Emergency vehicle detection device, emergency vehicle detection method and program

Abstract

Provided are: an emergency vehicle detection device that is capable of detecting, with a high precision, an emergency vehicle traveling in response to an emergency; an emergency vehicle detection method; and a program recording medium. This emergency vehicle detection device comprises: a determination means that, on the basis of features of a vehicle traveling on a road and relative movements between said vehicle and circumjacent vehicles, makes a determination as to whether or not said vehicle is an emergency vehicle traveling in response to an emergency; and a transmission means that transmits a result of said determination to a prescribed management terminal.

Description

[Technical Field]

[0001] The present invention relates to an emergency vehicle detection device, an emergency vehicle detection method, and program Regarding. [Background technology]

[0002] Systems are known that control traffic signals to allow emergency vehicles traveling in an emergency to arrive at the scene as quickly as possible, and that instruct surrounding vehicles to give way. For example, Patent Document 1 discloses an example of an emergency vehicle priority control system that controls traffic signal displays so that emergency vehicles have priority at intersections regardless of the driving state of the emergency vehicle. This document employs a configuration in which roadside communication devices are used to perform road-to-vehicle communication with the emergency vehicle and identify the emergency vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-209680 Summary of the Invention [Problem to be solved by the invention]

[0004] When controlling traffic signals, there is a need to give priority to only emergency vehicles that are traveling in an emergency, but there is a problem in that it is difficult to determine whether or not an emergency situation exists. For example, a method of recognizing emergency vehicles from images taken by a camera is conceivable, but there is a problem in that it is difficult to determine whether or not an emergency vehicle is traveling in an emergency from the camera image alone, as it is difficult to determine the state of the rotating light mounted on the top of the vehicle.

[0005] This is also the case with Patent Document 1, where it is not possible to determine whether an emergency vehicle is traveling in an emergency based solely on the identification information obtained through road-to-vehicle communication. Furthermore, the method of Patent Document 1 requires the installation of a roadside communication device.

[0006] The present disclosure provides an emergency vehicle detection device, an emergency vehicle detection method, and program The purpose is to provide the following. [Means for solving the problem]

[0007] According to a first aspect, an emergency vehicle detection device is provided that includes a determination means for determining whether a vehicle is an emergency vehicle traveling on a road based on the characteristics of the vehicle and the relative movement of the vehicle and surrounding vehicles, and a transmission means for transmitting the result of the determination to a specified management terminal.

[0008] According to a second aspect, an emergency vehicle detection method is provided which determines whether a vehicle is an emergency vehicle traveling on a road based on the characteristics of the vehicle and the relative movement of the vehicle and surrounding vehicles, and transmits the result of the determination to a specified management terminal.

[0009] According to a third aspect, a recording medium is provided that stores a program that causes a computer to execute the following processes: determining whether a vehicle is an emergency vehicle traveling in an emergency based on the characteristics of the vehicle traveling on a road and the relative movement of the vehicle and surrounding vehicles; and transmitting the result of the determination to a specified management terminal. [Effects of the Invention]

[0010] According to the present disclosure, an emergency vehicle detection device, an emergency vehicle detection method, and a program that can accurately detect an emergency vehicle traveling in an emergency are provided. Mu Provided. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating a configuration of an embodiment of the present disclosure. [Figure 2] 1 is a flow chart illustrating the operation of one embodiment of the present disclosure. [Figure 3] FIG. 10 is a diagram for explaining the operation of an embodiment of the present disclosure. [Figure 4] 1 is a diagram illustrating a configuration of a first embodiment of the present disclosure. [Figure 5] 3 is a flowchart showing the operation of the emergency vehicle detection device according to the first embodiment of the present disclosure. [Figure 6] 6 is another flowchart illustrating the operation of the emergency vehicle detection device according to the first embodiment of the present disclosure. [Figure 7] FIG. 10 is a diagram illustrating a configuration of a second embodiment of the present disclosure. [Figure 8] 6 is a flowchart illustrating the operation of the emergency vehicle detection device according to the second embodiment of the present disclosure. [Figure 9] FIG. 6 is a diagram for explaining the operation of the emergency vehicle detection device according to the second embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram illustrating a configuration of a third embodiment of the present disclosure. [Figure 11] FIG. 10 is a diagram for explaining the operation of the emergency vehicle detection device according to the third embodiment of the present disclosure. [Figure 12] FIG. 10 is a diagram illustrating a configuration of a fourth embodiment of the present disclosure. [Figure 13] FIG. 10 is a diagram for explaining the operation of the emergency vehicle detection device according to the fourth embodiment of the present disclosure. [Figure 14] FIG. 10 is a diagram illustrating a configuration of a fifth embodiment of the present disclosure. [Figure 15] FIG. 2 is a diagram illustrating the configuration of a computer that constitutes the emergency vehicle detection device of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] First, an overview of one embodiment of the present disclosure will be described with reference to the drawings. Note that the reference numerals in this overview are added to each element for convenience as an example to facilitate understanding, and are not intended to limit the present disclosure to the illustrated form. Furthermore, connecting lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional lines. Unidirectional arrows are used to schematically indicate the flow of main signals (data) and do not exclude bidirectionality. A program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device. Furthermore, this computer device is configured to be able to communicate with internal or external devices (including computers) via the communication interface, whether wired or wireless. Furthermore, ports or interfaces are present at the input / output connection points of each block in the drawings, but are not shown.

