TW201927611A - Safety confirmation evaluation system, on-vehicle device and processing device used for the safety confirmation evaluation system, safety confirmation evaluation method, and safety confirmation evaluation program - Google Patents
Safety confirmation evaluation system, on-vehicle device and processing device used for the safety confirmation evaluation system, safety confirmation evaluation method, and safety confirmation evaluation program Download PDFInfo
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Description
本發明係有關於安全確認評價系統、該安全確認評價系統中使用之車載裝置、處理裝置、安全確認評價方法以及安全確認評價程式。The present invention relates to a safety confirmation evaluation system, a vehicle-mounted device, a processing device, a safety confirmation evaluation method, and a safety confirmation evaluation program used in the safety confirmation evaluation system.
專利文獻1提案了一種判定於交叉點的安全駕駛程度之安全駕駛程度判定裝置。在前述安全駕駛程度判定處理中，基於車輛位置檢測部檢出之車輛所在位置以及地圖資料庫之交叉點資訊，判定前述車輛是否接近進入交叉點。具體地，判定前述車輛是否進入事先設定之交叉點範圍，比如從交叉點中心起半徑為30m之範圍內。於是在判定前述車輛接近交叉點時，從判定時刻起開始記錄速度、偏航角速度、加速度數據。Patent Document 1 proposes a safe driving degree determination device that determines a safe driving degree at an intersection. In the aforementioned safe driving degree determination processing, it is determined whether or not the vehicle is approaching the intersection based on the location of the vehicle detected by the vehicle position detection unit and the intersection information of the map database. Specifically, it is determined whether the aforementioned vehicle enters a range of intersections set in advance, for example, a radius within a range of 30 m from the center of the intersection. Therefore, when it is determined that the vehicle is approaching the intersection, the speed, yaw angular velocity, and acceleration data are recorded from the determination time.
專利文獻1記載之安全駕駛程度判定裝置中，安裝有地圖資料庫，在判定車輛是否接近交叉點之處理中，必須利用前述地圖資料庫之交叉點資訊。故有由於安裝前述地圖資料庫而使成本升高且裝置構成複雜之課題。The safe driving degree determination device described in Patent Document 1 is equipped with a map database, and in the process of determining whether a vehicle is approaching an intersection, the intersection information of the aforementioned map database must be used. Therefore, there are problems that the cost is increased and the device structure is complicated by installing the aforementioned map database.
[專利文獻1]特開2015-76000號公報[Patent Document 1] JP 2015-76000
(解決課題之手段及發明之功效)(Means for solving problems and effects of invention)
有鑒於上述課題，本發明之目的在於提供構成簡單且成本低，能夠推定車輛進入交叉點的時刻，能夠適當評價於前述交叉點之駕駛員的安全確認動作之安全確認評價系統、該安全確認評價系統所使用之車載裝置、處理裝置、安全確認評價方法以及安全確認評價程式。In view of the above-mentioned problems, an object of the present invention is to provide a safety confirmation evaluation system capable of estimating the time when a vehicle enters an intersection, and capable of appropriately evaluating the safety confirmation operation of a driver at the intersection, and the safety confirmation evaluation. Vehicle-mounted device, processing device, safety confirmation evaluation method and safety confirmation evaluation program used by the system.
為達成上述目的，本發明涉及之安全確認評價系統（1），係用以評價車輛駕駛員的安全確認動作之安全確認評價系統，其特徵在於，前述安全確認評價系統（1）包括搭載於前述車輛之車載裝置以及處理所述車載裝置取得之數據之處理裝置；前述車載裝置具備檢測前述車輛角速度之角速度檢測部；前述處理裝置具備根據前述角速度檢測部檢測的前述車輛之角速度數據，推定前述車輛進入交叉點之時刻的交叉點推定部和對於前述交叉點推定部推定之前述進入交叉點之時刻的前後指定時間內、前述駕駛員之安全確認動作進行評價之安全確認評價部。In order to achieve the above object, the safety confirmation evaluation system (1) according to the present invention is a safety confirmation evaluation system for evaluating the safety confirmation action of a driver of a vehicle. The safety confirmation evaluation system (1) includes The vehicle-mounted device of the vehicle and a processing device that processes the data obtained by the vehicle-mounted device; the vehicle-mounted device includes an angular velocity detection unit that detects the angular velocity of the vehicle; the processing device includes the vehicle angular velocity data detected by the angular velocity detection unit to estimate the vehicle The intersection estimation unit at the time of entering the intersection and the safety confirmation evaluation unit that evaluates the driver's safety confirmation action within a specified time before and after the time of entering the intersection estimated by the intersection estimation unit.
根據上述安全確認評價系統（1），不必利用地圖資料庫之交叉點資訊，而係藉由使用前述角速度數據之簡單且低成本之構成，就能夠推定前述車輛進入交叉點之時刻，利用推定的前述進入交叉點之時刻，能夠適當地分別評價進入前述交叉點前和進入前述交叉點後的前述駕駛員之安全確認動作。According to the above-mentioned safety confirmation evaluation system (1), it is not necessary to use the intersection information of the map database, but the simple and low-cost structure using the aforementioned angular velocity data can be used to estimate the time when the vehicle enters the intersection, and the estimated At the time of entering the intersection, the safety confirmation actions of the driver before entering the intersection and after entering the intersection can be appropriately evaluated separately.
本發明涉及之安全確認評價系統（2），其特徵在於，於上述安全確認評價系統（1）中，前述車載裝置具有第1時刻檢測部，該第1時刻檢測部係用以檢測前述角速度檢測部檢測的前述角速度數據超過指定角速度界限值之第1時刻； 前述處理裝置具有積分值計算部以及第2時刻檢測部； 前述積分值計算部係用以計算前述第1時刻檢測部檢測之前述第1時刻的前後指定時間之角速度數據的積分值； 前述第2時刻檢測部係用以檢測該積分值計算部計算之前述積分值達到指定的積分比率之第2時刻； 推定前述第2時刻為前述進入交叉點之時刻。The safety confirmation and evaluation system (2) according to the present invention is characterized in that, in the safety confirmation and evaluation system (1), the vehicle-mounted device has a first time detection unit for detecting the angular velocity detection. The first time when the angular velocity data detected by the unit exceeds a specified angular velocity limit value; the processing device includes an integral value calculation unit and a second time detection unit; the integral value calculation unit is configured to calculate the first time detected by the first time detection unit The integrated value of the angular velocity data at a specified time before and after the time 1; the second time detection unit is used to detect the second time at which the integrated value calculated by the integrated value calculation unit reaches a specified integration ratio; it is estimated that the second time is the foregoing time The moment of entering the intersection.
根據上述安全確認評價系統（2），能夠檢測前述角速度數據超過指定的角速度界限值之第1時刻，計算該第1時刻的前後指定時間之角速度數據之積分值，推定該計算之前述積分值達到指定積分比率之第2時刻為前述進入交叉點之時刻。藉此能夠精度良好地推定前述車輛進入交叉點之時刻。According to the above-mentioned safety confirmation evaluation system (2), it is possible to detect the first moment when the aforementioned angular velocity data exceeds a specified angular velocity limit value, calculate the integral value of the angular velocity data at a specified time before and after the first moment, and estimate that the calculated integral value reaches The second moment of the designated point ratio is the moment when the crossing point is entered. This makes it possible to accurately estimate the time when the vehicle enters the intersection.
另外，本發明涉及之安全確認評價系統（3），其特徵在 於，於上述安全確認評價系統（2）中，前述積分值計算部計算前述第1時刻的前後指定時間之角速度數據中、超過指定的角速度下限值以上之角速度數據的積分值。In addition, the safety confirmation evaluation system (3) according to the present invention is characterized in that in the safety confirmation evaluation system (2), the integral value calculation unit calculates the angular velocity data before and after a specified time before and after the first time. The integral value of the angular velocity data above the lower angular velocity limit.
根據上述安全確認評價系統（3），由於前述積分值計算部之計算前述積分值中，不包括未達到前述指定的角速度下限值之角速度數據，比如於曲折行駛中可檢出程度之小的角速度數據，故能夠更加精度良好地計算前述車輛於交叉點左右轉時之積分值。According to the above-mentioned safety confirmation evaluation system (3), the calculation of the integral value by the integral value calculation part does not include angular velocity data that does not reach the lower limit value of the angular velocity specified above, such as a small degree of detection during tortuous driving. The angular velocity data can more accurately calculate the integral value of the aforementioned vehicle when the vehicle turns around at the intersection.
另外本發明涉及之安全確認評價系統（4），其特徵在於，於上述安全確認評價系統（2）或者（3）中，前述處理裝置具備中止部，該中止部用以在前述積分值計算部計算出的前述積分值所顯示之角度不在指定的道路交叉角度範圍內時，中止前述第2時刻之檢測。In addition, the safety confirmation evaluation system (4) according to the present invention is characterized in that, in the safety confirmation evaluation system (2) or (3), the processing device includes a suspension section, and the suspension section is used for the integral value calculation section. When the calculated displayed integral angle does not fall within the specified road intersection angle range, the detection at the aforementioned second time is suspended.
根據上述安全確認評價系統（4），前述積分值表示之角度不在指定的道路交叉角度範圍內，比如沿曲線道路行駛或者向旁邊車道改變車道等、不是於交叉點左右轉時，能夠中止對前述第2時刻，即進入前述交叉點之時刻的檢測，由此可以提高前述交叉點之檢測精度。According to the above-mentioned safety confirmation evaluation system (4), the angle indicated by the integral value is not within the specified road crossing angle range, such as driving along a curved road or changing lanes to the next lane, etc., and can not stop the above when it is not turning left or right at the intersection. The detection of the second moment, that is, the moment when the crossing point is entered, can thereby improve the detection accuracy of the crossing point.
另外本發明涉及之安全確認評價系統（5），其特徵在於，於上述安全確認評價系統（2）~（4）之任一項中，前述處理裝置具備基於前述積分值計算部計算之前述積分值的正負，推定前述車輛之左右轉方向之方向推定部。The safety confirmation evaluation system (5) according to the present invention is characterized in that, in any one of the safety confirmation evaluation systems (2) to (4), the processing device includes the points calculated by the point value calculation unit. The sign of the value is a direction estimating unit that estimates the left-right turning direction of the vehicle.
根據上述安全評價系統（5），能夠基於前述積分值之正負，簡單地推定前述車輛之左右轉方向。According to the safety evaluation system (5), the left-right turning direction of the vehicle can be easily estimated based on the positive and negative of the integral value.
另外，本發明涉及之安全確認評價系統（6），其特徵在於，於上述安全確認評價系統（2）~（4）之任一項中，前述車載裝置具備： 檢測前述車輛位置之位置檢測部； 基於該位置檢測部檢測之位置數據，計算前述車輛速度之車速計算部； 前述第1時刻檢測部所檢出之前述第1時刻的前述車輛速度為指定速度以上時，取消前述第1時刻之第1時刻取消部。The safety confirmation evaluation system (6) according to the present invention is characterized in that, in any one of the safety confirmation evaluation systems (2) to (4), the vehicle-mounted device includes a position detection unit that detects a position of the vehicle. ; Based on the position data detected by the position detection unit, a vehicle speed calculation unit that calculates the vehicle speed; when the vehicle speed at the first time detected by the first time detection unit is greater than a specified speed, canceling the first time Cancellation at the first moment.
