Wrong-way vehicle detection device

Abstract

To appropriately determine a wrong-way driving vehicle.SOLUTION: A wrong-way driving vehicle determination device (10) comprises: reception means (13) for receiving a plurality of pieces of vehicle behavior information corresponding to a plurality of vehicles (20) respectively and indicating a vehicle behavior and a location where the vehicle behavior occurred; and determination means (11) for determining whether or not a wrong-way driving vehicle exists on the basis of the location where a quick behavior occurred as a vehicle behavior based on the plurality of pieces of vehicle behavior information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of a wrong-way vehicle detection device. [Background technology]

[0002] As this type of device, for example, a device has been proposed that notifies a vehicle of an abnormality when the traveling direction of travel locus data transmitted from the vehicle differs from the normal traveling direction (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-126505 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 requires that the wrong-way driving vehicle be able to communicate with the server. Therefore, if the wrong-way driving vehicle is not able to communicate with the server, the technology described in Patent Document 1 has the technical problem of not being able to detect the wrong-way driving vehicle.

[0005] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a wrong-way driving vehicle detection device that can appropriately detect wrong-way driving vehicles. [Means for solving the problem]

[0006] A wrong-way vehicle detection device according to one aspect of the present invention includes: a receiving unit that receives a plurality of vehicle behavior information corresponding to a plurality of vehicles, each of the vehicle behavior information indicating a vehicle behavior and a location where the vehicle behavior occurred; Zui and a determination means for determining whether or not a wrong-way vehicle is present. The determination means determines whether or not an absolute value of a speed calculated based on a time when one of the plurality of vehicle behavior information was received and a position where a sudden behavior occurred as the vehicle behavior indicated by the one vehicle behavior information, and a time when other of the plurality of vehicle behavior information was received and a position where a sudden behavior occurred as the vehicle behavior indicated by the other vehicle behavior information is greater than a predetermined upper speed limit, and if the absolute value of the calculated speed is greater than the predetermined upper speed limit, the determination means does not group the one vehicle behavior information and the other vehicle behavior information, and the determination means determines whether or not the wrong-way vehicle is present based on the position where the sudden behavior occurred based on two or more grouped vehicle behavior information from the plurality of vehicle behavior information. That is it. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a configuration of a wrong-way vehicle determination system according to an embodiment; [Figure 2] FIG. 10 is a conceptual diagram showing the behavior of a vehicle that encounters a wrong-way vehicle. [Figure 3] FIG. 10 is a diagram showing an example of the trajectory of a wrong-way vehicle. [Figure 4] 4 is a flowchart showing the operation of the vehicle according to the embodiment. [Figure 5] 10 is a flowchart illustrating an operation of a server according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment of a wrong-way vehicle detection device will be described with reference to Figures 1 to 5. Hereinafter, an embodiment of the wrong-way vehicle detection device will be described using a wrong-way vehicle detection system 1 including a server 10 and a vehicle 20. The server device 10 corresponds to an example of the wrong-way vehicle detection device.

[0009] 1, the wrong-way vehicle detection system 1 includes a server 10 and a vehicle 20. The wrong-way vehicle detection system 1 may include multiple vehicles. However, for convenience, only the vehicle 20 is shown in FIG. 1.

[0010] The server 10 includes a computing device 11, a storage device 12, and a communication device 13. The vehicle 20 includes a computing device 21, a vehicle sensor 22, a position detection device 23, and a communication device 24. The server 10 and the vehicle 20 are configured to be able to communicate with each other via the communication devices 13 and 24. The vehicle 20 may be a so-called connected car.

[0011] The arithmetic device 21 of the vehicle 20 may be an ECU (Electronic Control Unit). The arithmetic device 21 may have an automatic driving function for automatically driving the vehicle 20. The vehicle sensor 22 may include at least one of a speed sensor, an acceleration sensor, and a yaw rate sensor. The position detection device 23 detects the position of the vehicle 20 using a GNSS (Global Navigation Satellite System) or the like. Since various existing aspects can be applied to the vehicle sensor 22 and the position detection device 23, detailed description thereof will be omitted.

