JP6960273B2 - A reverse-way driving judgment server, a reverse-way driving state judgment method, and a program for causing a computer to execute the method. - Google Patents

Description

The present invention relates to a reverse-way driving determination server, a reverse-way driving state determination method, and a program for causing a computer to execute the method.

A device is known that acquires the GPS data of a vehicle, estimates the position of the vehicle on the road by a map matching process that matches the GPS data with the map information, and detects the reverse running of the vehicle (for example, Patent Document 1). ). The device notifies the driver that the vehicle is running in reverse as soon as it detects that the vehicle is running in reverse.
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2016-145839

In the above device, for example, at an interchange where a plurality of roads intersect in a complicated manner, a plurality of candidate points for matching are included in the error range of GPS data, so that the position of the vehicle is erroneously estimated by the above map matching process. Therefore, there is a high possibility that the vehicle will be falsely detected as running in reverse. Since the above-mentioned device notifies the driver immediately when the reverse driving is detected, even in the case of an erroneous detection, the driver is notified immediately, and erroneous information is given to the driver.

In one aspect of the present invention, it is a reverse-way driving determination server that determines the reverse-way driving state of a vehicle traveling on a specific road other than a general road based on the traveling state including the measured position and the traveling direction of the vehicle. This is a specific road link for a specific road, including a preset driving direction, and a reverse driving flag to indicate that the vehicle may be driving in reverse. A storage unit that stores a driving flag condition and a reverse driving judgment condition for determining to output reverse driving status data indicating that the vehicle is in a reverse driving state, and a specific road stored in the storage unit. It is said that the map matching unit that estimates the position of the vehicle on a specific road by performing map matching processing between the link and the driving state acquired from the outside and the reverse driving flag condition stored in the storage unit are satisfied. It is equipped with a reverse-way driving flag unit that sets a reverse-way driving flag when a judgment is made, and a judgment output unit that outputs reverse-way driving status data when it is determined that the reverse-way driving judgment condition stored in the storage unit is satisfied. In the reverse-way driving flag section, the traveling direction and the travelable direction of the specific road link corresponding to the estimated position among the specific road links stored in the storage unit are different by a predetermined angle or more. If so, it is determined that the reverse-way driving flag condition stored in the storage unit is satisfied, the reverse-way driving flag is set, and the judgment output unit is estimated to be the measured position based on the reverse-way driving judgment condition. The first condition that the distance to the position is less than the predetermined distance, the second condition that the specific road link corresponding to the estimated position is the preset set road link, and the reverse driving. The reverse run count is increased at the estimated position, which satisfies all the third conditions that the reverse run flag is set by the flag section, and the reverse run count is continuously increased for a predetermined time or longer. Provided is a reverse-way driving judgment server that determines that the reverse-way driving judgment condition is satisfied and outputs the reverse-way driving status data in at least one of the cases and the case where the driving is continuous for a predetermined distance or more. ..

The above outline of the invention does not list all the necessary features of the present invention. Subcombinations of these feature groups can also be inventions.

It is a schematic diagram of the reverse run detection system 10. It is a flow chart for demonstrating the flow of data in a reverse run detection system 10. It is a block diagram of the vehicle-mounted device 100. It is a block diagram of a mobile terminal 200. It is a block diagram of the intermediate server 300. It is a block diagram of the analysis server 400. It is a flow chart of the judgment according to the reverse run judgment condition. It is a schematic diagram explaining the state which the vehicle 30 is traveling forward on the highway 50 in the reverse run detection target 40. FIG. 5 is a diagram illustrating a method of performing map matching processing between the road link of the reverse-way driving detection target 40 and the running state of the vehicle 30 shown in FIG. 8 to determine reverse-way driving. It is a schematic diagram explaining the state which the vehicle 30 is running backward on the highway 50 in the reverse run detection target 40. It is a figure explaining the method of performing a map matching process between the road link of the reverse run detection target 40 and the running state of a vehicle 30 shown in FIG. 10 to determine reverse run. It is a figure explaining the reverse run counter and the neglect counter in the storage unit 407. It is a figure which shows the example of the computer 1200.

Hereinafter, the present invention will be described through embodiments of the invention. The following embodiments do not limit the inventions in the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 is a schematic view of the reverse-way driving detection system 10. The reverse-way driving detection system 10 detects the reverse-way driving of the vehicle 30 traveling on a specific road other than a general road, for example, an expressway or a toll road, and is traveling in reverse to the user 20 who drives the vehicle 30. Is notified. The reverse running detection system 10 includes an on-board unit 100 mounted on the vehicle 30, a mobile terminal 200 possessed by the user 20 and wirelessly communicating with the on-board unit 100, and an intermediate server that wirelessly communicates with the mobile terminal 200 via the Internet 500. It includes a 300 and an analysis server 400 that wirelessly communicates with the intermediate server 300 via the Internet 500.

The reverse-way driving detection system 10 is provided by one or more service providers such as an insurance company. The intermediate server 300 and the analysis server 400 are managed by one or more service providers of the reverse run detection system 10. By providing the reverse-way driving detection system 10 to the user 20, the service provider grasps whether or not the user 20 who drives the vehicle 30 has experience of reverse-way driving and the driving tendency including the frequency of reverse-way driving. As a result, for example, the insurance company that provides the reverse-way driving detection system 10 can set the insurance premium for the vehicle 30 driven by the user 20 or periodically review it based on the driving tendency of the user 20 and the like. ..

If the service provider of the reverse run detection system 10 is an insurance company, the user 20 who is provided with the service by the reverse run detection system 10 is an insured person who has concluded an insurance contract with the insurance company. Is. The user 20 sets in advance the vehicle ID of the vehicle 30 owned by the user 20 with the service provider, and stores the vehicle ID in the mobile terminal 200 owned by the user 20. Then, the user 20 mounts the on-board unit 100 provided by the service provider on the vehicle 30 in advance.

If one vehicle 30 may be driven by a plurality of users 20, such as a plurality of relatives who have an insurance contract with a service provider, the plurality of users 20 may be operated. , The mobile terminal ID possessed by each of the vehicle 30 and the vehicle-mounted device 100 is individually set in advance with the service provider. As a result, the insurance premium for the vehicle 30 can be set individually for each of the plurality of users 20 and can be reviewed regularly.

The on-board unit 100 mounted on the vehicle 30 is electrically connected to the vehicle 30. The on-board unit 100 is supplied with electricity from the vehicle 30 when the ignition switch of the vehicle 30 is turned on and automatically turned on, and is supplied with electricity from the vehicle 30 when the ignition switch of the vehicle 30 is turned off. It disappears and the power turns off automatically. In other words, the on-board unit 100 switches the power supply from OFF to ON each time the user 20 starts driving the vehicle 30, and switches the power supply from ON to OFF each time the operation ends.

FIG. 2 is a flow chart for explaining the flow of data in the reverse-way driving detection system 10. While the vehicle 30 is running, the on-board unit 100 detects the running state data, which is data related to the running state of the vehicle 30, and transmits the running state data to the mobile terminal 200 by short-range wireless communication at regular time intervals. (Step S101). As a standard for short-range wireless communication, for example, Bluetooth (registered trademark), BLE (Bluetooth (registered trademark) Low Energy), ZigBee (registered trademark), Wi-Fi (registered trademark), or the like may be used. In this embodiment, BLE is used as a standard for short-range wireless communication. The vehicle-mounted device 100 has the vehicle-mounted device ID, and transmits the vehicle-mounted device ID together with the traveling state data to the mobile terminal 200.

While the vehicle 30 is traveling, the mobile terminal 200 receives traveling state data from the vehicle-mounted device 100 at regular time intervals by short-range wireless communication (step S101). The mobile terminal 200 is a smartphone, a tablet, a wearable device, or the like that can be wirelessly connected to the vehicle-mounted device 100 and the Internet 500, for example, iOS, Android (registered trademark) OS, and the like. The mobile terminal 200 is paired with the vehicle-mounted device 100 in advance, and when the BLE of the mobile terminal 200 and the vehicle-mounted device 100 is turned ON within the BLE communication range, BLE communication is established with the vehicle-mounted device 100.

