Road management systems, road management methods and programs

Abstract

A road management system (10) comprises: a space detection means (11) that detects, to the side of a vehicle road on which a vehicle travels, a space above an auxiliary road on which a moving body other than the vehicle moves, on the basis of sensing information obtained by sensing the auxiliary road; an interrupted section identification means (12) that identifies, on the basis of the space above the auxiliary road detected by the space detection means (11), a section where a portion or all of the auxiliary road is interrupted; and an application means (13) that applies the interrupted section, identified by the interrupted section identification means (12), to a database.

Description

Technical Field

[0006]

[0001] The present disclosure relates to a road management system, a road management method, and a non - temporary computer - readable medium.

Background Art

[0002] In recent years, in order to achieve safe and smooth driving, the development of driving support technologies for grasping the road environment has been carried out. Patent Document 1 describes a driving support device that notifies a driver of avoidance instruction information for bypassing obstacles on a lane during driving. The driving support device detects obstacles on the lane during driving by sensors mounted on the vehicle, and determines the presence or absence of a space for bypassing the detected obstacles by sensors installed in infrastructure maintenance. The driving support device notifies the driver of the presence or absence of the determined space.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The driving support device disclosed in Patent Document 1 described above senses a space for bypassing obstacles on the lane by sensors installed in infrastructure maintenance. However, the above - mentioned sensing device may not be able to sense, for example, a sidewalk where the driver's vision is blocked by street trees or outer walls, and ensuring safety is insufficient.

[0005] In view of the above problems, an object of the present disclosure is to provide a road management system, a road management method, and a non - temporary computer - readable medium that enable driving with more ensured safety.

Means for Solving the Problems

[0006] A road management system relating to one aspect of this disclosure is A spatial detection means for detecting space on an auxiliary road, which is used by moving objects other than vehicles, based on sensing information obtained from sensing an auxiliary road to the side of a roadway on which vehicles travel, A discontinuation section identification means that identifies a section in which part or all of the auxiliary road is interrupted, based on the space on the auxiliary road detected by the space detection means, The system includes a reflection means for reflecting the interrupted section identified by the interrupted section identification means into a database.

[0007] A road management method relating to one aspect of this disclosure is: Based on sensing information obtained from sensing an auxiliary road for the movement of other moving objects alongside a roadway for vehicles, the space on the auxiliary road is detected. Based on the space detected on the auxiliary road, a section where part or all of the auxiliary road is interrupted is identified. The database is updated to reflect the sections where part or all of the identified auxiliary roads are interrupted.

[0008] A non-temporary computer-readable medium relating to one aspect of this disclosure is, A process to detect space on an auxiliary road, based on sensing information obtained by sensing an auxiliary road for moving objects other than the vehicle, located to the side of a roadway for the vehicle to travel on, A process to identify a section of the auxiliary road where part or all of it is interrupted, based on the space on the auxiliary road that was detected. The process involves reflecting in the database the sections where part or all of the identified auxiliary roads are interrupted, This is where the program that causes the computer to execute it is stored. [Effects of the Invention]

[0009] This disclosure provides a road management system, a road management method, and a non-temporary computer-readable medium for ensuring the safety of moving objects. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing the configuration of the road management system according to Embodiment 1. [Figure 2] This figure shows an example of a road management system according to Embodiment 2. [Figure 3] This is a block diagram showing the configuration of the road management system according to Embodiment 2. [Figure 4] This is a schematic diagram showing an example of a section where part of the auxiliary road according to Embodiment 2 is interrupted. [Figure 5] This is a flowchart showing the road management method according to Embodiment 2. [Figure 6] This is a block diagram showing the configuration of the road management system according to Embodiment 3. [Figure 7] This is a schematic diagram showing a section of the auxiliary road according to Embodiment 3 where the brightness is below a predetermined value. [Figure 8] This is a flowchart showing the road management method according to Embodiment 3. [Figure 9] This is a block diagram showing the configuration of the road management system according to Embodiment 4. [Figure 10] This is a schematic diagram showing an example of the use of the road management method according to Embodiment 4. [Modes for carrying out the invention]

[0011] The present disclosure will be described below through embodiments, but the disclosures in the claims are not limited to the embodiments described below. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations are omitted where necessary.