根據上述安全確認評價系統（6），由於前述第1時刻檢測部檢測之前述第1時刻的前述車輛速度為指定速度以上時， 取消前述第1時刻，故能夠防止，比如將轉彎道路上的行駛錯誤地檢測為在交叉點的左右轉。According to the safety confirmation evaluation system (6), when the vehicle speed at the first time detected by the first time detection unit is equal to or higher than a specified speed, the first time is canceled, which can prevent, for example, driving on a turning road Incorrectly detected as a left and right turn at the intersection.
另外，本發明涉及之安全確認評價系統（7），其特徵在於，於上述安全確認評價系統（2）~（4）之任一項中，前述車載裝置具備第1時刻取消部，用以在前述第1時刻檢測部檢測之前述第1時刻，從前一次檢出之第1時刻起沒有經過指定時間時，取消前述第1時刻。In addition, the safety confirmation evaluation system (7) according to the present invention is characterized in that, in any one of the safety confirmation evaluation systems (2) to (4), the vehicle-mounted device includes a first time cancellation unit for When the first time detected by the first time detection unit has not passed a specified time from the first time detected previously, the first time is cancelled.
根據上述安全確認評價系統（7），由於從前一次檢測之第1時刻起，前述第1時刻沒有經過指定時間時，前述第1時刻被取消，故能夠防止，比如在連續轉彎道路上行駛時，將轉彎道路上的行駛錯誤地檢測為進入交叉點。According to the above-mentioned safety confirmation evaluation system (7), since the first time has not passed the specified time since the first time of the previous detection, the first time is canceled, so it can be prevented, for example, when driving on a continuously turning road, Driving on a turning road is incorrectly detected as entering an intersection.
另外本發明涉及之車載裝置（1），係於評價車輛駕駛員之安全確認動作的安全確認評價系統中使用的車載裝置，其特徵在於，前述車載裝置（1）具備： 角速度檢測部，用以檢測前述車輛角速度； 第1時刻檢測部，用以檢測前述角速度檢測部檢測之角速度數據超過指定的角速度界限值的第1時刻； 保存部，用以保存前述角速度數據和前述第1時刻； 輸出部，用以將前述保存部中保存之數據輸出到前述安全確認評價系統中使用的處理裝置。In addition, the in-vehicle device (1) according to the present invention is an in-vehicle device used in a safety confirmation evaluation system that evaluates the safety confirmation action of a driver of the vehicle, wherein the above-mentioned in-vehicle device (1) includes: an angular velocity detecting section for: Detecting the vehicle's angular velocity; a first time detecting section for detecting the first time when the angular velocity data detected by the angular velocity detecting section exceeds a specified angular velocity limit value; a storing section for storing the angular velocity data and the first time; an output section , Used to output the data stored in the storage section to the processing device used in the security confirmation evaluation system.
根據上述車載裝置（1），由於能夠以簡單且低成本的構成，將用以推定前述車輛進入交叉點的時刻的數據輸出到前述處理裝置，故能夠控制前述安全確認評價系統之導入成本。According to the in-vehicle device (1), since the data used to estimate the time when the vehicle enters the intersection can be output to the processing device with a simple and low-cost configuration, it is possible to control the introduction cost of the safety confirmation evaluation system.
另外，本發明涉及之處理裝置（1），係評價車輛駕駛員之安全確認動作的安全確認評價系統中使用的處理裝置，其特徵在於，前述處理裝置（1）具備： 交叉點推定部，用以基於前述車輛上搭載之車載裝置所取得的前述車輛的角速度數據，推定前述車輛進入交叉點之時刻； 安全確認評價部，用以評價前述交叉點推定部推定之前述進入交叉點之時刻的前後指定時間內的、前述駕駛員的安全確認動作。In addition, the processing device (1) according to the present invention is a processing device used in a safety confirmation evaluation system that evaluates the safety confirmation operation of a driver of the vehicle, wherein the processing device (1) includes: an intersection estimation unit, The time at which the vehicle enters the intersection is estimated based on the angular velocity data of the vehicle obtained based on the on-board device mounted on the vehicle; the safety confirmation evaluation unit is used to evaluate the time before and after the time at which the intersection enters the intersection estimated by the intersection estimation unit. The driver's safety confirmation operation within a specified time.
根據上述處理裝置（1），不必使用地圖資料庫之交叉點資訊，而係利用前述角速度數據，以簡單且低成本之構成，能夠推定前述車輛進入交叉點的時刻，利用推定的前述進入交叉點之時刻，分別適當地評價進入交叉點前以及進入交叉點後的前述駕駛員的安全確認動作。According to the processing device (1), it is not necessary to use the intersection information of the map database. Instead, the angular velocity data is used, and the structure is simple and low-cost. It can estimate the time when the vehicle enters the intersection, and use the estimated intersection. At that time, the safety confirmation actions of the driver before entering the intersection and after entering the intersection are appropriately evaluated, respectively.
另外，本發明涉及之安全確認評價方法（1），係評價車輛駕駛員的安全確認動作的安全確認評價方法，其特徵在於，前述安全確認評價方法（1）包括： 交叉點推定步驟，係用以基於前述車輛的角速度數據，推定前述車輛進入交叉點之時刻的步驟： 安全確認評價步驟，係用以評價前述交叉點推定步驟推定的前述進入交叉點之時刻的前後指定時間內的、前述駕駛員的安全確認動作的步驟。In addition, the safety confirmation evaluation method (1) according to the present invention is a safety confirmation evaluation method for evaluating a safety confirmation operation of a driver of the vehicle, and is characterized in that the aforementioned safety confirmation evaluation method (1) includes: a crossing point estimation step, which is used for The step of estimating the time when the vehicle enters the intersection based on the angular velocity data of the vehicle: The safety confirmation evaluation step is used to evaluate the driving in the designated time before and after the time when the vehicle enters the intersection estimated by the intersection estimation step. Steps for the operator's safety confirmation operation.
根據上述安全確認評價方法（1），不必使用地圖資料庫之交叉點資訊，而係使用前述角速度數據、以簡單且低成本之構成，就能夠推定前述車輛進入交叉點的時刻，利用推定之前述進入交叉點的時刻，分別適當地評價進入交叉點前以及進入交叉點後的前述駕駛員的安全確認動作。According to the above-mentioned safety confirmation evaluation method (1), it is possible to estimate the time when the vehicle enters the intersection using the aforementioned angular velocity data without using the intersection information of the map database, and using a simple and low-cost structure. When entering an intersection, the safety confirmation actions of the driver before entering the intersection and after entering the intersection are appropriately evaluated, respectively.
另外，本發明涉及之安全確認評價方法（2），其特徵在於，在上述安全確認評價方法（1）中，前述交叉點推定步驟包括： 第1時刻檢測步驟，係用以檢測前述角速度數據超過指定的角速度界限值之第1時刻的步驟； 積分值計算步驟，係用以計算前述第1時刻檢測步驟檢出之前述第1時刻的前後指定時間的角速度數據之積分值的步驟； 第2時刻檢測步驟，係用以檢測前述積分值計算步驟所計算之前述積分值達到指定的積分比率之第2時刻的步驟； 推定前述第2時刻為前述進入交叉點的時刻。In addition, the safety confirmation and evaluation method (2) according to the present invention is characterized in that in the safety confirmation and evaluation method (1), the step of estimating the intersection includes: a first time detection step for detecting that the angular velocity data exceeds The step of the first moment of the designated angular velocity limit value; the integral value calculation step is a step of calculating the integral value of the angular velocity data of the specified time before and after the first moment detected by the aforementioned first moment detection step; the second moment The detecting step is a step for detecting the second point in time when the point value calculated in the step of calculating the point value reaches the specified point ratio; it is estimated that the second point in time is the time of entering the intersection.
根據上述安全確認評價方法（2），檢測前述角速度數據超過指定的角速度界限值之第1時刻，計算該第1時刻之前後指定時間的角速度數據的積分值，推定該計算的前述積分值達到指定的積分比率的第2時刻為前述進入交叉點的時刻。故能夠精度良好地推定前述車輛進入交叉點的時刻。According to the above-mentioned safety confirmation evaluation method (2), the first time at which the aforementioned angular velocity data exceeds a specified angular velocity limit value is detected, the integral value of the angular velocity data at a specified time before and after the first moment is calculated, and the calculated aforementioned integral value is estimated to reach the specified value The second time point of the credit ratio is the time when the intersection point is entered. Therefore, it is possible to accurately estimate the time when the vehicle enters the intersection.
另外，本發明涉及之安全確認評價程式，係至少於一臺電腦上實行評價車輛駕駛員的安全確認動作之處理的安全確認評價程式，其特徵在於，前述安全確認評價程式係至少在一臺電腦上實行交叉點推定步驟以及安全確認評價步驟的程式； 其中前述交叉點推定步驟係用以基於前述車輛之角速度數據，推定前述車輛進入交叉點的時刻的步驟； 前述安全確認評價步驟係用以評價前述交叉點推定步驟推定之前述進入交叉點的時刻的前後指定時間內的、前述駕駛員之安全確認動作的步驟。In addition, the safety confirmation evaluation program according to the present invention is a safety confirmation evaluation program that executes a process of evaluating a vehicle driver's safety confirmation action on at least one computer, and is characterized in that the aforementioned safety confirmation evaluation program is at least one computer A program for performing an intersection estimation step and a safety confirmation evaluation procedure is performed on the computer; wherein the foregoing intersection estimation step is a step for estimating the time when the vehicle enters the intersection based on the angular velocity data of the vehicle; and the foregoing security confirmation evaluation step is used for evaluation The aforementioned intersection estimation step is a step of estimating the driver's safety confirmation operation within a specified time before and after the time when the intersection enters the intersection.
根據上述安全確認評價程式，不必使用地圖資料庫等交叉點資訊，而係利用前述角速度數據的、以簡單且低成本之構成，就能夠推定前述車輛進入交叉點的時刻，故能夠利用推定之前述進入交叉點的時刻，分別評價進入交叉點前以及進入交叉點後之前述駕駛員的安全確認動作。上述安全確認評價程式可以係保存於保存媒體中之程式，也可以係藉由通信網絡可以轉送之程式。According to the above-mentioned safety confirmation evaluation program, it is possible to estimate the time when the vehicle enters the intersection using a simple and low-cost structure using the angular velocity data without using intersection information such as a map database. Therefore, the estimated When entering the intersection, the driver's safety confirmation actions before entering the intersection and after entering the intersection are evaluated separately. The above-mentioned security confirmation evaluation program may be a program stored in a storage medium, or a program that can be transferred through a communication network.
以下基於圖示說明本發明涉及之安全確認評價系統、處理裝置、車載裝置、安全確認評價方法以及安全確認評價程式之實施方式。Hereinafter, embodiments of a safety confirmation evaluation system, a processing device, a vehicle-mounted device, a safety confirmation evaluation method, and a safety confirmation evaluation program according to the present invention will be described based on the drawings.