[0013] In one embodiment, the present disclosure can be realized in an emergency vehicle detection device 10 including a determination means 11 and a transmission means 12, as shown in FIG.

[0014] More specifically, the determination means 11 determines whether the vehicle is an emergency vehicle traveling on an emergency basis based on the characteristics of the vehicle traveling on the road and the relative movement of the vehicle and surrounding vehicles. Then, the transmission means 12 transmits the result of the determination to a predetermined management terminal.

[0015] The determination means 11 may be configured to recognize the characteristics of the vehicle and the relative movement between the vehicle and surrounding vehicles from an image captured by a camera C capable of capturing images of the road. The camera C capable of capturing images may be, for example, a fixed camera installed around the road. However, the camera C is not limited to this and may be, for example, a camera mounted on a moving object such as a vehicle.

[0016] Emergency driving refers to the state in which an emergency vehicle is rushing to the scene while using sirens, flashing lights, etc. For example, Article 39 of Japan's Road Traffic Act defines emergency driving as driving for emergency purposes as prescribed by government ordinance. The Act also stipulates that emergency vehicles may travel all or part of the road to the right side of the road when necessary to overtake or for other unavoidable reasons, and that they are exempt from the obligation to stop or slow down. Emergency driving thus includes the state of driving for emergency purposes as defined by the Act.

[0017] The emergency vehicle detection device 10 configured as described above operates as follows. First, the emergency vehicle detection device 10 determines whether or not a vehicle traveling on a road is an emergency vehicle traveling in an emergency based on the characteristics of the vehicle and the relative movement between the vehicle and surrounding vehicles (step S01 in FIG. 2). For example, the emergency vehicle detection device 10 identifies an emergency vehicle based on the characteristics of the vehicle captured in an image captured by camera C (see emergency vehicle EmV in the lower part of FIG. 1). Furthermore, the emergency vehicle detection device 10 determines whether or not the vehicle is an emergency vehicle traveling in an emergency based on the relative movement between the vehicle and surrounding vehicles (see the movement of vehicle SV in the lower part of FIG. 1). In the example of FIG. 1, a predetermined number or more of vehicles SV traveling in the direction of travel of the emergency vehicle EmV are moving to one side of the road to give way. In such a case, the emergency vehicle detection device 10 can determine that the emergency vehicle EmV is traveling in an emergency.

[0018] If it is confirmed that the vehicle is an emergency vehicle traveling in an emergency, the emergency vehicle detection device 10 transmits the determination result to a predetermined management terminal (step S02). The management terminal that receives the determination result uses the received determination result to control traffic signals or display messages on electronic bulletin boards or the like along the route of the emergency vehicle.

[0019] FIG. 3 illustrates the state of a road when the emergency vehicle EmV is not traveling in an emergency. The example of FIG. 3 illustrates a road with two lanes on each side. The emergency vehicle EmV is traveling in the right lane, and the other vehicles SV are traveling in the left lane. Depending on the relative speed between the emergency vehicle EmV and the other vehicles SV, the emergency vehicle EmV may overtake the vehicle SV, as in FIG. 1. However, because the emergency vehicle EmV is not traveling in an emergency, the vehicles SV on its path are not making any movement to yield to the emergency vehicle EmV. Therefore, in a situation such as the lower part of FIG. 3, the emergency vehicle detection device 10 may determine that an emergency vehicle is present but is not traveling in an emergency. In this way, by taking into account the relative speed between the emergency vehicle EmV and the other vehicles SV and the movement of the other vehicles SV to yield to the emergency vehicle EmV, the emergency vehicle detection device 10 can more accurately determine whether the emergency vehicle EmV is traveling in an emergency. Therefore, by using the emergency vehicle detection device 10 of the present disclosure, it can be correctly determined that the emergency vehicle EmV is not traveling in an emergency in a situation such as that shown in FIG.

