WO2017072878A1 - Dispositif de détermination d'accès pour véhicule et système de détermination d'accès pour véhicule - Google Patents

Dispositif de détermination d'accès pour véhicule et système de détermination d'accès pour véhicule Download PDF

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Publication number
WO2017072878A1
WO2017072878A1 PCT/JP2015/080379 JP2015080379W WO2017072878A1 WO 2017072878 A1 WO2017072878 A1 WO 2017072878A1 JP 2015080379 W JP2015080379 W JP 2015080379W WO 2017072878 A1 WO2017072878 A1 WO 2017072878A1
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WIPO (PCT)
Prior art keywords
vehicle
determination
information
host vehicle
unit
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PCT/JP2015/080379
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English (en)
Japanese (ja)
Inventor
嘉人 副島
真彦 宇野
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2015/080379 priority Critical patent/WO2017072878A1/fr
Publication of WO2017072878A1 publication Critical patent/WO2017072878A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Definitions

  • the present invention relates to a vehicle entry determination device and a vehicle entry determination system that determine whether a vehicle can enter a railroad crossing, an intersection, a road with a height restriction, a tunnel, or the like.
  • Patent Document 1 determines whether or not a vehicle can enter an intersection or a railroad crossing based on the length of an empty space specified on the road on which the vehicle enters and exits the intersection or railroad crossing. An apparatus is described.
  • Patent Document 1 uses images taken by cameras installed on a road on the side where a vehicle enters an intersection or a railroad crossing and a road on a side where the vehicle exits.
  • the length of the free space is specified. Therefore, this apparatus has a problem that it is impossible to determine whether or not a vehicle can enter unless a camera is installed near a road that leads to an intersection or a railroad crossing.
  • a camera is installed near a road that leads to an intersection or a railroad crossing.
  • the construction of an infrastructure in which a camera is installed on a road that leads to an intersection, a railroad crossing, etc. requires enormous costs and is not realistic.
  • the present invention solves the above-described problem, and a vehicle entry determination device and a vehicle entry determination that can determine whether or not an own vehicle is allowed to enter a target point based on information that can be acquired by an apparatus mounted on the own vehicle.
  • the purpose is to obtain a system.
  • the vehicle approach determination device includes an information acquisition unit, an analysis unit, a determination unit, and a notification unit.
  • the information acquisition unit acquires position information of the host vehicle, map information around the host vehicle, and sensor information of the surrounding state of the host vehicle detected by a sensor mounted on the host vehicle.
  • the analysis unit analyzes the positional relationship between the determination target point, which is a target point for determining whether or not the host vehicle is allowed to enter, and the situation of the determination target point from each piece of information acquired by the information acquisition unit.
  • the determination unit determines whether or not the host vehicle can enter the determination target point based on the analysis result of the analysis unit.
  • the notification processing unit outputs notification information indicating whether or not entry is possible according to the determination result of the determination unit.
  • FIG. 2A is a block diagram showing a hardware configuration for realizing the function of the vehicle approach determination device according to Embodiment 1.
  • FIG. 2B is a block diagram showing a hardware configuration for executing software for realizing the function of the vehicle approach determination device according to Embodiment 1.
  • FIG. 5A is a diagram showing an outline of determination when the own vehicle can enter the railroad crossing.
  • FIG. 5B is a diagram showing an outline of determination when the own vehicle cannot enter the railroad crossing because of the relationship with the preceding vehicle. It is a block diagram which shows the structure of the vehicle approach determination system which concerns on Embodiment 2 of this invention.
  • FIG. 1 is a block diagram showing a configuration of a vehicle approach determination device 1 according to Embodiment 1 of the present invention.
  • the vehicle entry determination device 1 is a device that is mounted on a vehicle such as an automobile and determines whether or not the host vehicle is allowed to enter a determination target point.
  • the determination target point is a target point for determining whether or not the host vehicle is allowed to enter.
