 can be said to be a schematic diagram of the vehicle 10 as viewed from vertically above.

[0015] The behavior sensor 10B is a sensor that detects behavior information indicating the behavior of the vehicle 10. The behavior information may be any information that indicates the behavior of the vehicle 10 while traveling on a road. In this embodiment, the behavior sensor 10B preferably detects the acceleration of the vehicle 10 as the behavior information. In this case, the behavior sensor 10B is an acceleration sensor that detects acceleration, and more preferably an acceleration sensor that detects acceleration in three axes. Furthermore, the behavior information detected by the behavior sensor 10B is not limited to acceleration, and may be, for example, at least one of acceleration, image data captured around the vehicle 10, the speed of the vehicle 10, the angular velocity of the vehicle 10, the steering angle of the vehicle 10, the amount of braking of the vehicle 10, the operation of the wipers of the vehicle 10, and the amount of suspension operation of the vehicle 10. Note that the image data around the vehicle 10 changes depending on the movement of the vehicle 10, and therefore can be information indicating the behavior of the vehicle 10. The behavior sensor 10B that detects captured images of the surroundings of the vehicle 10 is, for example, a camera; the behavior sensor 10B that detects the speed of the vehicle 10 is, for example, a speed sensor; the behavior sensor 10B that detects the speed of the vehicle 10 is, for example, a three-axis gyro sensor; the behavior sensor 10B that detects the steering angle of the vehicle 10 is, for example, a steering sensor; the behavior sensor 10B that detects the amount of braking of the vehicle 10 is, for example, a brake sensor; the behavior sensor 10B that detects the operation of the wipers of the vehicle 10 is, for example, a wiper sensor; and the behavior sensor 10B that detects the amount of operation of the suspension of the vehicle 10 is, for example, a suspension sensor.

[0016] In this embodiment, the vehicle 10 is equipped with a plurality of behavior sensors 10B. The behavior sensors 10B are mounted at different positions on the vehicle 10. In the example of FIG. 2, the behavior sensors 10B include a behavior sensor 10B1 provided on the Z-direction side (vertically upward) of wheel TR1, which is the left front wheel; a behavior sensor 10B2 provided on the Z-direction side of wheel TR2, which is the right front wheel; a behavior sensor 10B3 provided on the Z-direction side of wheel TR3, which is the left rear wheel; and a behavior sensor 10B4 provided on the Z-direction side of wheel TR4, which is the right rear wheel. However, the positions at which the behavior sensors 10B are provided are arbitrary. Furthermore, the number of behavior sensors 10B is not limited to four and may be any number. Furthermore, although the number of wheels TR is four in the example of FIG. 2, the number is arbitrary and may be any number, for example, two or more. 2, the behavior sensors 10B1 to 10B4 detect the same type of behavior information (here, acceleration), but each behavior sensor 10B may detect a different type of behavior information. For example, multiple behavior sensors 10B (e.g., multiple acceleration sensors) that detect the same type of behavior information and a behavior sensor 10B (e.g., a speed sensor) that detects different behavior information may be provided.

[0017] The measuring device 10C controls the position sensor 10A and the behavior sensor 10B to detect the position information and behavior information of the vehicle 10 and record the detected position information and behavior information. In other words, the measuring device 10C functions as a data logger that records the position information and behavior information. The measuring device 10C can also be considered a computer and includes a control unit 10C1, a storage unit 10C2, and a communication unit 10C3. The control unit 10C1 is an arithmetic unit and includes an arithmetic circuit such as a central processing unit (CPU). The storage unit 10C2 is a memory that stores various information such as the calculation contents and programs of the control unit 10C1, the position information and behavior information of the vehicle 10, and the like. For example, the storage unit 10C2 includes at least one of a main storage device such as a random access memory (RAM), a read-only memory (ROM), and a non-volatile storage device such as a flash memory or a hard disk drive (HDD). The program for the control unit 10C1 stored in the storage unit 10C2 may be stored in a recording medium readable by the measuring device 10C. The communication unit 10C3 is a communication module that communicates with an external device, and is, for example, an antenna.

