Road management system, road management method and program

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

Road management system, road management method and non-transitory computer-readable medium

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

[0002] In recent years, driving assistance technologies that grasp road conditions have been developed to ensure safe and smooth driving. Patent Document 1 describes a driving assistance device that notifies a driver of avoidance instruction information for detouring around obstacles on the roadway while driving. The driving assistance device detects obstacles on the roadway while driving using sensors mounted on the vehicle, and determines whether there is space to detouring the detected obstacle using sensors installed in infrastructure. The driving assistance device notifies the driver of the determined presence or absence of space.

[0003] Japanese Patent Application Laid-Open No. 2020-201544

[0004] The driving assistance device disclosed in the above-mentioned Patent Document 1 senses the space to detour around obstacles on the roadway using sensors installed in infrastructure. However, the above-mentioned sensing device may be unable to sense sidewalks, for example, when roadside trees or exterior walls obstruct the driver's view, and therefore safety is not sufficiently ensured.

[0005] In view of the above-mentioned problems, an object of the present disclosure is to provide a road management system, a road management method, and a non-transitory computer-readable medium that enable driving that can ensure greater safety.

[0006] A road management system according to one aspect of the present disclosure comprises: a space detection means for detecting space on a secondary road for moving bodies other than vehicles to travel on, based on sensing information obtained by sensing a secondary road on the side of a roadway on which vehicles travel; a discontinuous section identification means for identifying a section where part or all of the secondary road is interrupted, based on the space on the secondary road detected by the space detection means; and a reflection means for reflecting the interrupted section identified by the discontinuous section identification means in a database.

[0007] A road management method according to one aspect of the present disclosure detects space on a secondary road for moving bodies other than vehicles to travel on, based on sensing information obtained by sensing the secondary road on the side of a roadway on which vehicles travel, identifies sections where the secondary road is partially or completely interrupted based on the detected space on the secondary road, and reflects the identified sections where the secondary road is partially or completely interrupted in a database.

[0008] A non-transitory computer-readable medium according to one aspect of the present disclosure stores a program for causing a computer to execute the following processes: a process for detecting space on a secondary road, on the side of a roadway on which vehicles travel, based on sensing information obtained by sensing a secondary road for moving bodies other than vehicles; a process for identifying sections where part or all of the secondary road is interrupted based on the detected space on the secondary road; and a process for reflecting the identified sections where part or all of the secondary road is interrupted in a database.

[0009] The present disclosure makes it possible to provide a road management system, a road management method, and a non-transitory computer-readable medium that ensure the safety of moving objects.

[0010] FIG. 1 is a block diagram showing the configuration of a road management system according to embodiment 1. FIG. 2 is a diagram showing an example of a road management system according to embodiment 2. FIG. 3 is a block diagram showing the configuration of a road management system according to embodiment 2. FIG. 4 is a schematic diagram showing an example of a section where a part of a secondary road is interrupted according to embodiment 2. FIG. 5 is a flowchart showing a road management method according to embodiment 2. FIG. 6 is a block diagram showing the configuration of a road management system according to embodiment 3. FIG. 7 is a schematic diagram showing a section where the brightness of a secondary road is equal to or lower than a predetermined value according to embodiment 3. FIG. 8 is a flowchart showing a road management method according to embodiment 3. FIG. 9 is a block diagram showing the configuration of a road management system according to embodiment 4. FIG. 10 is a schematic diagram showing an example of use of the road management method according to embodiment 4.

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

[0012] 1 is a block diagram showing the configuration of a road management system according to embodiment 1. A sensing device 10 according to the first embodiment includes a space detection unit 11, a discontinuous section identification unit 12, and a reflection unit 13.