  • Judgment points include points where the host vehicle may interfere with the traffic of other vehicles when the host vehicle enters depending on the traffic situation of the road leading to the point and the state of the structure on the road leading to the point. To be elected. Examples of the determination target point include a railroad crossing, an intersection, a road with a height limit, and a tunnel.
  • the vehicle approach determination device 1 is connected to the navigation device 2, the sensor group 3, and the output device 4.
  • the navigation device 2 is a device that is mounted on a host vehicle or carried by a passenger, and guides a route to a destination based on position information of the host vehicle and map information around the vehicle.
  • FIG. 1 shows a case where the vehicle entry determination device 1 and the navigation device 2 are separate devices, the vehicle entry determination device 1 may be realized as one function of the navigation device 2. .
  • the sensor group 3 is a generic term for sensors that are mounted on the host vehicle and detect the surrounding situation of the host vehicle, and includes a vehicle-mounted camera 30 and a vehicle-mounted sensor 31.
  • the in-vehicle camera 30 is a camera that is mounted on the host vehicle and captures the periphery of the host vehicle, and is realized by, for example, a front camera that captures the front of the host vehicle. A monocular camera may be used, but a stereo camera may be used. When the in-vehicle camera 30 is a stereo camera, it is possible to easily measure the distance between the object in the captured image and the in-vehicle camera 30 using the distance between both cameras, the focal length, and the parallax information.
  • the in-vehicle sensor 31 is a sensor that is mounted on the host vehicle and detects a forward vehicle, and is realized by, for example, a millimeter wave radar.
  • the output device 4 is a device that outputs information from the vehicle approach determination device 1 and includes a monitor 40 and a speaker 41.
  • the monitor 40 is a monitor that is installed in the passenger compartment of the host vehicle and displays information from the vehicle approach determination device 1.
  • the monitor 40 may be a display unit included in the navigation device 2 and overlaps the driver's front view. It may be a head-up display that displays information.
  • the speaker 41 is an in-vehicle speaker that is installed in the passenger compartment of the host vehicle and that outputs information from the vehicle approach determination device 1 by voice.
  • the vehicle entry determination device 1 includes an information acquisition unit 10, an analysis unit 11, a determination unit 12, and a notification processing unit 13.
  • the information acquisition unit 10 acquires position information of the host vehicle, map information around the host vehicle, and sensor information of the surrounding state of the host vehicle detected by the sensor group 3 mounted on the host vehicle. For example, the position information of the own vehicle and the map information around the own vehicle are acquired from the navigation device 2.
  • the sensor information on the surrounding situation of the host vehicle includes a captured image of the front of the host vehicle captured by the in-vehicle camera 30 or sensor information of the front vehicle detected by the in-vehicle sensor 31. In this way, the information acquisition unit 10 acquires only information handled by the navigation device 2 and the sensor group 3 mounted on the host vehicle.
  • the analysis unit 11 analyzes the positional relationship between the determination target point and the host vehicle and the situation of the determination target point from each piece of information acquired by the information acquisition unit 10. For example, the analysis unit 11 searches for the determination target point in the traveling direction of the host vehicle from the map information around the host vehicle based on the preset type of the point to be the determination target point. Among the determination target points, a determination target point within a predetermined range from the own vehicle position is specified. When the determination target point is within this range, the analysis unit 11 determines that it is necessary to determine whether or not the host vehicle is allowed to enter the determination target point, and distance information from the host vehicle position to the determination target point entry position. The positional relationship between the own vehicle and the determination target point, which is distance information from the own vehicle position to the exit position of the determination target point, is analyzed.
  • the analysis part 11 image-analyzes the picked-up image ahead of the own vehicle image
  • the determination target point is an intersection
  • the light color of the traffic light is specified, and the vehicle ahead on the road from the own vehicle to the front of the intersection or the vehicle ahead on the road connected to the exit side of the intersection is specified.
  • the situation of the determination target point is specified using the captured image of the in-vehicle camera 30, it is not necessary to add new hardware to specify the situation of the determination target point, and a low-cost system is realized. be able to.
