JP2007041916A - Stop line detection system for vehicles - Google Patents

Abstract

To accurately detect a stop line on a road.
In an in-vehicle device, when a stop state of a vehicle is detected, the stop position of the vehicle is detected, link data of the stop position and node data nearest to the traveling direction are read from road map data, and stop position data , Link data and node data are transmitted to the information center as stop line information. In the information center, stop line information is collected from a plurality of in-vehicle devices and classified for each link and node, and a plurality of in-vehicle devices are provided for each link and node. The machine stop position data is statistically processed to estimate the stop line position, and the estimated stop line position is distributed to a plurality of in-vehicle devices.
[Selection] Figure 5

Description

  The present invention relates to a system for detecting a stop line on a road, an on-vehicle stop line detection device, an information center, and a vehicle stop line detection method.

  There is known an apparatus that detects a stop line by processing an image of a road surface captured by an in-vehicle camera (see, for example, Patent Document 1).

Prior art documents related to the invention of this application include the following.
JP 2004-295597 A

  However, the stop line detection apparatus described above may not be able to accurately detect a stop line from an image of the road surface depending on the road surface condition due to aging degradation of the stop line (white line) or weather.

(1) In the in-vehicle device, when the stop state of the vehicle is detected, the stop position of the vehicle is detected, and the link data of the stop position and the node data closest to the traveling direction are read from the road map data, Link data and node data are transmitted to the information center as stop line information. In the information center, stop line information is collected from a plurality of in-vehicle devices and classified for each link and node, and a plurality of in-vehicle devices are provided for each link and node. The stop line data is statistically processed to estimate the stop line position, and the estimated stop line position is distributed to a plurality of in-vehicle devices.
(2) In the in-vehicle device, it is determined whether or not the vehicle is stopped at the stop line drawn on the road surface when the stop state of the vehicle is detected. The stop position is detected, the link data of the stop position and the node data nearest to the traveling direction are read from the road map data, and the stop position data, link data and node data are transmitted to the information center as stop line information. Collect stop line information from multiple in-vehicle devices and classify them by link and node, and statistically process the stop position data of multiple in-vehicle devices for each link and node to estimate the stop line position, and the estimated stop Deliver the line position to multiple in-vehicle devices.

  According to the present invention, it is possible to accurately detect a stop line without being affected by road surface conditions due to aged deterioration of the paint of the stop line or weather.

  In the information center, the stop line information is collected from many vehicles (probe vehicles) equipped with the on-vehicle stop line detection device, statistically processed, and the accurate stop line position is estimated and distributed to each vehicle. An embodiment will be described. In the following, an embodiment in which the in-vehicle stop line detection device is incorporated in the navigation device will be described, but the in-vehicle stop line detection device may be configured separately from the navigation device. Further, in this specification, the stop line is a white line that is painted on the road surface in front of an intersection or railroad crossing and that instructs to stop once.

<< First Embodiment of the Invention >>
FIG. 1 is a diagram showing the configuration of the first embodiment. The in-vehicle navigation device 10 searches for the optimum route to the destination, displays a road map around the vehicle, displays the optimum route and the current location on the road map, and guides the occupant to the destination. The in-vehicle navigation device 10 communicates with the information center 20 to exchange road traffic information. In other words, a plurality of vehicles equipped with the in-vehicle navigation device 10 function as probe vehicles, detect road traffic information and send it to the information center 20, and aggregate the road traffic information sent from the plurality of vehicles at the information center 20, or Statistical processing is performed, and then delivered to each vehicle again.

  The road traffic information exchanged between the in-vehicle navigation device 10 and the information center 20 includes stop line information. That is, the in-vehicle navigation device 10 detects a stop line on the road and sends the stop line information to the information center 20. The information center 20 statistically processes stop line information collected from many vehicles, estimates an accurate stop line position, and distributes it again to each vehicle.

  The in-vehicle navigation device 10 includes a navigation controller 11, a current location detection device 12, a road map storage device 13, a vehicle information acquisition device 14, a display 15, a communication device 16, and the like. The navigation controller 11 includes a CPU 11a, a ROM 11b, a RAM 11c, and the like, and a stop line detection function in addition to the navigation function described above.