[0013] The space detection means 11 detects the space on the auxiliary road based on sensing information obtained by sensing an auxiliary road for moving objects other than vehicles on the side of a roadway on which vehicles travel. Here, the roadway refers to a road on which vehicles travel. On the other hand, the auxiliary road refers to a road provided on the side of a roadway on which moving objects other than vehicles, such as pedestrians, bicycles, and robots, travel. A typical example of an auxiliary road is a sidewalk. The discontinuous section identification means 12 identifies a section where the auxiliary road is partially or entirely discontinued based on the space on the auxiliary road detected by the space detection means 11. A section where the auxiliary road is discontinued refers to a section where a space exists on the auxiliary road that cannot be detected by vehicles traveling on the roadway, in all or part of its width direction. In other words, a section where the auxiliary road is discontinued refers to a space on the auxiliary road that is invisible or difficult to see from a vehicle, i.e., a section where a blind spot exists. The reflection means 13 reflects the section where the space other than the roadway is discontinued in a database. The database may be, for example, an online map or search engine. The database does not necessarily have to be provided within the sensing device, but may be connected via a communication network.

[0014] In this way, the road management system according to the first embodiment identifies sections where auxiliary roads are interrupted and reflects the information in the database. This ensures safety. For example, it ensures the safety of vehicles traveling on roadways or mobile objects traveling on auxiliary roads. It also provides users such as road administrators with information useful for road maintenance and management. This allows users such as road administrators to easily plan tree cutting or exterior wall removal.

[0015] Second Embodiment A second embodiment of the present disclosure will be described below with reference to the drawings. FIG. 2 shows a road management system including a road management device according to an 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 the 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 Wi-Fi (registered trademark) or a fifth-generation mobile communication system.

[0016] Vehicle 200 is configured as a land vehicle that travels on a road, such as a car, bus, taxi, or truck. Vehicle 200 may also be a vehicle such as a government vehicle, a garbage truck, or a police vehicle. Vehicle 200 includes a perimeter monitoring sensor for monitoring the situation around the moving object. The perimeter monitoring sensor includes, for example, a camera and a sensor such as LiDAR (Light Detection and Ranging). Vehicle 200 may be configured to be capable of automatic driving (autonomous driving) based on information from sensors mounted on the moving object.

[0017] The vehicle 200 is equipped with a communication device, and the communication device transmits sensor data (sensing information) from a perimeter monitoring sensor to the road management system 110. For example, the vehicle 200 transmits camera images captured by a camera, 3D point cloud data acquired by LiDAR, or both, as sensor data to the road management system 110. Below, an example will be described in which the vehicle 200 has a camera and transmits camera images to the road management system 110. The 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 spaces on the service road, identify sections where the service road is partially or completely discontinued, and reflect the information in a database. FIG. 3 shows an example configuration of the road management system 110. The road management system 110 includes an acquisition unit 111, a space 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 of each unit of the road management system 110 can be realized by the processor operating in accordance with a program read from the memory. The road management system 110 corresponds to the road management system 10 shown in FIG. 1.

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

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

[0021] The discontinuous section identification unit 113 identifies a section where the support road is partially or entirely discontinued based on the space on the support road detected by the space detection unit 112 using camera images. If the discontinuous section identification unit 113 is able to detect spaces on the support road before and after the discontinuous section, but is unable to detect a section of a predetermined length, the discontinuous section identification unit 113 may identify the space as a discontinuous section. In this case, it is preferable to only recognize spaces above a predetermined height to avoid recognizing sections where guardrails are installed as discontinuous sections, and determine whether the space is free of obstacles and has been detected. It is also possible to determine whether a detected object is moving so as not to recognize a moving object such as a pedestrian as an obstacle. Furthermore, it is also possible to measure the same section multiple times and determine whether the obtained detection results are consistent. Additionally, the discontinuous section identification unit 113 may identify a section where the support road is discontinued by comparing the support road corresponding to the space on the support road detected by the space detection unit 112 with past data on the support road. The discontinuous section identification unit 113, for example, compares the auxiliary road corresponding to the space on the auxiliary road detected by the space detection unit 112 with the construction ledger (construction record) of the auxiliary road and past inspection data to identify the section where the lane markings are discontinued. The construction ledger and past inspection data may be obtained, for example, from a database owned by the road administrator. The discontinuous section identification unit 113 may identify the section where the auxiliary road is discontinued by comparing the auxiliary road corresponding to the detection result of the space on the auxiliary road by the space detection unit 112 with the auxiliary road corresponding to the detection result of the space on the auxiliary road that the space detection unit 112 detected in the past. The discontinuous section identification unit 113 corresponds to the discontinuous section identification means 12 shown in FIG. 1.