[0018] Control unit 10C1 reads out a program stored in storage unit 10C2 and controls position sensor 10A and behavior sensor 10B. While vehicle 10 is traveling on a road, control unit 10C1 causes position sensor 10A to detect position information of vehicle 10 at predetermined time intervals, causes behavior sensor 10B to detect behavior information at predetermined time intervals, and acquires the detected position information and behavior information. That is, control unit 10C1 causes position sensor 10A and behavior sensor 10B to perform detection every time vehicle 10 travels for a predetermined time. Here, the predetermined time is preferably a fixed time, for example, in the range of one second to one minute (e.g., three seconds), but the predetermined time is not limited to a fixed time and may be any length. That is, the predetermined time may change each time.

[0019] The control unit 10C1 associates the acquired behavior information with the location information and stores the information in the storage unit 10C2. That is, behavior information and location information detected at the same timing are associated with each other. The storage unit 10C2 stores the associated information for each detection timing. Note that the associated information is detected at the same timing, but it does not have to be exactly the same timing and may be detected at different timings. In this case, for example, behavior information and location information whose detection timing difference is equal to or less than a predetermined value are treated as having been detected at the same timing and are associated with each other. Note that the above description is based on the assumption that all sensors have the same sampling period, but if the sampling periods of the sensors differ, appropriate adjustments are made.

[0020] The control unit 10C1 transmits the associated behavior information and location information to the measurement data acquisition device 12 via the communication unit 10C3. The measurement data acquisition device 12 transmits the behavior information and location information received from the vehicle 10 to the calculation device 14. Note that if the measurement data acquisition device 12 is not provided, the control unit 10C1 may transmit the behavior information and location information directly to the calculation device 14.

[0021] (computing device) 3 is a schematic block diagram of a computing device. As shown in FIG. 3, the computing device 14 is, for example, a computer, and includes a communication unit 20, a storage unit 22, and a control unit 24. The communication unit 20 is a communication module that communicates with an external device, such as an antenna. The storage unit 22 is a memory that stores the computational content and programs of the control unit 24, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and a non-volatile storage device such as a flash memory or a HDD. The program for the control unit 24 saved in the storage unit 22 may be stored in a recording medium readable by the computing device 14.

[0022] The control unit 24 is a calculation device and includes a calculation circuit such as a CPU. The control unit 24 includes a management section acquisition unit 30, a behavior information acquisition unit 32, an overlap length calculation unit 34, and a road surface condition calculation unit 36. The control unit 24 implements the management section acquisition unit 30, the behavior information acquisition unit 32, the overlap length calculation unit 34, and the road surface condition calculation unit 36 ​​by reading and executing a program (software) from the storage unit 22. The control unit 24 may implement these processes using a single CPU, or may be provided with multiple CPUs and execute the processes using the multiple CPUs. Furthermore, at least a portion of the management section acquisition unit 30, the behavior information acquisition unit 32, the overlap length calculation unit 34, and the road surface condition calculation unit 36 ​​may be implemented using hardware.

[0023] (Control section and detection section) FIG. 4 is a schematic diagram illustrating a management section and a detection section. Here, a management organization that manages roads, such as a local government, sets sections on the roads according to its own standards and manages the roads for each set section. Hereinafter, as shown in FIG. 4, a section set in advance by a management organization or the like will be referred to as a management section SA. The length of the management section SA may be any length, for example, within a range of 10 meters to several hundred meters, and more specifically, may be approximately 100 meters in length. Note that the management section SA is not limited to a section set by the management organization, but may be a section set by any entity, and the method for setting the management section SA may also be arbitrary.

[0024] Meanwhile, the arithmetic device 14 calculates the road surface condition based on the behavior information. In this case, since the behavior information is detected continuously at predetermined time intervals, the arithmetic device 14 calculates the road surface condition in the section where the vehicle 10 has traveled in that unit time based on the behavior information detected in that unit time. The unit time may be set arbitrarily, and may be set, for example, to be longer than the predetermined time which is the sampling rate of the behavior information and position information, and may be, for example, 10 times the predetermined time (the time for 10 samplings). Hereinafter, as shown in FIG. 4, the section where the vehicle 10 has traveled in the unit time will be referred to as the detection section SB.

[0025] Here, it may be desirable to calculate the road surface condition based on the management section SA. However, for example, since the detection section SB is the section traveled by the vehicle 10 per unit time, its length varies depending on the vehicle speed, etc., while the length and position of the management section SA are preset (fixed), so the detection section SB and the management section SA may not match. Since the road surface condition is calculated based on the detection period SB, if the detection section SB and the management section SA do not match, it may not be possible to properly calculate the road surface condition in the management section SA. In contrast, the calculation device 14 according to this embodiment calculates the road surface condition in the management section SA from the road surface condition in the detection section SB using position information of the management section SA and position information of the detection section SB, so it is possible to properly calculate the road surface condition in the management section SA. Below, the processing of the calculation device 14 will be specifically described.