[0012] <Embodiment 1> Figure 1 is a block diagram showing the configuration of a road management system according to Embodiment 1. The sensing device 10 according to the first embodiment includes a spatial detection means 11, a discontinued section identification means 12, and a reflection means 13.

[0013] The space detection means 11 detects the space on the auxiliary road based on the sensing information obtained by sensing an auxiliary road for a moving body other than the vehicle on the side of the road for the vehicle to travel. Here, the road refers to the road for the vehicle to travel. On the other hand, the auxiliary road refers to a road provided on the side of the road where a moving body other than the vehicle, for example, a pedestrian, a bicycle, and a robot moves. A typical example of the auxiliary road is a sidewalk. The discontinuous section specifying means 12 specifies a section where a part or all of the auxiliary road is discontinuous based on the space on the auxiliary road detected by the space detection means 11. The section where the auxiliary road is discontinuous means a section where there is a space that cannot be detected by a vehicle traveling on the road in all or part of the width direction on the auxiliary road. In other words, the section where the auxiliary road is discontinuous means a section where there is a space that is invisible or difficult to see from the vehicle on the auxiliary road, that is, a blind spot exists. The reflecting means 13 reflects the section where the space other than the road is discontinuous in the database. The database is, for example, an online map or a search engine. The database does not necessarily need to be provided in the sensing device and may be connected via a communication network.

[0014] As described above, the road management system according to Embodiment 1 specifies the discontinuous section of the auxiliary road and reflects it in the database. Thereby, safety can be ensured. For example, the safety of a vehicle traveling on the road or a moving body moving on the auxiliary road can be ensured. In addition, useful information for road maintenance and management can be provided to users such as road administrators. Thereby, users such as road administrators can easily plan tree felling and outer wall removal.

[0015] <Embodiment 2> Embodiment 2 of the present disclosure will now be described with reference to the drawings. Figure 2 shows a road management system including a road management device according to one embodiment of the present disclosure. The road management system 100 includes a road management device 101 and one or more vehicles 200. The road management device 101 is connected to one or more vehicles 200 via a network 150. The network 150 includes, for example, a wireless communication network using a communication line standard such as LTE (Long Term Evolution). The network 150 may also include a wireless communication network such as WiFi (registered trademark) or a fifth-generation mobile communication system.

[0016] Vehicle 200 is configured as a road-traveling land vehicle, such as a car, bus, taxi, or truck. Vehicle 200 may also be a government vehicle, garbage truck, or police vehicle. Vehicle 200 includes surrounding monitoring sensors for monitoring the surrounding conditions of the moving body. Surrounding monitoring sensors include, for example, cameras and sensors such as LiDAR (Light Detection and Ranging). Vehicle 200 may be configured to enable autonomous driving based on information from sensors mounted on the moving body.

[0017] Vehicle 200 is equipped with a communication device, which transmits sensor data (sensing information) from surrounding monitoring sensors to the road management system 110. For example, vehicle 200 transmits camera images captured by a camera, 3D point cloud data acquired by a LiDAR, or both, as sensor data to the road management system 110. The following describes an example in which vehicle 200 has a camera and transmits camera images to the road management system 110. Vehicle 200 may include multiple cameras that capture images of the front, rear, right side, and left side of the vehicle.

[0018] The road management system 110 uses sensor data transmitted from the vehicle 200 to detect space on the auxiliary road, identifies sections where part or all of the auxiliary road is interrupted, and reflects this information in the database. Figure 3 shows an example configuration of the road management system 110. The road management system 110 includes an acquisition unit 111, a spatial detection unit 112, a discontinued section identification unit 113, and a reflection unit 114. The road management system 110 is configured as a computer device having, for example, one or more memories and one or more processors. At least some of the functions in each part of the road management system 110 can be realized by the processor operating according to a program read from memory. The road management system 110 corresponds to the road management system 10 shown in Figure 1.

