Sign information output device and sign information display system

Abstract

To provide a marker information output device and a marker information presentation system capable of presenting locations where road surface repair has become necessary.SOLUTION: A marker information output device (server 60) includes: an acquisition unit for acquiring location information of undetected points where road markers could not be detected from an in-vehicle device (10); a storage unit for storing map data including at least the undetected points; and an output unit for outputting result information that the location information on the undetected points is superimposed on the map data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a sign body information output device and a sign body information presentation system.

Background Art

[0002] Conventionally, there has been no standard for the repair frequency of road signs such as lane lines like white lines marked on the road surface and road surface markings such as "Stop". When a person in charge of each prefectural police department visually checks a lane or the like and grasps abrasion or chipping, they determine that repair is necessary and entrust a repair contractor to perform the repair.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the determination of the necessity of repairing a road sign is entrusted to a person in charge, the criteria for determining the necessity of repair vary depending on the person in charge, and differences occur in the repair status. Also, the process of visual recognition by the person in charge takes time and effort. In addition, although Patent Document 1 discloses a drive recorder that recognizes a lane from a forward video, detects the swaying running of a vehicle, and generates a warning, there is no mention of the case where the lane cannot be recognized.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a sign body information output device and a sign body information presentation system capable of presenting a location where road surface repair is necessary.

Means for Solving the Problems

[0006] In order to achieve the above-described object, the sign body information output device according to the present invention is characterized by the following. An acquisition unit that obtains location information of undetected locations where road markings could not be detected from the in-vehicle device, A storage unit that stores map data including at least the aforementioned undetected locations, The system includes an output unit that outputs result information obtained by superimposing the location information of the undetected points onto the map data. 、 The system includes a determination unit that determines whether or not the undetected location is a roadway by referring to the aforementioned map data. The output unit outputs the result information by superimposing the location information of the undetected point as a repair-required area on the map data if the undetected point is on a roadway, and if the undetected point is not on a roadway, it records the location information of the undetected point separately from the result information as a repair-required area and does not reflect it in the result information. Display information output device.

[0007] Furthermore, in order to achieve the aforementioned objectives, the sign information display system according to the present invention has the following features. A sign information display system comprising the sign information output device and the in-vehicle device, The aforementioned in-vehicle device is A location acquisition unit that acquires location information of a vehicle equipped with the aforementioned in-vehicle device, An image acquisition unit that acquires image data from a camera that photographs the front of the vehicle, A marking detection unit that determines whether or not the road marking can be detected based on the image data, The system includes a transmission unit that transmits information indicating that a marker has not been detected to the marker information output device, which associates location information of the point where the image data used for the determination was acquired with undetectable information indicating that the result of the determination is undetectable. In the aforementioned display information output device, The acquisition unit receives the information on the undetected marker and acquires the location information included in the information on the undetected marker as location information of the undetected location. The output unit outputs the result information, which is obtained by superimposing the location information included in the information on undetected markers onto the map data. Signage information display system. [Effects of the Invention]

[0008] According to the present invention, it is possible to identify areas where road surface repair is necessary.

[0009] The above is a brief description of the present invention. Further, the details of the present invention will be further clarified by reading through the embodiments for carrying out the invention described below (hereinafter referred to as "embodiments") with reference to the accompanying drawings.

Brief Description of the Drawings

[0010] [Figure 1] FIG. 1 is a diagram showing a configuration example of a sign body information presentation system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an image diagram showing an example of a detection result map output by the server shown in FIG. 1. [Figure 3] FIG. 3 is a block diagram showing a configuration example of the in-vehicle device shown in FIG. 1. [Figure 4] FIG. 4 is a block diagram showing a configuration example of the server shown in FIG. 1. [Figure 5] FIG. 5 is a flowchart showing an example of a process related to recording road sign body detection data by an in-vehicle device. [Figure 6] FIG. 6 is a flowchart showing an example of a road sign body detection determination process by an in-vehicle device. [Figure 7] FIG. 7 is a diagram for explaining a road sign body detection determination process. [Figure 8] FIG. 8 is an enlarged view within a lane detection frame in the image shown in FIG. 7. [Figure 9] FIG. 9 is a diagram showing an example of non-detection of a white line. [Figure 10] FIG. 10 is a diagram showing an example of non-detection of a white line. [Figure 11] FIG. 11 is a flowchart showing an example of a detection result output process by a server.

