JP2017181168A - Road surface condition detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a condition such as an irregularity of a road surface in a non-contact manner using an optical pattern and capable of detecting the road surface condition even by a small output of the optical pattern.SOLUTION: A management center 2 transmits an execution command of inspection to a first vehicle A. The first vehicle A, upon receipt of the execution command of the inspection, designates a second vehicle B traveling in the front direction to project inspection light L by a light projector 11 through an inter-vehicle communication. The second vehicle B, upon receipt of the command from the first vehicle A, starts projecting the inspection light L toward a rear road surface. During traveling, the first vehicle A always images the front road surface irradiated by the inspection light L by a camera 7, and determines a road surface condition by processing the imaged image. When an abnormality is detected in the road surface condition, abnormality occurrence information is transmitted to the management center 2. The management center 2 records the content of the abnormality occurrence information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a road surface state detection system that detects a road surface state by irradiating inspection light having an inspection pattern onto a road surface of a road and photographing the road surface with a camera.

  2. Description of the Related Art In recent years, roads on which vehicles such as automobiles run have been detected in a non-contact manner such as road surface unevenness and used for road surface maintenance. As a technique for detecting a road surface state in a non-contact manner, a non-contact type unevenness detection device disclosed in Patent Document 1 is known. In this technique, a linear light pattern by infrared rays is irradiated onto a road surface, and is photographed by a camera having sensitivity to infrared rays, and road surface unevenness is detected by distortion of the photographed pattern. Further, Patent Document 2 discloses a technology in which an infrared projector and an infrared TV camera are mounted on a traveling inspection vehicle, and a road surface condition is recorded while the traveling inspection vehicle travels on the inspection target road.

JP-A-3-84404 JP-A-10-260141

  In the technique of the above-mentioned patent document 2, an infrared projector provided on the top of a vehicle irradiates a belt-shaped infrared ray on the road surface ahead, and the infrared image is taken with an infrared TV camera. However, since the light irradiated forward from the infrared projector is reflected forward, that is, away from the camera, in order to detect the irradiated infrared pattern with the camera of the own vehicle, the light output (illuminance) is high. There is a problem that requires.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to detect a road surface unevenness using a light pattern in a non-contact manner, and detect a road surface state even with a small output of the light pattern. The present invention provides a road surface condition detection system that enables the above.

  In order to achieve the above object, the road surface condition detection system (1) of the present invention irradiates inspection light (L) having an inspection pattern on the road surface of the road (R), and the road surface by the camera (7, 21). The first vehicle (A) including the camera (7, 21) and the projectors (11, 22) for projecting the inspection light are detected based on the image of the vehicle. A second vehicle (B), and a detecting means (8) for detecting a road surface state based on a photographed image of the camera (7, 21), the first vehicle (A) and the second vehicle (B) However, during the inspection traveling, the second vehicle (B) sends the inspection light (L) to the first light by the projectors (11, 22) during the inspection traveling. Irradiate the front or rear road surface on the traveling side of the vehicle (A), and the first Both (A) are characterized in that the inspection light (L) irradiated on the road surface after or before the second vehicle (B) is photographed by the camera (7, 21). 1 invention).

  According to this, at the time of the inspection traveling, the first vehicle (A) and the second vehicle (B) travel along the inspection target road (R) back and forth, and at that time, the road surface of the road (R) Among these, the second vehicle (B) is irradiated with the inspection light (L) by the projectors (11, 22) to the portion located between the first vehicle (A) and the second vehicle (B), The inspection light (L) is photographed by the camera (7, 21) of the vehicle (A). Thereby, the distortion of the pattern of the inspection light (L) in the photographed image is determined by the detection means (8), so that the road surface state can be detected.

  At this time, the projector (11, 22) and the camera (7, 21) face each other, and the inspection light (L) emitted from the projector (11, 22) of the second vehicle (B) reflects the road surface. However, the reflection direction is the direction of the camera (7, 21) of the first vehicle (A), that is, the direction of incidence on the camera (7, 21). For this reason, compared with the case where inspection light is reflected in the direction away from the camera, the output of inspection light (L) can be sufficiently small. As a result, there is a non-contact detection of the state of road surface unevenness using a light pattern, and an excellent effect of enabling detection of the road surface state even with a small output of the light pattern is achieved.