[0012] Here, the behavior of vehicles (i.e., vehicles traveling in the forward direction) when a wrong-way vehicle is present will be described with reference to Fig. 2. In Fig. 2, vehicles 20a, 20b, 20c, and 20d are vehicles traveling in the forward direction. Vehicle 30 is a wrong-way vehicle. Vehicles 20a, 20b, 20c, and 20d correspond to an example of the vehicle 20 described above. Hereinafter, "vehicles traveling in the forward direction" will be referred to as "forward vehicles" as appropriate.

[0013] As shown in FIG. 2(a), upon recognizing the wrong-way vehicle 30, the drivers of vehicles 20a and 20b each perform a driving maneuver to avoid vehicle 30. In this case, a relatively large change in the behavior of each of vehicles 20a and 20b occurs. Thereafter, as shown in FIG. 2(b), upon recognizing the wrong-way vehicle 30, the drivers of vehicles 20c and 20d each perform a driving maneuver to avoid vehicle 30. In this case, a relatively large change in the behavior of each of vehicles 20c and 20d occurs. In this way, when a forward-traveling vehicle (e.g., vehicles 20a, 20b, 20c, and 20d) avoids a wrong-way traveling vehicle (e.g., vehicle 30), the behavior of the forward-traveling vehicle changes relatively greatly.

[0014] Incidentally, among a plurality of forward-traveling vehicles, the wrong-way traveling vehicle is avoided in order, starting with the forward-traveling vehicle closest to the wrong-way traveling vehicle. In the example shown in Fig. 2, after vehicles 20a and 20b avoid wrong-way traveling vehicle 30, vehicles 20c and 20d avoid vehicle 30. For this reason, the time when a relatively large change in behavior occurs in each of vehicles 20a and 20b is clearly different from the time when a relatively large change in behavior occurs in each of vehicles 20c and 20d.

[0015] 3, position p1 denotes the position where vehicle 20a experiences a relatively large change in behavior in order to avoid vehicle 30. Position p2 denotes the position where vehicle 20b experiences a relatively large change in behavior in order to avoid vehicle 30. Position p3 denotes the position where vehicle 20c experiences a relatively large change in behavior in order to avoid vehicle 30. Position p4 denotes the position where vehicle 20d experiences a relatively large change in behavior in order to avoid vehicle 30. By connecting positions p1 to p4 in the order in which the relatively large changes in behavior occurred in each of vehicles 20a to 20d, it is possible to estimate the trajectory of vehicle 30 traveling in the wrong direction, as shown by arrow A.

[0016] From the above perspective, the wrong-way vehicle detection system 1 determines whether or not a wrong-way vehicle is present based on a relatively large change in the behavior of a forward-driving vehicle. The operation of the wrong-way vehicle detection system 1 will be specifically described with reference to the flowcharts of FIGS. 4 and 5.

[0017] First, the operation of the vehicle 20 will be described with reference to the flowchart of FIG. 4. In FIG. 4, the calculation device 21 of the vehicle 20 acquires the behavior of the vehicle 20 based on the output of the vehicle sensor 22 (step S101). Based on the behavior of the vehicle 20 acquired in step S101, the calculation device 21 determines whether or not the behavior of the vehicle 20 has changed relatively significantly (in other words, whether or not a sudden behavior has occurred) (step S102). If it is determined in the processing of step S102 that the behavior of the vehicle 20 has not changed relatively significantly (step S102: No), the operation shown in FIG. 4 is terminated. Thereafter, the processing of step S101 may be performed when a first predetermined time has elapsed. In other words, the operation shown in FIG. 4 may be performed repeatedly at a period corresponding to the first predetermined time.