Embodiments for Carrying Out the Invention

[0011] Specific embodiments of the present invention will be described below with reference to the respective drawings.

[0012] Figure 1 is a diagram showing an example configuration of the sign information display system 1 according to an embodiment of the invention. Figure 2 is an image diagram showing an example of a detection result map 70 output by the server 60 shown in Figure 1. Figure 3 is a block diagram showing an example configuration of the in-vehicle device shown in Figure 1, and Figure 4 is a block diagram showing an example configuration of the server 60 shown in Figure 1.

[0013] (Overview of the Sign Information Display System 1) The road marking information display system 1 is used by, for example, prefectural police officials responsible for the maintenance and management of road markings such as white lines representing lanes, road markings such as "STOP," and speed limit markings, as well as repair contractors who undertake the repairs (hereinafter also referred to as "officers, etc.").

[0014] The sign information display system 1 comprises an on-board device mounted on a vehicle 41, a server 60 as an example of a sign information output device, and a communication device 80. The on-board device includes an on-board unit 10, a camera 20, and a wireless communication module 30. The on-board device and the server 60 are configured to communicate via a base station 51 of a wide-area communication network and an internet network 52. Note that the wide-area communication network and the internet network 52 are examples, and the method is not limited as long as the on-board device and the server 60 can communicate. The wide-area communication network and the internet network 52 may be, for example, a mobile communication network (cellular network) such as LTE (Long Term Evolution) / 5G (5th Generation), or a wireless LAN (Local Area Network). Furthermore, the server 60 and the communication device 80 are connected to communicate wirelessly or wired, and the communication device 80 is used by personnel in charge at each prefectural police department and can access the server 60, for example, via the internet network 52.

[0015] The road marking information display system 1 receives information collected by a transportation company managing multiple vehicles 41 for operational management purposes, and identifies locations where road markings such as white lines on the road surface are deteriorated and require road surface repair. Furthermore, the road marking information display system 1 displays the result information obtained by superimposing the location information of the locations requiring repair onto map data. In the road marking information display system 1, the on-board unit 10 determines whether or not road markings can be detected based on image data acquired from the camera 20, and transmits the location information of undetected locations where road markings could not be detected to the server 60. The on-board unit 10 transmits GPS data indicating the longitude and latitude of the vehicle 41 and road marking undetected data to the server 60. GPS data is an example of location information, and road marking undetected data is an example of undetectable information indicating that the result of the determination was that detection was not possible.

[0016] Server 60 stores data on undetected signs acquired from multiple in-vehicle devices 10. In response to a request from the communication device 80, Server 60 compares the undetected sign data with pre-stored map data to calculate the areas requiring repair and generates a detection result map 70. The detection result map 70 is an example of result information in which the location information of undetected points is superimposed on the map data.

[0017] As shown in Figure 2, the detection result map 70 is a map 71 overlaid with the delivery area 72 of the vehicle 41, the delivery route 73 of the vehicle 41, and multiple locations requiring repair 75. The locations requiring repair 75 are locations where road markings were not recognized by the on-board unit 10 and are located on the roadway. The locations 74 where road markings were not recognized by the on-board unit 10, as shown in Figure 2, are locations where road markings were not recognized by the on-board unit 10, but are not roadways, such as parking lots, and are therefore not subject to repair. For this reason, it is preferable that the locations where road markings were not recognized 74 are not displayed on the detection result map 70, as this makes it easier to identify the locations requiring repair 75.

[0018] Server 60 outputs the detection result map 70 to the communication device 80 in response to a request from the communication device 80. The communication device 80 retrieves the detection result map 70, for example, via the internet network 52, and displays it on the screen. Server 60 can accept the designation of any one of the repair-needed locations 75 on the detection result map 70 via the communication device 80. Server 60 extracts image data associated with the location information of the designated repair-needed location 75 and displays the captured image of the road surface, for example, overlaid on the detection result map 70. Personnel can identify the repair-needed locations 75 by looking at the detection result map 70 displayed on the screen of the communication device 80, and by clicking on a specific part of the repair-needed location 75, they can view and inspect the captured image of that location.