  • the analysis part 11 may analyze the sensor information of the front vehicle detected by the vehicle-mounted sensor 31, and may specify the positional relationship of a front vehicle and the own vehicle. For example, the analysis unit 11 periodically inputs distance information between the preceding vehicle and the own vehicle as sensor information of the preceding vehicle, and calculates a relative traveling speed of the preceding vehicle with respect to the own vehicle from a time change of the distance information. Based on the travel speed and travel time, the analysis unit 11 estimates the movement position of the front vehicle relative to the host vehicle position. As described above, the analysis unit 11 determines the positional relationship between the determination target point and the own vehicle, the situation of the determination target point, and the positional relationship between the preceding vehicle and the own vehicle from information that can be acquired by the device mounted on the own vehicle. To analyze.
  • the determination unit 12 determines whether or not the host vehicle can enter the determination target point based on the analysis result of the analysis unit 11. For example, when an analysis result indicating that the vehicle is traveling toward a railroad crossing but the breaker bar or wire for the breaker is lowered is obtained, the determination unit 12 determines whether the vehicle is going to the railroad crossing. It is determined that the vehicle cannot enter. Similarly, the host vehicle is traveling toward the intersection, but if an analysis result indicating that the light color of the traffic light is red is obtained, the determination unit 12 cannot enter the intersection at the intersection. Is determined.
  • the determination unit 12 inputs an analysis result indicating the movement position of the forward vehicle with respect to the own vehicle position from the analysis unit 11, and the own vehicle reaches the exit position of the railroad crossing. Calculate the free space when moving. Then, the determination unit 12 determines that the own vehicle cannot enter the railroad crossing if the length of the own vehicle is longer than the empty space. If the empty space is longer, the determination unit 12 determines that the own vehicle enters the railroad crossing. Is determined to be possible. In addition, the length of the own vehicle is registered in the determination unit 12 in advance.
  • the notification processing unit 13 outputs notification information indicating whether or not entry is possible to the output device 4 according to the determination result of the determination unit 12. For example, when the own vehicle cannot enter the determination target point, the notification processing unit 13 causes the monitor 40 to display notification information indicating that the entry is not possible or to output sound from the speaker 41.
  • FIG. 2A shows a hardware configuration that realizes the function of the vehicle approach determination device 1
  • FIG. 2B shows a hardware configuration that executes software that realizes the function of the vehicle approach determination device 1.
  • FIG. 3 is a flowchart showing the operation of the vehicle entry determination device 1, and the vehicle entry determination device 1 functions by executing the steps shown in FIG.
  • Each function of the information acquisition unit 10, the analysis unit 11, the determination unit 12, and the notification processing unit 13 in the vehicle approach determination device 1 is realized by a processing circuit. That is, the vehicle entry determination device 1 obtains the determination target from step ST1 for acquiring the position information of the own vehicle, the map information around the own vehicle, and the sensor information of the surrounding situation of the own vehicle shown in FIG.
  • Step ST2 for analyzing the positional relationship between the point and the host vehicle and the situation of the determination target point
  • Step ST3 for determining whether the host vehicle can enter the determination target point based on the analysis result
  • a processing circuit for performing step ST4 for outputting the notification information to the output device 4 is provided.
  • the processing circuit may be dedicated hardware or a CPU (Central Processing Unit) that executes a program stored in the memory.
  • CPU Central Processing Unit
  • the processing circuit 100 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application), or the like.
  • a specific integrated circuit (FPGA), a field-programmable gate array (FPGA), or a combination thereof is applicable.
  • the functions of the information acquisition unit 10, the analysis unit 11, the determination unit 12, and the notification processing unit 13 may be realized by a processing circuit, or the functions of the respective units may be realized by a single processing circuit. Good.
  • the processing circuit is the CPU 101 as shown in FIG. 2B
  • the functions of the information acquisition unit 10, the analysis unit 11, the determination unit 12, and the notification processing unit 13 are realized by software, firmware, or a combination of software and firmware.