The mobile terminal 200 stores the vehicle-mounted device ID received from the vehicle-mounted device 100 when paired with the vehicle-mounted device 100 in association with the vehicle ID stored in advance. When the mobile terminal 200 receives the traveling state data and the vehicle-mounted device ID from the vehicle-mounted device 100, the mobile terminal 200 displays the vehicle ID associated with the vehicle-mounted device ID together with the vehicle-mounted device ID and the vehicle-mounted device ID for a certain period of time via the Internet 500. It is transmitted to the intermediate server 300 at intervals (step S103).

The intermediate server 300 receives the traveling state data, the vehicle-mounted device ID, and the vehicle ID from the mobile terminal 200 via the Internet 500 (step S103). The intermediate server 300 identifies the vehicle information stored in advance in association with the vehicle-mounted device ID based on the received vehicle-mounted device ID. Vehicle information includes information such as vehicle class, vehicle weight, and size. Further, the intermediate server 300 stores the mobile terminal ID in advance in association with the vehicle-mounted device ID and the vehicle ID.

The intermediate server 300 corrects a part of the running state data, and transmits the running state data including the corrected data to the analysis server 400 via the Internet 500 together with the vehicle ID (step S105). The intermediate server 300 corrects a plurality of traveling state data received from the plurality of mobile terminals 200 in parallel.

The analysis server 400 receives the running state data, the vehicle ID, and the vehicle information from the intermediate server 300 via the Internet 500 (step S105), and analyzes the running state of the vehicle 30 based on the running state data and the vehicle information. do. When the analysis server 400 analyzes the running state of the vehicle 30 and determines that the vehicle 30 is running in reverse, the analysis server 400 outputs the reverse running status data indicating the reverse running together with the vehicle ID to the intermediate server via the Internet 500. It is transmitted to 300 (step S107).

When the intermediate server 300 receives the reverse-way driving status data and the vehicle ID from the analysis server 400 via the Internet 500 (step S107), the intermediate server 300 stores the reverse-way driving status data and the vehicle ID in association with each other. Based on the received vehicle ID, the intermediate server 300 identifies the mobile terminal ID that is stored in association with the vehicle ID in advance. The intermediate server 300 transmits the reverse driving status data and the vehicle ID to the mobile terminal 200 having the specified mobile terminal ID (step S109).

When the mobile terminal 200 receives the reverse-way driving status data and the vehicle ID from the intermediate server 300 via the Internet 500 (step S109), the mobile terminal 200 requests the user 20 to be notified that the vehicle 30 is in the reverse-way driving state. The driving notification data is generated, and the reverse driving notification data is transmitted to the vehicle-mounted device 100 by short-range wireless communication (step S111). Further, the mobile terminal 200 notifies the user 20 that the vehicle 30 is in the reverse-way driving state by means of, for example, sounding or oscillating, based on the reverse-way driving notification data.

When the vehicle-mounted device 100 receives the reverse-way driving notification data from the mobile terminal 200 (step S111), the vehicle 30 is in a reverse-way driving state with respect to the user 20 by means such as sounding or emitting light based on the reverse-way driving notification data. Notify that there is.

FIG. 3 is a block diagram of the vehicle-mounted device 100. The in-vehicle device 100 includes a control unit 101, an acceleration sensor 105, a gyro sensor 107, a geomagnetic sensor 109, a pressure sensor 111, a GPS data receiving unit 103, an audio output unit 113, a speaker 117, and a light emitting unit 115. And a wireless communication unit 119.

When the request signal is input from the control unit 101, the acceleration sensor 105, the gyro sensor 107, the geomagnetic sensor 109, and the barometric pressure sensor 111 each start sensing and start outputting running state data to the control unit 101. The acceleration sensor 105 outputs acceleration data, the gyro sensor 107 outputs angular velocity data, the geomagnetic sensor 109 outputs geomagnetic data, and the pressure sensor 111 outputs pressure data to the control unit 101. The vehicle-mounted device 100 may further include a speed sensor.

When the request signal is input from the control unit 101, the GPS data reception unit 103 starts receiving GPS data representing the latitude and longitude of the position of the vehicle 30 from the GPS (Global Positioning System), and the GPS data reception unit 103 sends the GPS to the control unit 101. Start outputting data.

The wireless communication unit 119 uses short-range wireless communication to collect running state data acquired by the acceleration sensor 105, the gyro sensor 107, the geomagnetic sensor 109, the pressure sensor 111, and the GPS data receiving unit 103 at regular time intervals. Send to. When the wireless communication unit 119 further receives the reverse-way driving notification data from the mobile terminal 200, the wireless communication unit 119 outputs the reverse-way driving notification data to the control unit 101.

The speaker 117 emits an alert voice for notifying the user 20 that the vehicle 30 is traveling in the reverse direction. The voice output unit 113 causes the speaker 117 to sound an alert voice based on the sounding signal output by the control unit 101 in response to the input of the reverse run notification data.

The light emitting unit 115 emits light to notify the user 20 that the vehicle 30 is running in the reverse direction based on the light emitting signal output by the control unit 101 in response to the input of the reverse driving notification data. do. The light emitting unit 115 is, for example, an LED, and is arranged at a position visible to the user 20 in a state where the vehicle-mounted device 100 is mounted on the vehicle 30.

When the power of the vehicle-mounted device 100 is turned on, the control unit 101 outputs the above-mentioned request signal to the acceleration sensor 105, the gyro sensor 107, the geomagnetic sensor 109, the barometric pressure sensor 111, and the GPS data receiving unit 103. When the running state data is input from the acceleration sensor 105, the gyro sensor 107, the geomagnetic sensor 109, the pressure sensor 111, and the GPS data receiving unit 103, the control unit 101 transmits the running state data at regular time intervals to the wireless communication unit 119. To the mobile terminal 200. When the reverse run notification data is input from the wireless communication unit 119, the control unit 101 outputs a sounding signal to the voice output unit 113 and outputs a light emitting signal to the light emitting unit 115.

FIG. 4 is a block diagram of the mobile terminal 200. The mobile terminal 200 includes a control unit 201, a storage unit 203, a wireless communication unit 205, and a transmission / reception unit 207.

The storage unit 203 stores the vehicle ID in association with the vehicle-mounted device ID. The storage unit 203 further stores a reverse-way driving detection application for using the service of the reverse-way driving detection system 10 by the mobile terminal 200. The reverse-way driving detection application is made available for installation by the service provider of the reverse-way driving detection system 10, for example, via the Internet 500. The reverse run detection application is pre-installed on the mobile terminal 200 by the user 20.

The reverse-way driving detection application automatically starts in the background when the ignition switch of the vehicle 30 is turned on and the on-board unit 100 is turned on, and the wireless connection between the mobile terminal 200 and the on-board unit 100 is established. To establish. Further, the reverse-way driving detection application automatically disconnects the wireless connection between the mobile terminal 200 and the on-board unit 100 when the ignition switch of the vehicle 30 is turned off and the on-board unit 100 is turned off, and ends. do. Therefore, the user 20 does not need to manually start and end the reverse-way driving detection application and wirelessly connect the vehicle-mounted device 100 and the mobile terminal 200.

However, if the mobile terminal 200 is, for example, a SIM-free terminal, it may not be possible to automatically connect to the vehicle-mounted device 100 by the reverse-way driving detection application. In addition, the user 20 may want to explicitly manually connect to the vehicle-mounted device 100 by himself / herself. In consideration of these circumstances, it may be set so that the start operation, the end operation, and the wireless connection operation between the vehicle-mounted device 100 and the mobile terminal 200 can be manually performed. If the reverse-way driving detection application is already activated when the ignition switch of the vehicle 30 is turned on and the on-board unit 100 is turned on, the mobile terminal 200 is in a state where it can communicate with the on-board unit 100. When this happens, a wireless connection may be established between the mobile terminal 200 and the vehicle-mounted device 100.

In the reverse-way driving detection application, even when the vehicle 30 and the in-vehicle device 100 are turned on, the distance between the in-vehicle device 100 and the mobile terminal 200 becomes equal to or greater than a predetermined distance and wireless communication is performed. If is interrupted, it may be terminated. Further, even if the distance between the on-board unit 100 and the mobile terminal 200 becomes equal to or greater than a predetermined distance and the wireless communication is interrupted, the reverse run detection application can be used within a predetermined time. In addition, when the distance between the vehicle-mounted device 100 and the mobile terminal 200 becomes equal to or less than a predetermined distance and the wireless communication is restarted, the wireless communication does not have to be terminated.