  The current location detection device 12 includes a GPS receiver (not shown), a travel distance sensor (not shown), and a traveling direction sensor (not shown), and detects the current location of the vehicle by satellite navigation and autonomous navigation. In the present location detection by autonomous navigation, the vehicle travel locus is detected based on the travel distance detected by the travel distance sensor and the travel direction detected by the travel direction sensor, and the road map stored in the road map storage device 13 is detected. And map matching to identify the road and detect the current location of the vehicle. Note that the vehicle travel distance may be detected by counting vehicle speed pulses output at predetermined distances from a vehicle speed sensor (not shown). The road map data in the road map storage device 13 includes stop line position data.

  The vehicle information acquisition device 14 acquires various types of vehicle information from various sensors and various controllers. This vehicle information includes the vehicle speed detected by the vehicle speed sensor, the presence / absence of the preceding vehicle detected by the inter-vehicle distance detection device and the inter-vehicle distance, the transmission shift position detected by the transmission controller, the parking brake switch, the ignition key switch, ON / OFF information such as hazard switches and turn signal switches are included. The display 15 displays a road map and various types of information, and the communication device 16 performs wireless communication with the information center 20. The communication device 16 can be a mobile phone, an in-vehicle phone, a dedicated wireless communication device, or the like.

  The information center 20 includes a processing device 21, a road map database 22, a stop line information storage device 23, a communication device 24, and the like. The processing device 21 is a large computer and performs various types of processing of road traffic information. This process includes a process of statistically processing stop line information collected from the in-vehicle navigation device 10 and estimating an accurate stop line position. The road map database 22 is a storage device that stores road map data, and the road map data includes stop line position data.

  The stop line information storage device 23 is a storage device for temporarily storing stop line information collected from the in-vehicle navigation device 10. The communication device 24 performs wireless communication with the in-vehicle navigation device 10. The road map stored in the road map storage device 13 of the in-vehicle navigation device 10 and the road map stored in the road map database 22 of the information center 20 are the same.

  FIG. 2 is a flowchart showing the stop line detection process of the in-vehicle navigation device, and FIG. 3 is a flowchart showing the stop line estimation process of the information center. The operation of the first embodiment will be described with reference to these flowcharts.

  The navigation controller 11 of the vehicle-mounted navigation device 10 repeatedly executes the stop line detection program shown in FIG. 2 when an ignition key switch (not shown) is turned on. In step 1, the vehicle speed is obtained from the vehicle information acquisition device 14, and it is determined whether or not the vehicle speed is equal to or less than a preset stop determination reference value, that is, whether or not the vehicle is stopped. If the vehicle is not stopped, the process returns to Step 1, and if the vehicle is stopped, the process proceeds to Step 2.

  In step 2, it is determined whether the current location of the vehicle is different from the ignition on position. Ignition on information by the ignition key is obtained from the vehicle information obtaining device 14, and the vehicle position detected by the current position detecting device 12 when the ignition is on is stored in the RAM 11c as the ignition on position. Then, the current location of the vehicle detected by the current location detection device 12 is compared with the latest ignition-on position stored in the RAM 11c, and if they match, the vehicle has started the engine in a parking lot, for example. It is thought that it is not moving from. That is, since the vehicle is not stopped once at the stop line on the road, in this case, the process returns to step 1 and the above-described processing is repeated.

  If the current location of the vehicle is different from the latest ignition on position, there is a possibility that the vehicle has stopped once at the stop line on the road, and the routine proceeds to step 3. In step 3, it is confirmed whether or not a matching road exists in the autonomous navigation of the current location detection device 12. If there is no matching road in autonomous navigation, there is a high possibility that the vehicle has stopped at a parking lot other than the road, and it is considered that the vehicle has not stopped at the stop line on the road. Returning to step 1, the above-described processing is repeated.

  If a matching road exists in the autonomous navigation of the current location detection device 12, the process proceeds to step 4 to determine whether the matching road is a general road. If the matching road is a toll road or expressway, it is highly likely that the car is stopped at a toll booth or service area, and it is considered that it is not stopped at the stop line on the road. Return to 1 and repeat the process described above.