適用例 第1圖係顯示實施方式涉及之安全確認評價系統適用例之概略圖。 安全確認評價系統1係用來評價車輛2駕駛員之安全確認動作的系統，包括至少1臺以上搭載於車輛2之車載裝置10和至少一個以上的處理各車載裝置10取得的數據之伺服器裝置40而構成。伺服器裝置40係本發明“處理裝置”之一實例。Application Example FIG. 1 is a schematic diagram showing an application example of the safety confirmation evaluation system according to the embodiment. The safety confirmation evaluation system 1 is a system for evaluating the safety confirmation operation of the driver of the vehicle 2 and includes at least one on-vehicle device 10 mounted on the vehicle 2 and at least one server device that processes data obtained by each on-vehicle device 10 40. The server device 40 is an example of the "processing device" of the present invention.
搭載有車載裝置10之車輛2，沒有特別限定。本適用例中，經營各種事業的企業所管理之車輛可以成為對象。比如運輸企業所管理之貨車、公共汽車企業所管理之公交車、出租車企業所管理之出租車、共用汽車企業所管理之共用汽車、租車企業所管理之租賃用車、公司所有的公司車等可以成為對象。The vehicle 2 on which the in-vehicle device 10 is mounted is not particularly limited. In this application example, vehicles managed by companies operating various businesses can be targeted. For example, trucks managed by transportation companies, buses managed by bus companies, taxis managed by taxi companies, shared cars managed by shared car companies, rental cars managed by car rental companies, company-owned company cars, etc. Can be an object.
車載裝置10與伺服器裝置40可以藉由通信網絡3以可以通信之方式構成。通信網絡3可以為包含基地臺之手機網絡（3G/4G）或者包括無線LAN（Local Area Network）等的無線通信網。還可以包括公用電話等有線通信網、因特網或者專用網等。The in-vehicle device 10 and the server device 40 may be configured to be communicable via the communication network 3. The communication network 3 may be a mobile phone network (3G / 4G) including a base station, or a wireless communication network including a wireless LAN (Local Area Network). It may also include a wired communication network such as a public telephone, the Internet, or a private network.
另外，管理車輛2之企業末端裝置70（以下稱為企業末端）可以藉由通信網絡3與伺服器裝置40以可以通信之方式構成。企業末端70可以係具備通信功能之個人電腦，還可以係手機、智能手機或者平板電腦裝置等攜帶資訊末端等。In addition, the enterprise terminal device 70 (hereinafter referred to as the enterprise terminal) that manages the vehicle 2 may be configured to be communicable with the server device 40 via the communication network 3. The enterprise terminal 70 may be a personal computer having a communication function, and may also be a mobile information terminal such as a mobile phone, smartphone, or tablet device.
安全確認評價系統1中，伺服器裝置40儲存車載裝置10所取得之車輛2的角速度數據，根據儲存之車輛2的角速度數據，進行推定車輛2進入交叉點的時刻（以下稱為交叉點進入時刻）的處理。交叉點進入時刻，換言之，即車輛2開始左右轉之時刻（左右轉開始時刻），也具有作為用以評價進入交叉點前和進入交叉點後的駕駛員之安全確認動作之邊界時刻的作用。In the safety confirmation evaluation system 1, the server device 40 stores the angular velocity data of the vehicle 2 obtained by the in-vehicle device 10, and estimates the time when the vehicle 2 enters the intersection based on the stored angular velocity data of the vehicle 2 (hereinafter referred to as the intersection entry time ). The intersection entry time, in other words, the time when the vehicle 2 starts to turn left and right (right and left turn start time) also serves as a boundary time for evaluating the driver's safety confirmation action before entering the intersection and after entering the intersection.
交叉點比如係2條以上的道路與道路所交叉之部分，除了十字路（四叉路）外，還包括T字路、Y字路，另外也可以包括四叉路以上的交叉點。另外，不問是否具有信號燈、人行橫道。換言之，交叉點係包括車輛2因右轉或者左轉而轉換行駛方向之地點，除了上述道路與道路交叉部分外，還包括道路與到達沿路設施（店鋪、停車場等）的通道所交叉部分，即也包括沿路設施之出入口地點。到達前述沿路設施之通道還可以包括人行道部分。Intersections are, for example, the intersection of two or more roads and roads. In addition to the crossroads (quadruple roads), they also include T-shaped roads and Y-shaped roads. In addition, they can also include intersections with more than four forks. Also, don't ask if you have a signal light or a crosswalk. In other words, the intersection point includes the place where the vehicle 2 changes its driving direction due to a right turn or a left turn. In addition to the above road and road intersection, it also includes the intersection of the road and the passageway to the facilities (shops, parking lots, etc.) along the road, ie Also includes entrances and exits of facilities along the road. Access to the aforementioned facilities along the road may also include sidewalk sections.
進而伺服器裝置40進行交叉點進入時刻的前後指定時間內、駕駛員之安全確認動作的評價處理。比如對交叉點進入時刻之前的指定時間和交叉點進入時刻之後的指定時間的駕駛員的安全確認動作分別進行評價處理，保存這些評價結果。然後比如企業末端70有要求時，進行將車輛2駕駛員之安全確認動作之評價結果等資訊藉由通信網絡3提供給企業末端70的處理。Furthermore, the server device 40 performs an evaluation process of the driver's safety confirmation operation within a specified time before and after the point of entry of the intersection. For example, the safety confirmation actions of the driver at a specified time before the intersection entry time and a specified time after the intersection entry time are separately evaluated, and these evaluation results are saved. Then, for example, when the enterprise terminal 70 requests, information such as the evaluation result of the safety confirmation operation of the driver of the vehicle 2 is provided to the enterprise terminal 70 through the communication network 3.
根據安全確認評價系統1，不必使用地圖資料庫等的交叉點資訊，藉由利用車輛2之角速度數據，以簡單且低成本之構成，就可以推定車輛2進入交叉點之時刻，利用推定之交叉點進入時刻，可以評價進入交叉點前和進入交叉點後之駕駛員的安全確認動作。According to the safety confirmation and evaluation system 1, it is possible to estimate the time when the vehicle 2 enters the intersection using the angular velocity data of the vehicle 2 without using map data such as a map database, and the estimated intersection is used. At the point of entry time, the driver's safety confirmation actions before entering the intersection and after entering the intersection can be evaluated.
構成例 第2圖係顯示了實施方式涉及之安全確認評價系統中使用之車載裝置之硬體構成的一實例之方框圖。 實施方式涉及之車載裝置10包括慣性感測器11、控制部20、保存部30而構成。另外，在車載裝置10上還可以裝備有作為位置檢測部之GPS（Global Positioning System）接受機14、作為聲音輸出部之揚聲器15，還可以裝備通信部16、外部介面（外部I/F）17。另外於車載裝置10上可以裝備有拍攝駕駛員圖像之相機18和由相機18所拍攝之圖像對駕駛員之舉動進行解析處理的圖像解析部19。Configuration Example FIG. 2 is a block diagram showing an example of a hardware configuration of an in-vehicle device used in the safety confirmation evaluation system according to the embodiment. The in-vehicle device 10 according to the embodiment includes an inertial sensor 11, a control unit 20, and a storage unit 30. In addition, the in-vehicle device 10 may be equipped with a GPS (Global Positioning System) receiver 14 as a position detection unit, a speaker 15 as a sound output unit, a communication unit 16, and an external interface (external I / F) 17 . The in-vehicle device 10 may be equipped with a camera 18 that captures a driver image and an image analysis unit 19 that analyzes the driver's behavior in an image captured by the camera 18.
慣性感測器11包括檢測車輛2角速度之角速度感測器12。角速度感測器12可以使用至少能夠檢測與繞垂直軸（偏航方向）旋轉相對應的角速度、即與車輛2向左右方向旋轉（回轉）相對應之角速度數據的感測器，比如陀螺儀感測器（也稱為偏航角速度感測器）。 另外，角速度傳感器12除了可以使用繞垂直軸的1軸陀螺儀感測器外，還可以使用能夠檢測繞左右方向之水準軸（俯仰方向）的角速度之2軸陀螺儀，進而也可以使用繞前後方向之水準軸（滾轉方向）的角速度之3軸陀螺儀。此些陀螺儀中除了震動式陀螺儀外，還可以使用光學式、機械式的陀螺儀。The inertial sensor 11 includes an angular velocity sensor 12 that detects the angular velocity of the vehicle 2. The angular velocity sensor 12 may use a sensor capable of detecting at least the angular velocity corresponding to the rotation about the vertical axis (yaw direction), that is, the angular velocity data corresponding to the rotation (rotation) of the vehicle 2 in the left and right directions, such as a gyroscope sensor. Sensor (also known as yaw rate sensor). In addition, the angular velocity sensor 12 can use a single-axis gyroscope sensor around the vertical axis, and can also use a two-axis gyroscope that can detect the angular velocity about the horizontal axis (pitch direction) in the left-right direction, and can also use the front-rear 3-axis gyroscope with angular velocity of the horizontal axis (rolling direction). In addition to vibrating gyroscopes, optical gyroscopes and mechanical gyroscopes can also be used in these gyroscopes.
另外，關於角速度感測器12之繞垂直軸的角速度的檢測方向，比如可以將順時針方向設為正方向，將逆時針方向設為負方向。此時，如果車輛2向右方向旋轉，則檢測出正的角速度數據；如果向左方向旋轉，則檢測出負的角速度數據。角速度感測器12以指定之週期（比如33ms週期）檢測角速度，檢出之角速度數據與檢測時刻相對應地保存於保存部30的慣性數據保存部31。In addition, as for the direction of detecting the angular velocity of the angular velocity sensor 12 around the vertical axis, for example, the clockwise direction can be set to the positive direction, and the counterclockwise direction can be set to the negative direction. At this time, if the vehicle 2 is rotated to the right, positive angular velocity data is detected; if it is rotated to the left, negative angular velocity data is detected. The angular velocity sensor 12 detects the angular velocity at a specified period (for example, a period of 33 ms), and the detected angular velocity data is stored in the inertial data storage unit 31 of the storage unit 30 in correspondence with the detection time.
另外，慣性感測器11還可以包括檢測車輛2的加速度之加速度感測器13而構成，也可以係將角速度感測器12與加速度感測器13搭載至一個包裝而構成。加速度感測器13可以使用檢測XYZ軸三個方向的加速度之3軸加速度感測器，也可以使用2軸、1軸加速度感測器。3軸加速度感測器除了靜電容量型之外，可以使用壓敏電阻型等半導體方式之加速度感測器。加速度感測器13檢測之加速度數據可以與檢測時刻相對應保存於慣性數據保存部31。In addition, the inertial sensor 11 may be configured by including an acceleration sensor 13 that detects acceleration of the vehicle 2, or may be configured by mounting the angular velocity sensor 12 and the acceleration sensor 13 in a single package. The acceleration sensor 13 may be a 3-axis acceleration sensor that detects acceleration in three directions of the XYZ axis, or a 2-axis or 1-axis acceleration sensor. In addition to the capacitance type, the 3-axis acceleration sensor can be a semiconductor type acceleration sensor such as a varistor type. The acceleration data detected by the acceleration sensor 13 may be stored in the inertial data storage unit 31 corresponding to the detection time.