[0018] If it is determined in the processing of step S102 that the behavior of the vehicle 20 has changed relatively significantly (step S102: Yes), the calculation device 21 identifies the position where the behavior of the vehicle 20 has changed relatively significantly, based on the output of the position detection device 23. The calculation device 21 transmits vehicle behavior information indicating that the behavior of the vehicle 20 has changed relatively significantly and the identified position to the server 10 via the communication device 24 (step S103). Thereafter, the processing of step S101 may be performed when a first predetermined time has elapsed.

[0019] The computing device 21 may determine that the behavior of the vehicle 20 has changed relatively significantly when the longitudinal acceleration (also referred to as "longitudinal acceleration") of the vehicle 20 is smaller than a predetermined acceleration threshold and / or when the lateral jerk of the vehicle 20 is larger than a predetermined jerk threshold. Note that when the vehicle 20 is decelerating, the longitudinal acceleration takes a negative value.

[0020] Next, the operation of the server 10 will be described with reference to the flowchart of Fig. 5. In Fig. 5, the calculation device 11 of the server 10 collects a plurality of pieces of vehicle event information from a plurality of vehicles corresponding to the vehicle 20 via the communication device 13 (in other words, receives a plurality of pieces of vehicle event information) (step S201). The calculation device 11 assigns time information indicating the time when the server 10 received each piece of collected vehicle event information. The calculation device 11 may store the collected pieces of vehicle event information in the storage device 12.

[0021] The calculation device 11 groups a plurality of pieces of vehicle behavior information (step S202). Specifically, the calculation device 11 performs the process described below. The calculation device 11 calculates the distance in the road direction between one position indicated by one piece of vehicle behavior information (i.e., a position where the behavior of one vehicle corresponding to vehicle 20 has changed relatively significantly) and another position indicated by another piece of vehicle behavior information (i.e., a position where the behavior of one vehicle corresponding to vehicle 20 has changed relatively significantly). For example, in FIG. 3, the distance in the road direction between position p1 and position p2 is distance d1. The distance in the road direction between position p2 and position p3 is distance d2. The distance in the road direction between position p3 and position p4 is distance d3.

[0022] The calculation device 11 calculates the time difference between the time when one piece of vehicle behavior information indicating one position (i.e., a position where the behavior of one vehicle corresponding to vehicle 20 has changed relatively significantly) is received and the time when other piece of vehicle behavior information indicating another position (i.e., a position where the behavior of another vehicle corresponding to vehicle 20 has changed relatively significantly) is received, based on the time indicated by the time information assigned to each piece of vehicle behavior information (i.e., time information indicating the time when server 10 received the vehicle behavior information).

[0023] The calculation device 11 calculates the speed based on the calculated distance and the calculated time difference. That is, the calculation device 11 calculates the speed by dividing the calculated distance by the calculated time difference. For example, in FIG. 3, it is assumed that the time when vehicle event information indicating position p1 is received is time t1, and the time when vehicle event information indicating position p2 is received is time t2. In this case, the calculation device 11 may calculate the speed by dividing the distance d1 by the time difference (time t1 - time t2).

[0024] The calculation device 11 determines whether the absolute value of the calculated speed is greater than a predetermined upper limit speed. The predetermined upper limit speed may be set as the upper limit of the speed that a wrong-way driving vehicle can attain. Note that the predetermined upper limit speed may be a fixed value or a variable value that changes depending on the type of road (e.g., expressway, main road, community road, etc.).

[0025] If it is determined that the absolute value of the calculated speed is greater than a predetermined upper limit speed, the calculation device 11 does not set one location indicated by one vehicle behavior information and another location indicated by another vehicle behavior information to the same group. This is because the one location and the other location may be geographically far apart. Alternatively, a relatively large change in the behavior of multiple vehicles may have occurred due to a cause other than a wrong-way vehicle (e.g., an earthquake).