The wireless communication unit 205 receives the traveling state data from the vehicle-mounted device 100 at regular time intervals by short-range wireless communication. Further, when the reverse run notification data is input from the control unit 201, the wireless communication unit 205 transmits the reverse run notification data to the vehicle-mounted device 100.

The transmission / reception unit 207 transmits the traveling state data together with the vehicle ID and the vehicle-mounted device ID to the intermediate server 300 at regular time intervals via the Internet 500. When the transmission / reception unit 207 further receives the reverse-way driving status data and the vehicle ID via the Internet 500, the transmission / reception unit 207 outputs the reverse-way driving status data and the vehicle ID to the control unit 201. The wireless communication means between the vehicle-mounted device 100, the mobile terminal 200, and the intermediate server 300 may be the same. In this case, the wireless communication unit 205 and the transmission / reception unit 207 may be the same.

When the reverse-way driving detection application is started as described above, the control unit 201 executes the reverse-way driving detection application. When the driving state data is input from the wireless communication unit 205, the control unit 201 refers to the storage unit 203 and transmits the driving state data from the transmission / reception unit 207 together with the vehicle-mounted device ID and the vehicle ID associated with each other to the intermediate server. Send to 300. Further, when the reverse-way driving status data and the vehicle ID are input from the transmission / reception unit 207, the control unit 201 collates the input vehicle ID with the vehicle ID stored in the storage unit 203 and notifies the above-mentioned reverse-way driving. Data is generated, and the reverse run notification data is transmitted from the wireless communication unit 205 to the vehicle-mounted device 100.

FIG. 5 is a block diagram of the intermediate server 300. The intermediate server 300 includes a vehicle information specifying unit 301, a data correction unit 303, a storage unit 305, and a transmission / reception unit 307.

When the transmission / reception unit 307 receives the traveling state data, the vehicle ID, and the vehicle-mounted device ID from the mobile terminal 200 via the Internet 500, the transmission / reception unit 307 outputs the vehicle ID and the vehicle-mounted device ID to the data correction unit 303, and outputs the vehicle-mounted device ID to the vehicle information. Output to the specific unit 301. When the transmission / reception unit 307 further inputs the traveling state data and the vehicle ID from the data correction unit 303 and the vehicle information is input from the vehicle information specifying unit 301, the transmitting / receiving unit 307 receives the traveling state data, the vehicle ID and the vehicle information via the Internet 500. Is transmitted to the analysis server 400. When the transmission / reception unit 307 further receives the reverse-way driving status data and the vehicle ID from the analysis server 400 via the Internet 500, the transmission / reception unit 307 outputs the reverse-way driving status data and the vehicle ID to the storage unit 305. Further, the transmission / reception unit 307 further identifies the mobile terminal ID stored in the storage unit 305 in association with the vehicle ID received from the analysis server 400, and obtains the reverse running status data and the vehicle ID via the Internet 500. It is transmitted to the mobile terminal 200 having the specified mobile terminal ID.

The storage unit 305 stores the vehicle-mounted device ID, the vehicle ID, and the mobile terminal ID in association with each other. In addition, the storage unit 305 also stores function information for correcting a part of the traveling state data. When the reverse-way driving status data and the vehicle ID are input from the transmission / reception unit 307, the storage unit 305 stores the detection of the reverse-way driving of the vehicle 30 together with the date and time and place information of the detection of the reverse-way driving and the vehicle ID. The storage unit 305 may refer to the stored reverse-way information from the outside via the transmission / reception unit 307.

When the vehicle ID and the traveling state data are input from the transmitting / receiving unit 307, the data correction unit 303 refers to the function information and the like stored in the storage unit 305, and refers to the acceleration data, the angular velocity data, and the angular velocity data included in the traveling state data. Ground axis correction and vehicle axis correction are performed on the geomagnetic data. An example of the earth's axis correction is to make correction so that the Z axis, which is the vertical axis of the on-board unit 100, is perpendicular to the earth's axis, so that the value of the X axis, which is the assumed traveling direction axis of the on-board unit 100, and X It corrects the values of the Y-axis orthogonal to the axis and the Z-axis. An example of vehicle axis correction is that when the traveling direction of the vehicle 30 and the X-axis of the vehicle-mounted device 100 are deviated, the traveling direction of the vehicle 30 and the X-axis of the vehicle-mounted device 100 are corrected so as to coincide with each other. be. The data correction unit 303 further transmits the corrected acceleration data, angular velocity data, and geomagnetic data from the transmission / reception unit 307 to the analysis server 400 together with the uncorrected GPS data and pressure data, and the vehicle ID. The data correction unit 303 may also transmit the acceleration data, the angular velocity data, and the geomagnetic data before correction from the transmission / reception unit 307 to the analysis server 400.

When the vehicle-mounted device ID is input from the transmission / reception unit 307, the vehicle information specifying unit 301 refers to the vehicle information stored in the storage unit 305 and identifies the vehicle information from the input vehicle-mounted device ID. The vehicle information identification unit 301 further transmits the specified vehicle information from the transmission / reception unit 307 to the analysis server 400.

FIG. 6 is a block diagram of the analysis server 400. The analysis server 400 includes a map matching unit 401, a reverse run flag unit 403, a determination output unit 405, a storage unit 407, and a transmission / reception unit 409. The analysis server 400 determines the reverse-way driving state of the vehicle 30 traveling on the above-mentioned specific road based on the driving state including the measured position and the traveling direction of the vehicle 30 included in the driving state data. This is an example of a judgment server. In this embodiment, the specific road is a highway.

When the transmission / reception unit 409 receives the travel status data, the vehicle ID, and the vehicle information from the intermediate server 300 via the Internet 500, the transmission / reception unit 409 determines the travel status data, the vehicle ID, and the vehicle information as the map matching unit 401, the reverse travel flag unit 403, and the reverse travel flag unit 403. Output to the output unit 405. Further, when the reverse drive status data and the vehicle ID are input from the determination output unit 405, the transmission / reception unit 409 transmits the reverse drive status data and the vehicle ID to the intermediate server 300 via the Internet 500.

The storage unit 407 stores DRM (Digital Road Map) information, a reverse run flag condition, and a reverse run determination condition. DRM information includes data on road links, which are the smallest unit of road lines. The data related to the road link includes the data of the node including the coordinate points connecting the road links in addition to the data of the road link. In addition to the data related to road links, shape data consisting of multiple latitudes and longitudes, distance data, data of adjacent road links, road types, and data of travel directions preset for each road link are added. , Speed limit etc. are included.

The reverse-way flag condition is a condition for setting a reverse-way flag indicating that the vehicle 30 may be running in reverse. The reverse-way driving determination condition is a condition for determining to output reverse-way driving status data indicating that the vehicle 30 is in the reverse-way driving state.

The storage unit 407 also stores a set of past road links showing the travel history. The storage unit 407 also stores the reverse run count output from the determination output unit 405 as a reverse run counter. The storage unit 407 also stores the ignore count output from the determination output unit 405 as an ignore counter.

When the travel state data, the vehicle ID and the vehicle information are input from the transmission / reception unit 409, the map matching unit 401 converts the road link data included in the DRM information stored in the storage unit 407 into the travel state data. Performs map matching processing to match the included GPS data. The map matching process includes a process of correcting an error in GPS data. GPS data indicates the measured position of the vehicle 30. The map matching unit 401 estimates the position of the vehicle 30 on the highway by the map matching process. The processing content of these map matching units 401 is the reverse of determining the reverse running state of the vehicle 30 traveling on a specific road other than the general road, based on the running state including the measured position and the traveling direction of the vehicle 30. On a specific road by performing map matching processing between the specific road link of a specific road in the driving state determination method and the specific road link including a preset travelable direction and the traveling state of the vehicle 30. This is an example of a map matching stage for estimating the position of the vehicle 30.

In the map matching process, for example, atmospheric pressure data may be used as information for knowing which of the plurality of roads that cross over each other is the vehicle 30 traveling. Further, acceleration data, angular velocity data, and geomagnetic data may be used as information for knowing acceleration / deceleration, traveling speed, direction, inclination of the vehicle 30 due to traveling on a slope, and the like. Further, vehicle information including information such as vehicle class, vehicle weight, and size may be used. In this case, the storage unit 407 stores in advance the determination threshold values of the acceleration sensor 105, the gyro sensor 107, etc., which differ depending on the vehicle class, vehicle weight, size, etc., and the map matching unit 401 uses these determination threshold values. Match GPS data with road link data. The angular velocity data includes the direction of the vehicle 30 in the horizontal plane, the inclination angle of the vehicle 30 with respect to the vertical direction, the amount of change in the inclination angle, and the like. The inclination angle of the vehicle 30 with respect to the vertical direction includes, for example, the inclination angle of the vehicle 30 in the front-rear direction with respect to the vertical direction, the yaw angle which is the rotation angle around the vertical axis passing through the center of gravity of the vehicle 30, and the like. The amount of change includes, for example, the yaw rate, which is the rate at which the yaw angle changes.