  If the matching road is a general road, the process proceeds to step 5 to determine whether the current location of the vehicle is different from the hazard on position. The hazard switch ON information is acquired from the vehicle information acquisition device 14, and the vehicle position detected by the current position detection device 12 when the hazard switch is ON is stored in the RAM 11c as the hazard ON position. Then, the current location of the vehicle detected by the current location detection device 12 is compared with the latest hazard-on position stored in the RAM 11c. If the two match, it is highly likely that the vehicle has stopped on the shoulder, and it is considered that the vehicle has not stopped at the stop line on the road. In this case, the process returns to step 1 and the above-described processing is repeated.

  If the current location of the vehicle is different from the hazard on position, the process proceeds to step 6 to obtain operation information of the turn signal switch from the vehicle information acquisition device 14 and determine whether or not the turn signal switch is operated to the right turn side. If it is during a right turn operation, there is a high possibility that the vehicle has entered the intersection and is waiting for a right turn, and it is considered that the vehicle has not stopped at the stop line on the road. Repeat the process.

  When the right turn operation is not being performed, the process proceeds to step 7 to obtain detection information of the preceding vehicle by the inter-vehicle distance detection device from the vehicle information acquisition device 14 and determine whether the preceding vehicle is detected within a predetermined distance, for example, 5 m. . Instead of the inter-vehicle distance detection device, a preceding vehicle may be detected by processing a captured image in front of the vehicle by a camera. If a preceding vehicle is detected immediately before your vehicle, there is a high possibility that the vehicle is stopping behind the preceding vehicle that is stopping on the road, and your vehicle is stopping at the stop line. It is not considered. In this case, since the stop position of the own vehicle is deviated from the stop line position, if the stop position of the own vehicle is set as the stop line position, the stop line position detection accuracy is lowered. Therefore, in this case, the process returns to step 1 and the above-described processing is repeated.

  If all the conditions in steps 2 to 7 above are satisfied, it is considered that the vehicle has stopped once at the stop line on the road, and the stop position of the vehicle is detected by the current position detection device 12 in step 8. At the same time, the link data of the stop position and the node data nearest to the vehicle traveling direction are read from the road map data of the road map storage device 13. In step 9, the latitude / longitude data, the link data, and the node data of the stop position are transmitted to the information center 20 by the communication device 24 as stop line information.

  In addition, you may determine with the vehicle stopping on the stop line if at least 1 determination condition is satisfied among the stop line stop determination conditions of step 2-7. Of course, the determination accuracy increases as the number of satisfied conditions among the determination conditions in steps 2 to 7 increases. Moreover, when the load of the navigation controller 11 of the vehicle-mounted navigation device 10 is large, a part of the conditions in Steps 2 to 7 in FIG. 2 may be omitted or the condition determination order may be changed.

  The processing device 21 of the information center 20 repeatedly executes the stop line estimation program shown in FIG. In step 11, it is confirmed whether stop line information is received from the in-vehicle navigation device 10, and if stop line information is received, the process proceeds to step 12. The stop line information includes latitude / longitude data of the stop position, link data, and node data closest to the vehicle traveling direction. In step 12, stop position data is organized for each node and link and stored in the stop line information storage device 23.

  Of the stop line information stored in the stop line information storage device 23, information after a predetermined period of time may be erased. Thereby, a more accurate stop line position can be estimated based on the latest stop line information.

  In step 13, it is confirmed whether or not a predetermined number of stop line information for each node and link has been accumulated, for example, 100 or more. When a predetermined number or more of stop line information collected for each node and link is accumulated from each vehicle, statistical processing is performed on the accumulated stop line information for a predetermined number or more in step 14. Specifically, the stop positions are averaged, and the stop line position is estimated. Note that an arbitrary value can be set as the predetermined number for starting the statistical processing of the stop line information, but as the predetermined number is increased, the estimation accuracy of the stop line position becomes higher.