[0019] The acquisition unit 111 acquires camera images from the camera 160. The camera 160 is mounted on the vehicle 200 (see Figure 2). In this embodiment, the camera 160 only needs to transmit camera images of the road to the road management system 110 and does not necessarily need to be mounted on the vehicle 200. The camera 160 may be installed on a traffic light or roadside unit other than the vehicle. In lieu of, or in addition to, the acquisition unit 111 may acquire three-dimensional point cloud data (LiDAR image) containing data of the road area from a 3D scanner such as LiDAR.

[0020] The spatial detection unit 112 detects space on the auxiliary road from the camera image of the camera 160. For example, the spatial detection unit 112 detects space on the auxiliary road by detecting curbs and guardrails on the road. Curbs can be detected in the camera image by, for example, searching for an area with a predetermined step. The spatial detection unit 112 corresponds to the spatial detection means 11 shown in Figure 1.

[0021] The discontinuation section identification unit 113 identifies a section where part or all of the auxiliary road is interrupted, based on the camera image and the space on the auxiliary road detected by the space detection unit 112. The discontinuation section identification unit 113 may identify a space as a discontinuation section if it cannot detect a portion of a predetermined length, even though space on the auxiliary road can be detected before and after that section. In this case, to avoid recognizing a section where a guardrail is installed as a discontinuation section, it is preferable to recognize only spaces above a predetermined height and determine whether there are no obstacles and whether that space can be detected. Furthermore, to avoid misidentifying moving objects such as pedestrians as obstacles, it may be necessary to determine whether the detected object is moving or not. Furthermore, by measuring the same interval multiple times, it may be possible to determine whether the obtained detection results are identical. In addition, the discontinuation section identification unit 113 may identify sections where the auxiliary road is interrupted by comparing the auxiliary road corresponding to the space detected on the auxiliary road by the space detection unit 112 with past data of the auxiliary road. For example, the discontinuation section identification unit 113 identifies sections where the road markings are interrupted by comparing the auxiliary road corresponding to the space detected on the auxiliary road by the space detection unit 112 with the construction ledger (construction record) or past inspection data of the auxiliary road. The construction ledger or past inspection data may be obtained, for example, from a database owned by the road administrator. The discontinuation section identification unit 113 may also identify sections where the auxiliary road is interrupted by comparing the auxiliary road corresponding to the detection result of the space detected on the auxiliary road by the space detection unit 112 with the auxiliary road corresponding to the detection result of the space detected on the auxiliary road in the past. The interrupted section identification unit 113 corresponds to the interrupted section identification means 12 shown in Figure 1.

[0022] Here, with reference to Figure 4, an example of a section of the auxiliary road that is interrupted, as identified by the interrupted section identification means 12, will be explained. Figure 4 is a schematic diagram showing a section of the auxiliary road that is partially interrupted. The road in Figure 4 consists of a carriageway 201 and sidewalks 210 and 211. Obstacles 2103 obstruct the view when looking at sidewalks 210 from the carriageway 201 side. Obstacles 2103 are, for example, street trees, plants, and exterior walls. When the driver of vehicle 200 looks at sidewalks 210 from the carriageway 201 side, their view is obstructed by obstacles 2103 and they cannot see sidewalk 2102 which is behind obstacles 2103. That is, when the driver of vehicle 200 looks at sidewalks 210 from the carriageway 201 side, sidewalks 2101 and 2104 on sidewalk 210 are visible, but sidewalk 2102 appears to be interrupted. Sidewalk 2102 is the interrupted section of the auxiliary road. In Figure 4, the interrupted section identification means 12 identifies an interrupted section in one auxiliary road, but it is also possible to identify interrupted sections in multiple auxiliary roads.

[0023] The reflection unit 114 reflects in the database the sections of the auxiliary road that are partially or completely interrupted, as identified by the interrupted section identification unit 113. The reflection unit 114 corresponds to the reflection means 13 shown in Figure 1.

[0024] Next, a road management method according to Embodiment 2 will be described. Figure 5 shows a road management method according to one embodiment of the present disclosure.