[0022] Here, with reference to FIG. 4 , an example of an interrupted section of a service road identified by the interrupted section identification means 12 will be described. FIG. 4 is a schematic diagram showing a section where a portion of the service road is interrupted. The road in FIG. 4 is composed of a roadway 201 and sidewalks 210 and 211. An obstacle 2103 blocks the view of the sidewalk 210 when viewed from the roadway 201 side. The obstacle 2103 is, for example, a roadside tree, a shrub, or an exterior wall. When the driver of the vehicle 200 views the sidewalk 210 from the roadway 201 side, the view is blocked by the obstacle 2103 and the driver cannot see the sidewalk 2102 behind the obstacle 2103. In other words, when the driver of the vehicle 200 views the sidewalk 2100 from the roadway 201 side, the driver can see the sidewalks 2101 and 2104 on the sidewalk 210, but the sidewalk 2102 appears to be interrupted. The sidewalk 2102 is an interrupted section of the service road. In FIG. 4, the disconnected section identifying means 12 identifies a disconnected section on one auxiliary road, but it is also possible to identify disconnected sections on multiple auxiliary roads.

[0023] The reflecting unit 114 reflects in the database the section in which the auxiliary road is partially or completely disconnected, which section has been identified by the disconnected section identifying unit 113. The reflecting unit 114 corresponds to the reflecting means 13 shown in FIG.

[0024] Next, a road management method according to embodiment 2 will be described. Fig. 5 illustrates a road management method according to an 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, the space detection unit 112 detects spaces on the auxiliary road based on the road information acquired by the acquisition unit 111 (step ST2). Next, the discontinuous section identification unit 113 identifies sections where the auxiliary road is partially or entirely discontinued based on the spaces on the auxiliary road detected by the space detection unit 112 (step ST3). The reflection unit 114 reflects the discontinued sections on the auxiliary road identified by the discontinuous section identification unit 113 in the database (step ST4).

[0026] An example of a method for using the database created by the reflection unit 114 will be described. The database created by the reflection unit 114 is distributed in advance to a terminal (vehicle-mounted terminal) mounted on the vehicle. One distribution method is, for example, a method in which the database of the vehicle-mounted terminal is updated periodically via a wireless network. Another example of a distribution method is a method in which the vehicle-mounted terminal reads and updates a memory in which the latest database is recorded. The driver of the vehicle can drive while paying attention to any interrupted sections of the auxiliary road reflected in the database.

[0027] In this way, the road management system according to the second embodiment identifies sections where auxiliary roads are interrupted and reflects the information in the database. This ensures safety. For example, it ensures the safety of vehicles traveling on roadways or mobile objects traveling on auxiliary roads. It also provides users such as road administrators with information useful for road maintenance and management. This allows users such as road administrators to easily plan tree cutting or exterior wall removal.

[0028] <Third Embodiment> Next, a third embodiment of the present disclosure will be described. Fig. 6 is a block diagram showing the configuration of a road management system according to the third embodiment. A road management system 20 according to the third embodiment includes a space detection unit 21, a brightness detection unit 22, an interruption section identification unit 23, and a reflection unit 24. The space detection unit 21 is similar to the space detection unit 11 according to the first embodiment, and therefore a description thereof will be omitted.