[0020] As described above, according to this embodiment, it is possible to accurately detect an emergency vehicle EmV traveling in an emergency, and to use this information to control traffic signals and display information on electronic bulletin boards.

[0021] In the above description, the emergency vehicle detection device 10 determines whether a vehicle is an emergency vehicle based on the characteristics of the vehicle captured in the image, but this is not limited to this. For example, it can also determine whether a vehicle is an emergency vehicle based on the characteristics of the sound emitted by the vehicle or the characteristics of the signal transmitted by the vehicle via vehicle-to-vehicle communication or road-to-vehicle communication.

[0022] In the above description, the emergency vehicle detection device 10 recognizes the relative movement of the vehicle and surrounding vehicles from images captured by a camera C capable of capturing images of the road, but this is not limited to this. For example, the emergency vehicle detection device 10 may recognize the relative movement of the vehicle and surrounding vehicles from information acquired by a laser, radar, LiDAR, or a detector embedded in the road surface.

[0023] [First embodiment] Next, a first embodiment in which the present disclosure is applied to traffic control applications will be described in detail with reference to the drawings. Fig. 4 is a diagram showing the configuration of the first embodiment of the present disclosure. Referring to Fig. 4, a configuration including a camera C, an emergency vehicle detection device 100, and a control center 200 is shown.

[0024] The camera C is placed in a position where it can capture an image of the road, and provides the captured image to the emergency vehicle detection device 100. Although the example in Figure 4 shows one camera C, multiple cameras C may be placed.

[0025] For example, a controller is stationed in the control center 200. Based on the emergency vehicle detection notification received from the emergency vehicle detection device 100, the controller operates to change the traffic signal ahead of the emergency vehicle to green. The controller also operates to display a warning message or the like notifying the approach or passage of an emergency vehicle on an electronic billboard, an in-vehicle terminal, a user's smartphone, or the like around the road ahead of the emergency vehicle. The warning message may notify vehicles that do not yield to the emergency vehicle EmV to give way. The warning message may also be displayed on a signage device or an information display board installed near the road. It is not necessary for a controller to be stationed in the control center 200. In this case, the control center 200 uses a predetermined processing device (automatic control device) to operate the traffic signal lights or display a warning message or the like based on the emergency vehicle detection notification.

[0026] The emergency vehicle detection device 100 includes a determination unit 101 and a transmission unit 102. The determination unit 101 functions as a determination means for determining whether or not a vehicle is an emergency vehicle traveling in an emergency, based on the characteristics of the vehicle captured in an image taken by a camera C and the relative movement between the vehicle and surrounding vehicles.

[0027] The transmitting unit 102 functions as a transmitting means for transmitting the result of detection of an emergency vehicle traveling in an emergency by the determining unit 101, that is, the result of determination, to the control center 200.

[0028] Next, the operation of this embodiment will be described in detail with reference to the drawings. FIG. 5 is a flowchart showing the operation of the emergency vehicle detection device 100 of the first embodiment. Referring to FIG. 5, first, the emergency vehicle detection device 100 analyzes an image (first image) captured by a camera C capable of capturing images of the road (step S001) and detects surrounding vehicles that are yielding to the other vehicle. If, as a result of the detection, the number of detected vehicles within a certain period of time is equal to or exceeds a predetermined number (Yes in step S002), the emergency vehicle detection device 100 determines that there is a high possibility that an emergency vehicle is approaching and proceeds to the next step S003. If the number of vehicles yielding to the other vehicle is less than the predetermined number, the emergency vehicle detection device 100 does nothing and returns to step S001 (step S002). This prevents the emergency vehicle detection device 100 from determining that an emergency vehicle is traveling in an emergency, for example, when a vehicle stops on one side of the road to park on the road or to let passengers in or out. The predetermined value (threshold value) to be compared with the number of detected vehicles is determined depending on the road conditions, the length of time for making the determination, and the like.

[0029] Next, the emergency vehicle detection device 100 continues to analyze the image (second image) captured by the camera thereafter (step S003). If an emergency vehicle is detected within a predetermined time, the emergency vehicle detection device 100 determines that the emergency vehicle is traveling in an emergency (Yes in step S004). If an emergency vehicle is not detected within the predetermined time, the emergency vehicle detection device 100 does nothing and returns to step S001 (No in step S004). As a method for detecting an emergency vehicle, a method of searching for a vehicle with a warning light or a vehicle painted to indicate that it is an emergency vehicle can be used. Specifically, a method of detecting an object (vehicle) in an image can be used, using a classifier or the like obtained by performing machine learning or the like using learning data prepared in advance.

