JP6993777B2 - On-board unit, road judgment system, road judgment method, and program - Google Patents

Description

The present invention relates to an on-board unit, a roadway determination system, a roadway determination method, and a program.

When charging tolls for vehicles traveling on toll roads and toll areas, the server collects travel point information for each vehicle, identifies the route the vehicle has traveled, and charges the vehicle the toll according to the route. A billing system is being considered. In such a system, in order to charge correctly, a technology for accurately identifying which road the vehicle is traveling on is required even in a place such as a branch or a place where multiple roads are adjacent to each other. ing.
For example, Patent Document 1 describes a position detection system that detects a traveling position of a vehicle by matching a photographed image of a landscape taken from a vehicle with a reference image including information on a shooting position and a shooting direction. ing.

Japanese Unexamined Patent Publication No. 2011-215052

However, in the above-mentioned position detection system, it is necessary to prepare a large number of reference images in advance in order to detect the traveling position of the vehicle on all the roads, so that the cost for constructing the system increases.
In addition, it is necessary to sequentially acquire captured images while the vehicle is traveling and to perform matching processing between the captured images and the reference images. Therefore, in such a position detection system, the amount of processing for determining the position of the vehicle becomes enormous, and the processing speed of the on-board unit may decrease.

The present invention has been made in view of such a problem, and is an on-board unit capable of performing a process of determining a road on which a vehicle is traveling with a low load, a driving road determination system, a driving road determination method, and a driving road determination method. Provide a program.

In order to solve the above problems, the present invention employs the following means.
According to the first aspect of the present invention, the vehicle-mounted device is a vehicle position determination unit that determines whether or not a traveling vehicle is located in a detection range including a predetermined event point based on a signal received from the outside. (131), and an image acquisition unit (132) that acquires a road image taken by a camera (11) mounted on the vehicle when it is determined that the vehicle is located in the detection range. A traveling road determination unit (134) for determining a road on which the vehicle is traveling is provided based on a reference image taken from a road included in the detection range and the traveling road image.
By doing so, the on-board unit sets an event point at a branch, a point where a plurality of roads are adjacent to each other, and which road the vehicle is traveling in the detection range including the event point. Can be determined based on the driving road image and the reference image. Further, since the driving road determination unit makes a determination based on the driving road image and the reference image only in the detection range, the load required for the processing for determining the driving road can be reduced.

According to the second aspect of the present invention, the vehicle-mounted device according to the above aspect further includes a reference image storage unit (140) for storing a plurality of reference images for each detection range, and the travel road determination unit is described. At least one reference image out of the plurality of reference images is extracted according to the surrounding environment of the detection range, and the road on which the vehicle is traveling is determined based on the extracted reference image and the driving road image. do.
By doing so, the driving road determination unit can change the scenery seen from the road within the detection range according to the surrounding environment such as the date and time and the weather, among the plurality of reference images, the surrounding environment. The road can be determined based on the reference image taken in an environment close to. This makes it possible to improve the accuracy of the process in which the driving road determination unit determines the driving road.

According to the third aspect of the present invention, the vehicle-mounted device according to any one of the above-described embodiments further includes a satellite signal receiving unit (110) for receiving a signal from the satellite, and the vehicle position determination unit is the vehicle-mounted device. Based on the signal from the satellite, it is determined whether or not the vehicle is located in the detection range.
By doing so, the vehicle position determination unit can always determine with high accuracy whether or not the vehicle is located in the detection range based on the signal from the satellite acquired periodically.

According to the fourth aspect of the present invention, the driving road determination system determines whether or not the traveling vehicle is located in the detection range including a predetermined event point based on the signal received from the outside. A determination unit, an image acquisition unit that acquires a driving road image taken by a camera mounted on the vehicle when it is determined that the vehicle is located in the detection range, and a road included in the detection range. A travel road determination unit for determining the road on which the vehicle is traveling based on the reference image taken from the above and the travel road image is provided.
By doing so, the on-board unit sets an event point at a branch, a point where a plurality of roads are adjacent to each other, and which road the vehicle is traveling in the detection range including the event point. Can be determined based on the driving road image and the reference image. Further, since the driving road determination unit makes a determination based on the driving road image and the reference image only in the detection range, the load required for the processing for determining the driving road can be reduced.