[0026] (Management Section Acquisition Section) The management section acquisition unit 30 acquires position information of the management section SA of road R. In this embodiment, road R refers to a road whose road surface condition is unknown and for which road surface conditions are to be calculated. The position information of the management section SA refers to position information (Earth coordinates) of the section of road R that is set in the management section SA, and refers to position information of the start point and end point of the management section SA. However, the position information of the management section SA may include position information of any position between the start point and end point of the management section SA in addition to position information of the start point and end point of the management section SA. In this embodiment, the management section acquisition unit 30 acquires, as position information of the management section SA, position information of the start point Aa, which is one end of the management section, and position information of the end point Ab, which is the other end of the management section. However, the management section acquisition unit 30 may also acquire position information of each position between the start point Aa and end point Ab. The management section acquisition unit 30 may acquire the location information of the management section in any manner, for example, it may acquire the location information of the management section that has been set in advance from another device, or it may acquire the location information of the management section that has been input into the calculation device 14 by the user.

[0027] (Behavior information acquisition unit) When calculating the road surface condition of road R, the vehicle 10 is caused to detect behavior information and position information while traveling on road R. The behavior information acquisition unit 32 of the calculation device 14 acquires behavior information detected by the behavior sensor 10B while traveling on road R. The behavior information acquisition unit 32 also acquires position information of the vehicle 10 detected by the position sensor 10A while traveling on road R. In other words, the behavior information acquisition unit 32 acquires associated behavior information and position information detected while traveling on road R.

[0028] It can be said that the behavior information acquisition unit 32 acquires behavior information in the detection section SB and position information of the detection section SB. The behavior information in the detection section SB is behavior information detected while the vehicle 10 is moving through the detection section SB, and the position information of the detection section SB refers to position information (earth coordinates) of the detection section SB on the road R, and refers to position information of the start point and end point of the detection section SB. However, the position information of the detection section SB may include position information of any position between the start point and end point of the detection section SB in addition to the position information of the start point and end point of the detection section SB. In this embodiment, the behavior information acquisition unit 32 acquires, as the position information of the detection section SB, position information of a start point Ba, which is one end of the detection section SB, and position information of an end point Bb, which is the other end of the detection section SB. For example, if the section through which the vehicle 10 moved over a period of 10 samplings is defined as the detection section, it can be said that the position of the vehicle 10 at the first sampling is the start point Ba, and the position of the vehicle 10 at the tenth sampling is the end point Bb. The behavior information acquisition unit 32 may also acquire position information of each position between the start point Ba and the end point Bb.

[0029] In this embodiment, the calculation device 14 calculates the road surface condition for each detection section SB. Therefore, the behavior information acquisition unit 32 acquires behavior information and position information for each detection section SB.

[0030] (Overlap length calculation section) The overlap length calculation unit 34 calculates the overlap length between the management section SA and the detection section SB based on the position information of the management section SA and the position information of the detection section SB. The overlap length is an index value indicating the length of the overlapping section between the management section SA and the detection section SB. The overlap length calculation unit 34 calculates the overlap length for each detection section SB. The method for calculating the overlap length will be described below.

[0031] (Overlap length when the entire control interval is included in the detection interval) 5 is a schematic diagram for explaining the calculation of the overlap length. As shown in the example of FIG. 5, when the entire management section SA (all sections) is included in one detection section SB, the overlap length calculation unit 34 determines the total length of the management section SA as the overlap length. The total length of the management section SA refers to the distance from the start point Aa to the end point Ab of the management section SA. When the entire management section SA is included in one detection section SB, this means that both the start point Aa and the end point Ab of the management section SA are located within the detection section SB, in other words, this means that both the start point Aa and the end point Ab of the management section SA are located between the start point Ba and the end point Bb of the detection section SB.

[0032] (Overlap length when the entire detection interval is included in the control interval) FIG. 6 is a schematic diagram for explaining the calculation of the overlap length. When the entire detected section SB (all sections) is included in one management section SA, the overlap length calculation unit 34 determines the total length of the detected section SB as the overlap length. The total length of the detected section SB refers to the distance from the start point Ba to the end point Bb of the detected section SB. FIG. 6 shows an example in which the entire detected section SB2 is included in the management section SA. As shown in FIG. 6, the entire detected section SB2 being included in one management section SA means that both the start point Ba2 and the end point Bb2 of the detected section SB2 are located within the management section SA. In other words, both the start point Ba2 and the end point Bb2 of the detected section SB2 are located between the start point Aa and the end point Ab of the management section SA.