[0030] Finally, the emergency vehicle detection device 100 transmits the detection result of the emergency vehicle that is traveling in an emergency by the determination unit 101 to the control center 200 (step S005).

[0031] 5, the emergency vehicle detection device 100 detects a vehicle that has given way, for example by moving out of the lane in which the vehicle is traveling, and determines whether a vehicle approaching from behind the detected vehicle has characteristics that indicate it is an emergency vehicle. By repeating this operation, it becomes possible to quickly and accurately notify the control center 200 of the arrival of an emergency vehicle that is traveling in an emergency.

[0032] In the example of Figure 5, a method is adopted in which an emergency vehicle is detected by detecting the movement of surrounding vehicles giving way and then waiting for the arrival of the emergency vehicle, but a method can also be adopted in which the movement of surrounding vehicles giving way is detected after the emergency vehicle is detected. Below, a second method of detecting an emergency vehicle that is making an emergency move will be explained using Figure 6.

[0033] 6 is another flowchart showing the operation of the emergency vehicle detection device 100 of the first embodiment. Referring to FIG. 6, first, the emergency vehicle detection device 100 analyzes an image captured by a camera C capable of capturing images of roads (step S101), and if an emergency vehicle is detected (Yes in step S102), proceeds to the next step S103. If an emergency vehicle cannot be detected, the process returns to step S101 and continues analyzing the image (No in step S102). The detection of an emergency vehicle here can be achieved by searching the camera image for a vehicle having characteristics that indicate it is an emergency vehicle.

[0034] The emergency vehicle detection device 100 then continues to analyze images captured by the camera (step S103) and detects surrounding vehicles that yield to the emergency vehicle. If the number of surrounding vehicles detected within a certain period of time is equal to or greater than a predetermined number, the emergency vehicle detection device 100 determines that the emergency vehicle is an emergency vehicle traveling in an emergency (Yes in step S104). Note that even if there are vehicles that yield to the emergency vehicle, if the number of such vehicles is less than a predetermined number, the emergency vehicle detection device 100 does nothing and returns to step S101 (No in step S104). This makes it possible to avoid determining that an emergency vehicle is traveling in an emergency when, for example, a vehicle stops on one side of the road to park on the road or to let passengers in or out.

[0035] Finally, the emergency vehicle detection device 100 transmits the result of detection of the emergency vehicle traveling in an emergency by the determination unit 101 to the control center 200 (step S105).

[0036] As described above, there is no problem with the method of detecting an emergency vehicle first, and it is possible to quickly and accurately notify the control center 200 of the arrival of an emergency vehicle that is traveling in an emergency. The methods of detecting an emergency vehicle that is traveling in an emergency shown in Figures 5 and 6 above do not need to be used alternatively, and both may be used in parallel.

[0037] [Second embodiment] In the first embodiment described above, the emergency vehicle detection device 100 detects emergency vehicles traveling in an emergency based on images obtained from the camera C, but the accuracy of detecting emergency vehicles traveling in an emergency can be further improved by using other information. Next, a second embodiment will be described in which the emergency vehicle detection device 100a detects emergency vehicles traveling in an emergency using the state of traffic lights in addition to images obtained from the camera C.

[0038] Figure 7 is a functional block diagram showing the configuration of an emergency vehicle detection device 100a of the second embodiment. The difference from the emergency vehicle detection device 100 of the first embodiment shown in Figure 4 is that a signal control information acquisition unit 103 has been added to the emergency vehicle detection device 100a, and the operation of the determination unit 101a has been modified. Since the other configurations are the same as those of the first embodiment, the following description will focus on the differences.

[0039] The signal control information acquisition unit 103 acquires signal control information from a signal control device SC that controls a traffic signal S placed on the road photographed by the camera C. The signal control information is information that indicates the state of the lights of the traffic signal S. In the example of FIG. 7, the signal control information acquisition unit 103 acquires the signal control information from the signal control device SC, but if the traffic signal S is centrally controlled by the control center 200, the signal control information acquisition unit 103 can also acquire the signal control information from a device on the control center 200 side.