[0029] The brightness detection means 22 detects the brightness in the space on the service road. Parameters that govern brightness include, for example, the season, weather, the angle of the sun, and the degree of full bloom of trees. The brightness detection means 22 can also detect brightness by analyzing the brightness value of an image on the service road. The brightness detection means 22 may also detect the brightness of the service road based on information acquired from an illuminance sensor installed on the service road. For example, the illuminance sensor may be installed on a structure such as a traffic light, street light, or utility pole on or near the service road. The interrupted section identification means 23 identifies sections where the service road is partially or entirely interrupted, and also identifies sections where the brightness is below a predetermined value on the service road in part or all of the service road. The reflecting means 24 reflects the sections where the service road is partially or entirely interrupted, as well as the dates and times, on the database.

[0030] The section of the auxiliary road where the discontinuity is identified by the discontinuity section identification means 23 corresponds to the section of the auxiliary road where the discontinuity section identification means 12 identifies, and therefore a description thereof will be omitted. Here, with reference to FIG. 7 , a section of the auxiliary road where the brightness is below a predetermined value, which is identified by the discontinuity section identification means 23, will be described. FIG. 7 is a schematic diagram showing a section of the auxiliary road where the brightness is below a predetermined value. The road in FIG. 7 consists of a roadway 301 and sidewalks 310 and 311. Here, as a result of analysis by the brightness detection means 22 based on sensor information sensed from the road, it is assumed that the brightness values ​​in the images of sidewalks 3104 and 3106 are higher than a 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 are bright sidewalks. On the other hand, sidewalk 3105 is dark sidewalk. In other words, sidewalk 3105 is a section of the auxiliary road where the brightness is below a predetermined value. In Figure 7, the discontinuous section identification means 23 identifies a section where the brightness on one auxiliary road is below a predetermined value, but it is also possible to identify sections where the brightness on multiple auxiliary roads is below a predetermined value.

[0031] Next, a road management method according to embodiment 3 will be described. Fig. 8 illustrates the road management method according to an embodiment of the present disclosure. Note that Fig. 8 illustrates the road management method after road information is acquired from sensor information.

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

[0033] In this way, the road management system according to the third embodiment identifies sections where a part or all of a secondary road is discontinued, sections where the brightness is below a predetermined value in part or all of a secondary road, and the date and time, and reflects these in the database. This ensures safety. For example, it ensures the safety of vehicles traveling on the roadway or mobile objects traveling on the secondary road. Furthermore, it is possible to 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 where the brightness is insufficient. Furthermore, users such as local government administrators can alert passersby by notifying them of dark sections where the brightness is insufficient.

[0034] <Fourth Embodiment> A road management system 130 according to the fourth embodiment will be described. FIG. 9 shows an example of the configuration of the road management system 130. The acquisition unit 111, the space detection unit 112, and the discontinuous section identification unit 113 in the road management system 130 according to the fourth embodiment are similar to those in the road management system 110 according to the second embodiment, and therefore description thereof will be omitted. The notification unit 115 notifies the driver of the vehicle that there is a section identified by the discontinuous section identification unit 113 in which a part or all of the auxiliary road is discontinued. The notification destination is typically a terminal mounted on the vehicle 200, but may also be a terminal held by the driver other than the vehicle itself or a terminal held by a pedestrian. Furthermore, the notification method may not only be a method of notifying by sound, but also a method of notifying by combining sound and image.

[0035] Fig. 10 is a schematic diagram showing an example of use of the road management method according to the fourth embodiment. The roadway 201, sidewalks 210, 211, 2101, 2102, 2104, and obstacle 2103 in Fig. 10 are the same as those in Fig. 2, and therefore description thereof will be omitted.