[0019] (Configuration of in-vehicle equipment) The camera 20, which constitutes the in-vehicle device, is mounted above the driver's seat or elsewhere, and captures the scenery, including the road surface, in front of at least the vehicle 41, and outputs a video signal. The video signal output by the camera 20 is input to the sensor input unit 12 of the in-vehicle device 10, which will be described later.

[0020] As shown in Figure 3, the on-board unit 10, which constitutes the on-board device, has a control unit 11, a sensor input unit 12, a GPS receiver unit 13, a storage unit 14, and an input / output interface 15. The on-board unit 10 is mounted on the vehicle 41 and is a digital tachograph that records operational data such as entry and exit times, mileage, driving time, driving speed, speed limit, engine RPM limit, sudden starts, sudden acceleration, and sudden deceleration, as well as recording video.

[0021] The control unit 11 is a processing unit that performs various controls and calculations, such as a CPU (Central Processing Unit), and controls the operation of the entire in-vehicle unit 10. The control unit 11 realizes various functions by executing programs stored in the memory unit 14, etc. The control unit 11 also determines whether or not road markings can be detected based on image data acquired from the video signal output by the camera 20. The control unit 11 generates marking detection undetected data that associates the location information of the point where the image data used for the determination was acquired with detection undetectable information (road marking not detected = 0) indicating that the determination result is undetectable. Details of the marking detection determination process by the control unit 11 will be described later.

[0022] The sensor input unit 12 performs signal processing to input signals output from the camera 20, vehicle speed sensor, G sensor, gyro sensor, etc., to the control unit 11. The sensor input unit 12 also has the function of capturing the video signal output by the camera 20 and converting it into image data in a predetermined format suitable for computer processing such as image recognition.

[0023] The GPS receiver 13 receives radio waves from multiple GPS (Global Positioning System) satellites via an antenna. Based on the multiple received signals received by the GPS receiver 13, the control unit 11 can calculate and obtain GPS data indicating the latitude and longitude of the vehicle 41. The control unit 11 can also acquire time information based on the signals received by the GPS receiver 13.

[0024] The memory unit 14 includes non-volatile memory and volatile memory. The non-volatile memory pre-stores various programs that the control unit 11 can execute, as well as various constant data and tables necessary for control. The volatile memory is used to temporarily store data generated by the control unit 11 during processing. The memory unit 14 stores GPS data, image data acquired from the camera 20, and information on road markings not detected.

[0025] The input / output interface 15 processes data, including road marking detection information, generated by the control unit 11, for output to the wireless communication module 30.

[0026] The wireless communication module 30 provides wireless communication functionality for data communication between the in-vehicle unit 10 and the base station 51.

[0027] The in-vehicle unit 10 transmits road marking detection data to the server 60 via the wireless communication module 30. The in-vehicle unit 10 may transmit road marking detection data to the server 60 in real time, or it may transmit a day's worth of road marking detection data to the server 60 when, for example, vehicle 41 has finished its day's operation and returned to the depot. In addition, if the in-vehicle unit 10 records operation data including road marking detection data on a recording medium such as a memory card, the information on the recording medium may be read by a communication terminal such as an office PC, and the road marking detection data may be transmitted from this communication terminal to the server 60.

[0028] (Server 60 configuration) As shown in Figure 4, the server 60 includes a control unit 61, a communication unit 62, a storage unit 63, a road sign information storage unit 64, and a map data storage unit 65.

[0029] The control unit 61 comprehensively controls each part of the server 60. The control unit 61 calculates the result information by superimposing the location information of undetected locations onto the map data, using the location information of undetected locations included in the road marking undetected information acquired from the in-vehicle device and the map data.

[0030] The communication unit 62 communicates with the in-vehicle device via the base station 51 of the wide-area communication network and the internet network 52. The communication unit 62 can also communicate with the communication device 80.

[0031] The storage unit 63 is a memory capable of storing various types of data and can store result information calculated by the control unit 61. The road marking information storage unit 64 stores road marking detection data received from multiple in-vehicle devices. The map data storage unit 65 stores map data, including road data. The map data storage unit 65 also includes data for the delivery area 72 and delivery route 73 shown in Figure 2.