  • Software and firmware are described as programs and stored in the memory 102.
  • the CPU 101 reads out and executes the program stored in the memory 102, thereby realizing the functions of each unit. That is, the vehicle approach determination device 1 includes a memory 102 for storing a program that, when executed by the CPU 101, results from the processing from step ST1 to step ST4 shown in FIG.
  • these programs cause the computer to execute the procedures or methods of the information acquisition unit 10, the analysis unit 11, the determination unit 12, and the notification processing unit 13.
  • the memory is, for example, a RAM (Random Access Memory), ROM, flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically Programmable EPROM), or other nonvolatile or volatile semiconductor memory, magnetic disk, flexible disk, Optical discs, compact discs, mini discs, DVDs (Digital Versatile Disk), and the like are applicable.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • EPROM Erasable Programmable ROM
  • EEPROM Electrically Programmable EPROM
  • magnetic disk magnetic disk
  • flexible disk Optical discs
  • compact discs compact discs
  • mini discs mini discs
  • DVDs Digital Versatile Disk
  • a part may be implement
  • the information acquisition unit 10 realizes its function with a dedicated hardware processing circuit 100, and the analysis unit 11, the determination unit 12, and the notification processing unit 13 execute a program stored in the memory 102 by the CPU 101. To realize its function.
  • the processing circuit can realize the above-described functions by hardware, software, firmware, or a combination thereof.
  • FIG. 4 is a flowchart showing the operation of the vehicle approach determination device 1 according to the first embodiment, and shows a series of processes for determining whether or not the own vehicle can enter the determination target point and notifying the determination result.
  • the process of step ST1a shown in FIG. 4 is an example of the detailed process of step ST1 shown in FIG. Further, the processing from step ST2a, step ST3a, step ST4a, step ST5a-2, step ST6a-1, step ST7a to step ST9a is an example of detailed processing of step ST2 shown in FIG.
  • the processing of step ST5a-1, step ST6a-2 and step ST10a is an example of detailed processing of step ST3 shown in FIG.
  • the process of step ST11a is an example of the detailed process of step ST4 shown in FIG. Therefore, since the operation of each step shown in FIG. 3 becomes clear by explaining each step shown in FIG. 4, the following description will be made based on FIG. 4.
  • the information acquisition unit 10 acquires position information of the host vehicle, map information around the host vehicle, and sensor information of the surrounding state of the host vehicle detected by the sensor group 3 (step ST1a). For example, the information acquisition unit 10 periodically accesses the navigation device 2 and acquires position information of the host vehicle and map information around the host vehicle at the time of access. Moreover, the information acquisition part 10 acquires the picked-up image ahead of the own vehicle from the vehicle-mounted camera 30 while the vehicle approach determination apparatus 1 is starting or periodically. When a vehicle ahead is detected by the vehicle-mounted sensor 31, the information acquisition unit 10 acquires sensor information of the vehicle ahead from the vehicle-mounted sensor 31.
  • the analysis part 11 correct
  • the analysis unit 11 performs image analysis on a photographed image of a feature photographed by the in-vehicle camera 30, and specifies distance information D1 between the feature and the host vehicle.
  • the feature is a building
  • the building is identified from the captured image, and the distance from the in-vehicle camera 30 to the building is measured.
  • the distance of this measurement result is distance information D1.
  • the analysis unit 11 analyzes the position information of the building included in the position information of the host vehicle and the map information acquired by the information acquisition unit 10, and specifies the distance information D2 from the host vehicle to the building. .
  • the analysis part 11 analyzes the deviation
  • the analysis part 11 confirms whether there exists a determination target point in the advancing direction of the own vehicle (step ST3a). For example, based on the type of point that is a predetermined determination target point, search for a determination target point in the traveling direction of the host vehicle from map information around the host vehicle, and among the determination target points of the search result Then, a determination target point within a predetermined range from the own vehicle position is specified. When there is no determination target point in the traveling direction of the host vehicle (step ST3a; NO), the process returns to step ST1a and the above process is repeated.