[0033] (Overlap length when part of the detection interval is included in the control interval) When a portion (part of the section) of the detection section SB is included in one management section SA, the overlap length calculation unit 34 determines the length of the section where the detection section SB and the management section SA overlap as the overlap length. When a portion of the detection section SB is included in one management section SA, this means that only one of the start point Ba and end point Bb of the detection section SB is located within the management section SA. In other words, this means that only one of the start point Ba and end point Bb of the detection section SB is located between the start point Aa and end point Ab of the management section SA, and the other of the start point Ba and end point Bb of the detection section SB is not located between the start point Aa and end point Ab of the management section SA.

[0034] FIG. 6 shows an example in which portions of the detection sections SB1 and SB2 are included in the management section SA. In the example of FIG. 6, the end point Bb1 of the detection section SB1 is located between the start point Aa and the end point Ab of the management section SA, and the start point Ba1 of the detection section SB1 is not located between the start point Aa and the end point Ab. In this case, the overlap length calculation unit 34 calculates the distance from the start point Aa of the management section SA to the end point Bb1 of the detection section SB1 as the overlap length. Also, in the example of FIG. 6, the start point Ba3 of the detection section SB3 is located between the start point Aa and the end point Ab of the management section SA, and the end point Bb3 of the detection section SB3 is not located between the start point Aa and the end point Ab. In this case, the overlap length calculation unit 34 calculates the distance from the start point Ba3 of the detection section SB3 to the end point Ab of the management section SA as the overlap length.

[0035] It should be noted that if the entire detection section SB is not included in the management section SA, that is, if the detection section SB and the management section SA do not overlap, there is no need to calculate the overlap length.

[0036] (Road surface condition calculation section) The road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA based on the length of the management section SA, the overlap length, and the behavior information in the detection section SB. More specifically, the road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA by correcting (weighting) the behavior information in the detection section SB using the ratio (weight ratio) of the overlap length to the length of the management section SA. This will be explained in more detail below.

[0037] (Calculation of road surface conditions in the detection section) The road surface condition calculation unit 36 ​​calculates the road surface condition in the detection section SB based on the behavior information in the detection section SB. In this embodiment, the road surface condition calculation unit 36 ​​calculates the road surface condition in the detection section SB using a learning model that has been machine-learned to determine the correspondence between behavior information and road surface conditions. The learning model here is a so-called supervised model, and is machine-learned using a data set that uses behavior information as an input value and road surface conditions at the position where the behavior information is detected as an output value as teacher data. The road surface condition calculation unit 36 ​​inputs the behavior information in the detection section SB to the trained learning model. In the learning model, the behavior information is input as input data and calculations are performed. As a result, the learning model outputs the road surface condition in the detection section SB as output data. It can be said that the calculation unit 42 calculates the road surface condition output as output data as the road surface condition of the detection section SB. The calculation unit 42 inputs the behavior information for each detection section SB to the learning model and calculates the road surface condition for each detection section SB.

[0038] In this way, the learning model is a model (program) that, when behavior information is input, can calculate the road surface condition at the position where the behavior information is detected. The learning model is a learning model learned by deep learning, and is composed of variables and a model (neural network configuration information) that defines a neural network that constitutes a classifier learned by deep learning. The learning model can determine the label of input data based on the data. In the example of this embodiment, the learning model is a CNN (Conventional Neural Network) model, but is not limited to a CNN model and may be a learning model of any type.

[0039] However, the road surface condition calculation unit 36 ​​is not limited to calculating the road surface condition in the detection section SB using a learning model, and may calculate the road surface condition in the detection section SB using any method based on the behavior information in the detection section SB. Furthermore, the process of calculating the road surface condition in the detection section SB based on the behavior information in the detection section SB by the road surface condition calculation unit 36 ​​is not essential. For example, the behavior sensor 10B may detect the road surface condition itself as behavior information. In this case, the road surface condition calculation unit 36 ​​may treat the behavior information in the detection section SB detected by the behavior sensor 10B as the road surface condition in the detection section SB. In this case, the calculation process of the road surface condition in the detection section SB is not necessary.