The map matching unit 401 outputs the estimated position data indicating the estimated position which is the position of the vehicle 30 estimated by the map matching process to the reverse driving flag unit 403 and the determination output unit 405 together with the vehicle ID.

When the traveling state data and the vehicle ID are input from the transmission / reception unit 409, and the estimated position data and the vehicle ID based on the traveling state data are input from the map matching unit 401, the reverse running flag unit 403 is stored in the storage unit 407. Judges whether or not the reverse run flag condition is satisfied. More specifically, the reverse travel flag unit 403 includes the traveling direction of the vehicle 30 derived from acceleration data, angular velocity data, geomagnetic data, etc. included in the traveling state data, and a plurality of roads stored in the storage unit 407. Among the links, it is determined whether or not the travelable direction defined for the road link corresponding to the estimated position of the vehicle 30 is different from the predetermined angle or more. The predetermined angle in this embodiment is 135 degrees, and the predetermined angle is stored in the storage unit 407.

When the reverse-way flag unit 403 determines that the reverse-way flag condition stored in the storage unit 407 is satisfied, that is, the travel of the road link corresponding to the traveling direction of the vehicle 30 and the estimated position of the vehicle 30. If it is determined that the possible direction is different by 135 degrees or more, the reverse run flag is set. The reverse-way driving flag unit 403 outputs the running state data in which the reverse-way driving flag is set to the determination output unit 405 together with the vehicle ID. The processing content by the reverse-way flag unit 403 is an example of the reverse-way flag stage in which the reverse-way flag is set when it is determined that the reverse-way flag condition is satisfied in the above-mentioned reverse-way state determination method.

The determination output unit 405 is stored in the storage unit 407 when the traveling state data and the vehicle ID are input from the transmission / reception unit 409 and the estimated position data and the vehicle ID based on the traveling state data are input from the map matching unit 401. It is judged whether or not the reverse running judgment condition is satisfied. Then, when it is determined that the reverse driving determination condition is satisfied, the determination output unit 405 outputs the reverse driving status data and the vehicle ID to the transmission / reception unit 409. The processing content by these determination output units 405 is an example of a determination output stage that outputs reverse-way status data when it is determined that the reverse-way driving determination condition is satisfied in the above-mentioned reverse-way driving state determination method.

Next, the details of the reverse run determination condition will be described with reference to FIGS. 7 to 12. FIG. 7 is a flow chart of determination according to the reverse driving determination condition. In the present embodiment, as a map matching processing method, the position on the road closest to the measured position of the vehicle 30 indicated by GPS data is estimated as the position of the vehicle 30.

When the determination flow shown in FIG. 7 is started, first, the determination output unit 405 determines whether or not the map match error is less than 8 m (step S201). The condition that the map match error is less than 8 m is that the distance between the measured position of the vehicle 30 indicated by the GPS data included in the driving state data and the estimated position of the vehicle 30 based on the driving state data is predetermined. This is an example of the first condition that the distance is less than the specified distance. The first condition is a part of the reverse run determination condition and is stored in the storage unit 407.

In step S201, when the determination output unit 405 determines that the map match error is less than 8 m (step S201: Yes), the road link corresponding to the estimated position of the vehicle 30 is the target for detecting reverse driving. It is determined whether or not the road is a road link of the road to be detected for reverse driving (step S203). The condition that the road link corresponding to the estimated position of the vehicle 30 is the road link to be detected for reverse driving is the second condition that the road link corresponding to the estimated position of the vehicle 30 is a preset road link. be. The second condition is a part of the reverse run determination condition and is stored in the storage unit 407. The preset road links in the present embodiment include a road link that is at least partially contained in at least one area of an interchange, a junction, a service area, and a parking area on a highway, and at least one of the above-mentioned road links on the main line. A predetermined number of road links connected continuously to an area. The predetermined number of road links on the main line may vary from area to area, such as an interchange. The preset road link is stored in the storage unit 407.

In step S203, when the determination output unit 405 determines that the road link corresponding to the estimated position of the vehicle 30 is the road link to be detected for reverse driving (step S203: Yes), the determination output unit 405 then determines the traveling state data. It is determined whether or not the third condition that the reverse run flag is set by the reverse run flag unit 403 is satisfied (step S205). The third condition is a part of the reverse run determination condition and is stored in the storage unit 407.

When the determination output unit 405 determines in step S205 that the third condition is satisfied (step S205: Yes), that is, when all of the first condition, the second condition, and the third condition are satisfied from step S201 through step S205. When the determination is made, the reverse run count of the estimated position of the vehicle 30 is increased by one and stored in the storage unit 407 together with the vehicle ID (step S207).

Following step S207, the determination output unit 405 predetermines an increase in the reverse run count stored in the storage unit 407 as a result of determining the running state data acquired at regular time intervals according to the reverse run determination condition. It is determined whether or not the time is continuous, that is, whether or not the reverse run count is equal to or greater than a predetermined number (step S209). The predetermined number in the present embodiment is 5 counts, and the predetermined number is stored in the storage unit 407. For example, when the running state data transmitted to the analysis server 400 has a cycle of 1 second, outputting the reverse running status data on condition that the reverse running count is 5 or more is running backward for at least 5 seconds. It means that the reverse run status data is output after confirming that the possible state continues. The time of 5 seconds was derived by simulation as the shortest time suitable for determining that the vehicle 30 is running in reverse. Even if there is an ignore count between the reverse run counts, it is determined that the reverse run count is continuously increasing.

In step S209, when the determination output unit 405 determines that the reverse drive count stored in the storage unit 407 is 5 or more (step S209: Yes), the determination output unit 405 outputs the reverse drive status data and the vehicle ID to the transmission / reception unit 409. (Step S211). When the flow ends after step S211 and the next running state data is input to the determination output unit 405, the flow is repeated. Therefore, as long as the reverse-way driving state of the vehicle 30 continues on the road to be detected as reverse-way driving, the determination output unit 405 continues to output the reverse-way driving status data, and the user who drives the vehicle 30 from the vehicle-mounted device 100 and the mobile terminal 200. It keeps informing 20 that it is running in reverse.

In step S201, when the determination output unit 405 determines that the first condition is not satisfied (step S201: No), the determination output unit 405 then determines whether or not the reverse run count stored in the storage unit 407 is 1 or more. (Step S213). When the determination output unit 405 determines that the reverse run count is not 1 or more (step S213: No), the flow ends. When the determination output unit 405 determines that the reverse drive count stored in the storage unit 407 is 1 or more (step S213: Yes), the determination output unit 405 excludes the estimated position of the vehicle 30 from the reverse drive count and sets the ignore count. One is up and stored in the storage unit 407 together with the vehicle ID (step S215).

Following step S215, the determination output unit 405 increases the ignore count stored in the storage unit 407 as a result of determining the traveling state data acquired at regular time intervals according to the reverse driving determination condition, in advance of the second step. It is determined whether or not it is continuous for a predetermined time or more, that is, whether or not the ignore count is equal to or greater than the second predetermined number (step S217). The second predetermined number in the present embodiment is 10 counts, and the second predetermined number is stored in the storage unit 407.

In step S217, when the determination output unit 405 determines that the ignore count stored in the storage unit 407 is not 10 or more (step S217: No), the determination output unit 405 returns to step S201. In step S217, when the determination output unit 405 determines that the ignore count stored in the storage unit 407 is 10 or more (step S217: Yes), the reverse run count and the ignore count stored in the storage unit 407. Is reset, that is, set to 0 (step S221).

In other words, the flow from step S215 to step S201 via step S217 is that the determination output unit 405 estimates the vehicle 30 when the estimated positions of the vehicles 30 that do not satisfy the first condition are not continuous by 10 or more. Exclude the position from the reverse run count.