  • the analysis unit 11 checks whether the determination target point is a railroad crossing, an intersection, or a height designation road (step ST4a). For example, the analysis unit 11 determines whether a level crossing, an intersection, and a height-designated road are based on a preset type of a point that is a determination target point. When the determination target point is a crossing or an intersection (step ST4a; crossing or intersection), the analysis unit 11 outputs an analysis result indicating the state of the determination target point to the determination unit 12.
  • the determination unit 12 determines whether or not the determination target point is in a situation where the host vehicle can enter (step ST5a-1). For example, when the determination target point is a railroad crossing, the determination unit 12 is in a situation in which the vehicle cannot enter the vehicle if an analysis result indicating that the barrier bar of the breaker or the wire for interruption is lowered is obtained. It is determined that On the contrary, if an analysis result indicating that there is no preceding vehicle and the breaker bar or wire for the breaker is up is obtained, it is determined that this level crossing is a situation where the host vehicle can enter.
  • the determination unit 12 obtains an analysis result indicating that the light color of the traffic light at the intersection is red. Judge that there is. Conversely, when an analysis result indicating that there is no preceding vehicle and the traffic light is blue is obtained, it is determined that this intersection is a situation where the host vehicle can enter.
  • step ST5a-1; YES If it is determined by the determination unit 12 that the host vehicle can enter the determination target point (step ST5a-1; YES), the analysis unit 11 determines whether there is a vehicle ahead based on the sensor information. Whether or not is confirmed (step ST6a-1). When there is no preceding vehicle (step ST6a-1; NO), the analysis unit 11 notifies the determination unit 12 that there is no preceding vehicle. Upon receiving this notification, the determination unit 12 determines that the host vehicle can pass through the determination target point as it is, and returns to the process of step ST1a. As a result, the host vehicle enters and passes the crossing or intersection that is the determination target point.
  • step ST6a-1 if there is a vehicle ahead (step ST6a-1; YES), even if the railroad crossing or the intersection can enter, the vehicle may not be able to enter due to the relationship with the vehicle ahead. Therefore, the analysis unit 11 analyzes the positional relationship between the preceding vehicle and the host vehicle.
  • the determination target point is a railroad crossing will be described as an example with reference to FIGS. 5A and 5B.
  • the analysis unit 11 analyzes the position information of the own vehicle A, the map information around the own vehicle A, and the sensor information, and as shown in FIGS. 5A and 5B, the exit position P2 of the level crossing from the position P1 of the own vehicle A.
  • Distance L1 is specified (step ST7a).
  • the analysis unit 11 calculates the distance from the own vehicle A to the crossing using the position information of the crossing on the map information and the position P1 of the own vehicle A, and uses the distance and the crossing width of the own vehicle A.
  • the distance L1 from the position P1 to the exit position P2 of the level crossing is calculated.
  • the crossing width may be specified by performing image analysis on a captured image captured by the in-vehicle camera 30.
  • the analysis part 11 estimates the distance L2 from the position P1 of the own vehicle A to the movement position of the front vehicle B (step ST8a). For example, the analysis unit 11 periodically inputs distance information between the preceding vehicle B and the host vehicle A as sensor information of the preceding vehicle B, and the relative position of the preceding vehicle B with respect to the host vehicle A is determined based on time variation of the distance information. A traveling speed V1 is calculated. Next, the analysis unit 11 calculates an estimated travel time T from the position P1 to the level crossing exit position P2 based on the travel speed V2 of the host vehicle A.
  • the traveling speed V2 of the host vehicle A may be acquired from a vehicle control device mounted on the host vehicle A, but is estimated based on changes in specific features in captured images sequentially captured by the in-vehicle camera 30. May be. Thereafter, the analysis unit 11 calculates the travel distance of the front vehicle B when the front vehicle B travels for the estimated travel time T at the travel speed V1. This moving distance is the distance L2.
  • the analysis unit 11 calculates an empty space length L3 on the exit side of the determination target point (crossing) (step ST9a).