保存部30包括慣性數據保存部31、程式保存部34而構成，進而還可以包括位置數據保存部32、圖像解析數據保存部33而構成。保存部30由比如可以由Random Access Memory（RAM）、Read Only Memory（ROM）、閃存儲存器、固態驅動器（SSD）、硬碟驅動器（HDD）等一個以上之保存裝置構成。另外，保存部30還可以包括儲存卡等可以安裝和拆卸的保存裝置而構成。The storage unit 30 is configured to include an inertial data storage unit 31 and a program storage unit 34, and may further be configured to include a position data storage unit 32 and an image analysis data storage unit 33. The storage unit 30 includes, for example, one or more storage devices such as a Random Access Memory (RAM), a Read Only Memory (ROM), a flash memory, a solid state drive (SSD), and a hard disk drive (HDD). The storage unit 30 may include a storage device such as a memory card that can be attached and detached.
慣性數據保存部31中儲存有角速度感測器12檢測之角速度數據等。位置數據保存部32中保存有GPS接收機14所檢出之位置（經度、緯度）數據。圖像解析數據保存部33中保存有圖像解析部19所解析之駕駛員的舉動數據等。程式保存部34中保存有控制部20所實行之各種程式。The inertial data storage unit 31 stores angular velocity data and the like detected by the angular velocity sensor 12. The position data storage unit 32 stores position (longitude, latitude) data detected by the GPS receiver 14. The image analysis data storage unit 33 stores behavior data of the driver analyzed by the image analysis unit 19 and the like. The program storage section 34 stores various programs executed by the control section 20.
控制部20包括檢測時刻t0之時刻t0檢測部21而構成，該時刻t0表示交叉點通過時刻，還可以包括車速計算部22、時刻t0取消部23而構成。控制部20包括比如Central Processing Unit（CPU）等一個以上之硬體處理器而構成。另外還可以於控制部20中包括RAM以及ROM而構成。The control unit 20 includes a time t0 detection unit 21 that detects a time t0. The time t0 indicates an intersection passing time, and may include a vehicle speed calculation unit 22 and a time t0 cancellation unit 23. The control unit 20 includes one or more hardware processors such as a Central Processing Unit (CPU). The control unit 20 may be configured by including a RAM and a ROM.
控制部20實行將車載裝置10取得之各種數據保存至保存部30的處理。另外，控制部20讀出保存部30中保存的各種數據以及程式，藉由實行該程式，實現時刻t0檢測部21、以及車速計算部22、時刻t0取消部23之動作。The control unit 20 executes processing for storing various data obtained by the in-vehicle device 10 in the storage unit 30. In addition, the control unit 20 reads out various data and programs stored in the storage unit 30 and executes the programs to realize the operations of the time t0 detection unit 21, the vehicle speed calculation unit 22, and the time t0 cancellation unit 23.
時刻t0檢測部21係本發明之“第1時刻檢測部”之一實例，進行角速度感測器12所檢測之角速度數據超過指定的角速度界限值ωth之時刻t0的檢測處理。 車速計算部22，利用GPS接收機14檢測之位置（經度、緯度）數據，進行計算車輛2速度之處理。The time t0 detection unit 21 is an example of the “first time detection unit” of the present invention, and performs detection processing at time t0 when the angular velocity data detected by the angular velocity sensor 12 exceeds a specified angular velocity limit value ωth. The vehicle speed calculation unit 22 uses the position (longitude, latitude) data detected by the GPS receiver 14 to perform processing for calculating the speed of the vehicle 2.
時刻t0取消部23係本發明之“第1時刻取消部”之一實例，時刻t0檢測部21檢測之時刻t0時的車輛2的車速為指定速度以上時，進行取消時刻t0之處理。另外，時刻t0檢測部21檢測之時刻t0從上一次檢測的交叉點通過時刻t0´起沒有經過指定的時間以上時，換言之時刻t0的檢測間隔為不足指定時間時，進行取消本次時刻t0的處理。The time t0 canceling unit 23 is an example of the “first time canceling unit” of the present invention. When the speed of the vehicle 2 at the time t0 detected by the time t0 detecting unit 21 is equal to or higher than a specified speed, the process of canceling the time t0 is performed. In addition, when the time t0 detected by the time t0 detection unit 21 has not passed the specified time from the crossing point of the last detection time t0´, or when the detection interval of time t0 is less than the specified time, cancellation of the current time t0 is performed. deal with.
GPS接收機14藉由天線14a以指定週期接受自人工衛星之GPS信號，檢測現在所在地之位置數據（經度、緯度）。GPS接收機14所檢測之位置數據與位置檢測時刻相對應地保存於保存部30之位置數據保存部32。The GPS receiver 14 receives the GPS signal from the artificial satellite at a specified period through the antenna 14a, and detects the position data (longitude, latitude) of the current location. The position data detected by the GPS receiver 14 is stored in the position data storage unit 32 of the storage unit 30 in correspondence with the position detection time.
通信部16係本發明“輸出部”之一實例，包括藉由通信網絡3，向伺服器裝置40進行數據輸出等而使用之通信模組而構成。The communication unit 16 is an example of the “output unit” of the present invention, and includes a communication module used for data output to the server device 40 via the communication network 3 and the like.
外部I/F17包括與拍攝車外之車外相機等車載設備（未圖示）之間進行數據和信號接受而使用的介面迴路和連接器等而構成。The external I / F 17 includes an interface circuit, a connector, and the like for receiving data and signals with an on-board device (not shown) such as an outboard camera outside the shooting vehicle.
相機部18包括如未圖示之鏡頭部、拍攝元件部、光照射部、介面部等而構成。前述拍攝元件部中包括CCD、CMOS等拍攝元件 ，前述光照射部可以包括紅外線LED等發光元件。 圖像解析部19包括如圖像處理程式器等而構成，根據相機部18拍攝之圖像進行解析駕駛員舉動的處理。駕駛員的舉動可以包括臉部朝向、視線方向等。圖像解析部19所解析之駕駛員的舉動數據等保存於保存部30之圖像解析數據保存部33。另外，與駕駛員舉動數據一併，還可以將相機部18所拍攝之圖像數據保存於圖像解析數據保存部33。The camera portion 18 includes a lens portion, an imaging element portion, a light irradiation portion, an interface portion, and the like, which are not shown. The imaging element unit includes an imaging element such as a CCD or CMOS, and the light irradiation unit may include a light emitting element such as an infrared LED. The image analysis unit 19 includes, for example, an image processing programmer, and performs a process of analyzing a driver's behavior based on an image captured by the camera unit 18. The driver's behavior may include face orientation, line of sight, and the like. The driver's behavior data and the like analyzed by the image analysis unit 19 are stored in the image analysis data storage unit 33 of the storage unit 30. In addition to the driver behavior data, the image data captured by the camera section 18 may be stored in the image analysis data storage section 33.
第3圖係顯示實施方式涉及之安全確認評價系統1所使用的伺服器裝置40硬體構成之一實例的方框圖。 實施方式涉及之伺服器裝置40包括通信單元41、控制單元50、保存單元60而構成。FIG. 3 is a block diagram showing an example of a hardware configuration of the server device 40 used in the safety confirmation evaluation system 1 according to the embodiment. The server device 40 according to the embodiment includes a communication unit 41, a control unit 50, and a storage unit 60.
通信單元41係藉由通信網絡3，用以與車載裝置10、企業末端70等外部裝置之間進行各種數據、信號的發送、接受的通信控制裝置而構成。The communication unit 41 is a communication control device configured to transmit and receive various data and signals to and from external devices such as the in-vehicle device 10 and the enterprise terminal 70 through the communication network 3.
控制單元50包括交叉點推定部51、安全確認評價部56而構成，進而還可以包括中止對作為交叉點進入時刻之時刻t5進行檢測之時刻t5檢測中止部、方向推定部55而構成。控制單元50包括如CPU等一個以上之硬體程式處理器而構成。The control unit 50 includes an intersection estimation unit 51 and a safety confirmation evaluation unit 56. The control unit 50 may further include a detection discontinuation unit and a direction estimation unit 55 at time t5 which stops detecting the time t5 which is the entry time of the intersection. The control unit 50 includes one or more hardware program processors such as a CPU.
保存單元60包括慣性數據儲存部61、程式保存部64而構成，還可以包括圖像解析數據儲存部62、評價數據保存部63而構成。保存單元60以比如HDD、SSD等一個以上之大容量保存裝置構成。The storage unit 60 includes an inertial data storage unit 61 and a program storage unit 64, and may also include an image analysis data storage unit 62 and an evaluation data storage unit 63. The storage unit 60 is configured by one or more large-capacity storage devices such as HDD and SSD.
慣性數據儲存部61中儲存有自車載裝置10取得之角速度數據（包含時刻t0的數據等）等。圖像解析數據儲存部62中儲存有自車載裝置10取得之圖像解析數據等。評價數據保存部63中保存有於各交叉點之駕駛員的安全確認動作之評價結果等數據。另外，程式保存部64中保存有控制單元50所實施之各種程式。The inertial data storage unit 61 stores angular velocity data (including data at time t0 and the like) obtained from the in-vehicle device 10 and the like. The image analysis data storage unit 62 stores image analysis data and the like obtained from the in-vehicle device 10. The evaluation data storage unit 63 stores data such as an evaluation result of the driver's safety confirmation operation at each intersection. The program storage unit 64 stores various programs implemented by the control unit 50.
控制單元50進行將從車載裝置10取得之各種數據保存到保存單元60的處理。另外，控制單元50讀出保存單元60中保存的各種數據、程式，並藉由實施這些程式，實現交叉點推定部51、時刻t5檢測中止部54、方向推定部55、安全確認評價部56等的動作。The control unit 50 performs a process of saving various data acquired from the vehicle-mounted device 10 to the storage unit 60. In addition, the control unit 50 reads out various data and programs stored in the storage unit 60 and implements these programs to realize the intersection estimation unit 51, the detection suspension unit 54 at time t5, the direction estimation unit 55, the safety confirmation evaluation unit 56, and the like. Actions.
交叉點推定部51包括、比如積分值計算部52和時刻t5檢測部53，基於保存部30之慣性數據保存部31中保存之車輛2的角速度數據，進行車輛2之交叉點進入時刻的推定處理。積分值計算部52計算時刻t0之前後指定時間的角速度數據之積分值。時刻t5檢測部53檢測積分值計算部52所計算之積分值達到指定的積分比率之時刻t5，進行推定該時刻t5為交叉點進入時刻的處理。The intersection estimation unit 51 includes, for example, an integral value calculation unit 52 and a time t5 detection unit 53, and performs estimation processing of the intersection entry time of the vehicle 2 based on the angular velocity data of the vehicle 2 stored in the inertia data storage unit 31 of the storage unit 30. . The integral value calculation unit 52 calculates an integral value of the angular velocity data at a specified time before and after the time t0. The time t5 detection unit 53 detects a time t5 at which the integration value calculated by the integration value calculation unit 52 reaches a specified integration ratio, and performs a process of estimating the time t5 as the intersection entry time.
時刻t5檢測中止部54在積分值計算部52計算之積分值不在指定的道路交叉角度範圍內時，進行中止由時刻t5檢測部53對時刻t5之檢測。The detection suspension unit 54 at time t5 stops the detection of time t5 by the detection unit 53 at time t5 when the integration value calculated by the integration value calculation unit 52 is not within the specified road intersection angle range.