[0026] If it is determined that the absolute value of the calculated speed is smaller than a predetermined upper speed limit, the calculation device 11 estimates a trajectory of the vehicle moving from one of a position indicated by one vehicle behavior information item and another position indicated by another vehicle behavior information item toward the other of the one position and the other position, based on the time indicated by the provided time information. For example, in FIG. 3, if time t1 when vehicle behavior information indicating position p1 is received is earlier than time t2 when vehicle behavior information indicating position p2 is received, the calculation device 11 estimates a trajectory of the vehicle moving from position p1 toward position p2. On the other hand, if time t1 is later than time t2, the calculation device 11 estimates a trajectory of the vehicle moving from position p2 toward position p1.

[0027] The calculation device 11 determines whether the traveling direction is forward or reverse based on the estimated trajectory. If the traveling direction is determined to be forward, the calculation device 11 does not group one position indicated by one vehicle behavior information and another position indicated by another vehicle behavior information. This is because the relatively large behavior change in the multiple vehicles is not caused by a wrong-way vehicle. On the other hand, if the traveling direction is determined to be reverse, the calculation device 11 groups one position indicated by one vehicle behavior information and another position indicated by another vehicle behavior information.

[0028] After the process of step S202, the calculation device 11 calculates the distance between the start point and the end point of the locus that appears by connecting multiple positions indicated by multiple pieces of vehicle behavior information that are set in the same group (step S203). For example, in Fig. 3, vehicle behavior information indicating position p1, vehicle behavior information indicating position p2, vehicle behavior information indicating position p3, and vehicle behavior information indicating position p4 are set in the same group. In this case, the distance between the start point and the end point of the locus that appears by connecting positions p1 to p4 is the distance (d1 + d2 + d3).

[0029] Here, if a relatively large change in behavior occurs in multiple vehicles traveling in the forward direction due to, for example, an accident, the locations where the relatively large changes in behavior occur are often close to each other. That is, the distance calculated in the processing of step S203 is often relatively short. In contrast, if a relatively large change in behavior occurs in multiple vehicles traveling in the forward direction due to a wrong-way vehicle, the wrong-way vehicle will move a certain distance, so the distance calculated in the processing of step S203 is often relatively long.

[0030] Therefore, the calculation device 11 determines whether the distance calculated in the process of step S203 is equal to or greater than the wrong-way driving determination distance (step S204). If it is determined in the process of step S204 that the distance calculated in the process of step S203 is less than the wrong-way driving determination distance (step S204: No), the calculation device 11 determines that no wrong-way driving vehicle is present and ends the operation shown in Fig. 5. Thereafter, the process of step S201 may be performed when a second predetermined time has elapsed. In other words, the operation shown in Fig. 5 may be performed repeatedly at a period corresponding to the second predetermined time.

[0031] If it is determined in the process of step S204 that the distance calculated in the process of step S203 is equal to or greater than the wrong-way driving determination distance (step S204: Yes), the calculation device 11 determines that a wrong-way driving vehicle is present (step S205). The wrong-way driving determination distance is a value that determines whether or not a wrong-way driving vehicle is present, and may be set in advance as a fixed value or as a variable value according to some physical quantity or parameter.

[0032] Next, the arithmetic device 11 calculates the current position of the wrong-way vehicle (step S206). The arithmetic device 11 may calculate the current position of the wrong-way vehicle based on the position of the end point when calculating the distance in the process of step S203, the time indicated by the time information added to the vehicle behavior information indicating the position of the end point, the speed calculated for grouping in the process of step S202, and the current time.

[0033] Next, the calculation device 11 extracts vehicles that should be notified of the presence of a wrong-way vehicle (i.e., notification target vehicles) from the plurality of vehicles that can communicate with the server 10 based on the current position of the wrong-way vehicle calculated in the process of step S206 (step S207). Next, the calculation device 11 transmits, via the communication device 13, to the vehicles extracted in the process of step S207, warning information indicating that a wrong-way vehicle is present on the route (step S208).