  • the free space length L3 is a value obtained by subtracting the distance L1 from the distance L2, and is notified from the analysis unit 11 to the determination unit 12.
  • the determination unit 12 determines whether or not the length of the host vehicle A is less than the free space length L3 (step ST10a). If the length of the host vehicle A is less than the free space length L3 (step ST10a; YES), the process is terminated. In this case, as shown in FIG. 5A, the own vehicle A at the exit position P2 and the forward vehicle B after movement do not overlap, and the own vehicle A can pass the railroad crossing. At this time, the determination unit 12 does not instruct the notification processing unit 13 to output notification information, and the determination result is not notified to the driver. Therefore, the host vehicle passes through the railroad crossing or the intersection as it is.
  • the analysis unit 11 analyzes the height upper limit of the height designated road (step ST5a-2). For example, the analysis unit 11 specifies the height upper limit from the height restriction information of the height designated road included in the map information. Further, the upper limit of the height may be specified based on the character information recognized from the photographed image of the sign plate, or the upper limit of the height may be analyzed from the photographed images obtained by photographing the road and the ceiling of the tunnel.
  • the determination unit 12 determines whether or not the height of the host vehicle is less than the upper limit of the height analyzed by the analysis unit 11 (step ST6a-2). If the height of the host vehicle is less than the upper limit of height (step ST6a-2; YES), the process ends. In this case, the determination unit 12 does not instruct the notification processing unit 13 to output the notification information, and the determination result is not notified to the driver. Therefore, the host vehicle enters and passes through the height designated road as it is.
  • the determination unit 12 determines that the vehicle cannot enter the determination target point. For example, if the length of the host vehicle A is equal to or greater than the free space length L3, as shown in FIG. 5B, the host vehicle A at the exit position P2 and the forward vehicle B after moving overlap, Cannot pass through.
  • the determination unit 12 instructs the notification processing unit 13 to output notification information when it is determined that the vehicle cannot enter the determination target point.
  • the notification processing unit 13 outputs notification information indicating that the host vehicle cannot be entered to the output device 4.
  • the notification processing unit 13 displays the notification information on the monitor 40 or outputs the sound from the speaker 41.
  • Examples of the notification information displayed on the monitor 40 include text information indicating whether entry is possible, graphics, marks, and combinations thereof.
  • Examples of the notification information to be output by voice include, for example, “You cannot enter the next level crossing. Please stop at the stop line”.
  • the notification processing unit 13 outputs notification information indicating the determination result to the output device 4 only when the determination unit 12 determines that the own vehicle cannot enter the determination target point.
  • the driver visually recognizes the front and determines whether or not the host vehicle can travel, but at the determination target point, if the driver makes a mistake and the host vehicle enters, it may hinder traffic of other vehicles, Your vehicle may be involved in an accident. Therefore, the vehicle approach determination device 1 according to the present invention determines whether or not the own vehicle can enter the determination target point, and notifies the driver when the own vehicle cannot enter the determination target point. As a result, when the driver's judgment is erroneous and the host vehicle is about to enter the determination target point, it is possible to accurately notify that the host vehicle cannot enter.
  • the notification processing unit 13 also outputs notification information indicating the determination result and the status of the determination target point to the output device 4 even when the determination unit 12 determines that the host vehicle can enter the determination target point. May be.
  • notification is made that the own vehicle can enter and information on the difference between the height of the own vehicle and the upper limit of the height.
  • the driver can confirm the situation of the determination target point that cannot be obtained only by viewing the front like the difference, and can pass the host vehicle with peace of mind.
  • the determination unit 12 determines that the crossing bar or the blocking wire in the traveling direction of the own vehicle is about to go down and that the blocking bar or the blocking wire is lowered. It is determined that the vehicle cannot enter. On the other hand, if the blocking bar or the blocking wire is going to rise, the determination unit 12 determines that the blocking bar or the blocking wire is raised before the own vehicle reaches the level crossing and determines that the own vehicle to the level crossing It is determined that entry is possible. In this case, for example, the analysis unit 11 is changing in a direction in which the blocking bar or the blocking wire is lowered from a change in position of the blocking bar or the blocking wire that is sequentially analyzed by the in-vehicle camera 30 and is analyzed. Analyze whether it is changing in the upward direction.