In other words, the flow from step S215 to step S221 via step S217 is that the determination output unit 405 counts the reverse run and counts when the estimated positions of the vehicles 30 that do not satisfy the first condition are 10 or more consecutively. Set the ignore count to 0.

In step S203, when the determination output unit 405 determines that the second condition is not satisfied (step S203: No), the determination output unit 405 then determines whether or not the reverse run count stored in the storage unit 407 is 1 or more. (Step S219). Further, in step S205, when the determination output unit 405 determines that the third condition is not satisfied (step S205: No), the reverse run count stored in the storage unit 407 is stored in the storage unit 407 as in the case of step S203: No. Determines if is greater than or equal to 1 (step S219).

When the determination output unit 405 determines in step S219 that the reverse run count is not 1 or more (step S219: No), the flow ends as in the case of step S213: No. When the determination output unit 405 determines that the reverse run count stored in the storage unit 407 is 1 or more (step S219: Yes), the determination output unit 405 stores it in the storage unit 407 as in the case of step S217: Yes. The reverse run count and the ignore count are reset, that is, set to 0 (step S221).

In other words, the flow from either step S203 or step S205 to step S221 via step S219, the determination output unit 405 determines that the estimated position of the vehicle 30 is at least one of the second condition and the third condition. If it is not satisfied, the reverse run count and the ignore count are set to 0.

In step S209, when the determination output unit 405 determines that the reverse run count is not 5 or more (step S209: No), then whether or not the ignore count stored in the storage unit 407 is 1 or more is determined. Determine (step S223).

In step S223, when the determination output unit 405 determines that the ignore count stored in the storage unit 407 is 1 or more, the ignore count is reset, that is, set to 0 (step S225), and the process returns to step S201. In step S223, when the determination output unit 405 determines that the ignore count stored in the storage unit 407 is not 1 or more (step S223: No), the determination output unit 405 returns to step S201.

The entire determination flow shown in FIG. 7 is repeated as long as the traveling state data is input to the determination output unit 405. Further, when the traveling state data is not input to the determination output unit 405, the entire flow is not repeated.

As described above, according to the reverse-way driving determination condition described with reference to FIG. 7, even if the analysis server 400 performs erroneous matching in the map matching process and the reverse-way driving flag is set, the reverse-way driving is immediately performed on the intermediate server 300. Without transmitting the status data, the running state of the vehicle 30 at a certain time is analyzed, and then the reverse running status data is transmitted to the intermediate server 300. As a result, it is possible to prevent the user 20 from being given erroneous information.

In addition, in step S209 of FIG. 7, instead, the determination output unit 405 stores the reverse run count stored in the storage unit 407 as a result of determining the running state data acquired at regular time intervals according to the reverse run determination condition. It may be determined whether or not the ups are continuous for a predetermined distance or more. The predetermined distance is stored in the storage unit 407. In this case, the determination output unit 405 calculates the mileage of the vehicle 30 based on the acceleration data included in the traveling state data. Since the traveling time of a predetermined distance varies depending on the speed of the vehicle 30, the number of reverse driving counts that continuously increase while traveling the predetermined distance is not constant.

In addition, in step S217 of FIG. 7, instead, the determination output unit 405 determines the traveling state data acquired at regular time intervals according to the reverse driving determination condition, and as a result, the storage unit 407 stores the ignore count. It may be determined whether the ups are continuous for more than a second predetermined distance. The second predetermined distance is stored in the storage unit 407. In this case, in other words, the flow of returning from step S215 to step S201 via step S217 is that the determination output unit 405 continuously positions the estimated position of the vehicle 30 that does not satisfy the first condition for a second predetermined distance or more. If not, the estimated position of the vehicle 30 is excluded from the reverse run count. In other words, the flow from step S215 to step S221 via step S217 is that the determination output unit 405 indicates that the estimated positions of the vehicles 30 that do not satisfy the first condition are continuous for a predetermined distance or more. In addition, the reverse run count and the ignore count are set to 0.

The on-board unit 100 mainly described with reference to FIG. 3 instead calculates the mileage of the vehicle 30 based on the acceleration data output from the acceleration sensor 105, and the vehicle 30 travels at a constant distance interval. It may be configured to output the running state data with. In this case, in step S209 of FIG. 7, instead, the determination output unit 405 stores the traveling state data acquired at regular distance intervals in the storage unit 407 as a result of determining according to the reverse driving determination condition. It may be determined whether the count up is continuous for a predetermined distance or more. For example, when the traveling state data is transmitted to the analysis server 400 every time the vehicle 30 travels 10 m, the predetermined distance may be set to 50 m.

When the on-board unit 100 outputs the traveling state data at a constant distance interval, in step S209 of FIG. 7, the determination output unit 405 instead determines the reverse driving with respect to the traveling state data acquired at the constant distance interval. As a result of the determination according to the conditions, it may be determined whether or not the increase in the reverse run count stored in the storage unit 407 is continuous for a predetermined time or longer.

When the on-board unit 100 outputs the traveling state data at a constant distance interval, in step S217 of FIG. 7, instead, the determination output unit 405 determines the reverse driving with respect to the traveling state data acquired at the constant distance interval. As a result of the determination according to the condition, it may be determined whether or not the increase of the ignore count stored in the storage unit 407 is continuous for a second predetermined distance or more. For example, when the traveling state data is transmitted to the analysis server 400 every time the vehicle 30 travels 10 m, the second predetermined distance may be set to 100 m.

When the on-board unit 100 outputs the traveling state data at a constant distance interval, in step S217 of FIG. 7, the determination output unit 405 instead determines the reverse driving state data acquired at the constant distance interval. As a result of the determination according to the condition, it may be determined whether or not the increase of the ignore count stored in the storage unit 407 is continuous for a second predetermined time or longer. In this case, the analysis server 400 includes a clock, and the determination output unit 405 grasps the passage of a second predetermined time by the clock. Since the traveling time of a certain distance differs depending on the speed of the vehicle 30, the number of ignore counts that continuously increase in the second predetermined time is not constant.

As described above, the preset road link in the second condition used in step S203 of FIG. 7, that is, the road link to be detected for reverse driving is registered in advance in the storage unit 407 of the analysis server 400. The registration is performed by the service provider or the user 20 of the reverse-way driving detection system 10. The service provider or the user 20 specifies a reverse-way driving detection target for each road link and registers it in the analysis server 400. Even if the service provider or the user 20 specifies a certain range such as a rectangular range surrounding an interchange or the like, and collectively registers the road links that are at least partially included in the certain range in the analysis server 400. good. For example, the rectangular range is defined by the service provider or user 20 specifying the latitude and longitude of the four corners of the rectangle.

In addition to the measured position of the vehicle 30 indicated by the GPS data included in the traveling state data and the estimated position of the vehicle 30 based on the traveling state data, the determination output unit 405 includes acceleration data, angular velocity data, and the like. It may be determined whether or not the reverse running determination condition is satisfied in consideration of geomagnetic data, pressure data, simulation information, and the like. The simulation information includes information on the tendency of errors that may occur, which is grasped in advance by the simulation.

FIG. 8 is a schematic diagram illustrating a state in which the vehicle 30 is traveling forward on the highway 50 in the reverse-way driving detection target 40, which is the reverse-way driving detection target. FIG. 9 is a diagram illustrating a method of performing map matching processing on the road link of the reverse-way driving detection target 40 and the running state of the vehicle 30 shown in FIG. 8 to determine reverse-way driving.

The reverse run detection target 40 in the present embodiment is a rectangular range shown by a broken line in FIG. On the highway 50 of the reverse-way driving detection target 40, the travelable direction of the vehicle 30 is indicated by a black arrow. A part of the expressway 50 in the reverse-way driving detection target 40 is shown by omitting the middle by two wavy lines. Also in the following figures, two wavy lines are used when the middle part is omitted.

In FIG. 8, the position of the vehicle 30 traveling forward on the highway 50 is shown at regular intervals. Then, in FIG. 9, the measurement position 31 of the vehicle 30 based on the GPS data acquired from the vehicle-mounted device 100 at the time of each position of the vehicle 30 shown in FIG. 8 is shown by a broken line circle. The measurement position 31 including a certain range indicates an error range of GPS data.