[0040] The determination unit 101a determines whether the vehicle of interest is an emergency vehicle traveling in an emergency, using signal control information. Specifically, when the emergency vehicle enters an intersection despite the red light, the determination unit 101a determines that the emergency vehicle is traveling in an emergency. In addition, when surrounding vehicles around the emergency vehicle are stopped despite the green light, the determination unit 101a determines that the surrounding vehicles are yielding the right of way to the emergency vehicle.

[0041] Next, the operation of this embodiment will be described in detail with reference to the drawings. Fig. 8 is a flow chart showing the operation of the emergency vehicle detection device 100a of the second embodiment. Referring to Fig. 8, first, the emergency vehicle detection device 100a analyzes an image captured by a camera C capable of capturing images of roads (step S201), and if an emergency vehicle is detected (Yes in step S202), proceeds to the next step S103. If an emergency vehicle cannot be detected, the process returns to step S101 and continues analyzing the image (No in step S202).

[0042] The emergency vehicle detection device 100a then continues to analyze images captured by the camera (step S203), and if the emergency vehicle is exhibiting driving behavior characteristic of emergency driving, determines that the emergency vehicle is engaged in emergency driving (Yes in step S204). A typical example of this "driving behavior characteristic of emergency driving" is when an emergency vehicle enters an intersection despite the light being red. Other examples of "driving behavior characteristic of emergency driving" include an emergency vehicle driving near the center of the road close to the center line, driving over the center line, not stopping where a stop is required, not obeying the speed limit, etc.

[0043] Finally, the emergency vehicle detection device 100a transmits the result of the detection of the emergency vehicle traveling in an emergency by the determination unit 101a to the control center 200 (step S205).

[0044] In this embodiment, an emergency vehicle traveling in an emergency can also be detected using the same procedure as in Fig. 5. In this case, when detecting surrounding vehicles yielding to the emergency vehicle in step S002, the emergency vehicle detection device 100a also takes into consideration cases where surrounding vehicles of the emergency vehicle are stopped despite the green light. Specifically, the emergency vehicle detection device 100a counts these stopped vehicles as surrounding vehicles yielding to the emergency vehicle.

[0045] FIG. 9 is a diagram illustrating the operation of the emergency vehicle detection device 100a of this embodiment. The upper part (a) of FIG. 9 shows a case where an emergency vehicle enters an intersection despite the red light. By using signal control information in this way, it is possible to accurately detect an emergency vehicle traveling in an emergency even when there are no vehicles around and their movements cannot be captured. Furthermore, there may not be a traffic light in the emergency vehicle's path. In this case, as shown in the lower part (b) of FIG. 9, if the behavior of an emergency vehicle entering an intersection without complying with the obligation to stop is captured, it is possible to identify that the emergency vehicle is traveling in an emergency.

[0046] In the second embodiment described above, the emergency vehicle detection device 100a is described as acquiring signal control information from a signal control device, but there may be cases where the signal control information cannot be acquired. In such cases, the emergency vehicle detection device 100a may determine the state of the lights of the traffic signal S from the lighting state of the lights of the traffic signal S captured in the image of the camera C.

[0047] [Third embodiment] Next, a third embodiment will be described in which the emergency vehicle detection device 100b detects emergency vehicles traveling in an emergency by using map information in addition to the image obtained from the camera C.

[0048] Figure 10 is a functional block diagram showing the configuration of an emergency vehicle detection device 100b according to the third embodiment. The difference from the emergency vehicle detection device 100 according to the first embodiment shown in Figure 4 is that a map information storage unit 104 has been added to the emergency vehicle detection device 100b, and the operation of the determination unit 101b has been modified. Since the other configurations are the same as those of the first embodiment, the following description will focus on the differences.

[0049] The map information storage unit 104 stores map information including information on parking areas located on the road photographed by the camera C and information on commercial facilities adjacent to the road.

[0050] The determination unit 101b determines whether the vehicle of interest is an emergency vehicle traveling in an emergency, and makes the determination by referring to map information. Specifically, when determining whether vehicles around the vehicle of interest are yielding the right of way to the emergency vehicle, the determination unit 101b refers to map information and confirms that the movement is not parking in a parking area or stopping to stop at an adjacent commercial facility. Therefore, in this embodiment, the determination unit 101b functions as an acquisition unit that acquires map information including the layout of facilities around the road.

[0051] 11 is a diagram illustrating the operation of the emergency vehicle detection device 100b of this embodiment. In the upper part (a) of FIG. 11, two vehicles in the direction of the emergency vehicle EmV are moving away from the lane in which they are traveling. However, if there is a parking area in the corresponding location, the emergency vehicle detection device 100b determines that these behaviors are not actions to give way to the emergency vehicle EmV.