  • the notification processing unit 13 may change the mode of the notification information depending on whether the blocking bar or the blocking wire is going up or down. For example, when the blocking bar or the blocking wire is about to go down, the notification processing unit 13 emphasizes that the host vehicle is not allowed to enter and outputs it to the output device 4. When displaying on the monitor 40, text information, a figure, a mark, and a combination thereof indicating that the own vehicle cannot enter is highlighted. In addition, the volume of the notification information indicating that the vehicle cannot enter is increased and output.
  • the vehicle approach determination device 1 has the configuration shown in FIG. 2, and includes position information of the own vehicle, map information around the own vehicle, and sensor information about the situation around the own vehicle.
  • the positional relationship between the determination target point and the host vehicle and the situation of the determination target point are analyzed, and whether or not the host vehicle can enter the determination target point is determined based on the analysis result.
  • the analysis unit 11 corrects the position information of the host vehicle using the sensor information. By comprising in this way, the positional accuracy of the own vehicle can be improved and, as a result, the reliability of the determination result of whether to enter can be improved.
  • the analysis unit 11 analyzes the situation of the determination target point from the captured image captured by the in-vehicle camera 30. With this configuration, it is not necessary to add new hardware to specify the situation of the determination target point, and a low-cost system can be realized.
  • the analysis unit 11 calculates the forward vehicle from the positional information of the own vehicle, the map information around the own vehicle, and the sensor information of the forward vehicle detected by the in-vehicle sensor 31.
  • the positional relationship between the vehicle and the host vehicle is analyzed.
  • the determination unit 12 determines whether or not the host vehicle can enter the determination target point based on the positional relationship between the determination target point and the host vehicle, the situation of the determination target point, and the positional relationship between the preceding vehicle and the host vehicle. With this configuration, it is possible to determine whether or not the host vehicle can enter the determination target point using information that can be acquired by the navigation device 2 and the sensor group 3 mounted on the host vehicle.
  • the notification processing unit 13 notifies the determination result when the determination unit 12 determines that the vehicle cannot enter the determination target point.
  • Information is output to the output device 4.
  • FIG. FIG. 6 is a block diagram showing a configuration of a vehicle approach determination system 5 according to Embodiment 2 of the present invention.
  • the vehicle entry determination system 5 includes a vehicle entry determination device 1 mounted on the vehicle A and a server device 6 provided outside the vehicle A.
  • the vehicle A is a vehicle on which the navigation device 2, the sensor group 3, and the output device 4 described in FIG.
  • the server device 6 is a device that can communicate with the vehicle entry determination device 1 or the navigation device 2 via a communication network such as the Internet, and includes a storage unit 60, a search unit 61, and a communication unit 62.
  • the storage unit 60 is a storage unit that stores a database of map information.
  • the search unit 61 searches the storage unit 60 for map information corresponding to the position information of the vehicle A.
  • the communication unit 62 receives the position information of the vehicle A via the communication network, and transmits the map information searched by the search unit 61 to the vehicle A.
  • the navigation device 2 mounted on the vehicle A transmits a search request including the position information of the vehicle A to the server device 6.
  • the search unit 61 of the server device 6 searches the storage unit 60 based on the position information included in the search request, and acquires surrounding map information including this position information.
  • the map information searched in this way is sent back to the navigation device 2 as the request source by the communication unit 62.
  • the information acquisition unit 10 of the vehicle approach determination device 1 acquires map information around the vehicle A from the navigation device 2. Thereby, even if the navigation apparatus 2 does not include map information, the information acquisition unit 10 can acquire map information around the vehicle A.