According to the fifth aspect of the present invention, the driving road determination system according to the above aspect further includes a mark (220) provided so as to fit in the photographing area of the traveling road image photographed by the camera.
By doing so, since the mark that serves as a mark is included in the traveling road image, it is possible to improve the accuracy of determining which road the vehicle is traveling on by the traveling road determination unit.

According to the sixth aspect of the present invention, the driving road determination method determines whether or not the traveling vehicle is located in the detection range including the predetermined event point based on the signal received from the outside. A determination step, an image acquisition step of acquiring a driving road image taken by a camera mounted on the vehicle when it is determined that the vehicle is located in the detection range, and a road included in the detection range. It has a travel road determination step for determining the road on which the vehicle is traveling based on the reference image taken from the above and the travel road image.

According to the seventh aspect of the present invention, the program determines whether or not the traveling vehicle is located in the detection range including the predetermined event point based on the signal received from the outside by the computer of the in-vehicle device. The vehicle position determination unit, an image acquisition unit that acquires a driving road image taken by a camera mounted on the vehicle when it is determined that the vehicle is located in the detection range, is included in the detection range. Based on the reference image taken from the road and the traveling road image, the vehicle functions as a traveling road determination unit for determining the road on which the vehicle is traveling.

According to the vehicle-mounted device, the driving road determination system, the driving road determination method, and the program according to the present invention, the process of determining the road on which the vehicle is traveling can be performed with a low load.

It is a schematic diagram of the driving road determination system which concerns on one Embodiment of this invention. It is a figure which shows the functional structure of the driving road determination system which concerns on one Embodiment of this invention. It is a figure which shows the example of the driving road image which concerns on one Embodiment of this invention. It is a figure which shows the processing flow of the vehicle-mounted device which concerns on one Embodiment of this invention. It is a figure which shows the hardware composition of the vehicle-mounted device which concerns on one Embodiment of this invention.

Hereinafter, the roadway determination system 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 5.

(overall structure)
FIG. 1 is a schematic diagram of a driving road determination system according to an embodiment of the present invention.
As shown in FIG. 1, the travel road determination system 1 according to the present embodiment includes an on-board unit 10 and a roadside device 20.

The on-board unit 10 is a device mounted on the vehicle A and for determining the road on which the vehicle A is traveling (hereinafter referred to as a traveling road). The details of the on-board unit 10 will be described later.

The roadside device 20 is a device installed at a predetermined event point and assists the vehicle-mounted device 10 to determine the traveling road of the vehicle A. The details of the roadside device 20 will be described later.
The event point indicates a point where the vehicle-mounted device 10 determines the driving road of the vehicle A. For example, the event point is set at a point where the vehicle-mounted device 10 can easily misrecognize the driving road, such as before and after the tunnel, a branch, or a point on a toll road running parallel to a general road. Further, the event point is set at the entrance / exit of the toll road or the like in order to specify from which point the vehicle A enters the toll road and from which point the vehicle A exits the toll road.

(Functional configuration of in-vehicle device)
FIG. 2 is a diagram showing a functional configuration of a driving road determination system according to an embodiment of the present invention.
As shown in FIG. 2, the vehicle-mounted device 10 includes a satellite signal receiving unit 110, a wireless communication unit 120, a CPU 130, a reference image storage unit 140, and a detection range storage unit 150.

The satellite signal receiving unit 110 receives a satellite signal capable of detecting the position information (latitude, longitude) of the vehicle A from the satellites constituting the GNSS (Global Navigation Satellite System). The satellite signal may include a signal capable of detecting the current date and time.

The wireless communication unit 120 transmits / receives information via a network NW such as the Internet.