[0025] First, the acquisition unit 111 acquires road information from the camera 160 on the vehicle 200 (step ST1). Next, based on the road information acquired by the acquisition unit 111, the space detection unit 112 detects space on the auxiliary road (step ST2). Subsequently, the discontinuation section identification unit 113 identifies sections where part or all of the auxiliary road is interrupted, based on the space on the auxiliary road detected by the space detection unit 112 (step ST3). The reflection unit 114 reflects the interrupted sections on the auxiliary road identified by the discontinuation section identification unit 113 into the database (step ST4).

[0026] An example of how to use the database created by the reflection unit 114 is described below. The database created by the reflection unit 114 is distributed in advance to a terminal installed in the vehicle (vehicle-mounted terminal). One distribution method is to update the database on the vehicle-mounted terminal at regular intervals via a wireless network. Another example of a distribution method is for the vehicle-mounted terminal to update the database by reading a memory containing the latest database. The driver of the vehicle can then drive while paying attention to any gaps in the auxiliary roads reflected in the database.

[0027] As described above, the road management system according to Embodiment 2 identifies sections of the auxiliary road that are interrupted and reflects this in the database. This ensures safety. For example, it can ensure the safety of vehicles traveling on the roadway or moving objects on the auxiliary road. It can also provide users such as road administrators with information useful for road maintenance and management. This allows users such as road administrators to easily plan tree felling and wall removal.

[0028] <Embodiment 3> Next, Embodiment 3 of this disclosure will be described. Figure 6 is a block diagram showing the configuration of the road management system according to Embodiment 3. The road management system 20 according to the third embodiment includes a spatial detection means 21, a brightness detection means 22, a discontinuation section identification means 23, and a reflection means 24. The spatial detection means 21 is the same as the spatial detection means 11 according to Embodiment 1, so its description will be omitted.

[0029] The brightness detection means 22 detects the brightness in the space above the auxiliary path. Parameters that govern brightness include, for example, the season, weather, the angle of the sun, and the degree to which trees are in full bloom. The brightness detection means 22 can also detect brightness by analyzing the luminance values ​​of images in the auxiliary road. Alternatively, the brightness detection means 22 may detect the brightness of the auxiliary road based on information obtained from an illuminance sensor installed in the auxiliary road. For example, the illuminance sensor may be installed on or near the auxiliary road on a structure such as a traffic light, streetlamp, or utility pole. The interrupted section identification means 23 identifies sections where part or all of the auxiliary road is interrupted, as well as sections in part or all of the auxiliary road where the brightness is below a predetermined value. The reflection means 24 reflects in the database sections in which part or all of the auxiliary road is interrupted, as well as sections in which the brightness is below a predetermined value, along with the date and time, for parts or all of the auxiliary road.

[0030] The sections of the auxiliary road that are interrupted, as identified by the interrupted section identification means 23, correspond to the sections of the auxiliary road that are interrupted, as identified by the interrupted section identification means 12, so their explanation will be omitted. Here, referring to Figure 7, we will explain the sections of the auxiliary road that are identified by the interrupted section identification means 23 and whose brightness is below a predetermined value. Figure 7 is a schematic diagram showing a section of the auxiliary road where the brightness is below a predetermined value. The road in Figure 7 consists of a carriageway 301 and sidewalks 310 and 311. Here, based on sensor information sensed from the road, the brightness detection means 22 analyzes the results and assumes that the brightness values ​​in the images of sidewalks 3104 and 3106 are higher than the reference brightness value, and the brightness value in the image of sidewalk 3105 is lower than the reference brightness value. In this case, sidewalks 3104 and 3106 become bright sidewalks. On the other hand, sidewalk 3105 becomes a dark sidewalk. That is, sidewalk 3105 is the section where the brightness of the auxiliary road is below a predetermined value. In Figure 7, the interrupted section identification means 23 identifies a section in one auxiliary road where the brightness is below a predetermined value, but it is also possible to identify sections in multiple auxiliary roads where the brightness is below a predetermined value.