[0032] In response to a request from the communication device 80, the server 60 calculates the result information by superimposing location information of undetected locations onto the map data and outputs the result information by transmitting it to the communication device 80.

[0033] (Example of operation of the in-vehicle unit 10) Referring to Figures 5 to 10, the process of recording road marking detection data, including the road marking detection determination process by the in-vehicle device 10, will be explained. Figure 5 is a flowchart showing an example of the process related to recording road marking detection data by the in-vehicle device 10, and Figure 6 is a flowchart showing an example of the road marking detection determination process by the in-vehicle device 10. Figure 7 is a diagram for explaining the road marking detection determination process, Figure 8 is an enlarged view of the 101A portion shown in Figure 7, and Figures 9 and 10 are diagrams showing specific examples of cases where white lines are not detected.

[0034] As shown in Figure 5, when the vehicle 41 starts operating, the on-board unit 10 starts recording operation data and video (S1). The on-board unit 10 acquires GPS data and image data (driving image data) for example every second and records them in association with time information (S2). The on-board unit 10 performs road marking detection determination processing on the image data (S3).

[0035] Now, with reference to Figure 6, the details of the road marking detection and determination process by the in-vehicle unit 10 will be explained. The in-vehicle unit 10 starts road marking recognition for, for example, one frame of image data (S31).

[0036] Figure 7 shows an example of an image 101 acquired by camera 20, in which lane marking detection frames 101A and 102 and road marking detection frame 103 are superimposed. As shown in Figure 7, image 101 includes white lines L1 and L2, which are examples of road markings, and road markings 111, which are marked on a black road surface R. When camera 20 is mounted on vehicle 41, the in-vehicle unit 10 is set to be able to predict during image processing that "white lines L1 and L2 will be visible on both sides of the field of view, and road markings 111 will be visible near the center of the field of view." Lne marking detection frame 101A is positioned on the left side of image 101, where white line L1 is expected to be visible, and lane detection frame 102 is positioned on the right side of image 101, where white line L2 is expected to be visible. The road marking detection frame 103 is positioned in the central part of the image 101 in the left-right direction, where various road markings, including the road markings 111, are presumed to be visible. In this embodiment, an example is shown where the width of the white lines L1 and L2 is 10 cm to 15 cm, and the contrast ratio threshold (first threshold) is 50.

[0037] Figure 8 shows an enlarged view of the lane marking detection frame 101A in image 101. In road marking recognition, the in-vehicle unit 10 sequentially checks the contrast of adjacent pixels along one direction indicated by arrow X on image 101, and if there is a contrast ratio of 1 or more than the first threshold (YES in S32 shown in Figure 6), it detects the first edge E1 (S33). In the example shown in Figure 8, the first edge E1 is the boundary from the road surface R to the white line L1. Next, if the in-vehicle unit 10 finds a contrast ratio of 1 or more than the first threshold (YES in S34), it detects the second edge E2 (S35). On the other hand, if there is no contrast ratio of 1 or more than the first threshold (NO in step S32, NO in S34), the in-vehicle unit 10 does not perform any special processing and returns to the process in S32.

[0038] The in-vehicle unit 10 determines whether the detected first and second edges E1 and E2 are in the center of the field of view or at either end (S36). The in-vehicle unit 10 determines whether the detected first and second edges E1 and E2 are in the center of the field of view both endsIf the area is within the specified range, it is determined whether the edge pair width D, which is the distance between the first edge E1 and the second edge E2, is within the second threshold, i.e., between 10 cm and 15 cm (S37). If the edge pair width D is within the second threshold (YES in S37), the in-vehicle unit 10 detects the white line, i.e., determines that the white line is detectable (S38).

[0039] In S36, if the detected first and second edges are in the central part of the field of view, the in-vehicle unit 10 proceeds to the process in S39 and calculates the pattern matching rate with each road marking pattern that is pre-stored in the memory unit 14. If none of the pattern matching rates satisfy a predetermined value (NO in S39), the in-vehicle unit 10 determines that there is no road marking (S40). On the other hand, if the pattern matching rate with any of the road marking patterns satisfies a predetermined value (YES in S39), the in-vehicle unit 10 determines that the road marking is detected, that is, that the road marking is detectable (S41).