[0034] (Technical Effects) The wrong-way vehicle determination system 1 determines whether a wrong-way vehicle exists based on the position of a vehicle that has undergone a relatively large change in behavior (i.e., an abrupt behavior) among multiple vehicles that can communicate with the server 10 (i.e., a vehicle equivalent to vehicle 20). That is, the wrong-way vehicle determination system 1 determines whether a wrong-way vehicle exists by focusing on the fact that a wrong-way vehicle causes disruption in the behavior of multiple vehicles traveling in the forward direction. Therefore, the wrong-way vehicle determination system 1 can appropriately determine whether a wrong-way vehicle exists, even if the wrong-way vehicle is a vehicle that cannot communicate with the server 10.

[0035] Aspects of the invention derived from the above-described embodiments will be described below.

[0036] A wrong-way vehicle detection device according to one aspect of the invention includes: receiving means for receiving a plurality of vehicle behavior information pieces corresponding to a plurality of vehicles, each of which indicates a vehicle behavior and a location where the vehicle behavior occurred; and determining means for determining whether a wrong-way vehicle is present based on the location where the sudden behavior occurred as the vehicle behavior, which is based on the plurality of vehicle behavior information pieces. In the above-described embodiment, the server 10 corresponds to an example of a wrong-way vehicle detection device, the communication device 13 corresponds to an example of a receiving means, and the calculation device 11 corresponds to an example of a determining means.

[0037] In the wrong-way vehicle detection device, the determination means may determine whether the wrong-way vehicle is present based on a trajectory that appears by connecting multiple positions where the sudden behavior occurred. In this aspect, the determination means may determine that the wrong-way vehicle is present if the length of the trajectory is equal to or greater than a predetermined distance.

[0038] In the wrong-way vehicle detection device, the detection means may determine that the wrong-way vehicle is present when the speed calculated based on the time at which each of the plurality of vehicle behavior information was received and the plurality of locations where the sudden behavior occurred is equal to or less than a predetermined speed.

[0039] The present invention is not limited to the above-described embodiments, but can be modified as appropriate within the scope of the claims and the gist or concept of the invention as can be read from the entire specification, and wrong-way vehicle detection devices incorporating such modifications are also included in the technical scope of the present invention. [Explanation of symbols]

[0040] 1... wrong-way driving vehicle detection system, 10... server, 11, 21... computing device, 12... storage device, 13, 24... communication device, 20, 20a, 20b, 20c, 20d... vehicle, 22... vehicle sensor, 23... position detection device

Claims

1. receiving means for receiving a plurality of vehicle event information corresponding to a plurality of vehicles, each of the vehicle event information indicating a vehicle event and a location where the vehicle event occurred; a determination means for determining whether or not a wrong-way vehicle exists based on the plurality of pieces of vehicle behavior information; Equipped with the determination means determines whether an absolute value of a speed calculated based on a time when one of the plurality of vehicle behavior information was received and a position where a sudden behavior occurred as the vehicle behavior indicated by the one vehicle behavior information, and a time when another of the plurality of vehicle behavior information was received and a position where a sudden behavior occurred as the vehicle behavior indicated by the other vehicle behavior information is greater than a predetermined upper speed limit; When the absolute value of the calculated speed is greater than the predetermined upper speed limit, the determination means does not group the one vehicle behavior information and the other vehicle behavior information, The determination means determines whether or not the wrong-way vehicle is present based on a location where the sudden behavior occurred, which is based on two or more grouped vehicle behavior information items among the plurality of vehicle behavior information items. A wrong-way vehicle detection device.

2. 2. The wrong-way vehicle detection device according to claim 1, wherein the determination means determines whether the wrong-way vehicle is present based on a trajectory that appears by connecting a plurality of positions where the sudden behavior occurred.

3. 3. The wrong-way vehicle detection device according to claim 2, wherein the determination means determines that the wrong-way vehicle is present when the length of the trajectory is equal to or greater than a predetermined distance.

4. A wrong-way vehicle detection device as described in claim 1, characterized in that the predetermined upper limit speed is the upper limit value of the speed that the wrong-way vehicle can adopt.

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