The 1st Embodiment of this invention is a figure which shows the whole structure of a system roughly It shows the pattern of inspection light irradiated on the road surface. When the road surface is flat (a), when there is a concave portion (b), when there is a convex portion (c), when there is a flaw (d) Figure showing each A flowchart schematically showing a procedure of road surface condition inspection processing executed by the management center The flowchart which shows schematically the procedure of the process of the road surface state inspection which a 1st vehicle performs The flowchart which shows schematically the procedure of the process of the road surface state inspection which a 2nd vehicle performs The figure which shows 2nd Embodiment and shows the positional relationship at the time of test | inspection driving | running | working with a 1st vehicle and a 2nd vehicle. The figure which shows 3rd Embodiment and shows the structure of a system roughly The figure which shows 4th Embodiment and shows the example of a pattern from which inspection light differs The figure which shows 5th Embodiment and shows the example of the pattern from which inspection light differs further

(1) First Embodiment A first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 schematically shows the overall configuration of a road surface condition detection system 1 according to the present embodiment. Here, the road surface condition detection system 1 includes a management center 2 that manages road information and a group of vehicles (automobiles) that travel on the road R. Specifically, the vehicle group includes a first vehicle A and a second vehicle B. In the present embodiment, the case where the second vehicle B travels in front of the road R and the first vehicle A travels behind the road R is taken as an example.

  Although not shown in detail, the management center 2 includes a server, a database, a communication device that performs communication with the vehicle, and the like. The management center 2 makes a plan for the inspection of the road surface condition on the road R to be managed, and inspects the road R with respect to an arbitrary vehicle traveling on the inspection target road R or an inspection vehicle belonging to the management center 2. Instruct the road surface condition inspection for the section. Based on the inspection results, road maintenance and repairs are performed. At this time, the management center 2 is configured to constantly (periodically) receive the position information of the vehicles by communication with each vehicle.

  The first vehicle A is equipped with an in-vehicle device 3 for realizing the road surface condition detection system 1. The second vehicle B is also equipped with an in-vehicle device 4 for realizing the road surface condition detection system 1. Among them, the in-vehicle device 3 of the first vehicle A includes an inter-center communication unit 5, an own vehicle position detection unit 6, a camera 7, an image analysis / road surface state determination unit 8, an inter-vehicle communication unit 9 as a vehicle-to-vehicle communication device, and a system. A control unit 10 is provided.

  The own vehicle position detection unit 6 detects the own vehicle position based on detection data of a well-known GPS receiver or various in-vehicle sensors. The inter-center communication unit 5 performs communication with the management center 2 via a mobile communication network or using road-to-vehicle communication, and the like. Vehicle position information (probe information) and the like are constantly transmitted to the management center 2, for example, regularly. The inter-center communication unit 5 receives transmission information from the management center 2.

  For example, the camera 7 is configured to be capable of photographing visible light and infrared light, and is provided at a front portion of the first vehicle A slightly forward and obliquely downward. As will be described later, the camera 7 is configured to photograph the inspection light L irradiated on the road surface. The image analysis / road surface state determination unit 8 detects the size (area) of the road surface unevenness, the depth, the depth of the ridge, and the like from the captured image of the camera 7. Then, the image analysis / road surface state determination unit 8 determines that the road surface abnormality is present when any of the detected road surface unevenness size (area), depth, and ridge depth is greater than a predetermined value. Judge. Therefore, the image analysis / road surface state determination unit 8 has a function as a road surface state detection unit.

  The inter-vehicle communication unit 9 communicates with another vehicle, for example, the inter-vehicle communication unit 9 of the second vehicle B. In this case, the first vehicle A to the second vehicle B is By communication, the start of inspection, that is, the start of light projection and the end of inspection (light projection) are instructed. The system control unit 10 includes a computer and controls the entire in-vehicle device 3. As will be described in detail later, the system control unit 10 receives an instruction from the management center 2, performs an inspection run in cooperation with the second vehicle B, and transmits the result of the road surface inspection to the management center 2. To control.

  On the other hand, the in-vehicle device 4 of the second vehicle B includes an inter-center communication unit 5, a host vehicle position detection unit 6, a projector 11, an inter-vehicle communication unit 9, and a system control unit 10 that controls the whole. Similar to the in-vehicle device 3 of the first vehicle A, the host vehicle position detection unit 6 detects the host vehicle position of the second vehicle B, and the center communication unit 5 detects the host vehicle position detected by the host vehicle position detection unit 6. Vehicle position information and the like are periodically transmitted to the management center 2. The inter-vehicle communication unit 9 performs inter-vehicle communication with other vehicles, in this case, the first vehicle A. The first vehicle A receives an instruction to start or end the projection. The system control unit 10 receives the instruction from the first vehicle A during the inspection running and controls the entire in-vehicle device 4 so as to control the operation of the projector 11.