The CPU 130 includes a vehicle position determination unit 131, an image acquisition unit 132, a peripheral information acquisition unit 133, a travel road determination unit 134, and a travel point information transmission unit 135.

Each time the vehicle position determination unit 131 receives a satellite signal, the vehicle position determination unit 131 acquires the position information (latitude, longitude) of the vehicle A based on the received signal, and the vehicle A is located in the detection range including the event point. Determine if it is.
The detection range is a predetermined area including the road around the event point (for example, an area having a radius of 50 m from the event point).
The position information acquired based on the satellite signal contains an error. Therefore, when the vehicle position determination unit 131 acquires the position information of the vehicle A based on the satellite signal, it is not the road on which the vehicle A is actually traveling (for example, the road S1 in FIG. 1) but an adjacent road (for example, the road S1 in FIG. 1). There is a possibility of acquiring the position information indicating the road S2) in FIG. In order to prevent erroneous determination due to such an error, in the present embodiment, a detection range having a wide area with respect to the event point is set so that the detection range includes the road around the event point.
Specifically, for example, as shown in FIG. 1, when the event point is set at a point where the road S1 and the road S2 branch, a predetermined area including the road S1 and the road S2 before and after the branch is set. It is set as the detection range R1. Further, the event point may be set at a point before entering the tunnel on the road S1, a point at which the event exits the tunnel, or the like. The detection range may be set differently for each event point depending on the environment around the event point (road shape, presence / absence of a building that shields satellite signals, etc.).
Further, in the present embodiment, the detection range storage unit 150 has a detection range in which a region in which the detection range is set (latitude and longitude range) and information that can specify the detection range (detection range ID) are associated with each other. Information is stored in advance.

FIG. 3 is a diagram showing an example of a road image according to an embodiment of the present invention.
When the vehicle position determination unit 131 determines that the vehicle A is located in any of the detection ranges, the image acquisition unit 132 takes a driving road image D1 (FIG. 3) taken by the camera 11 mounted on the vehicle A. ).
The camera 11 is a camera that captures a predetermined shooting range around the vehicle A. For example, the camera 11 is attached to the front surface of the vehicle A (a surface facing the traveling direction). Then, as shown in FIG. 3, the camera 11 captures the landscape in front of the vehicle A and outputs it as a driving road image D1.
In this embodiment, the image acquisition unit 132 outputs a command to the camera 11 to take a picture each time the vehicle position determination unit 131 determines that the vehicle A is located in the detection range including the event point. And the driving road image D1 is acquired.

The peripheral information acquisition unit 133 acquires information (peripheral information) regarding the peripheral environment of the detection range in which the vehicle position determination unit 131 determines that the vehicle A is located.
Peripheral information is, for example, the current date and time, the current weather, and the like. The peripheral information acquisition unit 133 acquires the current date and time based on the time information included in the satellite signal or the time information acquired from the wireless communication unit 120 via the network NW. Further, the peripheral information acquisition unit 133 acquires the weather information in the current date and time and the detection range from the weather information providing server (not shown) connected to the network NW via the wireless communication unit 120.

The travel road determination unit 134 determines the travel road on which the vehicle A is traveling, and outputs the travel road to the travel point information transmission unit 135 as identifiable travel point information.
As described above, when the vehicle position determination unit 131 acquires the position information of the vehicle A based on the satellite signal, there is a possibility that the vehicle A may acquire the position information indicating a road different from the road on which the vehicle A is actually traveling. There is. Therefore, the driving road determination unit 134 acquires the position information of the vehicle A acquired by the vehicle position determination unit 131 as a reference image stored in advance in the reference image storage unit 140 and an image acquisition as a process of determining the driving road. Based on the travel road image D1 acquired by the unit 132, a process of correcting the travel point information (latitude, longitude) indicating the correct position information (travel road) is performed.
The reference image is an image taken from a road included in the detection range, and a plurality of reference images are stored in the reference image storage unit 140 for each search range. The reference image is associated with information that can specify the detection range (detection range ID) and position information (latitude, longitude, shooting direction, etc.) at which the image was taken. In the present embodiment, images taken at a plurality of angles from a plurality of positions on the road included in the detection range are stored in the reference image storage unit 140 as reference images. For example, as shown in FIG. 1, as reference images associated with the detection range R1 in which the road S1 and the road S2 run in parallel, a plurality of reference images taken from a plurality of positions and angles of the road S1 and a plurality of reference images. A plurality of reference images taken from a plurality of positions and angles of the road S2 are stored in the reference image storage unit 140. Further, the reference image storage unit 140 further stores a plurality of reference images taken by season, time zone, and weather.