[0031] Next, a road management method according to Embodiment 3 will be described. Figure 8 shows a road management method according to one embodiment of the present disclosure. Note that Figure 8 shows a road management method after acquiring road information from sensor information.

[0032] The spatial detection means 21 detects space on the auxiliary road based on acquired road information (step ST01). Next, the brightness detection means 22 detects the brightness in the space on the auxiliary road detected by the spatial detection means 21 (step ST02). Subsequently, the discontinuation section identification means 23 identifies sections where part or all of the auxiliary road is interrupted, and sections where the brightness of part or all of the auxiliary road is below a predetermined value (step ST03). The reflection means 24 reflects the sections where part or all of the auxiliary road is interrupted, the sections where the brightness of part or all of the auxiliary road is below a predetermined value, and the date and time into the database (step ST04).

[0033] As described above, the road management system according to this third embodiment identifies sections where part or all of the auxiliary road is interrupted, sections on the auxiliary road where the brightness is below a predetermined value, and the date and time, and reflects this information in the database. This ensures safety. For example, it can ensure the safety of vehicles traveling on the roadway or moving objects on the auxiliary road. It can also provide users, such as road administrators, with information useful for road maintenance and management. This allows users, such as road administrators, to easily plan the installation of streetlights in areas with insufficient brightness. Furthermore, users, such as local government administrators, can alert pedestrians by notifying them that certain sections are dark and lack sufficient brightness.

[0034] <Embodiment 4> The road management system 130 according to Embodiment 4 will now be described. Figure 9 shows an example of the configuration of the road management system 130. The acquisition unit 111, spatial detection unit 112, and discontinuation section identification unit 113 in the road management system 130 according to Embodiment 4 are the same as those in the road management system 110 according to Embodiment 2, so their description will be omitted. The notification unit 115 notifies the vehicle driver that there is a section where part or all of the auxiliary road is interrupted, as identified by the interrupted section identification unit 113. Typically, the notification is sent to a terminal installed in the vehicle 200, but it may also be sent to a terminal held by the driver or a terminal held by a pedestrian, separate from the vehicle itself. Furthermore, the notification method may be not only by sound, but also by a combination of sound and images.

[0035] Figure 10 is a schematic diagram showing an example of the use of the road management method according to Embodiment 4. The roadway 201, sidewalks 210, 211, 2101, 2102, 2104, and obstacle 2103 in Figure 10 are the same as in Figure 2, so their explanation is omitted.

[0036] This describes a case where a moving object 900 on sidewalk 2102 may move to sidewalk 2101 or sidewalk 2104 by bypassing obstacle 2103 and entering roadway 201. The driver of vehicle 200 traveling on roadway 201 has difficulty recognizing the moving object 900 on sidewalk 2102 because their view is obstructed by obstacle 2103. Here, the acquisition unit 111 of vehicle 200 acquires camera images from camera 160 mounted on vehicle 200. The spatial detection unit 112 of vehicle 200 detects the space on the auxiliary road based on the camera images from camera 160. The discontinuation section identification unit 113 of vehicle 200 detects sidewalk 2102, which is a section where part of the auxiliary road is interrupted, based on the space on the auxiliary road detected by the spatial detection unit 112. The notification unit 115 of vehicle 200 notifies the driver of the vehicle that there is a sidewalk 2102, which is a section of the auxiliary road identified by the interrupted section identification unit 113 that is interrupted. This allows the driver of vehicle 200 to drive more carefully and safely in the vicinity of the sidewalk 2102, as there is a possibility that the moving object 900 may suddenly appear. Alternatively, the server may acquire images obtained by the vehicle's camera 160, execute the processing of the spatial detection unit 112 and the interrupted section identification unit 113 on the server, and then notify the vehicle from the server.

[0037] Thus, the road management system according to Embodiment 4 can alert drivers to the possibility that moving objects that are difficult for drivers to recognize may enter the roadway due to obstacles installed on the auxiliary road. As a result, drivers can drive more carefully and safely when operating on a roadway where there are sections where the auxiliary road is interrupted. Furthermore, it can ensure the safety not only of vehicles traveling on the roadway but also of moving objects moving on the auxiliary road. In this way, the road management system according to Embodiment 4 can ensure safety.