[0052] 11(b), a vehicle in the direction of travel of the emergency vehicle EmV is moving out of the lane that the emergency vehicle EmV is traveling in. However, if there is no parking area or adjacent commercial facility in the corresponding location, the emergency vehicle detection device 100b determines that this behavior is an action to give way to the emergency vehicle EmV.

[0053] As described above, according to this embodiment, it is possible to more accurately determine whether the movement of vehicles around the vehicle of interest is a movement to give way to an emergency vehicle EmV. Therefore, even if there are few vehicles around the vehicle of interest, it is possible to accurately determine whether the vehicle is an emergency vehicle traveling in an emergency.

[0054] [Fourth embodiment] Next, a fourth embodiment will be described in which the emergency vehicle detection device 100c detects an emergency vehicle traveling in an emergency using sounds emitted from the vehicle in addition to the image obtained from the camera C.

[0055] Fig. 12 is a functional block diagram showing the configuration of an emergency vehicle detection device 100c according to the fourth embodiment. The differences from the emergency vehicle detection device 100 according to the first embodiment shown in Fig. 4 are that a microphone M is connected to the emergency vehicle detection device 100c and that the operation of the determination unit 101c has been modified. The other configurations are the same as those of the first embodiment, so the following description will focus on the differences.

[0056] Microphone M is a microphone placed on the road that camera C is capturing.

[0057] The determination unit 101c determines whether the focused vehicle is an emergency vehicle traveling in an emergency, and makes the determination by also using audio information obtained from the microphone M. Specifically, when determining whether the emergency vehicle EmV is traveling in an emergency, the determination unit 101c checks whether a siren sound is being output or an audio announcement is being made from the emergency vehicle EmV. If the result of the check shows that a siren sound is being output or an audio announcement is being made, the determination unit 101c determines that the focused emergency vehicle EmV is traveling in an emergency.

[0058] 13 is a diagram illustrating the operation of the emergency vehicle detection device 100c of this embodiment. In the example of FIG. 13, an emergency vehicle EmV outputs a voice announcement saying "Ambulance passing" on its way to an intersection. In this case, the emergency vehicle detection device 100c determines that the emergency vehicle EmV is traveling in an emergency because the emergency vehicle EmV is emitting sound from a loudspeaker.

[0059] As described above, according to this embodiment, even if there are no other vehicles around the vehicle of interest, it is possible to accurately determine whether or not the vehicle is an emergency vehicle traveling in an emergency. Note that in the above example, whether or not the emergency vehicle EmV is traveling in an emergency is determined based on whether or not the emergency vehicle EmV is outputting a voice announcement, but the emergency vehicle EmV can also be determined to be traveling in an emergency if it is sounding a siren or the like.

[0060] [Fifth embodiment] The first to fourth embodiments described above can also be implemented in combination. For example, as shown in Fig. 14, the second embodiment including the signal control information acquisition unit 103 and the third embodiment including the map information storage unit 104 can be combined to configure an emergency vehicle detection device 100d.

[0061] According to this embodiment, it is possible to obtain the effects of both the second and third embodiments. Similarly, the other embodiments can be implemented in combination with one or more of the embodiments.

[0062] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and further modifications, substitutions, and adjustments can be made without departing from the basic technical concept of the present disclosure. For example, the network configuration, element configuration, and data representation format shown in each drawing are examples to aid in understanding the present disclosure, and are not limited to the configurations shown in these drawings.

[0063] (About hardware configuration) In each embodiment of the present disclosure, each component of each device represents a functional block. Some or all of the components of each device are realized, for example, by an arbitrary combination of an information processing device 900 and a program as shown in FIG. 15. FIG. 15 is a block diagram showing an example of the hardware configuration of the information processing device 900 that realizes each component of each device. As an example, the information processing device 900 includes the following configuration. ·CPU(Central Processing Unit)901 ROM (Read Only Memory) 902 ·RAM(Random Access Memory)903 Program 904 loaded into RAM 903 A storage device 905 for storing a program 904 A drive device 907 for reading and writing data from and to the recording medium 906 A communication interface 908 for connecting to a communication network 909 Input / output interface 910 for inputting and outputting data Bus 911 connecting each component

[0064] Each component of each device in each embodiment is realized by the CPU 901 acquiring and executing a program 904 that realizes the function. That is, the CPU 901 in FIG. 15 executes a determination program and a determination result transmission program, and performs an update process for each calculation parameter stored in the RAM 903, the storage device 905, or the like. The program 904 that realizes the function of each component of each device is stored in the storage device 905 or the ROM 902 in advance, for example, and is read out by the CPU 901 as needed. The program 904 may be supplied to the CPU 901 via the communication network 909, or may be stored in advance on the recording medium 906, and the drive device 907 may read out the program and supply it to the CPU 901.