  The stop line position estimated by statistical processing in step 15 is stored in the road map database 22 as stop line data. When the stop line position for the same node and link is already stored in the road map database 22, it is updated to the latest estimated position. In subsequent step 16, the stop line position estimated by the statistical processing, and node data and link data at the stop line position are distributed as stop line information to each vehicle by the communication device 16.

  The vehicle-mounted navigation device 10 of each vehicle receives the stop line information distributed from the information center 20 and stores it in the road map storage device 13. When the stop line position for the same node and link is already stored in the road map storage device 13, it is updated to the latest received stop line position.

  The navigation device 10 of each vehicle uses the accurate stop line information obtained from the information center 20 to perform warning display and voice guidance immediately before the stop line, or automatically decelerates before the stop line, In order to reduce the driving load, the vehicle is automatically controlled to stop the vehicle and assist the driver's driving operation.

  Thus, according to the first embodiment, in the in-vehicle navigation device, it is determined whether or not the vehicle is stopped at the stop line drawn on the road surface when the stop state of the vehicle is detected. When it is determined that the vehicle is stopped, the stop position of the vehicle is detected, the link data of the stop position and the node data nearest to the traveling direction are read from the road map data, and the stop position data, the link data and the node data are stopped. It is sent to the information center as line information. In the information center, stop line information is collected from a plurality of in-vehicle navigation devices and classified by link and node, and stop position data of a plurality of in-vehicle devices is statistically recorded for each link and node. Processing, estimated the stop line position, and distributed the estimated stop line position to multiple in-vehicle devices. Year deterioration and without being affected by the road surface conditions due to the weather, it is possible to accurately detect the stop line. Also, even when the stop line position is changed due to road construction or a new stop line is installed, the latest stop line position information can always be provided.

  Further, according to the first embodiment, (1) a determination condition that the current position of the vehicle is different from the position when the ignition is on, (2) a determination condition that a matching road exists in the map matching of the current position detection device, (3) Judgment condition that a matching road exists in map matching of the current position detection device and that the matching road is a general road, (4) Judgment condition that the current position of the vehicle is different from the position when the hazard switch is turned on, ( 5) The determination condition that the turn signal switch is not operated to the right turn side, and (6) the determination condition that the preceding vehicle is not detected within a predetermined distance by the presence / absence of the preceding vehicle in front of the vehicle and the inter-vehicle distance detection device. When any one or more determination conditions are satisfied, it is determined that the vehicle is stopped at a stop line drawn on the road surface, Since stop line information is sent to the information center, only stop line information when stopping on the stop line is sent to the information center, and such stop line information is used to improve stop line estimation accuracy. Can do.

<< Second Embodiment of the Invention >>
In the first embodiment described above, an example is shown in which it is determined that the vehicle has stopped once at a stop line in front of an intersection or railroad crossing when the state of the vehicle and the traveling condition satisfy various stop line stop determination conditions. However, if the vehicle is stopped without using these criteria, the stop position is transmitted to the information center, and the stop line position is determined from the distribution of stop positions of many probe vehicles collected at the information center. A second embodiment to be estimated will be described. The configuration of the second embodiment is the same as that shown in FIG. 1, and illustration and description thereof are omitted.

  FIG. 4 is a flowchart showing stop line detection processing of the in-vehicle navigation device. The navigation controller 11 of the vehicle-mounted navigation device 10 repeatedly executes the stop line detection program shown in FIG. 4 when an ignition key switch (not shown) is turned on. In step 21, the vehicle speed is obtained from the vehicle information acquisition device 14, and it is determined whether the vehicle speed is equal to or less than a preset stop determination reference value, that is, whether the vehicle is stopped. If the vehicle is not stopped, the process returns to step 21. If the vehicle is stopped, the process proceeds to step 22.

  In step 22, it is determined by referring to the road map data in the road map storage device 13 whether or not the vehicle is near a place where the vehicle must stop once such as an intersection or a railroad crossing. This determination is made by reading node information such as intersections and railroad crossings closest to the direction of travel from road map data, and if the distance from the current location of the vehicle to a node such as an intersection or railroad crossing is within 30 m, for example, Is determined to be near a place where it must stop. If the current location of the vehicle is not near the place where the vehicle must be stopped, it is considered that the vehicle is not stopped at the stop line on the road, so the process returns to step 21 and the above-described processing is repeated.