[0040] In S37, if the edge pair width D is not within the second threshold (NO in S37), the in-vehicle unit 10 determines that white line detection is not possible (S42). Examples of white line detection failures are shown in Figures 9 and 10. In image 101C of Figure 9, one side of the white line L1 is worn, so the edge pair width D1, which is the distance between the first edge E1 and the second edge E2, becomes smaller than the second threshold (NO in S36), and white line detection is not possible. In image 101D of Figure 10, the boundary lines of two adjacent white lines L1 and L2 are worn. As a result, the edge that should be detected following the first edge E1 of the white line L1 is not detected, and the edge pair width D2, which is the distance between the first edge E1 and the second edge E2, becomes larger than the second threshold (NO in S36), and white line detection is not possible.

[0041] Returning to Figure 5, the in-vehicle unit 10 records road mark detection data, which is the result of the road mark detection determination process (S3), and transmits it to the server 60 (S4). The road mark detection data is recorded as Road Mark Detection = 1 if a road mark is detected (S38, S41 shown in Figure 6), and Road Mark Not Detected = 0 (undetectable information) if it is determined that the road mark is not detectable (S40, S42). Each road mark detection data is associated with the location information of the point where the image data used for the determination was acquired, recorded, and transmitted to the server 60. The server 60 stores the road mark undetected information, which is the location information of the undetected locations where road marks could not be detected, received from the in-vehicle unit 10, in the road mark information storage unit 64.

[0042] (Example of Server 60 operation) Figure 11 is a flowchart showing an example of the detection result output processing by the server 60 shown in Figure 1. Personnel from each prefectural police department input a request to start searching for road marking repair locations and select locations to be checked on the map from the communication device 80, for example, via the internet network 52, and the server 60 accepts these inputs (S11, S12). The server 60 reads the specified map data from the map data storage unit 65 (S13) and extracts data with location information within the specified range from the road marking information storage unit 64 that contains information on road markings that have not been detected (S14).

[0043] Next, the server 60 extracts data where road markings are not detected = 0 from the extracted data, i.e., location information of undetected locations (S15), and determines whether the undetected location is a roadway or not (S16). If the undetected location is a roadway (YES in S16), the server 60 generates a result image (detection result map 70 shown in Figure 2) in which the areas requiring repair are superimposed on the map data (S17), and transmits the result image to the communication device 80 so that it can be output to a website. When the result image is displayed on the screen of the communication device 80, the person in charge can look at the result image and recognize the areas that require road surface repair. On the other hand, if the undetected location is not a roadway, such as a parking lot (NO in S16), the server 60 records it as an area that does not require repair (S18) and does not display it in the result image. The server 60 may also generate an image in which areas that do not require repair are superimposed on the map data, distinguishing them from areas requiring repair 75, as shown in the road markings not recognized location 74 in Figure 2.

[0044] As described above, according to this embodiment, the server 60 can identify "locations where road marking recognition could not be performed" by utilizing the road marking recognition function of the in-vehicle unit 10 and GPS location information, and by overlaying these locations on a map, it can identify deteriorated areas of the road markings. Therefore, the server 60 can present areas requiring road surface repair to the personnel in charge of road surface repair management at each prefectural police department, or to repair contractors who carry out repair work.

[0045] Traditionally, there were no established standards for the frequency of repairs to road markings. Instead, police officers in each prefecture would visually inspect the markings to determine if repairs were necessary, and if so, they would commission repair companies to carry out the work. This resulted in inconsistencies in the repair quality due to varying criteria among officers. Furthermore, the visual inspection process was time-consuming and labor-intensive.

[0046] On the other hand, according to this embodiment, the server 60 overlays locations where road markings were not detected onto the map, allowing the person in charge to check the areas requiring repair, for example, on the web. The server 60 presents the areas requiring repair depending on whether or not road markings can be detected, enabling quantitative repair decisions. Furthermore, by setting a constant threshold for the road marking recognition function, the criteria for repair decisions can also be set to be consistent. Thus, variations in judgment by different personnel are eliminated.

[0047] Because the results can be viewed online, it eliminates the need for personnel to visually inspect the site, as was done in the past, thus reducing inspection time. Furthermore, the output results can be recorded as images, allowing for reconfirmation of the road surface's deterioration status.