[0036] A case will be described in which there is a possibility that a moving object 900 on sidewalk 2102 will move around obstacle 2103 to sidewalk 2101 or 2104 and enter the roadway 201. The driver of vehicle 200 traveling on roadway 201 has difficulty recognizing moving object 900 on sidewalk 2102 because his or her view is obstructed by obstacle 2103. Here, acquisition unit 111 of vehicle 200 acquires camera images from camera 160 mounted on vehicle 200. Space detection unit 112 of vehicle 200 detects a space on the auxiliary road based on the camera image from camera 160. Discontinued section identification unit 113 of vehicle 200 detects sidewalk 2102, which is a section where part of the auxiliary road is discontinued, based on the space on the auxiliary road detected by space detection unit 112. The notification unit 115 of the vehicle 200 notifies the driver of the vehicle of the presence of a sidewalk 2102, which is a section where part of the auxiliary road identified by the discontinuous section identification unit 113 is discontinued. This allows the driver of the vehicle 200 to drive safely and with more caution, as there is a possibility that a moving object 900 may suddenly appear near the sidewalk 2102. Note that the server may acquire an image captured by the vehicle's camera 160, execute the processing of the space detection unit 112 and the discontinuous section identification unit 113, and notify the vehicle from the server.

[0037] In this way, the road management system according to the fourth embodiment can warn the driver that a moving object that is difficult for the driver to recognize may enter the roadway due to an obstacle installed on the auxiliary road. This allows the driver to drive more carefully and safely when traveling on a roadway where there is a section where the auxiliary road is interrupted. Furthermore, the safety of not only vehicles traveling on the roadway but also moving objects traveling on the auxiliary road can be ensured. In this way, the road management system according to the fourth embodiment can ensure safety.

[0038] Although the above-described embodiments have been described as hardware configurations, the present disclosure is not limited to such configurations. Any processing in the present disclosure can also be realized by causing a processor to execute a computer program.

[0039] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0040] The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the present disclosure.

[0041] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) A road management system comprising: space detection means for detecting a space on a supplementary road for travel by mobile bodies other than vehicles, based on sensing information obtained by sensing the supplementary road beside a roadway on which vehicles travel; discontinuous section identification means for identifying a section where part or all of the supplementary road is discontinued, based on the space on the supplementary road detected by the space detection means; and reflection means for reflecting the discontinued section identified by the discontinuous section identification means in a database. (Supplementary Note 2) The road management system according to Supplementary Note 1, wherein the sensing information includes at least one of a camera image of a road and three-dimensional point cloud data of the road. (Supplementary Note 3) A road management system according to Supplementary Note 1 or 2, wherein the sensing information is acquired by the mobile body and transmitted to the space detection means. (Supplementary Note 4) A road management system according to any one of Supplementary Notes 1 to 3, further comprising brightness detection means for detecting brightness in the space on the support road detected by the space detection means, wherein the discontinuous section identification means further identifies sections on part or all of the support road where brightness is below a predetermined value from brightness information in the space on the support road detected by the brightness detection means, and wherein the reflecting means further reflects in a database the sections on part or all of the support road where brightness is below the predetermined value, as identified by the discontinuous section identification means, and the date and time. (Supplementary Note 5) A road management system according to Supplementary Note 4, wherein the brightness detection means detects brightness by analyzing luminance values ​​of an image on the support road. (Supplementary Note 6) A road management method comprising: detecting space on a secondary road for moving bodies other than vehicles to travel on, based on sensing information obtained by sensing a secondary road on the side of a roadway on which vehicles travel; identifying sections where part or all of the secondary road is interrupted, based on the space on the secondary road detected by the space detection means; and reflecting the interrupted sections identified by the interrupted section identification means in a database.(Supplementary Note 7) The road management method according to Supplementary Note 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. (Supplementary Note 8) The road management method according to Supplementary Note 6 or 7, wherein the sensing information is acquired by the mobile body and transmitted to the space detection means. (Supplementary Note 9) The road management method according to any one of Supplementary Notes 6 to 8, comprising: detecting brightness in the space on the detected secondary road; further identifying sections on part or all of the secondary road where brightness is below a predetermined value from the detected brightness information in the space on the secondary road; and further reflecting in a database the identified sections on part or all of the secondary road where brightness is below the predetermined value and the date and time. (Supplementary Note 10) The road management method according to Supplementary Note 9, wherein brightness is detected by analyzing the brightness value of an image of the secondary road. (Supplementary Note 11) A non-transitory computer-readable medium storing a program for causing a computer to execute the following steps: detecting a space on a secondary road, on the side of a roadway on which vehicles travel, based on sensing information obtained by sensing a secondary road for travel by mobile bodies other than the vehicles; identifying a section where part or all of the secondary road is interrupted, based on the space on the secondary road detected by the space detection means; and reflecting the interrupted section identified by the interrupted section identification means in a database. (Supplementary Note 12) The non-transitory computer-readable medium according to Supplementary Note 11, wherein the sensing information includes at least one of a camera image of a road and three-dimensional point cloud data of the road. (Supplementary Note 13) The non-transitory computer-readable medium according to Supplementary Note 11 or 12, wherein the sensing information is acquired by the mobile body and transmitted to the space detection means.(Supplementary Note 14) A non-transitory computer-readable medium according to any one of Supplementary Notes 11 to 13, storing a program for causing a computer to execute the following processes: further comprising a process for detecting brightness in the detected space on the auxiliary road; a process for further specifying, from brightness information in the detected space on the auxiliary road, sections in part or all of the auxiliary road where brightness is below a predetermined value; and a process for further reflecting in a database the specified sections in part or all of the auxiliary road where brightness is below the predetermined value, and the date and time. (Supplementary Note 15) A non-transitory computer-readable medium according to Supplementary Note 14, wherein brightness is detected by analyzing luminance values ​​of an image on the auxiliary road.