[0038] Although the embodiments described above were described in terms of hardware configuration, the invention is not limited thereto. The disclosure also allows any processing to be implemented by having a processor execute a computer program.

[0039] In the examples described above, the program includes a set of instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored on a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically or otherwise propagating signals.

[0040] This disclosure is not limited to the embodiments described above, and may be modified as appropriate without departing from its intent.

[0041] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A spatial detection means for detecting space on an auxiliary road, which is used by moving objects other than vehicles, based on sensing information obtained from sensing an auxiliary road to the side of a roadway on which vehicles travel, A discontinuation section identification means that identifies a section in which part or all of the auxiliary road is interrupted, based on the space on the auxiliary road detected by the space detection means, A reflection means for reflecting the interrupted section identified by the interrupted section identification means into the database, A road management system equipped with the following features. (Note 2) The road management system according to Appendix 1, wherein the sensing information includes at least one of camera images taken of the road and three-dimensional point cloud data of the road. (Note 3) The road management system according to Appendix 1 or 2, wherein the sensing information is acquired by the mobile body and transmitted to the spatial detection means. (Note 4) The system further includes a brightness detection means for detecting the brightness in the space on the auxiliary path, which has been detected by the spatial detection means. The interrupted section identification means further identifies a section in which the brightness of part or all of the auxiliary road is below a predetermined value, based on the brightness information of the space on the auxiliary road detected by the brightness detection means. The reflection means further reflects in the database the section identified by the interrupted section identification means, where the brightness of part or all of the auxiliary road is below a predetermined value, and the date and time. A road management system as described in any one of the items 1 to 3 of the appendix. (Note 5) The brightness detection means detects brightness by analyzing the brightness values ​​of the image in the auxiliary path. The road management system described in Appendix 4. (Note 6) Based on sensing information obtained from sensing an auxiliary road for the movement of other moving objects alongside a roadway for vehicles, the space on the auxiliary road is detected. Based on the space on the auxiliary road detected by the spatial detection means, a section in which part or all of the auxiliary road is interrupted is identified. A road management method that reflects the interrupted sections identified by the interrupted section identification means into a database. (Note 7) The road management method according to Appendix 6, wherein the sensing information includes at least one of a camera image of the road and three-dimensional point cloud data of the road. (Note 8) The road management method according to Appendix 6 or 7, wherein the sensing information is acquired by the moving body and transmitted to the spatial detection means. (Note 9) The brightness in the space on the auxiliary path that was detected is detected, From the brightness information of the space on the auxiliary road detected, sections where the brightness of part or all of the auxiliary road is below a predetermined value are further identified. The database further reflects the sections on the identified auxiliary road where the brightness is below a predetermined value, along with the date and time. The road management method described in any one of the items 6 to 8 of the appendix. (Note 10) Brightness is detected by analyzing the brightness values ​​of the image in the aforementioned auxiliary path. Road management methods as described in Appendix 9. (Note 11) A process to detect space on an auxiliary road, based on sensing information obtained by sensing an auxiliary road for moving objects other than the vehicle, located to the side of a roadway for the vehicle to travel on, A process to identify a section of the auxiliary road that is interrupted in whole or in part, based on the space on the auxiliary road detected by the spatial detection means, The process of reflecting the interrupted section identified by the interrupted section identification means in the database, A non-temporary, computer-readable medium containing a program to be executed by a computer. (Note 12) The sensing information is a non-temporary computer-readable medium as described in Appendix 11, which includes at least one of a camera image of the road and three-dimensional point cloud data of the road. (Note 13) The sensing information is acquired by the moving body and transmitted to the spatial detection means in a non-temporary computer-readable medium as described in Appendix 11 or 12. (Note 14) The process further includes detecting the brightness in the space on the detected auxiliary path, A process to further identify sections on the auxiliary road where the brightness of part or all of the space on the auxiliary road is below a predetermined value, based on the brightness information of the space on the auxiliary road detected, The process involves further reflecting in the database the section on the identified auxiliary road where the brightness is below a predetermined value, along with the date and time. A non-temporary computer-readable medium, as described in any one of the appendices 11 to 13, for storing a program that causes a computer to execute it. (Note 15) Brightness is detected by analyzing the brightness values ​​of the image in the aforementioned auxiliary path. Note 14: Non-temporary computer-readable media. [Explanation of symbols]