[0048] Thus, according to this embodiment, since the person in charge can easily determine whether or not road surface repair is necessary, the frequency of road surface repairs increases, and it becomes possible to keep road markings such as lane markings, stop signs, and speed limit signs in good condition at all times. Therefore, it becomes possible to reduce the chances of drivers overlooking road markings and to support safe driving.

[0049] Furthermore, the present invention is not limited to the embodiments described above, and can be modified, improved, etc., as appropriate. In addition, the material, shape, dimensions, numerical values, form, number, placement, etc. of each component in the embodiments described above are arbitrary and not limited as long as they can achieve the present invention. For example, in the above embodiment, server 60 performed each process shown in Figure 11, but multiple servers may cooperate to perform the processing. For example, a data server responsible for normal operation management and a map server that manages map data may send and receive the necessary data, and for example, the map server may perform the processes S13 and S16, and the data server may perform the processes S14 and S15.

[0050] Herein, the features of the sign information output device and sign information presentation system according to the embodiments of the present invention described above are briefly listed below in [1] to [7].

[0051] [1] An acquisition unit (communication unit 62) acquires location information of undetected locations where road markings could not be detected from the in-vehicle unit (10), A storage unit (map data storage unit 65) that stores map data including at least the aforementioned undetected locations, The system includes an output unit (control unit 61, communication unit 62) that outputs result information (detection result map 70) obtained by superimposing the location information of the undetected points onto the aforementioned map data. Sign information output device (server 60).

[0052] According to the sign information output device with the configuration described in [1] above, by utilizing information that no road markings were detected and overlaying the location information of the undetected locations onto map data, it is possible to indicate areas where road markings such as lane markings have deteriorated and road surface repairs are necessary. Therefore, the personnel in charge of road surface repair management at each prefectural police department and repair contractors who carry out repair work can recognize areas where road surface repairs are necessary.

[0053] [2] The system includes a determination unit (control unit 61) that determines whether the undetected location is a roadway by referring to the map data, The output unit outputs the result information superimposed on the map data, with the location information of the undetected point being a roadway, as a repair-required location (repair-required location 75). The sign information output device described in [1] above.

[0054] According to the sign information output device with the configuration described in [2] above, if an undetected location is on a roadway, the location requiring repair is superimposed on the map data, so locations that do not require repair are not displayed. Therefore, the person in charge can easily identify the locations that require repair.

[0055] [3] A sign information display system (1) comprising the sign information output device (server 60) described in [1] or [2] above, and the in-vehicle unit (10), The aforementioned in-vehicle device is A location acquisition unit (GPS receiver 13) that acquires location information of the vehicle (41) equipped with the above-mentioned in-vehicle device, An image acquisition unit (sensor input unit 12) acquires image data from a camera (20) that photographs the front of the vehicle, A marking detection unit (control unit 11) determines whether or not the road marking can be detected based on the image data, The system includes a transmission unit (input / output I / F15) that transmits marking undetected information to the marking information output device, which associates the location information of the point where the image data used for the determination was acquired with undetectable information (road marking undetected = 0) indicating that the result of the determination is undetectable. In the aforementioned display information output device, The acquisition unit receives the information on the undetected marker and acquires the location information included in the information on the undetected marker as location information of the undetected location. The output unit outputs the result information (detection result map 70) which is obtained by superimposing the location information included in the information on undetected markers onto the map data. Signage information display system.

[0056] According to the road marking information display system with the configuration described in [3] above, by utilizing the information collected by the in-vehicle device that road markings were not detected and overlaying the location information of the undetected locations onto map data, it is possible to display locations where road markings have deteriorated and road surface repairs are needed. Therefore, the personnel in charge of road surface repair management at each prefectural police department and repair contractors who carry out repair work can recognize locations where road surface repairs are needed.

[0057] [4] In the sign information output device, the output unit outputs the result information to a website. The sign information display system described in [3] above.

[0058] According to the sign information display system with the configuration described in [4] above, personnel can easily check areas that require repair by accessing the website.

[0059] [5] A communication device (80) capable of communicating with the in-vehicle unit, In the aforementioned sign information output device, the output unit transmits the result information to the communication device. The communication device displays the result information received from the indicator information output device. The sign information display system described in [3] above.