  The projector 11 is configured to output (project) the inspection light L including infrared rays as a predetermined inspection pattern. In this case, the projector 11 is provided in the rear part of the 2nd vehicle B, and irradiates the test | inspection light L toward the back and the road surface of the diagonally downward. FIG. 2A shows a specific example of the inspection pattern of the inspection light L emitted from the projector 11 to the road surface. In this embodiment, it consists of a plurality of straight lines orthogonal to each other in the vertical and horizontal directions. It is a so-called lattice pattern.

  Here, when the road surface is flat, as shown in FIG. 2A, the camera 7 captures an undistorted lattice-like pattern composed of straight lines. On the other hand, when there is a recess on the road surface, as shown in FIG. 2 (b), the camera 7 takes a picture of the lattice pattern in a curved state along the concave surface where the line is distorted at the recess. The When there is a convex portion on the road surface, as shown in FIG. 2C, the camera 7 captures a lattice pattern in which the line is distorted in the direction opposite to the concave portion at the convex portion. In the case where wrinkles are present on the road surface, as shown in FIG. 2D, the camera 7 captures a lattice-like pattern that is distorted so that the concave portions continue along the wrinkles.

  As will be described later in the description of the operation (flowchart description), in this embodiment, the server of the management center 2, the in-vehicle device 3 of the first vehicle A, and the in-vehicle device 4 of the second vehicle B are processed as follows. To implement the road surface condition detection system 1. That is, the server of the management center 2 performs the road surface inspection on the first vehicle A that is predicted to enter the inspection section on the road R based on the road surface inspection plan. Send a command.

  When the system control unit 10 of the first vehicle A receives an instruction to carry out the inspection, the system controller 10 starts a road surface state detection process for the second vehicle B traveling immediately in front of the host vehicle through inter-vehicle communication. In other words, it instructs the projector 11 to project the inspection light L. When receiving an instruction from the first vehicle A, the system controller 10 of the second vehicle B turns on the projector 11 and starts projecting the inspection light L toward the rear road surface. Thereby, the test | inspection driving | running | working in which the 2nd vehicle B and the 1st vehicle A drive | work a test object road R continuously before and behind is started.

  During the inspection traveling, the first vehicle A always captures the front road surface irradiated with the inspection light L by the camera 7 and processes the captured image to determine the road surface state. In addition, during the inspection traveling, the first vehicle A transmits an instruction command to continue the light projection to the second vehicle B at intervals of a certain time, for example, several seconds to 10 seconds, by inter-vehicle communication. repeat. When an abnormality is detected in the road surface condition, abnormality occurrence information such as the location, time, unevenness depth and area of the abnormality is transmitted to the management center 2. When the management center 2 receives the abnormality occurrence information, it records the contents.

  Such an inspection process is continuously executed until the end of the inspection section, and the inspection ends. For example, when the first vehicle A exits the inspection section, the management center 2 ends the inspection for the first vehicle A. Be notified. When the end notification is received, the first vehicle A ends the end process, that is, the photographing by the camera 7, and instructs the second vehicle B to end the light projection. In this case, the first vehicle A and the second vehicle B may be vehicles that are irrelevant to each other, that is, accidentally traveled at the position, or group traveling that travels in a group toward the same destination. They may be vehicles that are running, or vehicles that are running in a row following the preceding vehicle while maintaining a predetermined inter-vehicle distance.

  Next, the operation of the above configuration will be described with reference to FIGS. The flowchart of FIG. 3 shows a processing procedure executed by the server of the management center 2 when performing the road surface condition inspection process. Moreover, the flowchart of FIG. 4 shows the process sequence which the system control part 10 of the 1st vehicle A performs in performing the process of a road surface state inspection, and the flowchart of FIG. 5 is in performing the process of a road surface state inspection. The processing procedure which the system control part 10 of the 2nd vehicle B performs is shown. Hereinafter, these will be described in order.

  First, in FIG. 3 showing the processing procedure of the server of the management center 2, in step S1, an inspection plan for selecting a road and its section for inspecting the road surface condition is established. In step S2, one vehicle entering the section of the road to be inspected is specified from the position information of each vehicle obtained by communication with each vehicle. This vehicle is the first vehicle A. In step S3, a road surface condition detection start command is transmitted to the first vehicle A.