[0042] 11, 21 Spatial detection means 12, 23 Method for identifying interrupted sections 13, 24 Reflection means 22 Brightness detection means 10, 20, 100, 110, 130 Road Management Systems 101 Road management equipment 111 Acquisition Department 112 Spatial detection unit 113 Identifying the Discontinued Section 114 Reflection section 115 Notification Department 150 Networks 160 Camera 200 vehicles 201, 301 roadway 210, 211, 310, 311 sidewalk 2103 Obstacle 2101, 2102, 2104, 3104, 3105, 3106 Sidewalk 900 Mobile Unit

Claims

1. A spatial detection means for detecting space on an auxiliary road, which is used by moving objects other than vehicles, based on sensing information obtained from sensing an auxiliary road to the side of a roadway on which vehicles travel, A discontinuation section identification means that identifies a section in which part or all of the auxiliary road is interrupted, based on the space on the auxiliary road detected by the space detection means, A reflection means for reflecting the interrupted section identified by the interrupted section identification means into the database, The system comprises a brightness detection means for detecting the brightness in the space on the auxiliary path, which has been detected by the spatial detection means, The interrupted section identification means further identifies a section in which the brightness of part or all of the auxiliary road is below a predetermined value, based on the brightness information of the space on the auxiliary road detected by the brightness detection means. The reflection means further reflects the interval in which the brightness is less than or equal to a predetermined value, and the date and time, which were identified by the interruption interval identification means, into the database. Road management system.

2. The road management system according to claim 1, wherein the sensing information includes at least one of a camera image of the road and three-dimensional point cloud data of the road.

3. The road management system according to claim 1 or 2, wherein the sensing information is acquired by the mobile body and transmitted to the spatial detection means.

4. The brightness detection means detects brightness by analyzing the brightness values ​​of the image in the auxiliary path. The road management system according to claim 1.

5. A process to detect space on an auxiliary road, based on sensing information obtained by sensing an auxiliary road for moving objects other than the vehicle, located to the side of a roadway for the vehicle to travel on, A process to identify a section of the auxiliary road where part or all of it is interrupted, based on the space on the auxiliary road that was detected. The process involves reflecting in the database the sections where part or all of the identified auxiliary roads are interrupted, The computer performs the following steps: detecting the brightness in the space on the auxiliary road, which was detected by the process of detecting the space on the auxiliary road; In the aforementioned identifying process, from the brightness information in the space on the auxiliary road detected by the brightness detection process, a section in which the brightness of part or all of the auxiliary road is less than or equal to a predetermined value is further identified. In the aforementioned reflection process, the interval in which the brightness is less than or equal to a predetermined value, and the date and time, which were identified by the aforementioned identification process, are further reflected in the database. Road management methods.

6. A process to detect space on an auxiliary road, based on sensing information obtained by sensing an auxiliary road for moving objects other than the vehicle, located to the side of a roadway for the vehicle to travel on, A process to identify a section of the auxiliary road where part or all of it is interrupted, based on the space on the auxiliary road that was detected. The process involves reflecting in the database the sections where part or all of the identified auxiliary roads are interrupted, The computer is instructed to perform the following: a process to detect the brightness in the space on the auxiliary road, which was detected by the process of detecting the space on the auxiliary road; In the aforementioned identifying process, from the brightness information in the space on the auxiliary road detected by the brightness detection process, a section in which the brightness of part or all of the auxiliary road is less than or equal to a predetermined value is further identified. In the aforementioned reflection process, the interval in which the brightness is less than or equal to a predetermined value, and the date and time, which were identified by the aforementioned identification process, are further reflected in the database. program.

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