The travel point information transmission unit 135 transmits the travel point information that can identify the travel road of the vehicle A determined by the travel road determination unit 134 to a server (not shown) via the wireless communication unit 120.

(Functional configuration of roadside equipment)
Hereinafter, the functional configuration of the roadside device according to the present embodiment will be described with reference to FIG.
As shown in FIG. 2, the roadside device 20 includes a lighting device 210 and a mark 220.

The lighting device 210 irradiates light toward the detection range so that the camera 11 mounted on the vehicle A can take a clear road image in an environment where the illuminance is low such as at night and in the rain.

The mark 220 is provided at a position included in the photographing range (included in the driving road image) taken by the camera 11 in the detection range. The mark 220 is a mark different from the road sign, and is installed as a feature that can identify the driving road.
Further, in order to prevent the mark 220 from becoming invisible due to snow cover or the like, the mark 220 is provided at a position that is not easily affected by the weather. For example, the mark 220 may be mounted on a gantry installed across a road as shown in FIG. 1, or may be mounted on a side wall of a toll road or the like.
The mark 220 may be provided in the entire detection range, or may be omitted if the detection range has a mark (building or the like) capable of specifying a driving road.

(Processing flow of in-vehicle device)
FIG. 4 is a diagram showing a processing flow of the vehicle-mounted device according to the embodiment of the present invention.
Hereinafter, the processing flow of the vehicle-mounted device 10 according to the present embodiment will be described with reference to FIG.
First, the vehicle position determination unit 131 of the vehicle-mounted device 10 receives the satellite signal received by the satellite signal receiving unit 110 (step S101).

Next, when the vehicle position determination unit 131 receives the satellite signal, it acquires the position information (latitude, longitude) of the vehicle A based on the received signal and determines whether or not the vehicle A is located in the detection range. Determination (step S102).
The vehicle position determination unit 131 determines in which detection range the vehicle A is located, or whether the vehicle A is located, based on the position information of the vehicle A and the detection range information stored in the detection range storage unit 150. Judge whether it is also located in the detection range of.
When the position information of the vehicle A is included in the detection range R1 shown in FIG. 1, the vehicle position determination unit 131 determines that the vehicle A is located in the detection range R1 (FIG. 1) (step). S102: YES), the process proceeds to step S103.
On the other hand, if the position information of the vehicle A is not included in any detection range, the vehicle position determination unit 131 determines that the vehicle A is not located in the detection range (step S102: NO), and proceeds to step S105. move on.

Next, when the vehicle position determination unit 131 determines that the vehicle A is located in the detection range R1 (FIG. 1), the image acquisition unit 132 commands the camera 11 to take a picture. Is output to acquire the driving road image D1 (step S103).

Next, the peripheral information acquisition unit 133 acquires peripheral information regarding the peripheral environment of the detection range (step S104).