  In the next step S4, it is determined whether road surface abnormality information has been received from the first vehicle A. When the road surface abnormality information is received (Yes in Step S4), in Step S5, the road surface abnormality information, that is, the data such as the place where the road surface is abnormal, the inspection date and time, the unevenness depth and the area are stored. Then, the process proceeds to step S6. If the road surface abnormality information is not received (No in step S4), the process proceeds to step S6 as it is.

  In step S6, it is determined whether the first vehicle A has deviated from the road section to be inspected. Of course, this deviation includes the case where the inspection up to the end of the inspection section is completed. If first vehicle A has not deviated from the inspection section (No in step S6), the processing from step S4 is repeated. If the first vehicle A has deviated from the inspection section (Yes in step S6), an inspection end command is transmitted to the first vehicle A in step S7, and the process ends.

  Next, in FIG. 4 showing the processing procedure of the system control unit 10 of the first vehicle A, first, in step S11, it is determined whether or not a road surface state detection start command has been received from the management center 2. When a road surface condition detection start command is received (Yes in step S11), in step S12, a vehicle traveling immediately in front of the host vehicle on the running road R is inspected by inter-vehicle communication. An instruction is given to project the light L. This forward vehicle becomes the second vehicle B, and the inspection traveling is started.

  In step S13, the front road surface by the camera 7, that is, the road surface of the rear portion of the second vehicle B on the road R to be inspected is photographed. In the next step S14, a light projection pattern is detected from the photographed image of the camera 7, that is, whether or not the inspection light L is projected on the road surface is determined. If the projection pattern cannot be detected from the captured image (No in step S14), the processing from step S12 is repeated. When the inspection light L is projected on the road surface (Yes in step S14), a process of determining the road surface state based on detection of distortion of the inspection light L is performed in step S15.

  In step S16, it is determined whether the depth of the unevenness on the road surface is a predetermined value or more, or whether the area of the unevenness is a predetermined value or more. If either is greater than or equal to the predetermined value (Yes in step S16), it is determined that the road surface is abnormal, and in the next step S17, road surface abnormality information, that is, the place where the road surface is abnormal, the inspection date and time. The data such as the depth and area of the unevenness is transmitted to the management center 2, and the process proceeds to step S18. If the depth and area of the unevenness are both less than the predetermined value (No in step S16), it is determined that there is no road surface abnormality, and the process directly proceeds to step S18.

  In step S <b> 18, it is determined whether a command to end the road surface state inspection process has been received from the management center 2. If the inspection end command has not been received (No in step S18), the processing from step S12 is repeated. That is, the instruction to project the inspection light L from the first vehicle A to the second vehicle B is repeated. When the inspection end command is received from the management center 2 (Yes in step S18), the projection of the inspection light L to the second vehicle B is terminated by inter-vehicle communication in step S19. Is instructed, and the process ends.

  Next, in FIG. 5 showing the processing procedure of the system control unit 10 of the second vehicle B, first, in step S21, it is determined whether or not there is an instruction to project the inspection light L from the first vehicle A by inter-vehicle communication. Is done. If there is an instruction to project light (Yes in step S21), the inspection travel is started, the timer is initialized in step S22, and then the road surface behind the vehicle by the projector 11 in step S23. A predetermined pattern of the inspection light L is projected onto the screen.

  In step S24, it is determined whether a predetermined time (for example, several seconds) has elapsed since the initialization of the timer. If the predetermined time has not yet elapsed (No in step S24), it is determined in next step S25 whether or not the first vehicle A has instructed to end the inspection through inter-vehicle communication. If there is no instruction to end the inspection (No in step S25), in step S26, it is determined whether or not there is an instruction to continue light projection from the first vehicle A by inter-vehicle communication. If there is an instruction to continue light projection from first vehicle A (Yes in step S26), the processing from timer initialization in step S22 is repeated.

  On the other hand, when there is no instruction to continue light projection from the first vehicle A (No in step S26), in the next step S27, the timer is updated, that is, the operation of the timer is continuously performed. The processing from step S23 is repeated. When there is no instruction to end the light projection (No in step S25) and there is no instruction to continue the light projection (No in step S26), when a predetermined time has elapsed (Yes in step S24), the process proceeds to step S28. Thus, the light projection by the light projector 11 is finished, and the processing is finished. Even when there is an instruction to end the projection from the first vehicle A (Yes in step S25), similarly, the projection by the projector 11 is terminated in step S28, and the process is terminated.