[0040] (Calculation of road surface conditions in managed sections) The road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA based on the road surface condition in the detection section SB, the length of the management section SA, and the overlap length. More specifically, the road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA by correcting the road surface condition in the detection section SB using the ratio (weight ratio) of the overlap length to the length of the management section SA.

[0041] When the management section SA overlaps with only one detection section SB, the road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA by correcting the road surface condition in the detection section SB using the ratio (weight ratio) of the overlap length calculated for that detection section SB to the length of the management section SA. Note that "the management section SA overlaps with the detection section SB" here refers to at least a portion of the management section SA overlapping with at least a portion of the detection section SB. In this case, for example, the road surface condition calculation unit 36 ​​multiplies the road surface condition in the detection section SB by the weight ratio and sets the road surface condition in the management section SA to be the value obtained. For example, in FIG. 5, the management section SA overlaps with only one detection section SB, and the overlap length is set as the length of the management section SA. Therefore, in the example of FIG. 5, the weight ratio is 1, and the road surface condition calculation unit 36 ​​calculates the value of the road surface condition in the detection section SB as the road surface condition in the management section SA.

[0042] When the management section SA overlaps with multiple detection sections SB, the road surface condition calculation unit 36 ​​corrects the road surface condition in the detection section SB by using a weight ratio for each detection section SB that overlaps with the management section SA, and calculates the road surface condition in the management section SA based on the corrected road surface condition of each detection section SB. In other words, when the management section SA overlaps with multiple detection sections SB, the road surface condition in the management section SA is calculated by weighting the road surface condition in each detection section SB by a weight ratio. For example, the road surface condition calculation unit 36 ​​may calculate a value obtained by multiplying the road surface condition in the detection section SB by the weight ratio as the corrected value for the road surface condition in the detection section SB, and may use the sum of the corrected values ​​for the road surface condition in the detection sections SB as the road surface condition in the management section SA.

[0043] For example, in FIG. 6, the management section SA overlaps with the detection sections SB1, SB2, and SB3. Therefore, in the example of FIG. 6, the road surface condition calculation unit 36 ​​calculates a value obtained by multiplying the road surface condition of the detection section SB1 by the weight ratio of the detection section SB1 (the ratio of the length from the start point Aa to the end point Bb1 to the length of the management section SA) as the corrected value of the road surface condition of the detection section SB1. The road surface condition calculation unit 36 ​​also calculates a value obtained by multiplying the road surface condition of the detection section SB2 by the weight ratio of the detection section SB2 (the ratio of the length of the detection section SB2 to the length of the management section SA) as the corrected value of the road surface condition of the detection section SB2. The road surface condition calculation unit 36 ​​also calculates a value obtained by multiplying the road surface condition of the detection section SB3 by the weight ratio of the detection section SB3 (the ratio of the length from the start point Ba3 to the end point Ab to the length of the management section SA) as the corrected value of the road surface condition of the detection section SB3. The road surface condition calculation unit 36 ​​determines the road surface condition in the management section SA to be the sum of the corrected value of the road surface condition in the detection section SB1, the corrected value of the road surface condition in the detection section SB2, and the corrected value of the road surface condition in the detection section SB3.

[0044] Furthermore, when the management section SA overlaps with multiple detection sections SB, the road surface condition calculation unit 36 ​​may calculate the road surface condition in the management section SA by performing any averaging process on each of the detection sections SB that overlap with the management section SA. Examples of averaging processes used here include geometric averaging and weighted averaging. Using FIG. 6 as an example, in the geometric averaging process, for example, the cube root of the product of the road surface conditions of the detection sections SB1, SB2, and SB3 is determined to be the road surface condition in the management section SA. In the weighted averaging process, the ratio of the length of the detection section SB that overlaps with the management section SA to the entire length of the detection section SB is used as a weight, the road surface condition in the detection section SB is treated as data, and values ​​multiplied by the data weight are summed for each detection section SB. The sum is then divided by the sum of the weights (the sum of the weights for each detection section SB) to determine the road surface condition in the management section SA. For example, the overall length of the detection section SB1 is 50m, the length of overlap of the detection section SB1 with the management section SA is 40m, the ratio of the length of overlap with the management section SA to the overall length of the detection section SB1 is 0.8, the overall length of the detection section SB2 is 20m, the length of overlap with the management section SA of the detection section SB2 is 20m, the ratio of the length of overlap with the management section SA to the overall length of the detection section SB2 is 1, the overall length of the detection section SB3 is 50m, the length of overlap with the management section SA of the detection section SB3 is 50m, the ratio of the length of overlap with the management section SA to the overall length of the detection section SB3 is 0.8, and the road surface conditions of the detection sections SB1, SB2, and SB3 are 10, 8, and 6, respectively. In this case, the sum of the data (road surface condition) multiplied by the weight (the ratio of the length of the detection section SB that overlaps with the management section SA to the total length of the detection section SB) for each detection section SB is 0.8 x 10 + 1 x 8 + 0.8 x 6, which is 20.8, and the sum of the weights is 2.6, so the road surface condition in the management section SA is 20.8 / 2.6, which is 8.