  If the vehicle has stopped near a place where it must stop, such as an intersection or railroad crossing, the process proceeds to step 23, and the current position of the vehicle, that is, the stop, is referred to the road map data in the road map storage device 13. The latitude / longitude data, the road link data, and the node data nearest to the traveling direction of the point considered as the line position are read out and transmitted to the information center 20 by the communication device 24 as stop line information.

  Next, the stop line estimation process of the information center 20 will be described. The stop line estimation process in the information center 20 is the same as the stop line estimation process of the first embodiment shown in FIG. 3 except for the statistical processing method, and the difference will be mainly described. The stop line information of the same link and node collected from many vehicles in step 14 of FIG. 3 is statistically processed to estimate the stop line position.

  FIG. 5 shows an image of stop line information of an intersection collected from many probe vehicles. One vehicle is temporarily stopped just before the actual stop lines 31 and 32, and the other vehicles are stopped behind the preceding vehicle stopped at the stop lines 31 and 32. All the vehicles stop near the intersection, and each stop position is transmitted to the information center 20 as stop line information.

  The information center 20 classifies stop line information collected from many probe vehicles for each link and node, and the vehicle traveling direction of the link and node stop positions where the number of information exceeds a predetermined number (100 in this embodiment). Find the frequency distribution for. FIG. 6 shows an example of the frequency distribution of the stop positions. The frequency is high in the vicinity where many vehicles stop, and the frequency is low in the vicinity where there are few opportunities for the vehicle to stop. Originally, there are many opportunities for the vehicle to stop once in the vicinity of the stop line, so the frequency near the stop position is high, and the opportunity for the vehicle to stop decreases as it goes backward from the stop line, so the frequency of the stop position gradually increases. Lower. On the other hand, since the road ahead from the stop line enters the intersection or railroad crossing, it is considered that there are very few opportunities for the vehicle to stop in the intersection or railroad crossing, and the frequency of the stop position is extremely low.

  Therefore, in the second embodiment, as shown in FIG. 7, the frequency of the stop position is extremely high at the position where the frequency of the stop position is the highest in the frequency distribution of the stop position, and in front of the vehicle traveling direction at that position. The lower position is estimated as the stop line position.

  As described above, according to the second embodiment, in the in-vehicle navigation device, when the stop state of the vehicle is detected, it is determined whether or not the current location of the vehicle is at or near the place where the vehicle must stop. Determining and detecting a stop position of the vehicle when it is at or near a place where the vehicle must stop, and reading out the link data of the stop position and the node data nearest to the traveling direction from the road map data, Link data and node data are transmitted to the information center as stop line information. In the information center, stop line information is collected from a plurality of in-vehicle navigation devices and classified into links and nodes, and a plurality of in-vehicle units are provided for each link and node. The machine stop position data is statistically processed to estimate the stop line position, and the estimated stop line position is duplicated. Since so as to deliver to the vehicle device, without being affected by the road surface conditions due to aging or weather paint stop line, it is possible to accurately detect the stop line. Also, even when the stop line position is changed due to road construction or a new stop line is installed, the latest stop line position information can always be provided.

<< Third Embodiment of the Invention >>
In the second embodiment described above, when the vehicle is stopped, it is determined whether or not it is near a place where the vehicle must stop such as an intersection or a railroad crossing, and the vicinity of the place where the vehicle must stop once. In the third embodiment, the latitude / longitude data of the stop position, the link data, and the data of the node nearest to the vehicle traveling direction are sent to the information center. However, in this third embodiment, when the vehicle stops, The process of determining whether or not the vehicle is in the vicinity of the place where it must stop once is omitted. In other words, when the vehicle is stopped, the latitude / longitude data of the stop position, the link data, and the data of the node closest to the vehicle traveling direction are sent to the information center, and the information center is as shown in the second embodiment. Then, the stop positions are classified for each link and node, and when the accumulated amount of stop position data for each link and node exceeds a predetermined number, for example, 200, the stop position of the link and node is statistically processed. That is, a frequency distribution of stop positions is created, and a position where the frequency of the stop position is the highest and the frequency of the stop position is extremely low in front of the position in the vehicle traveling direction is estimated as the stop line position.