方向推定部55基於積分值計算部52計算之積分值的正負，推定車輛2之左右轉方向。本實施方式之一實例中，當積分值為正時，推定為右轉；積分值為負時，推定為左轉。The direction estimating unit 55 estimates the left-right turning direction of the vehicle 2 based on the sign of the integral value calculated by the integral value calculating unit 52. In one example of this embodiment, when the integral value is positive, it is presumed to be a right turn; when the integral value is negative, it is presumed to be a left turn.
安全確認評價部56進行評價交叉點推定部51推定之時刻t5的前後指定時間內之駕駛員的安全確認動作的處理。The safety confirmation evaluation unit 56 performs a process of evaluating the safety confirmation operation of the driver within a specified time before and after the time t5 estimated by the intersection evaluation unit 51.
另外，其他實施方式所涉及之伺服器40中，還可以係包括作為企劃層而動作之Web伺服器、作為應用層動作之應用伺服器，作為資料庫層動作之資料庫伺服器的、可以提供雲服務之構成。In addition, the server 40 according to other embodiments may include a web server operating as a planning layer, an application server operating as an application layer, and a database server acting as a database layer. The composition of cloud services.
前述Web伺服器係作為通信單元41而動作者，可以係比如進行處理企業末端70的流覽器要求的HTTP請求，指示符合應用伺服器之處理，或者接受應用伺服器之處理結果，通過流覽器將處理結果提交企業末端70的處理的構成。The aforementioned web server acts as the communication unit 41, and can perform, for example, an HTTP request for processing the browser request of the enterprise end 70, instructing to comply with the processing of the application server, or accepting the processing result of the application server, and browsing The processor submits the processing result to the processing configuration of the enterprise terminal 70.
前述應用伺服器係作為控制單元50而動作者，比如可以係根據Web伺服器之要求，點擊數據庫伺服器，進行處理所必要之數據檢索、數據提取，進行按照要求之處理的構成。The aforementioned application server acts as the control unit 50. For example, the application server may click on the database server according to the request of the Web server to perform data retrieval and data extraction necessary for processing and perform processing according to the requirements.
前述資料庫伺服器係作為保存單元60而動作者，比如可以係管理包括從車載裝置10取得之角速度數據之各種數據，按照應用伺服器之要求，進行數據檢索、提取、保存等處理之構成。The aforementioned database server operates as the storage unit 60. For example, the database server may manage various data including angular velocity data obtained from the in-vehicle device 10, and perform data retrieval, extraction, and storage processing according to the requirements of the application server.
動作例 第4圖係用以說明於實施方式涉及之安全確認評價系統1中，車輛2於交叉點左右轉時之交叉點進入時刻之推定方法的圖表，顯示了車輛2的角速度隨時間變化之一實例。Figure 4 of the operation example is a diagram for explaining the method of estimating the entry time of the intersection when the vehicle 2 turns left and right at the intersection in the safety confirmation evaluation system 1 according to the embodiment, and shows the change of the angular velocity of the vehicle 2 with time. An example.
時刻t0表示由車輛2角速度（ω）數據推定之交叉點通過時刻。時刻t5表示由角速度數據推定之交叉點進入時刻。The time t0 indicates the passing time of the intersection estimated from the angular velocity (ω) data of the vehicle 2. The time t5 indicates the entry time of the intersection estimated from the angular velocity data.
時刻t0表示車輛2角速度之絕對值從不足指定的角速度下限值ωL之狀態到達到指定的角速度界限值ωth以上的時刻。指定的角速度界限值ωth設定為比指定的角速度下限值ωL大的值。角速度下限值ωL，比如可以設定為5dps～15dps中任一值，角速度界限值ωth，比如可以設定為15dps～50dps中任一值。指定的角速度下限值ωL，比如可以設定為車輛2在行駛車道（同一車道）內彎曲行駛時檢測出的角速度值。另外，指定的角速度界限值ωth還可以設定為，比如車輛2在交叉點轉彎（正在左右轉）時檢測出之角速度值。另外，時刻t0可以由車載裝置10檢測，也可以由伺服器裝置40檢測。The time t0 indicates the time when the absolute value of the angular velocity of the vehicle 2 is less than the specified angular velocity lower limit value ωL and reaches the specified angular velocity limit value ωth or more. The designated angular velocity limit value ωth is set to a value larger than the designated angular velocity lower limit value ωL. The angular velocity lower limit value ωL can be set to any value from 5dps to 15dps, and the angular velocity limit value ωth can be set to any value from 15dps to 50dps, for example. The specified lower limit value of the angular velocity ωL can be set to, for example, an angular velocity value detected when the vehicle 2 bends in a driving lane (same lane). In addition, the specified angular velocity limit value ωth may also be set to, for example, an angular velocity value detected when the vehicle 2 turns (turning left or right) at an intersection. The time t0 may be detected by the in-vehicle device 10 or may be detected by the server device 40.
另外，車輛2於交叉點左右轉時，車輛2減速行駛。故於時刻t0的車速為指定的交叉點上限速度以上時，視為不正在交叉點左右轉，可以取消時刻t0。In addition, when the vehicle 2 turns left and right at the intersection, the vehicle 2 decelerates. Therefore, when the vehicle speed at time t0 is higher than the designated maximum speed of the intersection, it is considered that the vehicle is not turning left and right at the intersection, and time t0 can be cancelled.
時刻t0的車速，可以基於車載裝置10之GPS接受機14所檢測之位置數據，比如位置數據之檢測週期之移動距離（經緯度變化）來計算。這種情形下，由於角速度感測器12之角速度檢測週期，比GPS接受機14之位置數據的檢測週期短，故可以減少於時刻t0的位置數據的誤差，因此最好將由時刻t0前面所檢出的位置數據所計算之車速作為時刻t0時的車速。The vehicle speed at time t0 can be calculated based on the position data detected by the GPS receiver 14 of the in-vehicle device 10, such as the movement distance (change in latitude and longitude) of the detection period of the position data. In this case, since the angular velocity detection period of the angular velocity sensor 12 is shorter than the detection period of the position data of the GPS receiver 14, the error of the position data at time t0 can be reduced. The vehicle speed calculated from the position data is used as the vehicle speed at time t0.
另外，角速度數據達到角速度界限值ωth以上後的指定時間內，比如1～3秒左右以下之短時間內，角速度朝向發生變化（由正變為負或者由負變為正）時，不是正在交叉點左右轉。比如可以視為突然進行方向盤操作改變行車道，可以取消時刻t0。In addition, when the angular velocity data reaches the angular velocity limit value ωth or more within a specified time, for example, within a short time of about 1 to 3 seconds, the angular velocity direction changes (from positive to negative or from negative to positive), it is not crossing. Turn left and right. For example, it can be regarded as a sudden steering wheel operation to change the lane, and the time t0 can be cancelled.
另外，時刻t0與時刻t0´ 之間隔（時間），不在指定之界限值時間Th以上時，視作沒有正在交叉點左右轉，可以取消時刻t0。指定之界限值時間Th，比如係能夠推定在連續轉彎的道路上行駛之時間，如可以設定為10-20秒左右的時間。In addition, if the interval (time) between time t0 and time t0´ is not more than the specified threshold time Th, it is deemed that there is no turning left or right at the intersection, and time t0 can be cancelled. The specified threshold time Th is, for example, a time that can be estimated to travel on a road that is continuously turning. For example, it can be set to a time of about 10-20 seconds.
時刻t5之推定方法，首先，將時刻t0的前後指定時間（±n秒）之角速度數據，設定在用來推定交叉點進入時刻之分析數據範圍。即，時刻t0成為分析數據範圍之中心點。前述±n秒可以設定為比如±10～20秒之任意時間。The method of estimating time t5 is to first set the angular velocity data at a specified time (± n seconds) before and after time t0 in the analysis data range used to estimate the entry time of the intersection. That is, time t0 becomes the center point of the analysis data range. The aforementioned ± n seconds can be set to any time such as ± 10 to 20 seconds.
接著，計算分析數據範圍之角速度數據的積分值θ。積分值θ表示車輛2轉彎（左右轉時）的角度。此時，角速度之絕對值可以僅計算指定的角速度下限值ωL以上之角速度數據。角速度下限值ωL可以設定為車輛2在行駛車道（同一行車道）內彎曲行駛時檢測出的角速度值。藉此，就可以使計算的積分值θ中不包含因彎曲行駛等產生的角速度誤差成分。Next, the integral value θ of the angular velocity data in the analysis data range is calculated. The integrated value θ indicates the angle at which the vehicle 2 turns (when turning left and right). At this time, the absolute value of the angular velocity may only calculate angular velocity data which is equal to or higher than the specified angular velocity lower limit value ωL. The angular velocity lower limit value ωL can be set to an angular velocity value detected when the vehicle 2 is traveling in a curved lane (in the same lane). Thereby, it is possible to prevent the calculated integral value θ from including an angular velocity error component caused by curved driving or the like.
檢測角速度數據之積分值θ達到指定之積分比率θr（相對於積分值θ的比率）的時刻，作為時刻t5，即交叉點進入時刻。 積分比率θr可以設定為，如角速度數據之積分值θ的10%以下之任意比率x%。另外，還可以與積分值θ的值相對應，變更積分比率θr之設定值，可以按照時刻t0-n秒之角速度變化狀態，變更積分比率θr之設定值。比如在時刻t0-n秒之間，檢測出角速度數據為角速度下限值ωL以上、不足角速度界限值ωth時，可以將積分比率θr變更為比設定值更高的值。The time when the integral value θ of the detected angular velocity data reaches a specified integral ratio θr (the ratio with respect to the integral value θ) is taken as time t5, that is, the time when the intersection enters. The integration ratio θr can be set to, for example, an arbitrary ratio x% of 10% or less of the integrated value θ of the angular velocity data. In addition, the setting value of the integration ratio θr may be changed corresponding to the value of the integration value θ, and the setting value of the integration ratio θr may be changed according to the angular velocity change state at time t0-n seconds. For example, when the angular velocity data is detected to be above the angular velocity lower limit value ωL and less than the angular velocity limit value ωth between time t0-n seconds, the integration ratio θr may be changed to a value higher than the set value.
上述角速度數據之積分值θ之絕對值表示角度。積分值θ之絕對值不在指定之道路交叉角度範圍內時，視作不在交叉點，可以取消時刻t5。指定之道路交叉角度範圍，比如可以設定為從交叉角度下限值到交叉角度上限值的範圍（比如40度～120度）。The absolute value of the integrated value θ of the angular velocity data indicates the angle. When the absolute value of the integral value θ does not fall within the specified road crossing angle range, it is regarded as not at the crossing point, and the time t5 may be cancelled. The specified road intersection angle range can be set from the intersection angle lower limit value to the intersection angle upper limit value (for example, 40 degrees to 120 degrees).