Next, when the vehicle position determination unit 131 determines that the vehicle A is located in the detection range R1 (FIG. 1), the driving road determination unit 134 acquires the image acquisition unit 132. Based on the travel road image D1 and the reference image stored in the reference image storage unit 140, the travel road on which the vehicle A is traveling is determined (step S105).
First, the driving road determination unit 134 has a detection range (detection range ID) in which the vehicle A is determined to be located by the vehicle position determination unit 131 among a plurality of reference images stored in the reference image storage unit 140, and a detection range ID. The reference image associated with the peripheral information (current date and time and weather information) acquired by the peripheral information acquisition unit 133 is extracted.
Then, the driving road determination unit 134 selects, from the extracted reference images, a reference image presumed to have been taken from the same point as the driving road image D1 acquired by the image acquisition unit 132. At this time, the driving road determination unit 134 selects a reference image presumed to have taken the same point as the driving road image D1 by using a known image processing technique.
The travel road determination unit 134 corrects the position information indicating the travel road of the vehicle A to the travel point information indicating the correct position information based on the position information associated with the reference image selected in this way. At this time, the traveling road determination unit 134 may determine the traveling direction of the vehicle A based on the position information (direction in which the image was taken) of the reference image, and may include the traveling direction of the vehicle A in the traveling point information. Then, the travel road determination unit 134 outputs the corrected travel point information to the travel point information transmission unit 135.
On the other hand, when the vehicle position determination unit 131 determines that the vehicle A is not located in the detection range (step S102: NO), the driving road determination unit 134 determines the position of the vehicle A acquired by the vehicle position determination unit 131. The information is output to the travel point information transmission unit 135 as travel point information indicating the travel road of the vehicle A.

Next, the travel point information transmission unit 135 transmits the travel point information acquired from the travel road determination unit 134 to a server (not shown) via the wireless communication unit 120 (step S106).
Each part of the vehicle-mounted device 10 repeatedly executes the above-mentioned process every time the vehicle position determination unit 131 receives a satellite signal.

(Hardware configuration of in-vehicle device)
FIG. 5 is a diagram showing a hardware configuration of an on-board unit according to an embodiment of the present invention.
Hereinafter, the hardware configuration of the vehicle-mounted device 10 according to the present embodiment will be described with reference to FIG.

The computer 900 includes a CPU 901, a main storage device 902, an auxiliary storage device 903, an input / output interface 904, and a communication interface 905.
The vehicle-mounted device 10 described above is mounted on the computer 900. The operation of each part of the vehicle-mounted device 10 described above is stored in the auxiliary storage device 903 of each computer 900 in the form of a program. The CPU 901 (CPU 130) reads a program from the auxiliary storage device 903, expands it into the main storage device 902, and executes the above processing according to the program. Further, the CPU 901 detects the traveling road image D1 acquired by the image acquisition unit 132, the storage area (not shown) for storing the peripheral information acquired by the peripheral information acquisition unit 133, the reference image storage unit 140, and the like according to the program. The range storage unit 150 and the range storage unit 150 are secured in the main storage device 902. Further, the CPU 901 secures a storage area for storing the data being processed in the auxiliary storage device 903 according to the program.
The computer 900 is connected to the external storage device 910 via the input / output interface 904, and the reference image storage unit 140 and the detection range storage unit 150 may be secured in the external storage device 910. Further, the computer 900 is connected to the external storage device 920 via the communication interface 905, and the reference image storage unit 140 and the detection range storage unit 150 may be secured in the external storage device 920.

In at least one embodiment, the auxiliary storage device 903 is an example of a non-temporary tangible medium. Other examples of non-temporary tangible media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, etc. connected via the input / output interface 904. Further, when this program is distributed to the computer 900 by a communication line, the distributed computer 900 may expand the program to the main storage device 902 and execute the above processing.

Further, the program may be for realizing a part of the above-mentioned functions. Further, the program may be a so-called difference file (difference program) that realizes the above-mentioned function in combination with another program already stored in the auxiliary storage device 903.