  In the third embodiment, in addition to the stop position data when stopping at a place where it must stop once such as an intersection or railroad crossing, it stops at a place where it is not necessary to stop once such as a parking lot or a road shoulder. Stop position data is also sent to the information center, which increases the burden on the information center, but is in the vicinity of a place where the vehicle must be stopped, such as an intersection or railroad crossing when the vehicle stops The process of determining whether or not can be omitted, and the burden on the in-vehicle device is reduced. Since the information center is equipped with a large computer with high processing capacity, the burden on the information center is not a problem.

  However, in the third embodiment, the accumulated amount of stop position data for each link and node, which is a condition for performing statistical processing, is larger than that in the second embodiment, and the vehicle stops at a parking lot or a road shoulder. In this case, it is desirable not to perform statistical processing on the stop position data, and to prevent a decrease in the estimation accuracy of the stop line position due to the omission of the determination process by the in-vehicle device.

  Thus, according to the third embodiment, in the in-vehicle navigation device, when the stop state of the vehicle is detected, the stop position of the vehicle is detected, and the link data of the stop position and the traveling direction are determined from the road map data. Read the latest node data, send stop position data, link data, and node data to the information center as stop line information, collect stop line information from multiple in-vehicle navigation devices at the information center, and classify by link and node In addition, the stop line position is estimated by statistically processing the stop position data of multiple in-vehicle devices for each link and node, and the estimated stop line position is distributed to multiple in-vehicle devices. The stop line can be accurately detected without being affected by the road surface condition due to aging deterioration or weather. Also, even when the stop line position is changed due to road construction or a new stop line is installed, the latest stop line position information can always be provided.

  The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the road map storage device 13 is the map storage means, the current location detection device 12 is the position detection means, the vehicle information acquisition device 14 and the navigation controller 11 are the stop detection means and the stop determination means, and the communication device 16 and the navigation controller 11 are. As for the information transmission means, the processing device 21 constitutes a position estimation means, and the communication device 24 and the processing device 21 constitute an information distribution means. The above description is merely an example, and when interpreting the invention, the correspondence between the items described in the above embodiment and the items described in the claims is not limited or restricted.

It is a figure which shows the structure of 1st Embodiment. It is a flowchart which shows the stop line detection process of the vehicle-mounted navigation apparatus of 1st Embodiment. It is a flowchart which shows the stop line estimation process of the information center of 1st Embodiment. It is a flowchart which shows the stop line detection process of the vehicle-mounted navigation apparatus of 2nd Embodiment. It is a figure showing stop position information near a certain intersection collected from a plurality of vehicles. It is a figure which shows the stop position distribution of a certain intersection vicinity. It is a figure which shows the estimation method of a stop line position.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 In-vehicle navigation apparatus 11 Navigation controller 12 Present location detection apparatus 13 Road map storage apparatus 14 Vehicle information acquisition apparatus 16 Communication apparatus 20 Information center 21 Processing apparatus 22 Road map database 23 Stop line information storage apparatus 24 Communication apparatus

Claims (17)