另外，分析數據範圍之角速度數據之積分值θ為正值時，判定為右轉，為負值時判定為左轉。 於是，在檢測出時刻t5後可以分別評價時刻t5前的指定時間內以及時刻t5後的指定時間內之駕駛員的安全確認動作。In addition, when the integral value θ of the angular velocity data in the analysis data range is a positive value, it is determined to be a right turn, and when it is a negative value, it is determined to be a left turn. Therefore, after the time t5 is detected, the driver's safety confirmation action can be evaluated in a specified time before the time t5 and a specified time after the time t5.
圖5係實施方式涉及之車載裝置10之控制部20所進行的處理動作的流程圖。比如，本處理動作可以於角速度感測器12檢測出角速度之時刻（比如33ms等的指定週期）實行。FIG. 5 is a flowchart of processing operations performed by the control unit 20 of the in-vehicle device 10 according to the embodiment. For example, this processing operation may be performed at the moment when the angular velocity sensor 12 detects the angular velocity (for example, a specified period such as 33 ms).
在步驟S1，控制部20取得角速度感測器12檢出之角速度數據，在下一個步驟S2，控制部20判斷角速度之絕對值是否達到指定之角速度界限值ωth以上，即判斷從不足指定之角速度下限值ωL的狀態是否第一次達到了指定之角速度界限值ωth以上。In step S1, the control unit 20 obtains the angular velocity data detected by the angular velocity sensor 12, and in the next step S2, the control unit 20 determines whether the absolute value of the angular velocity has reached the specified angular velocity limit value ωth or more, that is, it is judged that the specified angular velocity is insufficient. Whether the state of the limit value ωL has reached the specified angular velocity limit value ωth or more for the first time.
在步驟S2，如果控制部20判斷角速度之絕對值為不足指定之角速度界限值ωth，則進行步驟S10，在步驟S10，進行將取得之角速度數據與其檢測時刻相對應、保存至慣性數據保存部31之處理，然後進行步驟S11。In step S2, if the control unit 20 judges that the absolute value of the angular velocity is less than the specified angular velocity limit value ωth, the process proceeds to step S10, and in step S10, the acquired angular velocity data is associated with its detection time and stored in the inertial data storage unit 31. Processing, then proceed to step S11.
另一方面，在步驟S2，如果控制部20判斷角速度之絕對值為指定之角速度界限值ωth以上，則進行步驟S3。在步驟S3，控制部20檢測角速度之絕對值達到指定之角速度界限值ωth以上的時刻t0，將交叉點通過標識F記為1，進行步驟S4。On the other hand, in step S2, if the control unit 20 determines that the absolute value of the angular velocity is equal to or greater than the specified angular velocity limit value ωth, the process proceeds to step S3. In step S3, the control unit 20 detects the time t0 when the absolute value of the angular velocity reaches a predetermined angular velocity limit value ωth or more, marks the crossing point passing flag F as 1, and proceeds to step S4.
在步驟S4，控制部20檢測時刻t0時之車輛2之速度（車速）。車速可以根據於時刻t0之前，由GPS接收機14檢出之位置數據計算。 在下一個步驟S5，控制部20判斷時刻t0之車速是否在指定之交叉點上限速度以下。指定之交叉點上限速度，可以設定為在交叉點內確認為安全的優選的低速度的值。In step S4, the control unit 20 detects the speed (vehicle speed) of the vehicle 2 at time t0. The vehicle speed can be calculated based on the position data detected by the GPS receiver 14 before time t0. In the next step S5, the control unit 20 determines whether or not the vehicle speed at time t0 is below the designated upper limit speed. The specified maximum speed of the intersection can be set to a value of a preferable low speed that is confirmed to be safe within the intersection.
在步驟S5，如果控制部20判斷時刻t0之車速在指定的交叉點上限速度以下，則進行步驟S6。在步驟S6，控制部20從慣性數據保存部31讀出前一次之時刻t0´，在下一個步驟S7，控制部20判定從前一次時刻t0´到這一次時刻t0為止的間隔（時間）是否經過了指定時間以上。前述指定時間，可以設定為推定車輛2於角速度在短時間內發生變化的道路，如在曲折道路等連續轉彎之道路上行駛的時間（比如10～20秒左右的值）。In step S5, if the control unit 20 determines that the vehicle speed at the time t0 is below the designated upper limit speed, it proceeds to step S6. In step S6, the control unit 20 reads the previous time t0´ from the inertia data storage unit 31. In the next step S7, the control unit 20 determines whether the interval (time) from the previous time t0´ to this time t0 has passed. Over time. The aforementioned specified time may be set to a time (for example, a value of about 10 to 20 seconds) for estimating the time when the angular velocity of the vehicle 2 changes in a short period of time, such as on a turning road such as a tortuous road.
在步驟S7，如果控制部20判斷從前一次時刻t0´起到這一次的時刻t0為止的間隔為指定時間以上，則進行步驟S8。在步驟S8，控制部20將取得之角速度數據、交叉點通過時刻t0與交叉點通過標識F=1相對應，進行保存到慣性數據保存部31之處理，進行步驟S11。In step S7, if the control unit 20 determines that the interval from the previous time t0 'to the current time t0 is equal to or more than the specified time, the process proceeds to step S8. In step S8, the control unit 20 saves the obtained angular velocity data, the crossing point passing time t0 and the crossing point passing flag F = 1, and saves it to the inertial data storing unit 31, and proceeds to step S11.
另一方面，在步驟S5，如果控制部20判斷時刻t0之車速比指定之交叉點上限速度大，即判斷為不在交叉點，而係在轉彎的道路上（曲線道路等）行駛，則進行步驟S9。 另外，在步驟S7，如果控制部20判斷從前一次時刻t0´起到這一次的時刻t0為止的間隔不足指定時間，比如判斷於角速度在短時間內發生變化的道路上行駛，則進行步驟S9。On the other hand, in step S5, if the control unit 20 judges that the vehicle speed at time t0 is greater than the designated maximum speed of the intersection, that is, it determines that it is not at the intersection but is traveling on a turning road (curved road, etc.), then proceeds to step S9. In addition, in step S7, if the control unit 20 determines that the interval from the previous time t0´ to the current time t0 is less than the specified time, for example, it determines that the angular velocity changes on a road where the angular velocity has changed in a short time, then step S9 is performed.
在步驟S9，控制部20進行取消步驟S3檢測之時刻t0的處理，此時，將交叉點通過標識F記為0，然後進行步驟S10。在步驟S10，控制部20將步驟S1取得之角速度數據與其檢測時刻相對應、保存至慣性數據保存部31，進行步驟S11。In step S9, the control unit 20 performs a process of canceling the time t0 detected in step S3. At this time, the crossing point flag F is recorded as 0, and then step S10 is performed. In step S10, the control unit 20 stores the angular velocity data obtained in step S1 in accordance with its detection time, stores it in the inertia data storage unit 31, and proceeds to step S11.
在步驟S11，控制部20判斷是否到了將慣性數據保存部31中保存之角速度數據發送給伺服器裝置40之時點，比如判斷從上一次發送時間起是否經過了指定的時間（比如1分～5分左右的時間），如果判斷為尚未到達發送的時點，則結束隨後處理。另一方面如果判斷為已到了發送的時點，則進行步驟S12。In step S11, the control unit 20 determines whether it is time to send the angular velocity data stored in the inertial data storage unit 31 to the server device 40, for example, to determine whether a specified time (for example, 1 minute to 5 minutes) has passed since the last transmission time Time), and if it is determined that the time point for transmission has not yet been reached, the subsequent processing ends. On the other hand, if it is determined that the time point for transmission has been reached, step S12 is performed.
在步驟S12，控制部20進行將慣性數據保存部31中保存之數據（指定時間之角速度數據、其檢測時刻、交叉點通過時刻t0、交叉點通過標識F等的數據）發送到伺服器裝置40之處理，然後結束處理。In step S12, the control unit 20 sends the data (the angular velocity data at a specified time, the detection time, the crossing point passing time t0, the crossing point passing the flag F, and the like) stored in the inertial data storage unit 31 to the server device 40. Processing, and then end processing.
另外，可以係於上述步驟S1～S12之處理中省略步驟S4、S5處理之構成，也可以係省略步驟S6、S7處理之構成，或者省略步驟S4～S7以及步驟S9處理之構成。In addition, a configuration in which the processing in steps S4 and S5 is omitted from the processing in steps S1 to S12 described above, a configuration in which processing in steps S6 and S7 is omitted, or a configuration in which steps S4 to S7 and S9 are omitted.
另外，於步驟S12之向伺服器裝置40發送數據處理中，除了慣性數據保存部31中保存之數據以外，還可以發送位置數據保存部32中保存的數據、圖像解析數據保存部中保存的數據。In addition, in the data transmission processing to the server device 40 in step S12, in addition to the data stored in the inertial data storage unit 31, the data stored in the position data storage unit 32 and the data stored in the image analysis data storage unit may be transmitted. data.
另外，還可以省略步驟S11和S12之處理，於步驟S8和S10，將慣性數據保存部31中保存之數據保存到儲存卡等可以安裝和拆卸方式之保存裝置，在行駛後，由企業末端70讀取前述儲存卡中保存之數據，由企業末端70向伺服器裝置40發送。In addition, the processes of steps S11 and S12 can also be omitted. At steps S8 and S10, the data saved in the inertial data storage unit 31 is saved to a storage device such as a memory card that can be mounted and disassembled. After driving, the end of the enterprise 70 The data stored in the aforementioned memory card is read and sent from the enterprise terminal 70 to the server device 40.
圖6係顯示實施方式涉及之伺服器裝置40之控制單元50所進行之處理動作的流程圖。比如本處理動作可以於從車載裝置10接受數據之時點（比如，1分到5分左右之週期）實行，還可以按照伺服器裝置40一側確定的每指定時間實行，也可以係企業末端70有要求時實行。FIG. 6 is a flowchart showing a processing operation performed by the control unit 50 of the server device 40 according to the embodiment. For example, this processing action can be performed at the time when data is received from the in-vehicle device 10 (for example, a period of 1 minute to 5 minutes), or it can be performed every specified time determined by the server device 40 side, or it can be the end of the enterprise 70 Implemented when required.
首先在步驟S21，控制單元50從慣性數據儲存部61所儲存的數據中提取被記為交叉點通過標識F=1的時刻t0，進行步驟S22。在步驟S22，控制單元50從慣性數據儲存部61讀出時刻t0之前後指定時間（比如時刻t0±n秒）之角速度數據作為用以推定時刻t5的分析數據範圍，進行步驟S23。First, in step S21, the control unit 50 extracts the time t0, which is marked as the intersection passing flag F = 1, from the data stored in the inertial data storage unit 61, and then proceeds to step S22. In step S22, the control unit 50 reads the angular velocity data at a specified time (for example, time t0 ± n seconds) before and after time t0 from the inertial data storage unit 61 as the analysis data range for estimating time t5, and then proceeds to step S23.
在步驟S23，進行將時刻t0之前後指定時間之角速度數據積分的處理。該積分處理，可以僅對角速度之絕對值為指定之角速度下限值ωL以上的角速度數據進行積分。指定之角速度下限值ωL可以設定為如車輛2在行駛車道（同一車道）內轉彎行駛時檢測出的角速度。In step S23, a process of integrating angular velocity data at a specified time before and after time t0 is performed. This integration process can integrate only the angular velocity data in which the absolute value of the angular velocity is equal to or greater than the specified angular velocity lower limit value ωL. The specified angular velocity lower limit value ωL may be set as the angular velocity detected when the vehicle 2 is turning in a driving lane (the same lane).