(Action effect)
As described above, the vehicle-mounted device 10 according to the present embodiment determines whether or not the traveling vehicle A is located in the detection range including the predetermined event point based on the signal (satellite signal) received from the outside. The vehicle position determination unit 131, and the image acquisition unit 132 that acquires the driving road image D1 taken by the camera 11 mounted on the vehicle A when it is determined that the vehicle A is located in the detection range. A traveling road determination unit 134 for determining a road on which the vehicle A is traveling is provided based on a reference image taken from a road included in the range and a traveling road image D1.
By doing so, the on-board unit 10 sets an event point at a branch, a point where a plurality of roads are adjacent to each other, and the like, so that the vehicle A travels on which road in the detection range including the event point. It can be determined based on the driving road image D1 and the reference image. Further, since the driving road determination unit 134 makes a determination based on the driving road image D1 and the reference image only in the detection range, the load required for the processing for determining the driving road can be reduced. As a result, the process of determining the traveling road by the on-board unit 10 can be speeded up.

Further, the vehicle-mounted device 10 further includes a reference image storage unit 140 that stores a plurality of reference images for each detection range. The driving road determination unit 134 extracts at least one reference image from the plurality of reference images according to the surrounding environment of the detection range, and the vehicle A travels based on the extracted reference image and the driving road image D1. Determine which road you are on.
By doing so, the driving road determination unit 134 may change the scenery seen from the road within the detection range according to the surrounding environment such as the date and time and the weather, among the plurality of reference images. The road can be determined based on the reference image taken in an environment close to the environment. As a result, the accuracy of the process in which the traveling road determination unit 134 determines the traveling road can be improved.

Further, the vehicle-mounted device 10 further includes a satellite signal receiving unit 110 that receives a signal from the satellite. The vehicle position determination unit 131 determines whether or not the vehicle A is located in the detection range based on the satellite signal from the satellite.
By doing so, the vehicle position determination unit 131 can always determine with high accuracy whether or not the vehicle A is located in the detection range based on the satellite signal acquired periodically.

Further, the driving road determination system 1 according to the present embodiment is a vehicle position determination unit that determines whether or not the traveling vehicle A is located in the detection range including a predetermined event point based on a signal received from the outside. 131, an image acquisition unit 132 that acquires a driving road image D1 taken by a camera 11 mounted on the vehicle A when it is determined that the vehicle A is located in the detection range, and a road included in the detection range. A traveling road determination unit 134 for determining the road on which the vehicle A is traveling based on the reference image taken from the above and the traveling road image D1 is provided.
Further, the roadway determination system 1 further includes a mark 220 provided so as to fit in the shooting area of the roadway image D1 shot by the camera 11.
By doing so, since the mark 220 as a mark is included in the traveling road image D1, the accuracy of determining which road the vehicle A is traveling on can be improved by the traveling road determination unit 134.

The driving road determination system 1 according to the above-described embodiment may be used for collecting fines, tolls, and the like on general roads.
For example, on general roads, there are many areas where restrictions on vehicle driving are stipulated, such as one-way traffic, U-turn prohibition, and restrictions on driving by specific vehicle type (classification of vehicles such as large vehicles and ordinary vehicles). .. When cracking down on one-way violations and collecting fines in such areas, it is conceivable to place observers, communication devices capable of wireless communication with on-board units, etc. in the areas. However, since it is costly to arrange observers, communication equipment, etc., it is not realistic to arrange them in each of a large number of areas.
However, by applying the driving road determination system 1 and setting each of a large number of areas as a detection range, the on-board unit 10 determines which road and in what direction the vehicle A traveled within the detection range. Can be determined and output as travel point information. Then, for example, a server may be installed in an office having jurisdiction over a plurality of areas so that the server collects travel point information from each on-board unit 10. The server detects that the vehicle A is traveling in the direction of going backward in the one-way area and that the U-turn is made in the detection range where the U-turn is prohibited, based on the travel point information of the vehicle A. You may do so.
Further, the server may detect that the vehicle A (large vehicle) has traveled on the road where the specific vehicle type (for example, a large vehicle) is prohibited from traveling based on the travel point information of the vehicle A. .. In this case, the on-board unit 10 outputs information that can identify the vehicle type of the vehicle A to the server together with the travel point information.
When the server detects that the vehicle A violates the regulation such as one-way traffic, the server may execute a process for collecting a fine for the vehicle A based on the detection result. For example, the vehicle A in which the violation is detected may be charged with a fine, or the observer stationed in the office may be notified that the violation has been detected. This makes it possible to control one-way streets and collect fines at low cost.
Further, in a residential area where the noise from the vehicle causes annoyance to the residents, the road provided in the residential area may be set as the detection range. In this case, when the server detects that the vehicle A has traveled on the road in the residential area based on the travel point information of the vehicle A, the server performs a process of collecting a toll from the vehicle A. In this way, by collecting the toll from the vehicle A traveling on a specific road, it is possible to limit the traffic volume of the vehicle on the road.