Map storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Stop detection means for detecting the stop state of the vehicle;
When the stop state of the vehicle is detected, the position detecting means detects the stop position of the vehicle, and reads link data of the stop position and node data nearest to the traveling direction from the map storage means, and stops position data, link A plurality of in-vehicle stop line detection devices comprising information transmitting means for transmitting data and node data to the information center as stop line information;
Stop line information is collected from the plurality of on-vehicle stop line detection devices and classified for each link and node, and stop position data of the plurality of on-vehicle stop line detection devices is statistically processed for each link and node to determine the stop line position. Position estimating means for estimating;
A vehicle stop line detection system comprising: an information center including an information distribution unit that distributes the stop line position estimated by the position estimation unit to the plurality of in-vehicle stop line detection devices. Collect stop line information from multiple in-vehicle stop line detectors, classify by link and node, and statistically process stop position data of multiple in-vehicle stop line detectors for each link and node to estimate stop line position Position estimation means;
An in-vehicle stop line detection device that transmits stop line information to an information center including an information distribution unit that distributes the stop line position estimated by the position estimation unit to a plurality of in-vehicle stop line detection devices,
Map storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Stop detection means for detecting the stop state of the vehicle;
When the stop state of the vehicle is detected, the position detecting means detects the stop position of the vehicle, and reads link data of the stop position and node data nearest to the traveling direction from the map storage means, and stops position data, link An in-vehicle stop line detection device comprising: information transmission means for transmitting data and node data to the information center as stop line information. Map storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Stop detection means for detecting the stop state of the vehicle;
When the stop state of the vehicle is detected, the position detecting means detects the stop position of the vehicle, and reads link data of the stop position and node data nearest to the traveling direction from the map storage means, and stops position data, link An information center for collecting stop line information from an in-vehicle stop line detection device comprising information transmitting means for transmitting data and node data to the information center as stop line information,
The stop line information collected from the plurality of on-vehicle stop line detection devices is classified for each link and node, and stop position data of the plurality of on-vehicle stop line detection devices is statistically processed for each link and node to estimate the stop line position. Position estimation means for
An information center comprising: an information distribution unit that distributes the stop line position estimated by the position estimation unit to the plurality of in-vehicle stop line detection devices. In the in-vehicle device, when the stop state of the vehicle is detected, the stop position of the vehicle is detected, and the link data of the stop position and the node data nearest to the traveling direction are read from the road map data, the stop position data, the link data, and Node data is sent to the information center as stop line information,
In the information center, stop line information is collected from multiple in-vehicle devices and classified for each link and node, and stop position data of multiple in-vehicle devices is statistically processed for each link and node to estimate the stop line position, A vehicle stop line detection method, wherein the estimated stop line position is distributed to a plurality of in-vehicle devices. Map storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Stop detection means for detecting the stop state of the vehicle;
A stop determination means for determining whether or not the vehicle is stopped at a stop line drawn on the road surface when the stop state of the vehicle is detected;
When it is determined by the stop determination means that the vehicle is stopped on the stop line, the position detection means detects the stop position of the vehicle, and the link data of the stop position and the node data nearest to the traveling direction from the map storage means A plurality of in-vehicle stop line detection devices, including information transmitting means for reading stop position data, link data, and node data to the information center as stop line information,
Stop line information is collected from the plurality of on-vehicle stop line detection devices and classified for each link and node, and stop position data of the plurality of on-vehicle stop line detection devices is statistically processed for each link and node to determine the stop line position. Position estimating means for estimating;
A vehicle stop line detection system comprising: an information center including an information distribution unit that distributes the stop line position estimated by the position estimation unit to the plurality of in-vehicle stop line detection devices. Collect stop line information from multiple in-vehicle stop line detectors, classify by link and node, and statistically process stop position data of multiple in-vehicle stop line detectors for each link and node to estimate stop line position Position estimation means;
An in-vehicle stop line detection device that transmits stop line information to an information center including an information distribution unit that distributes the stop line position estimated by the position estimation unit to a plurality of in-vehicle stop line detection devices,
Map storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Stop detection means for detecting the stop state of the vehicle;
A stop determination means for determining whether or not the vehicle is stopped at a stop line drawn on the road surface when the stop state of the vehicle is detected;