  • the information acquisition unit 10 of the vehicle approach determination apparatus 1 transmits a search request including the position information of the vehicle A to the server apparatus 6.
  • the map information may be acquired directly from the server device 6.
  • the vehicle entry determination system 5 includes the vehicle entry determination device 1 and the server device 6.
  • the server device 6 includes a storage unit 60, a search unit 61, and a communication unit 62.
  • the storage unit 60 stores map information.
  • the search unit 61 searches the storage unit 60 for map information corresponding to the position information of the vehicle A on which the vehicle approach determination device 1 is mounted.
  • the communication unit 62 receives the position information of the vehicle A, and transmits the map information searched by the search unit 61 to the vehicle A. Also with this configuration, it is possible to determine whether or not the host vehicle can enter the determination target point based on information that can be acquired by the navigation device 2 and the sensor group 3 mounted on the vehicle A. That is, since information from a roadside device outside the vehicle is not used, infrastructure construction is unnecessary, and the vehicle can be configured at low cost by using an existing device.
  • any combination of each embodiment, any component of each embodiment can be modified, or any component can be omitted in each embodiment. .
  • the vehicle approach determination device can determine whether or not a vehicle can enter a determination target point based on information that can be acquired by a device mounted on the vehicle. It can be used as one of the functions.

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • Physics & Mathematics (AREA)
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Abstract

L'invention concerne un dispositif de détermination d'accès pour véhicule qui acquiert des informations de position pour un véhicule hôte, des informations cartographiques pour l'environnement du véhicule hôte et des informations de capteurs pour les conditions de l'environnement du véhicule hôte détectées par un groupe de capteurs (3) installés dans le véhicule hôte, et analyse, sur la base des informations acquises, la relation de position entre le véhicule hôte et un point de détermination qui est un site destiné à faire l'objet d'une détermination relative à la possibilité d'accès du véhicule hôte et les conditions du point de détermination. Le dispositif de détermination d'accès pour véhicule détermine la possibilité d'accès du véhicule hôte au niveau du point de détermination sur la base des résultats d'analyse, et délivre des informations de notification de possibilité d'accès à un dispositif de sortie (4) selon le résultat de la détermination.
PCT/JP2015/080379 2015-10-28 2015-10-28 Dispositif de détermination d'accès pour véhicule et système de détermination d'accès pour véhicule WO2017072878A1 (fr)

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PCT/JP2015/080379 WO2017072878A1 (fr) 2015-10-28 2015-10-28 Dispositif de détermination d'accès pour véhicule et système de détermination d'accès pour véhicule

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PCT/JP2015/080379 WO2017072878A1 (fr) 2015-10-28 2015-10-28 Dispositif de détermination d'accès pour véhicule et système de détermination d'accès pour véhicule

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7158581B1 (ja) * 2020-12-29 2022-10-21 三菱電機株式会社 経路生成装置、経路生成方法及び経路生成プログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001052297A (ja) * 1999-08-06 2001-02-23 Fujitsu Ltd 安全走行支援装置、その方法及び記録媒体
WO2009004749A1 (fr) * 2007-07-04 2009-01-08 Mitsubishi Electric Corporation Système de navigation
JP2012226618A (ja) * 2011-04-20 2012-11-15 Mitsubishi Motors Corp 運転支援装置
JP2014126372A (ja) * 2012-12-25 2014-07-07 Denso Corp 地図表示システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001052297A (ja) * 1999-08-06 2001-02-23 Fujitsu Ltd 安全走行支援装置、その方法及び記録媒体
WO2009004749A1 (fr) * 2007-07-04 2009-01-08 Mitsubishi Electric Corporation Système de navigation
JP2012226618A (ja) * 2011-04-20 2012-11-15 Mitsubishi Motors Corp 運転支援装置
JP2014126372A (ja) * 2012-12-25 2014-07-07 Denso Corp 地図表示システム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7158581B1 (ja) * 2020-12-29 2022-10-21 三菱電機株式会社 経路生成装置、経路生成方法及び経路生成プログラム

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