In addition, the toll road may be provided with a smart interchange (IC) that allows passengers to get on and off the toll road from the main line, service area, parking area, bus stop, and the like. Conventional smart ICs include an electronic toll collection system (ETC: Electronic Toll Collection System (registered trademark)) that collects vehicle tolls by wirelessly communicating between an on-board unit and a roadside device. There is also a toll collection system).
By setting such a smart IC as a detection range, the driving road determination unit 134 of the on-board unit 10 can get on and off the toll road via which smart IC based on the driving road image D1 and the reference image. It can be determined whether it has been done. As a result, the server can identify the toll road on which the vehicle A travels based on the travel point information collected from the vehicle-mounted device 10, and collect the toll of the toll road from the vehicle A.
As a result, it is possible to detect that the vehicle A has boarded and disembarked on the toll road via the smart IC without installing an expensive ETC roadside device on the smart IC, so that the cost and maintenance related to the installation of the equipment can be reduced. It is possible to reduce such costs.

In addition, the toll road may not have a gas station over a plurality of sections. There is a possibility of running out of gasoline while driving in such a section, and in this case, it is conceivable that the vehicle will exit the toll road once, stop at the gas station provided on the general road, and re-enter the toll road. Will be. Generally, the toll is added to the initial fare each time you enter the toll road. For this reason, if you temporarily leave the toll road to stop at a gas station, the toll may be higher than if you continue to drive without leaving the toll road.
In such a toll road, the gas station may be set as a detection range in order to detect whether or not the user has stopped at the gas station. At this time, the monitoring system (not shown) provided in the tollhouse office of the toll road acquires the travel point information indicating that the vehicle has stopped at the gas station from the on-board unit 10. Then, when the vehicle A that has stopped at the gas station enters the toll road again, the monitoring system may perform a process of discounting the toll for the vehicle A (reducing the initial fare).
As a result, it is possible to construct a system for discount processing for vehicles that have temporarily left the toll road at low cost.

Although the embodiments of the present invention have been described in detail above, they are not limited to these as long as they do not deviate from the technical idea of the present invention, and some design changes and the like are possible.
For example, in the above-described embodiment, the driving road determination unit 134 outputs the latitude and longitude corrected based on the driving road image D1 and the reference image as the driving point information that can identify the road on which the vehicle A is traveling. However, the present invention is not limited to this. In another embodiment, the driving road determination unit 134 identifies information such as a road name and a road ID that can identify a driving road based on the corrected latitude and longitude, and outputs these information as driving point information. You may try to do it.

Further, in the above-described embodiment, the embodiment in which the vehicle-mounted device 10 has the traveling road determination unit 134 has been described, but the present invention is not limited to this. For example, a server (not shown) that can be connected to the vehicle-mounted device 10 via the network NW may have a driving road determination unit 134. In this case, the on-board unit 10 transmits the position information (latitude and longitude before correction) of the vehicle A acquired by the vehicle position determination unit 131 and the traveling road image D1 acquired by the image acquisition unit 132 via the wireless communication unit 120. And send it to the server. Then, the traveling road determination unit 134 of the server may correct the position information of the vehicle A based on the reference image and the traveling road image D1 to determine the road on which the vehicle A is traveling.
Even with such an embodiment, it is possible to obtain the same effect as that of the above-described embodiment.