在步驟S24，控制單元50判斷步驟S23計算的角速度數據之積分值θ之絕對值（角度）是否在指定的道路交叉角度範圍內。指定之道路交叉角度範圍可以設定為，比如從交叉角度下限值到交叉角度上限值之範圍（如40度～120度）。In step S24, the control unit 50 determines whether the absolute value (angle) of the integrated value θ of the angular velocity data calculated in step S23 is within the specified road crossing angle range. The specified road intersection angle range can be set, for example, from the lower limit value of the cross angle to the upper limit value of the cross angle (such as 40 degrees to 120 degrees).
在步驟S24，如果控制單元50判斷角速度數據之積分值θ之絕對值不在指定之道路交叉角度範圍內，則不進行時刻t5之檢測，進行步驟S32。不在指定之道路交叉角度範圍內之情形係指，比如在緩緩的轉彎道路或者急轉彎道路上行駛之情形或者向旁邊車道變更車道之情形等。In step S24, if the control unit 50 determines that the absolute value of the integral value θ of the angular velocity data is not within the specified road crossing angle range, the detection at time t5 is not performed, and step S32 is performed. Cases that do not fall within the specified intersection angle of the road are, for example, the case of driving on a gently turning road or a sharp turning road, or changing the lane to the next lane.
另一方面，在步驟S24，如果控制單元50判斷角速度數據積分值θ之絕對值在指定之道路交叉角度範圍內，則進行步驟S25。在步驟S25，控制單元50檢測角速度數據之積分值達到指定之積分比率θr之時刻t5。在接下來的步驟S26，控制單元50推定步驟S25所檢測之時刻t5為交叉點進入時刻，進行步驟S27。On the other hand, in step S24, if the control unit 50 determines that the absolute value of the integrated value of the angular velocity data θ is within the specified road crossing angle range, then step S25 is performed. In step S25, the control unit 50 detects a time t5 at which the integral value of the angular velocity data reaches a specified integral ratio θr. In the next step S26, the control unit 50 estimates that the time t5 detected in step S25 is the intersection entry time, and proceeds to step S27.
指定之積分比率θr可以設定為積分值θ之10%以下的任意比率x%。比如，步驟S23計算之積分值θ之絕對值，即角度為90度時，指定之積分比率θr達到x%之時刻t5為角度達到90x（x/100）度之時刻，推定該時刻為交叉點進入時刻。The specified integration ratio θr can be set to an arbitrary ratio x% of 10% or less of the integration value θ. For example, the absolute value of the integrated value θ calculated in step S23, that is, when the angle is 90 degrees, the time when the specified integration ratio θr reaches x%, t5 is the time when the angle reaches 90x (x / 100) degrees, and the time is estimated to be the intersection point. Into the moment.
在步驟S27，控制單元50基於步驟S23計算之積分值θ之正負，判定車輛2之左右轉方向（右轉或者左轉）。在接下來的步驟S28，控制單元50將車輛2之時刻t5與左右轉相對應、保存至保存單元60的評價數據保存部63，進行步驟S29。In step S27, the control unit 50 determines the left-right turn direction (right turn or left turn) of the vehicle 2 based on the sign of the integral value θ calculated in step S23. In the next step S28, the control unit 50 stores the time t5 of the vehicle 2 corresponding to the left-right turn and stores it in the evaluation data storage unit 63 of the storage unit 60, and proceeds to step S29.
在步驟S29，控制單元50進行評價交叉點進入時刻t5之前的指定時間內（比如5～15秒）、駕駛員的安全確認動作的處理，在接下來的步驟S30，進行評價時刻t5之後的指定時間內（比如5～15秒）駕駛員的安全確認動作的處理。In step S29, the control unit 50 performs a process of evaluating the driver's safety confirmation action within a specified time (for example, 5 to 15 seconds) before the intersection intersection time t5, and in a subsequent step S30, specifies a time after the evaluation time t5. Processing of driver's safety confirmation actions within a period of time (for example, 5 to 15 seconds).
步驟S29、S30進行之評價駕駛員的安全確認動作之處理，沒有特別限定。也可以基於從車載裝置10取得之駕駛員的圖像數據的解析結果（臉部朝向、視線方向等）、以及/或者從車載裝置10取得的車輛2之舉動數據（加速度、車速、角速度、位置）等，判定駕駛員之安全確認動作，由該判定結果進行評價。駕駛員之安全確認動作中，可以包含車輛2左右轉時的駕駛員之安全確認動作，比如左右之安全確認動作。The process of evaluating the driver's safety confirmation operation performed in steps S29 and S30 is not particularly limited. It may also be based on the analysis results (face direction, line of sight, etc.) of the driver's image data obtained from the in-vehicle device 10 and / or behavior data (acceleration, vehicle speed, angular velocity, position) of the vehicle 2 obtained from the in-vehicle device 10 ), Etc., determine the driver's safety confirmation action, and evaluate from the determination result. The driver's safety confirmation action may include the driver's safety confirmation action when the vehicle 2 turns left and right, such as the left and right safety confirmation action.
在步驟S31，將步驟S29、S30之評價結果與時刻t5相對應地保存於評價數據保存部63。在步驟S32，判斷是否有下一個時刻t0，如果判斷為有下一個時刻t0，則返回步驟S21，反復處理，直至全部時刻t0的提取結束。另一方面，如果判斷為沒有下一個時刻t0，即如果從儲存的數據判斷時刻t0的提取已經全部結束，則結束其後之處理。In step S31, the evaluation results in steps S29 and S30 are stored in the evaluation data storage unit 63 in correspondence with the time t5. In step S32, it is determined whether there is a next time t0, and if it is determined that there is a next time t0, it returns to step S21, and the process is repeated until the extraction of all times t0 is completed. On the other hand, if it is determined that there is no next time t0, that is, if it is determined from the stored data that the extraction of time t0 has all ended, the subsequent processing is ended.
根據實施方式涉及之安全確認評價系統1，不必使用地圖資料庫等交叉點資訊，而係使用角速度數據、以簡單且低成本之構成，就可以推定車輛2進入交叉點之時刻，利用推定之時刻t5，能夠適當地分別評價進入交叉點前以及進入交叉點後之駕駛員的安全確認動作。According to the safety confirmation and evaluation system 1 according to the embodiment, it is possible to estimate the time when the vehicle 2 enters the intersection and use the estimated time without using intersection data such as a map database and using angular velocity data in a simple and low-cost configuration. At t5, the driver's safety confirmation actions before entering the intersection and after entering the intersection can be evaluated appropriately.
另外，根據安全確認評價系統1，檢測角速度數據超過指定之角速度界限值ωth之時刻t0，計算時刻t0前後指定時間之角速度數據之積分值θ，推定積分值θ達到指定之積分比率θr之時刻t5作為交叉點進入時刻，故能夠精度良好地推定車輛2進入交叉點之時刻。In addition, according to the safety confirmation evaluation system 1, the time t0 at which the angular velocity data exceeds the specified angular velocity limit value ωth, the integral value θ of the angular velocity data at a specified time before and after time t0, and the time t5 at which the estimated integral value θ reaches the specified integral ratio θr As the intersection entry time, the time when the vehicle 2 enters the intersection can be estimated with high accuracy.
另外，根據安全確認評價系統1，由於於積分值計算部52之積分值計算中，不包含指定角速度下限值ωL未滿之角速度數據，比如轉彎行駛中可檢出程度之小的角速度數據，故能夠更加精度良好地計算車輛2於交叉點左右轉時的積分值。In addition, according to the safety confirmation evaluation system 1, the calculation of the integral value of the integral value calculation unit 52 does not include the angular velocity data under the specified angular velocity lower limit value ωL, such as small angular velocity data that can be detected during cornering. Therefore, it is possible to more accurately calculate the integral value when the vehicle 2 turns around at the intersection.
另外，根據安全確認評價系統1，以積分值θ表示之角度不在指定之道路交叉角度範圍內時，比如在曲線道路上行駛或者向旁邊車道變道等不是於交叉點左右轉時，可以中止對時刻t5之檢測，故能夠提高交叉點之檢測精度。In addition, according to the safety confirmation evaluation system 1, when the angle indicated by the integral value θ is not within the specified road crossing angle range, such as driving on a curved road or changing lanes to the next lane, etc., when the turn is not right or left at the intersection, the suspension can be suspended. The detection at time t5 can improve the detection accuracy of the intersection.
另外，根據安全確認評價系統1，當時刻t0檢測部21檢測之時刻t0時的車輛2之速度在指定速度以上時，時刻t0被取消，故可以防止將轉彎道路上之行駛錯誤地檢測為於交叉點左右轉。In addition, according to the safety confirmation evaluation system 1, when the speed of the vehicle 2 at the time t0 detected by the time t0 detection unit 21 is above the specified speed, the time t0 is canceled, so that the driving on the turning road can be prevented from being mistakenly detected as Turn left and right at the intersection.
另外，根據安全確認評價系統1，當時刻t0從上一次檢測時刻t0´起沒有經過指定時間以上時，這一次時刻t0被取消，故可以防止在轉彎道路連續之道路上行駛時，將轉彎道路上的行駛錯誤地檢測為進入交叉點。In addition, according to the safety confirmation evaluation system 1, when the time t0 has not passed the specified time from the last detection time t0´, the time t0 is cancelled this time, so it can prevent the road from turning when driving on a continuous road Driving on is detected incorrectly as entering an intersection.
另外，根據車載裝置10，能夠簡化其構成，且能夠容易地安裝至車輛2，故能夠以低的成本導入安全確認評價系統1。In addition, according to the in-vehicle device 10, the configuration can be simplified and it can be easily mounted on the vehicle 2. Therefore, the safety confirmation evaluation system 1 can be introduced at a low cost.
以上詳細說明了本發明之實施方式，但上述說明在所有方面只不過是本發明之示例。在不脫離本發明範圍內可以進行各種改良和變更。The embodiments of the present invention have been described in detail above, but the above description is merely an example of the present invention in all aspects. Various improvements and changes can be made without departing from the scope of the present invention.
在上述實施方式中，係基於車輛2之角速度數據，換言之，基於車輛2左右轉時等檢測之角速度數據，推定車輛2進入交叉點之進入時刻t5，評價推定之時刻t5的前後指定時間內的駕駛員之安全確認動作之構成。In the above-mentioned embodiment, based on the angular velocity data of vehicle 2, in other words, based on the angular velocity data detected when vehicle 2 is turning left and right, etc., the entry time t5 of vehicle 2 entering the intersection is estimated, and the The composition of the driver's safety confirmation action.
比如，在其他實施方式中，可以係基於車輛2之角速度數據，推定車輛2進入沿路設施之入出口地點之進入時刻，評價所推定時刻的前後指定時間內的駕駛員的安全確認動作之構成。根據所涉及的構成，也可以評價從道路進入沿路設施時或者從沿路設施出來到道路上時的駕駛員之安全確認動作。For example, in other embodiments, based on the angular velocity data of the vehicle 2, it is possible to estimate the time when the vehicle 2 enters the entry / exit point of the facility along the road, and evaluate the driver's safety confirmation action within a specified time before and after the estimated time. Depending on the structure involved, the driver's safety confirmation action can also be evaluated when entering a facility along a road from a road or when exiting a facility along a road.