In FIG. 9, the road links of the main line on the expressway 50 in the reverse-way driving detection target 40 are shown by linear road links 52, 53, 54, 57, 58, 59, 62, 64. Further, the road links of the main line on the expressway 50 outside the reverse driving detection target 40 are indicated by linear road links 51, 55, 56, 60, 61, 63. Further, the road links of the interchange on the expressway 50 in the reverse driving detection target 40 are indicated by curved road links 71, 72, 73, 74. Each of these road links in the reverse-way driving detection target 40 is an example of the road link to be the reverse-way driving detection target stored in the storage unit 407 of the analysis server 400. Further, in FIG. 9, the nodes connecting the road links are indicated by black-painted dotted nodes 80.

Further, in FIG. 9, the estimated position 33 of the vehicle 30 after the map matching process for estimating the position on the road link closest to the measurement position 31 of the vehicle 30 as the position of the vehicle 30 is the time transition of the estimated position 33. It is indicated by a white arrow along with the number indicating. The direction of the arrow indicates the traveling direction of the vehicle 30 calculated from the geomagnetic data included in the traveling state data of the vehicle 30.

Referring to FIG. 9, although the vehicle 30 is traveling on the highway 50 as shown in FIG. 8, the center of the measurement position 31 of the vehicle 30 is from the road link where the vehicle 30 is actually located. There is a place where a plurality of road links exist inside the circle at the measurement position 31 because of the deviation. Therefore, the estimated position 33 of the vehicle 30 after the map matching process may be located on a road link different from the road link where the vehicle 30 is actually located.

In particular, among the road links 71, 72, 73, 74 of the interchange, the road link 71 and the road link 72 are grade-separated with the road link 53 and the road link 58 of the main line, and such a plurality of roads are grade-separated. In the place where it is done, it is easy to get an erroneous estimated position 33. In FIG. 9, an example of an erroneous estimated position 33 due to a grade separation of a road is shown by the white arrows of numbers 3, 8 and 11. The estimated positions 33 indicated by the white arrows 1 to 2, 4 to 7, 9 to 10 and 12 to 16 are all located on the road link where the vehicle 30 is actually located. There is.

As described with reference to FIGS. 1 to 7, the reverse-way flag portion 403 of the analysis server 400 is capable of traveling in the traveling direction of the vehicle 30 indicated by the white arrow and the traveling direction indicated by the arrow on each road link in FIG. If the angle with the direction is different by 135 degrees or more, the reverse run flag is set. Here, the white arrow of number 3, which is an example of the erroneous estimated position 33, is located on the road link 58 of the main line, and the angle between the white arrow of number 3 and the travelable direction of the road link 58. Is not different than 135 degrees. Further, the white arrow of the number 11 which is an example of the erroneous estimated position 33 is located on the road link 53 of the main line, and the angle between the white arrow of the number 11 and the travelable direction of the road link 53 is Not different than 135 degrees.

On the other hand, the white arrow of number 8 which is an example of the erroneous estimated position 33 is located on the road link 72 of the interchange, and the angle between the white arrow of number 8 and the travelable direction of the road link 72. Is different than 135 degrees.

Therefore, the reverse run flag unit 403 sets the reverse run flag at the estimated position 33 of the white arrow of the number 8, and does not set the reverse run flag at the estimated position 33 of the white arrow other than the number 8.

Next, the determination output unit 405 of the analysis server 400 refers to all the estimated positions 33 shown in FIG. 9 according to the reverse run determination condition stored in the storage unit 407 of the analysis server 400 described with reference to FIG. In order, it is determined whether or not the vehicle 30 is traveling in the reverse direction.

The determination output unit 405 satisfies the first condition and the second condition in the reverse-way driving determination condition at the estimated position 33 of the white arrows of the numbers 1 to 7, but does not satisfy the third condition. It does not increase or decrease.

Subsequently, the determination output unit 405 satisfies all of the first condition, the second condition, and the third condition in the reverse run determination condition at the estimated position 33 of the white arrow of the number 8, so that the reverse run count is set to 1. It is uploaded and stored in the storage unit 407.

Subsequently, the determination output unit 405 satisfies the first condition and the second condition in the reverse run determination condition at the estimated position 33 of the white arrow of the number 9, but does not satisfy the third condition, so that the storage unit 407 is satisfied. Set the reverse run count stored in to 0.

Subsequently, the determination output unit 405 does not satisfy the first condition in the reverse run determination condition at the estimated position 33 of the white arrow of the number 10, and the reverse run count stored in the storage unit 407 is also 1 or more. Since there is no such thing, neither count is increased or decreased. In FIG. 9, the shortest distance between the estimated position 33 of the white arrow of No. 10 and the corresponding measurement position 31 is indicated by L10, but L10 is 8 m or more.

Subsequently, the determination output unit 405 satisfies the first condition and the second condition in the reverse run determination condition at the estimated position 33 of the white arrows of the numbers 11 to 16, but does not satisfy the third condition. Does not increase or decrease the count of.

As described above, since the reverse run count stored in the storage unit 407 is not 5 or more, the determination output unit 405 does not output the reverse run status data. In this way, according to the reverse-way driving detection system 10, it is possible to prevent giving erroneous information to the user 20 who is driving the vehicle 30 in a state of traveling forward on the highway 50.

FIG. 10 is a schematic diagram illustrating a state in which the vehicle 30 is traveling in reverse on the highway 50 in the reverse-way driving detection target 40. FIG. 11 is a diagram illustrating a method of performing map matching processing between the road link of the reverse-way driving detection target 40 and the running state of the vehicle 30 shown in FIG. 10 to determine reverse-way driving. In FIGS. 10 and 11, the same configurations as those shown in FIGS. 8 and 9 are shown using the same reference numbers. Therefore, in the following, duplicate description of the same configuration as that shown in FIGS. 8 and 9 will be omitted.

In FIG. 11, the estimated positions 33 indicated by the white arrows Nos. 1 to 8 are all located on the road links 62 and 57 of the main line where the vehicle 30 is actually located and the road links 73 of the interchange. , The angles of the white arrows Nos. 1 to 8 and the travelable directions of the road links 62, 57, 73 are different by 135 degrees or more. Therefore, the reverse run flag unit 403 sets the reverse run flag at all the estimated positions 33 indicated by the white arrows of the numbers 1 to 8.

Here, with reference to FIG. 12, the reverse run counter and the ignore counter in the storage unit 407 corresponding to the reverse run determination in FIG. 11 will be described. FIG. 12 shows a matrix of 4 rows × 9 columns, and in the first row, the estimated position numbers, which are the numbers of the white arrows at the estimated positions 33, are shown in order from the left. Corresponding to each estimated position number, the second line shows the reverse run count, the third line shows the ignore count, and the fourth line shows whether or not the reverse run status data is output.

The determination output unit 405 satisfies all of the first condition, the second condition, and the third condition in the reverse-way driving determination condition at the estimated position 33 of the white arrows of the numbers 1 to 3, as shown in FIG. , The reverse run count is increased one by one three times in a row and stored in the storage unit 407.

Subsequently, the determination output unit 405 does not satisfy the first condition in the reverse run determination condition at the estimated position 33 of the white arrow of the number 4, so the ignore count is increased by one as shown in FIG. It is stored in the storage unit 407. In FIG. 11, the shortest distance between the estimated position 33 of the white arrow of No. 4 and the corresponding measurement position 31 is shown by L4, but L4 is 8 m or more.

Subsequently, the determination output unit 405 satisfies all of the first condition, the second condition, and the third condition in the reverse run determination condition at the estimated position 33 of the white arrow of the number 5, and is therefore shown in FIG. As you can see, the reverse run count is increased by one and stored in the storage unit 407.

Subsequently, the determination output unit 405 satisfies all of the first condition, the second condition, and the third condition in the reverse run determination condition at the estimated position 33 of the white arrows of the numbers 6 to 8, so that FIG. 12 shows. As shown, the reverse run count is increased one by one three times in a row and stored in the storage unit 407. Further, as shown in FIG. 12, the judgment output unit 405 performs the reverse run status data three times because the reverse run count is 5 or more at any of the estimated positions 33 of the white arrows of the numbers 6 to 8. Output continuously. As a result, the vehicle-mounted device 100 and the mobile terminal 200 notify the user 20 that the vehicle is running backwards in quick succession.

As described above, according to the reverse-way driving detection system 10, it is possible to prevent not only giving erroneous information to the user 20 who is driving the vehicle 30 in the state of traveling forward on the highway 50. It is also possible to notify the user 20 who is driving the vehicle 30 in the state of running in the reverse direction on the highway 50 that the vehicle is running in the reverse direction.