1 Road judgment system 10 On-board unit 11 Camera 110 Satellite signal receiver 120 Wireless communication unit 130 CPU
131 Vehicle position determination unit 132 Image acquisition unit 133 Peripheral information acquisition unit 134 Driving road determination unit 135 Driving point information transmission unit 140 Reference image storage unit 150 Detection range storage unit 20 Roadside device 210 Lighting device 220 Mark

Claims (11)

A vehicle position determination unit that determines whether or not a traveling vehicle is located in a detection range including a plurality of roads located around a predetermined event point based on a signal received from the outside.
An image acquisition unit that acquires a plurality of road road images taken by a camera mounted on the vehicle each time the signal is received while the vehicle is determined to be located in the detection range.
Each time the driving road image is acquired, the driving road determination for determining the road on which the vehicle is traveling is based on the reference image taken from the road included in the detection range and the plurality of the driving road images. Department and
On-board unit equipped with. Further, a reference image storage unit for storing a plurality of reference images for each detection range is provided.
The driving road determination unit extracts at least one reference image from the plurality of reference images according to the surrounding environment of the detection range, and based on the extracted reference image and the driving road image, the vehicle. Judging the road on which
The on-board unit according to claim 1. It also has a satellite signal receiver that receives signals from satellites.
The vehicle position determination unit determines whether or not the vehicle is located in the detection range based on the signal from the satellite.
The on-board unit according to claim 1 or 2. A vehicle position determination unit that determines whether or not a traveling vehicle is located in a detection range including a plurality of roads located around a predetermined event point based on a signal received from the outside.
An image acquisition unit that acquires a plurality of road road images taken by a camera mounted on the vehicle each time the signal is received while the vehicle is determined to be located in the detection range.
Each time the driving road image is acquired, the driving road determination for determining the road on which the vehicle is traveling is based on the reference image taken from the road included in the detection range and the plurality of the driving road images. Department and
Road judgment system equipped with. Further provided with a mark provided so as to fit in the shooting area of the road image taken by the camera.
The driving road determination system according to claim 4. A vehicle position determination step for determining whether or not a traveling vehicle is located in a detection range including a plurality of roads located around a predetermined event point based on a signal received from the outside, and a vehicle position determination step.
An image acquisition step of acquiring a plurality of road road images taken by a camera mounted on the vehicle each time the signal is received while the vehicle is determined to be located in the detection range.
Each time the driving road image is acquired, the driving road determination for determining the road on which the vehicle is traveling is based on the reference image taken from the road included in the detection range and the plurality of the driving road images. Steps and
Road determination method having. In-vehicle computer,
A vehicle position determination unit that determines whether or not a traveling vehicle is located in a detection range including a plurality of roads located around a predetermined event point based on a signal received from the outside.
An image acquisition unit that acquires a plurality of road road images taken by a camera mounted on the vehicle each time the signal is received while the vehicle is determined to be located in the detection range.
Each time the driving road image is acquired, the driving road determination for determining the road on which the vehicle is traveling is based on the reference image taken from the road included in the detection range and the plurality of the driving road images. Department,
A program that functions as. Further, a server for detecting the presence or absence of a violation of the vehicle based on the driving road of the vehicle determined by the driving road determination unit is provided.
The driving road determination unit further determines the traveling direction of the vehicle on the driving road based on the information indicating the shooting direction included in the reference image.
The server collects a fine from the vehicle when the vehicle travels in violation of the rules of the driving road.
The driving road determination system according to claim 4 or 5. The server further acquires the vehicle type of the vehicle, and further performs a process of collecting a fine from the vehicle when the vehicle type of the vehicle is not a vehicle type that can pass through the traveling road.
The driving road determination system according to claim 8. When it is determined by the driving road determination unit that the vehicle is traveling on a predetermined road, a server for charging the toll of the vehicle is further provided.
The driving road determination system according to claim 4 or 5. The driving road determination unit further determines whether or not the vehicle has stopped at a predetermined facility, and further determines.
The server performs a process of discounting the toll of the vehicle when the vehicle temporarily leaves the toll road and stops at the facility.
The driving road determination system according to claim 10.

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