[0042] DESCRIPTION OF SYMBOLS 11, 21 Space detection means 12, 23 Discontinuous section identification means 13, 24 Reflection means 22 Brightness detection means 10, 20, 100, 110, 130 Road management system 101 Road management device 111 Acquisition unit 112 Space detection unit 113 Discontinuous section identification unit 114 Reflection unit 115 Notification unit 150 Network 160 Camera 200 Vehicle 201, 301 Roadway 210, 211, 310, 311 Sidewalk 2103 Obstacle 2101, 2102, 2104, 3104, 3105, 3106 Sidewalk 900 Moving body

Claims

1. a space detection means for detecting a space on an auxiliary road on the side of a roadway on which a vehicle travels, based on sensing information obtained by sensing an auxiliary road on which a moving body other than the vehicle travels; a disconnected section identifying means for identifying a section where the auxiliary road is partially or entirely disconnected based on the space on the auxiliary road detected by the space detecting means; a reflecting means for reflecting the discontinuous section identified by the discontinuous section identifying means in a database; A road management system comprising:

2. The road management system according to claim 1 , wherein the sensing information includes at least one of a camera image of a 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 moving object and transmitted to the space detection means.

4. a brightness detection means for detecting the brightness in the space on the auxiliary road detected by the space detection means, the discontinuous section identifying means further identifies a section in which the brightness in a part or the whole of the auxiliary road is equal to or lower than a predetermined value from the brightness information in the space on the auxiliary road detected by the brightness detection means, The reflecting means further reflects the section in which the brightness is equal to or less than a predetermined value and the date and time, which are identified by the discontinuous section identifying means, in a database. The road management system according to claim 1 or 2.

5. The brightness detection means detects the brightness by analyzing a luminance value of an image on the auxiliary road. The road management system according to claim 4.

6. Detecting a space on an auxiliary road on the side of a roadway on which a vehicle travels, based on sensing information obtained by sensing an auxiliary road on which a moving body other than the vehicle travels; Identifying a section where the auxiliary road is partially or entirely interrupted based on the detected space on the auxiliary road; A road management method in which a computer executes a process of reflecting in a database the identified sections where the auxiliary road is partially or completely interrupted.

7. A process of detecting a space on an auxiliary road on the side of a roadway on which a vehicle travels, based on sensing information obtained by sensing an auxiliary road on which a moving body other than the vehicle travels; A process of identifying a section where the auxiliary road is partially or entirely interrupted based on the detected space on the auxiliary road; A process of reflecting in a database the section in which the identified auxiliary road is partially or completely interrupted; A program for causing a computer to execute the above.