In the above plurality of embodiments, the intermediate server and the analysis server have been described as a configuration in which the intermediate server and the analysis server communicate data with each other by a wireless connection via the Internet, but the intermediate server and the analysis server may communicate data with each other by a wired connection. Further, although the intermediate server and the analysis server are different servers and have different functions, the intermediate server and the analysis server may be the same server. In this case, the same server is the reverse run determination server.

In the above plurality of embodiments, a short-range wireless communication means such as BLE is used as a communication means between the on-board unit and the mobile terminal, and wireless communication via the Internet is used as a communication means between the mobile terminal and the intermediate server. Although the configuration using the means has been described, the wireless communication means via the Internet may be used as the communication means between any of the configurations including between the vehicle-mounted device and the mobile terminal.

In the above plurality of embodiments, when the intermediate server receives the reverse run status data from the analysis server, it is described as a configuration in which the detection of the reverse run is stored in the storage unit together with the information on the date and time and the place where the reverse run is detected. bottom. In addition to this, the intermediate server may create a driving data report for a certain period of time including the reverse driving information.

In the above plurality of embodiments, when the intermediate server receives the vehicle-mounted device ID together with the traveling state data and the vehicle ID from the mobile terminal, the intermediate server identifies the vehicle information associated with the vehicle-mounted device ID and stored in the storage unit. The description has been given as a configuration in which the driving state data, the vehicle ID, and the vehicle information are transmitted to the analysis server. Instead, the storage unit of the analysis server stores the vehicle information in association with the vehicle ID, and when the analysis server receives the running state data and the vehicle ID, it is associated with the vehicle ID and stored in the storage unit. The vehicle information provided may be specified and used for map matching processing.

In the above plurality of embodiments, the map matching process in the analysis server has been described as a configuration in which the position on the road link closest to the measured position of the vehicle by GPS data is set as the estimated position of the vehicle. Instead of this, a map in which the position on the road link closest to the measured position of the vehicle by GPS data is set as the estimated position of the vehicle in consideration of the traveling history of the vehicle stored in the storage unit of the analysis server. Other map matching processes such as matching processes may be used.

In the above plurality of embodiments, the preset road link, that is, the road link to be detected for reverse driving, has been described as a configuration including, for example, an intersection road link of a grade-separated road at an interchange. The reverse-way driving determination condition may additionally include a condition that the estimated position of the vehicle is excluded from the reverse-way driving count when the road link corresponding to the estimated position of the vehicle is a crossing road link. In addition to such grade-separated road links, road links in which upper and lower lines are close to each other are likely to have an erroneous estimated position after map matching processing due to the structure of the road. According to the above-mentioned reverse run determination condition, an erroneous estimated position after the map matching process is excluded in advance.

In the above-mentioned plurality of embodiments, the reverse-way driving determination condition satisfies all of the first condition, the second condition, and the third condition, the reverse-way driving count of the estimated position of the vehicle is increased, and the reverse-way driving count is increased in advance. This has been described as a configuration in which the reverse run status data is output from the determination output unit in at least one of the cases where the vehicle is continuous for a predetermined time or longer and the case where the vehicle is continuous for a predetermined distance or longer. In addition, the reverse-way driving determination condition is at least one of the above cases, and before the reverse-way driving count is continuously increased for a predetermined time or longer, and before the reverse-way driving count is continuously increased for a predetermined distance or longer. When the combination of a plurality of road links in at least one of the above matches a predetermined reverse-way driving pattern, the reverse-way driving status data may be output from the determination output unit.

In the above-mentioned plurality of embodiments, the reverse-way driving determination condition has been described as a configuration for increasing the reverse-way driving count of the estimated position of the vehicle, which satisfies all of the first condition, the second condition, and the third condition. In addition, the reverse-way driving judgment condition satisfies all of the first condition, the second condition, and the third condition, and the angle between the traveling direction of the vehicle and the traveling direction of the road link corresponding to the estimated position of the vehicle. The reverse run count of the estimated position may be increased, which also satisfies the fourth condition that the difference is within the second predetermined angle. The second predetermined angle is, for example, 90 degrees, and this angle information is stored in the storage unit of the analysis server. The traveling direction of the vehicle is calculated from, for example, geomagnetic data, but the geomagnetic data may be disturbed by electromagnetic waves of a mobile terminal such as a smartphone. According to the above-mentioned reverse-way driving judgment condition, when the traveling direction of the vehicle included in the driving state data is clearly wrong, it is estimated that the geomagnetic data is disturbed by electromagnetic waves, and the reverse-way driving count is not increased. ..

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein the block is (1) a stage of the process in which the operation is performed or (2) a device responsible for performing the operation. May represent a section of. Specific stages and sections are implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable medium, and / or processors supplied with computer-readable instructions stored on a computer-readable medium. You can. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits are memory elements such as logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. May include reconfigurable hardware circuits, including, etc.

The computer readable medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer readable medium having the instructions stored therein is specified in a flowchart or block diagram. It will be equipped with a product that contains instructions that can be executed to create means for performing the operation. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable media include floppy® disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), Electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick, integrated A circuit card or the like may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Contains either source code or object code written in any combination of one or more programming languages, including languages and traditional procedural programming languages such as the "C" programming language or similar programming languages. good.

Computer-readable instructions are applied locally to a general purpose computer, a special purpose computer, or the processor or programmable circuit of another programmable data processor, or a wide area network (WAN) such as a local area network (LAN), the Internet, etc. ) May be executed to create a means for performing the operation specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.

FIG. 13 shows an example of a computer 1200 in which a plurality of aspects of the present invention can be embodied in whole or in part. The program installed on the computer 1200 causes the computer 1200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more "parts" of the device, or the operation or the one or more "parts". A unit can be run and / or a computer 1200 can be run a process according to an embodiment of the invention or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, a graphic controller 1216, and a display device 1218, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a hard disk drive 1224, a DVD-ROM drive 1226, and an IC card drive, which are connected to the host controller 1210 via the input / output controller 1220. The computer also includes legacy I / O units such as the ROM 1230 and keyboard 1242, which are connected to the I / O controller 1220 via the I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or the graphic controller 1216 itself, and displays the image data on the display device 1218.

The communication interface 1222 communicates with other electronic devices via a network. The hard disk drive 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD-ROM drive 1226 reads the program or data from the DVD-ROM 1201 and provides the program or data to the hard disk drive 1224 via the RAM 1214. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 internally stores a boot program or the like executed by the computer 1200 at the time of activation, and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program is provided by a computer-readable storage medium such as a DVD-ROM 1201 or an IC card. The program is read from a computer-readable storage medium, installed on a hard disk drive 1224, RAM1214, or ROM1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information in accordance with the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads and reads the transmission data stored in the transmission buffer area provided in the recording medium such as the RAM 1214, the hard disk drive 1224, the DVD-ROM 1201, or the IC card. The data is transmitted to the network, or the received data received from the network is written to the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 allows the RAM 1214 to read all or necessary parts of a file or database stored in an external recording medium such as a hard disk drive 1224, a DVD-ROM drive 1226 (DVD-ROM1201), or an IC card. Various types of processing may be performed on the data on the RAM 1214. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on recording media for information processing. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to RAM1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute that satisfies the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer-readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, whereby the program can be sent to the computer 1200 via the network. offer.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of operations, procedures, steps, steps, etc. in the devices, systems, programs, and methods shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 Reverse run detection system, 20 users, 30 vehicles, 31 measurement position, 33 estimated position, 40 reverse run detection target, 50 highway, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 71, 72, 73, 74 Road link, 80 nodes, 100 in-vehicle device, 101 control unit, 103 GPS data receiver, 105 acceleration sensor, 107 gyro sensor, 109 geomagnetic sensor, 111 barometric pressure sensor , 113 Audio output unit, 115 light emitting unit, 117 speaker, 119 wireless communication unit, 200 mobile terminal, 201 control unit, 203 storage unit, 205 wireless communication unit, 207 transmission / reception unit, 300 intermediate server, 301 vehicle information identification unit, 303 Data correction unit, 305 storage unit, 307 transmission / output unit, 400 analysis server, 401 map matching unit, 403 reverse run flag unit, 405 judgment output unit, 407 storage unit, 409 transmission / output unit, 500 Internet, 1200 computer, 1201 DVD-ROM , 1210 Host Controller, 1212 CPU, 1214 RAM, 1216 Graphic Controller, 1218 Display Device, 1220 I / O Controller, 1222 Communication Interface, 1224 Hard Disk Drive, 1226 DVD-ROM Drive, 1230 ROM, 1240 I / O Chip, 1242 Keyboard