When it is determined by the stop determination means that the vehicle is stopped on the stop line, the position detection means detects the stop position of the vehicle, and the link data of the stop position and the node data nearest to the traveling direction from the map storage means And an information transmission means for transmitting stop position data, link data, and node data to the information center as stop line information. Map storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Stop detection means for detecting the stop state of the vehicle;
A stop determination means for determining whether or not the vehicle is stopped at a stop line drawn on the road surface when the stop state of the vehicle is detected;
When it is determined by the stop determination means that the vehicle is stopped on the stop line, the position detection means detects the stop position of the vehicle, and the link data of the stop position and the node data nearest to the traveling direction from the map storage means Is an information center that collects stop line information from an in-vehicle stop line detection device comprising information transmitting means for transmitting stop position data, link data and node data to the information center as stop line information,
The stop line information collected from the plurality of on-vehicle stop line detection devices is classified for each link and node, and stop position data of the plurality of on-vehicle stop line detection devices is statistically processed for each link and node to estimate the stop line position. Position estimation means for
An information center comprising: an information distribution unit that distributes the stop line position estimated by the position estimation unit to the plurality of in-vehicle stop line detection devices.   The stop determination means determines that the vehicle is stopped at a stop line drawn on a road surface when a determination condition that at least a current position of the vehicle is different from a position at the time of ignition is satisfied. The vehicle stop line detection system according to claim 5, the in-vehicle stop line detection device according to claim 6, or the information center according to claim 7.   The stop determination unit determines that the vehicle is stopped at a stop line drawn on a road surface when a determination condition that a matching road exists in at least the map matching of the position detection unit is satisfied. The vehicle stop line detection system according to claim 5, the on-vehicle stop line detection device according to claim 6, or the information center according to claim 7.   The stop determination unit is configured to stop at a stop line drawn on a road surface when a determination condition that a matching road exists at least in the map matching of the position detection unit and the matching road is a general road is satisfied. The vehicle stop line detection system according to claim 5, the in-vehicle stop line detection device according to claim 6, or the information center according to claim 7.   The stop determination means determines that the vehicle is stopped at a stop line drawn on a road surface when a determination condition that at least a current position of the vehicle is different from a position at the time of a hazard switch is satisfied. The vehicle stop line detection system according to claim 5, the on-vehicle stop line detection device according to claim 6, or the information center according to claim 7.   The stop determination means determines that the vehicle is stopped at a stop line drawn on the road surface when at least a determination condition that the turn signal switch is not operated to the right turn side is satisfied. The vehicle stop line detection system according to claim 5, the in-vehicle stop line detection device according to claim 6, or the information center according to claim 7.   The stop determination means is a stop line drawn on the road surface when a determination condition that a preceding vehicle is not detected within a predetermined distance by a device that detects at least the presence of a preceding vehicle in front of the vehicle and the inter-vehicle distance is satisfied. The vehicle stop line detection system according to claim 5, the on-vehicle stop line detection device according to claim 6, or the information center according to claim 7, wherein the vehicle stop line detection system according to claim 5 is determined.   The stop determination means determines that the vehicle is stopped at a stop line drawn on a road surface when a determination condition that at least the current position of the vehicle is at or near a place where the vehicle must stop is satisfied. The vehicle stop line detection system according to claim 5, the in-vehicle stop line detection device according to claim 6, or the information center according to claim 7.   6. The vehicle stop line detection according to claim 5, wherein the position estimating means averages stop positions for each link and node collected from the plurality of in-vehicle stop line detection devices, and estimates a stop line position. The system, the vehicle-mounted stop line detection device according to claim 6, or the information center according to claim 7.   The position estimating means obtains the distribution of the stop position for each link and node collected from the plurality of on-vehicle stop line detection devices with respect to the vehicle traveling direction, and is the position where the frequency of the stop position is the highest and the vehicle traveling direction at that position. The vehicle stop line detection system according to claim 5 or the on-vehicle stop line detection according to claim 6, wherein a position where the frequency of the stop position is extremely low in front is estimated as a stop line position. Apparatus or information center according to claim 7. In the in-vehicle device, it is determined whether or not the vehicle is stopped at the stop line drawn on the road surface when the stop state of the vehicle is detected, and when it is determined that the vehicle is stopped at the stop line, the stop position of the vehicle And detecting the link data of the stop position and the node data nearest to the traveling direction from the road map data, and transmitting the stop position data, link data and node data to the information center as stop line information,
In the information center, stop line information is collected from multiple in-vehicle devices and classified for each link and node, and stop position data of multiple in-vehicle devices is statistically processed for each link and node to estimate the stop line position, A vehicle stop line detection method, wherein the estimated stop line position is distributed to a plurality of in-vehicle devices.

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