[0060] According to the sign information display system with the configuration described in [5] above, the person in charge can see the result information displayed on the communication device and identify the areas that need repair.

[0061] [6] An in-vehicle device (10) mounted on a vehicle (41), A location acquisition unit (GPS receiver 13) that acquires the location information of the vehicle, An image acquisition unit (sensor input unit 12) acquires image data from a camera (20) that photographs the front of the vehicle, A marking detection unit (control unit 11) determines whether or not the road marking can be detected based on the image data, The system includes a transmission unit (input / output I / F15) that transmits the marking undetected information, which associates the location information of the point where the image data used for the determination was acquired with the undetected information (road marking undetected = 0) indicating that the result of the determination is undetectable, to the marking information output device. Onboard equipment (10).

[0062] [7] The marking detection unit detects a first edge and a second edge having a contrast ratio of a first threshold or higher along one direction in the image based on the image data, determines that a road marking has been detected if the distance between the first edge and the second edge in the one direction is within the second threshold, and determines that a road marking cannot be detected if the determination of marking detection is not made. The in-vehicle device described in [6] above. [Explanation of Symbols]

[0063] 1. Signage Information Display System 10 Onboard equipment 11 Control Unit 12 Sensor input section 13 GPS receiver 14 Storage section 20 cameras 30 Wireless Communication Modules 40 Onboard equipment 41 vehicles 60 servers 61 Control Unit 62 Communications Department 63 Memory section 64. Display Information Storage Unit 65 Map data storage unit 80 Communication equipment

Claims

1. An acquisition unit that obtains location information of undetected locations where road markings could not be detected from the in-vehicle device, A storage unit that stores map data including at least the aforementioned undetected locations, The system includes an output unit that outputs result information obtained by superimposing the location information of the undetected points onto the map data, The system includes a determination unit that determines whether or not the undetected location is a roadway by referring to the aforementioned map data. The output unit outputs the result information by superimposing the location information of the undetected point as a repair-required area on the map data if the undetected point is on a roadway, and if the undetected point is not on a roadway, it records the location information of the undetected point separately from the result information as a repair-required area and does not reflect it in the result information. Display information output device.

2. A sign information display system comprising a sign information output device according to claim 1 and the in-vehicle device, The aforementioned in-vehicle device is A location acquisition unit that acquires location information of a vehicle equipped with the aforementioned in-vehicle device, An image acquisition unit that acquires image data from a camera that photographs the front of the vehicle, A marking detection unit that determines whether or not the road marking can be detected based on the image data, The system includes a transmission unit that transmits information indicating that a marker has not been detected to the marker information output device, which associates location information of the point where the image data used for the determination was acquired with undetectable information indicating that the result of the determination is undetectable. In the aforementioned display information output device, The acquisition unit receives the information on the undetected marker and acquires the location information included in the information on the undetected marker as location information of the undetected location. The output unit outputs the result information, which is obtained by superimposing the location information included in the information on undetected markers onto the map data. Signage information display system.

3. The mark detection unit is, Based on the aforementioned image data, a first edge and a second edge with a contrast ratio of a first threshold or higher are detected along one direction within the image. Determine whether the first edge and the second edge are located in the central part of the field of view or at both ends of the field of view. When the first edge and the second edge are located at both ends of the field of view, if the distance between the first edge and the second edge in one direction is within a predetermined range, it is determined that the white line, which is the road marking, is detectable; if the distance is not within the predetermined range, it is determined that the white line, which is the road marking, is not detectable. When the first edge and the second edge are located in the central portion of the field of view, the pattern matching rate between the image of the central portion and each of the pre-stored road marking patterns is calculated. If either of the pattern matching rates satisfies a predetermined value, it is determined that the road marking, which is the road marking body, is detectable. If neither of the pattern matching rates satisfies the predetermined value, it is determined that the road marking, which is the road marking body, is undetectable. The sign information display system according to claim 2.

4. In the aforementioned sign information output device, the output unit outputs the result information to a website. The sign information display system according to claim 2.

5. The vehicle is equipped with a communication device capable of communicating with the aforementioned in-vehicle unit, In the aforementioned sign information output device, the output unit transmits the result information to the communication device. The communication device displays the result information received from the indicator information output device. The sign information display system according to claim 2.

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