Claims (8)

A reverse-way driving determination server that determines the reverse-way driving state of the vehicle traveling on a specific road other than a general road based on the traveling state including the measured position and the traveling direction of the vehicle.
To set a reverse-way flag indicating that the specific road link of the specific road and the specific road link including a preset travelable direction and the vehicle may be running in reverse. A storage unit that stores a reverse-way driving flag condition and a reverse-way driving determination condition for determining to output reverse-way driving status data indicating that the vehicle is in the reverse-way driving state.
A map matching unit that estimates the position of the vehicle on the specific road by performing map matching processing between the specific road link stored in the storage unit and the traveling state acquired from the outside.
A reverse-way flag unit that sets the reverse-way flag when it is determined that the reverse-way flag condition stored in the storage unit is satisfied.
It is provided with a determination output unit that outputs the reverse-way driving status data when it is determined that the reverse-way driving determination condition stored in the storage unit is satisfied.
In the reverse-way flag unit, the traveling direction and the travelable direction of the specific road link corresponding to the estimated position of the specific road link stored in the storage unit are predetermined. If the angles are different by more than or equal to the angle, it is determined that the reverse run flag condition stored in the storage unit is satisfied, and the reverse run flag is set.
The determination output unit is based on the reverse driving determination condition.
The first condition that the distance between the measured position and the estimated position is less than a predetermined distance,
The second condition that the specific road link corresponding to the estimated position is a preset set road link, and
The reverse run count is increased at the estimated position, which satisfies all the third conditions that the reverse run flag is set by the reverse run flag unit, and the reverse run count is increased in advance. If continuous time or more, and, if the continuous predetermined distance or more, in the case of at least one of, it is determined that meets the reverse run determination condition and outputting the reverse-way traveling status data ,
The determination output unit further
At least one of the case where the estimated position that does not satisfy the first condition is not continuous for a second predetermined time or more and the case where the estimated position is not continuous for a second predetermined distance or more. In this case, the estimated position is excluded from the reverse run count based on the reverse run determination condition.
At least when the estimated position that does not satisfy the first condition is continuous for the second predetermined time or longer, and when the estimated position is continuous for the second predetermined distance or longer. In one case, the reverse run count is set to 0 based on the reverse run determination condition.
Reverse run judgment server. The particular road is a highway, and the set road link is a road link on the main line that is at least partially contained in at least one area of an interchange, a junction, a service area, and a parking area on the highway. A predetermined number of road links continuously connected to the at least one area.
The reverse-way driving determination server according to claim 1. The set road link includes an intersection road link of a grade-separated road.
The determination output unit further excludes the estimated position from the reverse driving count based on the reverse driving determination condition when the specific road link corresponding to the estimated position is the crossing road link. ,
The reverse-way driving determination server according to claim 1 or 2. The determination output unit further
When the estimated position does not satisfy at least one of the second condition and the third condition, the reverse run count is set to 0 based on the reverse run determination condition.
The reverse-way driving determination server according to any one of claims 1 to 3. The determination output unit
The reverse run count at the estimated position that satisfies all of the first condition, the second condition, and the third condition is increased.
The increase of the reverse run count is at least one of the case where the increase is continuous for the predetermined time or more and the case where the increase is continuous for the predetermined distance or more, and
A combination of the plurality of specific road links is predetermined at least one before the reverse run count is continuously increased for a predetermined time or longer and before the reverse run count is continuously increased for a predetermined distance or longer. If it matches the reverse driving pattern,
It is determined that the reverse run determination condition is satisfied, and the reverse run status data is output.
The reverse-way driving determination server according to any one of claims 1 to 4. The determination output unit satisfies all of the first condition, the second condition, and the third condition, and the angle difference between the traveling direction and the traveling direction is within a second predetermined angle. The fourth condition of being present is also satisfied, and the reverse run count at the estimated position is increased.
The reverse-way driving determination server according to any one of claims 1 to 5. It is a reverse-way driving state determination method for determining the reverse-way driving state of the vehicle traveling on a specific road other than a general road based on the traveling state including the measured position and the traveling direction of the vehicle.
The position of the vehicle on the specific road by performing map matching processing between the specific road link including the preset travelable direction and the traveling state of the specific road link of the specific road. Map matching stage to estimate and
When it is determined that the reverse-way flag condition for setting the reverse-way flag indicating that the vehicle may be running in reverse is satisfied, the reverse-way flag stage in which the reverse-way flag is set and the reverse-way flag stage in which the reverse-way flag is set are satisfied.
When it is determined that the reverse-way driving determination condition for determining to output the reverse-way driving status data indicating that the vehicle is in the reverse-way driving state is satisfied, the judgment output step of outputting the reverse-way driving status data With
The reverse-way flag step satisfies the reverse-way flag condition when the traveling direction and the travelable direction of the specific road link corresponding to the estimated position are different from each other by a predetermined angle or more. Judging that it is, set the reverse run flag,
The determination output stage is based on the reverse driving determination condition.
The first condition that the distance between the measured position and the estimated position is less than a predetermined distance,
The second condition that the specific road link corresponding to the estimated position is a preset set road link, and
The reverse run count at the estimated position, which satisfies all the third conditions that the reverse run flag is set in the reverse run flag stage, is increased, and the reverse run count is increased in advance. If continuous time or more, and, if the continuous predetermined distance or more, in the case of at least one of, it is determined that meets the reverse run determination condition and outputting the reverse-way traveling status data ,
The judgment output stage is further
At least one of the case where the estimated position that does not satisfy the first condition is not continuous for a second predetermined time or more and the case where the estimated position is not continuous for a second predetermined distance or more. In this case, the estimated position is excluded from the reverse run count based on the reverse run determination condition.
At least when the estimated position that does not satisfy the first condition is continuous for the second predetermined time or longer, and when the estimated position is continuous for the second predetermined distance or longer. In one case, the reverse run count is set to 0 based on the reverse run determination condition.
How to determine the reverse driving condition. A program for causing a computer to execute a reverse-way driving state determination method for determining the reverse-way driving state of the vehicle traveling on a specific road other than a general road based on the traveling state including the measured position and the traveling direction of the vehicle. And
The reverse driving state determination method is
The position of the vehicle on the specific road by performing map matching processing between the specific road link including the preset travelable direction and the traveling state of the specific road link of the specific road. Map matching stage to estimate and
When it is determined that the reverse-way flag condition for setting the reverse-way flag indicating that the vehicle may be running in reverse is satisfied, the reverse-way flag stage in which the reverse-way flag is set and the reverse-way flag stage in which the reverse-way flag is set are satisfied.
When it is determined that the reverse-way driving determination condition for determining to output the reverse-way driving status data indicating that the vehicle is in the reverse-way driving state is satisfied, the judgment output step of outputting the reverse-way driving status data With
The reverse-way flag step satisfies the reverse-way flag condition when the traveling direction and the travelable direction of the specific road link corresponding to the estimated position are different from each other by a predetermined angle or more. Judging that it is, set the reverse run flag,
The determination output stage is based on the reverse driving determination condition.
The first condition that the distance between the measured position and the estimated position is less than a predetermined distance,
The second condition that the specific road link corresponding to the estimated position is a preset set road link, and
The reverse run count at the estimated position, which satisfies all the third conditions that the reverse run flag is set in the reverse run flag stage, is increased, and the reverse run count is increased in advance. If continuous time or more, and, if the continuous predetermined distance or more, in the case of at least one of, it is determined that meets the reverse run determination condition and outputting the reverse-way traveling status data ,
The judgment output stage is further
At least one of the case where the estimated position that does not satisfy the first condition is not continuous for a second predetermined time or more and the case where the estimated position is not continuous for a second predetermined distance or more. In this case, the estimated position is excluded from the reverse run count based on the reverse run determination condition.
At least when the estimated position that does not satisfy the first condition is continuous for the second predetermined time or longer, and when the estimated position is continuous for the second predetermined distance or longer. In one case, the reverse run count is set to 0 based on the reverse run determination condition.
program.

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