[0045] (Processing flow) Next, the calculation flow for the road surface conditions of the managed section explained above will be explained. Figures 7 and 8 are flowcharts for explaining the calculation flow for the road surface conditions of the managed section.

[0046] 7, the calculation device 14 acquires the position information of the management section SA, the position information of the detection section SB, and the behavior information of the detection section SB using the management section acquisition unit 30 and the behavior information acquisition unit 32 (step S10). The calculation device 14 calculates the overlap length based on the position information of the management section SA and the position information of the detection section SB using the overlap length calculation unit 34 (step S12), calculates the road surface condition of the detection section SB from the behavior information of the detection section SB (step S14), and calculates the road surface condition of the management section SA from the length of the management section SA, the overlap length, and the road surface condition of the detection section SB (step S16). Note that if there are multiple management sections SA, the road surface condition may be calculated for each management section SA.

[0047] The details of the process flow for calculating the overlap length shown in step S12 will be explained with reference to Fig. 8. As shown in Fig. 8, the overlap length calculation unit 34 determines whether both the start point Aa and the end point Ab of the management section SA are within the detection section SB (step S20), and if they are (step S20; Yes), it sets the total length of the management section SA as the overlap length (step S22). If both the start point Aa and the end point Ab of the management section SA are not within the detection section SB (step S20; No), the overlap length calculation unit 34 determines whether both the start point Ba and the end point B of the detection section SB are within the management section SA (step S24), and if they are (step S24; Yes), it sets the total length of the detection section SB as the overlap length (step S26). If neither the start point Ba nor the end point B of the detected section SB is within the managed section SA (step S24; No), the overlap length calculation unit 34 determines whether either the start point Ba or the end point B of the detected section SB is within the managed section SA (step S28), and if so (step S28; Yes), it determines the overlap length as the section where the detected section SB and the managed section SA overlap (step S30). If either the start point Ba or the end point B of the detected section SB is not within the managed section SA (step S28; No), that is, if the detected section SB and the managed section SA do not overlap, no processing is performed (step S32). That is, in step S32, it is not necessary to perform processing to determine the road surface condition of the managed section SA using the detected section SB, such as calculating the overlap length, or the overlap length may be treated as zero.

[0048] (effect) As described above, the calculation device 14 of this embodiment includes a management section acquisition unit 30 that acquires position information of the management section SA of road R, a behavior information acquisition unit 32 that acquires behavior information indicating the behavior of the vehicle 10 moving through the detection section SB of road R and the position information of the detection section SB, an overlap length calculation unit 34 that calculates the overlap length between the management section SA and the detection section SB based on the position information of the management section SA and the position information of the detection section SB, and a road surface condition calculation unit 36 ​​that calculates the road surface condition in the management section SA based on the length of the management section SA, the overlap length, and the behavior information in the detection section SB.

[0049] According to this embodiment, the overlap length calculated from the positions of the management section SA and the detection section SB and the length of the management section SA are used to calculate the road surface condition in the management section SA based on the behavior information in the detection section SB. Therefore, it is possible to appropriately convert the behavior information in the detection section SB into the road surface condition in the management section SA, and the road surface condition in the management section SA can be appropriately calculated.

[0050] The road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA by correcting the behavior information in the detection section SB using the ratio (weight ratio) of the overlap length to the length of the management section SA. According to this embodiment, by using the weight ratio, it is possible to appropriately convert the behavior information in the detection section SB into the road surface condition in the management section SA, and the road surface condition in the management section SA can be appropriately calculated.