[0065] There are various variations in the method of realizing each device. For example, each device may be realized by any combination of a separate information processing device 900 and a program for each component. Furthermore, multiple components of each device may be realized by any combination of a single information processing device 900 and a program. That is, each unit (processing means, function) of the communication terminal shown in the first to fifth embodiments can be realized by a computer program that causes a processor installed in the device to execute each of the above-mentioned processes using its hardware.

[0066] In addition, some or all of the components of each device may be realized by other general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus.

[0067] Some or all of the components of each device may be realized by a combination of the above-mentioned circuits and programs.

[0068] When some or all of the components of each device are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each device is connected via a communication network.

[0069] It should be noted that the above-described embodiments are preferred embodiments of the present disclosure, and the scope of the present disclosure is not limited to only the above-described embodiments. In other words, those skilled in the art can modify or substitute the above-described embodiments to construct various modified forms without departing from the gist of the present disclosure.

[0070] For example, in the first to fifth embodiments described above, the camera C is described as being placed in a position where it can photograph the road, but this camera C may also be an on-board camera mounted on another vehicle.

[0071] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0072] [Appendix 1] a determination means for determining whether the vehicle is an emergency vehicle traveling on a road based on characteristics of the vehicle and the relative movement between the vehicle and surrounding vehicles; a transmitting means for transmitting the result of the determination to a predetermined management terminal; An emergency vehicle detection device comprising: [Appendix 2] The determination means of the above-mentioned emergency vehicle detection device can be configured to recognize the characteristics of the vehicle and the relative movement between the vehicle and surrounding vehicles from images taken by a camera capable of photographing the road. [Appendix 3] The determination means of the emergency vehicle detection device described above can be configured to determine that the vehicle is in an emergency when a nearby vehicle in the direction of travel of the vehicle is making a move to give way to the other vehicle. [Appendix 4] The determination means of the above-mentioned emergency vehicle detection device can be configured to determine that the vehicle is in an emergency when a predetermined number or more of surrounding vehicles in the direction of travel of the vehicle are making a move to give way. [Appendix 5] The determination means of the above-mentioned emergency vehicle detection device can be configured to recognize from a first image taken by the camera that the surrounding vehicle is making a move to give way, recognize the characteristics of the vehicle approaching from behind the surrounding vehicle from a second image taken by the camera after the first image, and if the recognized characteristics of the vehicle include characteristics that indicate that it is an emergency vehicle, determine that the vehicle is an emergency vehicle traveling in an emergency. [Appendix 6] The determination means of the emergency vehicle detection device described above can be configured to determine that the vehicle is traveling in an emergency when the vehicle is behaving in a manner permitted for an emergency vehicle under traffic regulations. [Appendix 7] The determination means of the emergency vehicle detection device described above can be configured to determine that the surrounding vehicle is making a move to give way if the surrounding vehicle is stopped despite the green light. [Appendix 8] The emergency vehicle detection device described above is Further, an acquisition means for acquiring map information including the layout of facilities around the road is provided, The determination means may further determine, based on the map information, whether or not the vehicle is an emergency vehicle traveling in an emergency. [Appendix 9] The emergency vehicle detection device described above is The determination means may be further configured to determine that the emergency vehicle is traveling in an emergency if the emergency vehicle is emitting a sound using a siren or a loudspeaker. [Appendix 10] determining whether the vehicle is an emergency vehicle traveling on a road based on characteristics of the vehicle and the relative movement of the vehicle and surrounding vehicles; transmitting the result of the determination to a predetermined management terminal; An emergency vehicle detection method comprising: [Appendix 11] A process of determining whether the vehicle is an emergency vehicle traveling on a road based on characteristics of the vehicle and the relative movement of the vehicle and surrounding vehicles; a process of transmitting the result of the determination to a predetermined management terminal; A recording medium that records a program that causes a computer to execute the above. The embodiments described in the above Supplementary Notes can be combined with each other after necessary modifications are made. For example, a configuration that combines the contents described in Supplementary Note 2 and the contents described in Supplementary Note 3 is also included in the scope of disclosure of this specification. The embodiments of Supplementary Notes 10 and 11 can be expanded to the embodiments of Supplementary Notes 2 to 9, similarly to Supplementary Note 1.