附錄 本發明之實施方式還可以如下附錄所述，但不限定於此。 （附錄1） 一種安全確認評價系統，其特徵在於，前述安全確認評價系統係評價車輛（2）駕駛員之安全確認動作之安全確認評價系統（1），包括搭載於車輛（2）之車載裝置（10）和處理車載裝置（10）取得之數據之處理裝置（40）； 前述車載裝置（10）具備角速度檢出部（12），用以檢測車輛（2）之角速度； 前述處理裝置（40）具備交叉點推定部（51）以及安全確認評價部（56）； 前述交叉點推定部（51），用以基於角速度檢測部（12）檢測之車輛（2）之角速度數據、推定車輛（2）之進入交叉點的時刻； 前述安全確認評價部（56），用以評價交叉點推定部（51）推定之進入交叉點的時刻之前後指定時間內、駕駛員之安全確認動作。APPENDIX Embodiments of the present invention may also be described in the following appendix, but are not limited thereto. (Appendix 1) A safety confirmation evaluation system characterized in that the aforementioned safety confirmation evaluation system is a safety confirmation evaluation system (1) that evaluates the safety confirmation actions of the driver of the vehicle (2), and includes a vehicle-mounted device mounted on the vehicle (2) (10) and a processing device (40) for processing the data obtained by the vehicle-mounted device (10); the vehicle-mounted device (10) is provided with an angular velocity detection unit (12) for detecting the angular velocity of the vehicle (2); the processing device (40) ) Includes an intersection estimation unit (51) and a safety confirmation evaluation unit (56); the intersection estimation unit (51) is used to estimate the vehicle (2) based on the angular velocity data of the vehicle (2) detected by the angular velocity detection unit (12), and to estimate the vehicle (2) ) When the vehicle enters the intersection; the aforementioned safety confirmation evaluation unit (56) is used to evaluate the driver's safety confirmation actions within a specified time before and after the time estimated by the intersection estimation unit (51) to enter the intersection.
（附錄2） 一種處理裝置，係評價車輛（2）的駕駛員之安全確認動作之安全確認評價系統（1）所使用之處理裝置（40），其特徵在於，所述處理裝置（40）具備： 交叉點推定部（51），用以基於搭載於車輛（2）之車載裝置（10）所取得的車輛（2）之角速度數據，推定車輛（2）進入交叉點之時刻； 安全確認評價部（56），用以評價交叉點推定部（51）推定之進入交叉點的時刻之前後指定時間內、駕駛員的安全確認動作。(Appendix 2) A processing device is a processing device (40) used in a safety confirmation evaluation system (1) for evaluating a safety confirmation operation of a driver of a vehicle (2), wherein the processing device (40) is provided with : Intersection estimation unit (51) for estimating the time when the vehicle (2) enters the intersection based on the angular velocity data of the vehicle (2) obtained by the vehicle-mounted device (10) mounted on the vehicle (2); the safety confirmation evaluation unit (56) is used to evaluate the driver's safety confirmation action within a specified time before and after the time when the intersection estimation unit (51) estimates that the intersection has entered the intersection.
（附錄3） 一種車載裝置，係評價車輛（2）駕駛員之安全確認動作之安全確認評價系統（1）所使用之車載裝置（10），其特徵在於，所述車載裝置（10）具備： 角速度檢測部（12），用以檢測車輛（2）之角速度； 第1時刻檢測部（21），用以檢測角速度檢測部（12）檢測之角速度數據超過指定的角速度界限值之第1時刻； 保存部（31），用以保存角速度數據和第1時刻； 輸出部（16），用以將保存部（31）保存之數據輸出至處理裝置（40）。(Appendix 3) An in-vehicle device is an in-vehicle device (10) used in a safety confirmation evaluation system (1) for evaluating the safety confirmation action of a driver of the vehicle (2), wherein the in-vehicle device (10) includes: The angular velocity detection unit (12) is used to detect the angular velocity of the vehicle (2); the first time detection unit (21) is used to detect the first time when the angular velocity data detected by the angular velocity detection unit (12) exceeds the specified angular velocity limit value; The storage unit (31) is used to store the angular velocity data and the first time; the output unit (16) is used to output the data saved by the storage unit (31) to the processing device (40).
（附錄4） 一種安全確認評價方法，係評價車輛（2）駕駛員之安全確認動作之安全確認評價方法，其特徵在於，前述安全確認評價方法包括交叉點推定步驟（S25、S26）和安全確認評價步驟（S29、S30）； 前述交叉點推定步驟（S25、S26）係基於車輛（2）之角速度數據，推定車輛（2）進入交叉點的時刻之步驟； 前述安全確認評價步驟（S29、S30）係評價交叉點推定步驟（S25、S26）推定之進入交叉點的時刻之前後指定時間內、駕駛員的安全確認動作之步驟。(Appendix 4) A safety confirmation evaluation method, which is a safety confirmation evaluation method for evaluating a vehicle's safety confirmation action, and is characterized in that the aforementioned safety confirmation evaluation method includes an intersection estimation step (S25, S26) and safety confirmation Evaluation steps (S29, S30); The aforementioned step of estimating the intersection (S25, S26) is a step of estimating the time when the vehicle (2) enters the intersection based on the angular velocity data of the vehicle (2); the aforementioned steps of safety confirmation and evaluation (S29, S30) ) Is an evaluation step of the intersection estimation step (S25, S26), which is a step for confirming the driver's safety confirmation action before and after the time when the intersection is estimated to enter the intersection.
1‧‧‧安全確認評價系統1‧‧‧ Safety Confirmation Evaluation System
2‧‧‧車輛2‧‧‧ Vehicle
3‧‧‧通信網絡3‧‧‧Communication Network
10‧‧‧車載裝置10‧‧‧ Vehicle Device
11‧‧‧慣性感測器11‧‧‧ inertial sensor
12‧‧‧角速度感測器12‧‧‧Angular Velocity Sensor
13‧‧‧加速度感測器13‧‧‧Acceleration sensor
14‧‧‧GPS接受機14‧‧‧GPS receiver
15‧‧‧揚聲器15‧‧‧Speaker
16‧‧‧通信部16‧‧‧ Ministry of Communications
17‧‧‧外部介面（外部I/F）17‧‧‧External Interface (External I / F)
18‧‧‧相機部18‧‧‧ Camera Department
19‧‧‧圖像解析部19‧‧‧Image Analysis Department
20‧‧‧控制部20‧‧‧Control Department
21‧‧‧時刻t0檢測部（第1時刻檢測部）21‧‧‧time t0 detection unit (the first time detection unit)
22‧‧‧車速計算部22‧‧‧Speed Calculation Department
23‧‧‧時刻t0取消部（第1時刻取消部）23‧‧‧Cancellation at time t0 (1st Cancellation)
30‧‧‧保存部30‧‧‧ Preservation Department
31‧‧‧慣性數據保存部31‧‧‧Inertial Data Storage Department
32‧‧‧位置數據保存部32‧‧‧Position data storage department
33‧‧‧圖像解析數據保存部33‧‧‧Image analysis data storage unit
34‧‧‧程式保存部34‧‧‧Program storage department
40‧‧‧伺服器裝置（處理裝置）40‧‧‧Server Device (Processing Device)
41‧‧‧通信單元41‧‧‧communication unit
50‧‧‧控制單元50‧‧‧control unit
51‧‧‧交叉點推定部51‧‧‧ intersection estimation unit
52‧‧‧積分值計算部52‧‧‧Integration value calculation department
53‧‧‧時刻t5檢測部（第2時刻檢測部）53‧‧‧Time t5 detection unit (second time detection unit)
54‧‧‧時刻t5檢測中止部（第2時刻檢測中止部）54‧‧‧ Detection of suspension at time t5 (detection of suspension at 2nd time)
55‧‧‧方向推定部55‧‧‧Direction estimation section
56‧‧‧安全確認評價部56‧‧‧Safety Confirmation Evaluation Department
60‧‧‧保存單元60‧‧‧save unit
61‧‧‧慣性數據積存部61‧‧‧Inertial data accumulation section
62‧‧‧圖像解析數據積存部62‧‧‧Image analysis data accumulation section
63‧‧‧評價數據保存部63‧‧‧ Evaluation Data Storage Department
64‧‧‧程式保存部64‧‧‧Program storage department
70‧‧‧企業末端70‧‧‧ Enterprise end
第1圖係顯示了實施方式涉及之安全確認評價系統之適用例的概略圖。 第2圖係顯示了實施方式涉及之安全確認評價系統中使用之車載裝置的硬體構成的一實例之方框圖。 第3圖係顯示了實施方式涉及之安全確認評價系統中使用之伺服器裝置硬體構成之一實例之方框圖。 第4圖係用來說明實施方式涉及之安全確認評價系統實行的進入交叉點的時刻的推定方法之圖表，顯示了車輛角速度隨時間變化之一實例。 第5圖係顯示了實施方式涉及之安全確認評價系統的車載裝置所實行之處理動作之流程圖。 第6圖係顯示了實施方式涉及之安全確認評價系統之伺服器裝置實行之處理動作之流程圖。FIG. 1 is a schematic diagram showing an application example of the safety confirmation evaluation system according to the embodiment. FIG. 2 is a block diagram showing an example of a hardware configuration of an in-vehicle device used in the safety confirmation evaluation system according to the embodiment. FIG. 3 is a block diagram showing an example of a hardware configuration of a server device used in the safety confirmation evaluation system according to the embodiment. FIG. 4 is a graph for explaining a method for estimating the time of entering an intersection using the safety confirmation evaluation system according to the embodiment, and shows an example of the change in the vehicle angular velocity with time. FIG. 5 is a flowchart showing a processing operation performed by the in-vehicle device of the safety confirmation evaluation system according to the embodiment. FIG. 6 is a flowchart showing a processing operation performed by a server device of the safety confirmation evaluation system according to the embodiment.
Claims (12)
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| Application Number | Priority Date | Filing Date | Title |
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| JP2017238582A JP7155512B2 (en) | 2017-12-13 | 2017-12-13 | SAFETY CONFIRMATION AND EVALUATION SYSTEM, ON-VEHICLE DEVICE, PROCESSING DEVICE, SAFETY CONFIRMATION AND EVALUATION METHOD, AND SAFETY CONFIRMATION AND EVALUATION PROGRAM |
| JP2017-238582 | 2017-12-13 |
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| Publication Number | Publication Date |
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| TW201927611A true TW201927611A (en) | 2019-07-16 |
| TWI719363B TWI719363B (en) | 2021-02-21 |
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| JP (1) | JP7155512B2 (en) |
| SG (1) | SG11202004101QA (en) |
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| JP2015118404A (en) * | 2013-12-16 | 2015-06-25 | 株式会社オートネットワーク技術研究所 | Driving support device |
| CN105718710B (en) * | 2014-12-02 | 2019-01-11 | 高德软件有限公司 | A kind of driving behavior analysis method and apparatus |
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