[0051] The road surface condition calculation unit 36 ​​calculates the road surface condition in the detection section SB by inputting the behavior information in the detection section SB into a learning model that has learned the correspondence between behavior information and road surface conditions through machine learning. The road surface condition calculation unit 36 ​​calculates the road surface condition in the management section SA by correcting the road surface condition in the detection section SB using the ratio of the overlap length to the length of the management section SA. According to this embodiment, the road surface condition in the detection section SB calculated from the learning model can be corrected using a weight ratio, thereby making it possible to appropriately calculate the road surface condition in the management section.

[0052] When both the start point Aa and the end point Ab of the management section SA are within the detection section SB, the overlap length calculation unit 34 determines the total length of the management section SA as the overlap length. This allows appropriate weighting according to the degree of overlap to be performed, making it possible to appropriately calculate the road surface condition in the management section.

[0053] When both the start point Ba and the end point Bb of the detected section SB are within the managed section SA, the overlap length calculation unit 34 determines the total length of the detected section SB as the overlap length. This allows appropriate weighting according to the degree of overlap to be performed, making it possible to appropriately calculate the road surface condition in the managed section.

[0054] When either the start point Ba or the end point Bb of the detected section SB is within the managed section SA, the overlap length calculation unit 34 determines the length of the section where the detected section SB and the managed section SA overlap as the overlap length. This allows appropriate weighting according to the degree of overlap to be performed, making it possible to appropriately calculate the road surface condition in the managed section.

[0055] Although the embodiments and examples of the present invention have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments. [Explanation of symbols]

[0056] 1. Detection System 10 vehicles 10A Position Sensor 10B Motion Sensor 14 Arithmetic unit 30 Control Section Acquisition Unit 32 Behavior information acquisition unit 34 Overlap length calculation unit 36 Road surface condition calculation unit SA controlled section SB detection section

Claims

1. a management section acquisition unit that acquires location information of the start point and end point of a management section of a road; a behavior information acquisition unit that acquires behavior information indicating the behavior of a vehicle that has moved through the detected section of the road and position information of the start point and end point of the detected section; an overlap length calculation unit that calculates an overlap length between the management section and the detection section based on position information of the start point and end point of the management section and position information of the start point and end point of the detection section; a road surface condition calculation unit that calculates the road surface condition in the management section based on the length of the management section, the overlap length, and the behavior information in the detection section; Including, the road surface condition calculation unit calculates the road surface condition in the management section by correcting the behavior information in the detection section based on a ratio of the overlap length to the length of the management section. Computing device.

2. The road surface condition calculation unit calculating the road surface condition in the detection section by inputting the behavior information in the detection section into a learning model that has machine-learned the correspondence between behavior information and road surface conditions; The calculation device according to claim 1 , wherein the road surface condition in the control section is calculated by correcting the road surface condition in the detection section based on a ratio of the overlap length to the length of the control section.

3. 3. The computing device according to claim 1, wherein the overlap length calculation unit determines the total length of the management section as the overlap length when both the start point and the end point of the management section are within the detection section.

4. 3. The computing device according to claim 1, wherein the overlap length calculation unit determines the total length of the detected section as the overlap length when both the start point and the end point of the detected section are within the management section.

5. 3. The calculation device according to claim 1, wherein the overlap length calculation unit determines the length of the overlapping section between the detection section and the management section when one of the start point and end point of the detection section is within the management section as the overlap length.

6. A computing method executed by a computing device, comprising: acquiring location information of the start point and end point of the managed section of the road; acquiring behavior information indicating the behavior of a vehicle that has traveled through the detected section of the road, and position information of the start point and end point of the detected section; calculating an overlap length between the management section and the detection section based on position information of the start point and end point of the management section and position information of the start point and end point of the detection section; calculating a road surface condition in the management section based on the length of the management section, the overlap length, and the behavior information in the detection section; Including, In the step of calculating the road surface condition, the road surface condition in the management section is calculated by correcting the behavior information in the detection section based on a ratio of the overlap length to the length of the management section. Calculation method.

7. acquiring location information of the start point and end point of the managed section of the road; acquiring behavior information indicating the behavior of a vehicle that has traveled through the detected section of the road, and position information of the start point and end point of the detected section; calculating an overlap length between the management section and the detection section based on position information of the start point and end point of the management section and position information of the start point and end point of the detection section; calculating a road surface condition in the management section based on the length of the management section, the overlap length, and the behavior information in the detection section; The computer executes the following. In the step of calculating the road surface condition, the road surface condition in the management section is calculated by correcting the behavior information in the detection section based on a ratio of the overlap length to the length of the management section. program.

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