[0073] The disclosures of the above-cited patent documents are incorporated herein by reference and may be used as the basis or part of this disclosure, as necessary. Within the scope of this disclosure (including the claims), modifications and adjustments of the embodiments and examples are possible based on the basic technical concepts. Furthermore, within the scope of this disclosure, various combinations and selections (including partial deletions) of various disclosed elements (including elements of each claim, elements of each embodiment or example, elements of each drawing, etc.) are possible. In other words, this disclosure naturally includes various modifications and alterations that would be possible by a person skilled in the art in accordance with the entire disclosure and technical concepts, including the claims. In particular, with regard to the numerical ranges set forth herein, any numerical value or subrange within that range should be construed as specifically set forth, even if not otherwise specified. Furthermore, the disclosures of the above-cited documents, when used in part or in whole in combination with the disclosures herein as part of this disclosure, in accordance with the spirit of this disclosure, are also deemed to be included in the disclosures of this application. [Explanation of symbols]

[0074] 10, 100a, 100b, 100c, 100d Emergency vehicle detection device 11 Judgment means 12 Transmission Method 101 Judgment section 102 Transmitter 103 Signal control information acquisition unit 104 Map information storage unit 200 Control Center 900 Information Processing Equipment 901 CPU(Central Processing Unit) 902 ROM (Read Only Memory) 903 RAM (Random Access Memory) 904 Program 905 Storage device 906 Recording Media 907 Drive unit 908 Communication Interface 909 Communication Network 910 Input / Output Interface 911 Bus C Camera EmV Emergency Vehicle M microphone S traffic light SC Signal Control Device SV peripheral vehicles

Claims

1. A determination means for determining whether a vehicle is an emergency vehicle traveling on a road based on the characteristics of the vehicle traveling on the road and the relative movement of the vehicle and surrounding vehicles, which are recognized from images taken by one or more cameras capable of photographing the road; and a transmitting means for transmitting the result of the determination to a predetermined management terminal; Equipped with The camera is further capable of photographing a traffic signal; The determination means determines the state of the light of the traffic signal from the image captured by the camera, and when the surrounding vehicle is stopped even though the light is green, determines that the surrounding vehicle is making a move to give way, and determines that the vehicle is running in an emergency. Emergency vehicle detection device.

2. The determination means determines that the vehicle is in an emergency when a predetermined number or more of surrounding vehicles in the traveling direction of the vehicle are making a move to give way to the other vehicle.

2. The emergency vehicle detection device of claim 1.

3. 2. The emergency vehicle detection device of claim 1, wherein the determination means recognizes from a first image taken by the camera that the surrounding vehicle is making a move to give way, recognizes the characteristics of the vehicle approaching from behind the surrounding vehicle from a second image taken by the camera after the first image, and if the recognized characteristics of the vehicle include characteristics that indicate that it is an emergency vehicle, determines that the vehicle is an emergency vehicle traveling in an emergency.

4. 2. The emergency vehicle detection device according to claim 1, wherein said determining means determines that said vehicle is traveling in an emergency when said vehicle is behaving in a manner permitted for an emergency vehicle under traffic regulations.

5. Further, an acquisition means for acquiring map information including the layout of facilities around the road is provided, The determination means further determines whether the vehicle is an emergency vehicle traveling in an emergency, based on the map information.

5. An emergency vehicle detection device according to claim 1.

6. Determine whether the vehicle is an emergency vehicle traveling on an emergency road based on the characteristics of the vehicle traveling on the road and the relative movement of the vehicle and surrounding vehicles, as recognized from images taken by one or more cameras capable of photographing the road; transmitting the result of the determination to a predetermined management terminal; An emergency vehicle detection method comprising: The camera is further capable of photographing a traffic signal; The state of the traffic signal light is determined from the image captured by the camera, and if the surrounding vehicle is stopped even though the light color is green, it is determined that the surrounding vehicle is making a move to give way, and that the vehicle is in an emergency. Emergency vehicle detection method.

7. A process for determining whether a vehicle is an emergency vehicle traveling on a road based on the characteristics of the vehicle traveling on the road and the relative movement of the vehicle and surrounding vehicles, as recognized from images taken by one or more cameras capable of photographing the road; and a process of transmitting the result of the determination to a predetermined management terminal; A program that causes a computer to execute the The camera is further capable of photographing a traffic signal; The state of the traffic signal light is determined from the image captured by the camera, and when the surrounding vehicle is stopped even though the color of the light is green, the surrounding vehicle is determined to be making a move to give way, and the computer is caused to determine that the vehicle is in an emergency. program.

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