  Here, the inspection section of the inspection road R, such as the second vehicle B turning right or left or changing lanes, or another vehicle interrupting between the second vehicle B and the first vehicle A during the inspection traveling, etc. It is conceivable that the second vehicle B will be disengaged from the front of the first vehicle A without being inspected until the end. When the vehicle-to-vehicle communication is interrupted, that is, when the second vehicle B cannot receive a light projection continuation command for a predetermined time, the second vehicle B ends the light projection.

  Although not shown in FIG. 4, in the first vehicle A, when the light projection pattern of the inspection light L cannot be detected, if the vehicle-to-vehicle communication is possible, the second vehicle B Instruct to end the floodlighting. Furthermore, at this time, the first vehicle A can also instruct a new another vehicle traveling in front of the host vehicle to project the inspection light L by inter-vehicle communication, and can continue the inspection traveling.

  As described above, according to the road surface condition detection system 1 of the present embodiment, the second vehicle B having the projector 11 and the first vehicle A having the camera 7 are connected to the inspection target road R before and after the inspection traveling. And run. At that time, a portion of the road surface R located between the second vehicle B and the first vehicle A is irradiated with the inspection light L by the projector 11 of the second vehicle B, and the first vehicle. The inspection light L is photographed by the camera 7 of A. Thereby, based on detecting the distortion of the pattern of the inspection light L in the captured image, the road surface state can be detected.

  At this time, the projector 11 and the camera 7 face each other, and the inspection light L emitted from the projector 11 of the second vehicle B reflects the road surface, but the reflection direction is the direction of the camera 7 of the first vehicle A. That is, it is the direction of incidence on the camera 7. For this reason, the output of the inspection light L can be sufficiently small compared to the case where the inspection light is reflected in the direction away from the camera. As a result, according to the present embodiment, there is a non-contact detection of a road surface unevenness state using a light pattern, and an excellent effect that enables detection of a road surface state even with a small light pattern output. Can be obtained.

  Moreover, in this embodiment, the 1st vehicle A and the 2nd vehicle B were each provided with the vehicle-to-vehicle communication part 9, and it comprised so that a test | inspection driving | running | working might be performed based on communication between both. Thereby, even if it does not meet in advance, it is possible to perform the inspection traveling while communicating with each other between the first vehicle A and the second vehicle B on the spot where the inspection traveling is performed. Accordingly, it is possible to prevent waste that only one side performs an operation, and it is possible to perform inspection more reliably and without waste.

  In particular, in the present embodiment, the management center 2 that manages road information is provided, and the management center 2 is configured to instruct inspection traveling by communication with the first vehicle A. The road surface inspection can be systematically performed under the initiative of No. 2. In this case, the image analysis / road surface state determination unit 8 of the first vehicle A detects the road surface state from the captured image of the camera 7 and transmits road surface abnormality information to the management center 2 when it is determined that the road surface is abnormal. It was. As a result, it is only necessary to transmit the result to the management center 2 only when there is a road surface abnormality, the road surface abnormality can be detected efficiently, and an increase in communication traffic can be suppressed.

(2) Second to Fifth Embodiments and Other Embodiments FIG. 6 shows a second embodiment of the present invention. The difference from the first embodiment is as follows. That is, in this embodiment, the 1st vehicle A is provided with the camera 21 which image | photographs back in the rear part. The camera 21 can use the rear camera constituting the back monitor as it is. Moreover, the 2nd vehicle B has the light projector 22 which irradiates the test | inspection light L with respect to the front road surface in the front part. The projector 22 has a function of irradiating characters and figures with light on the road surface so as to be a notification (message) to a pedestrian, for example, and can be used as it is for a road surface inspection.

  During the inspection traveling, the first vehicle A travels forward on the road R to be inspected, and the second vehicle B travels behind the rearward vehicle with a substantially constant inter-vehicle distance. At this time, the second vehicle B projects (illuminates) the inspection light L onto the front road surface by the projector 22, and the first vehicle A photographs the inspection light L applied to the rear road surface by the camera 21, The road surface condition is detected. The detection result (road surface abnormality information) may be stored in the first vehicle A and stored in the server after the first vehicle A returns to the investigation base (management center 2).

  Even in the second embodiment, the projector 22 and the camera 11 are opposed to each other. Therefore, the light pattern is used to detect the unevenness of the road surface in a non-contact manner. An excellent effect of enabling detection of the road surface state even with a small output can be obtained.

  FIG. 7 shows a third embodiment of the present invention. In the third embodiment, unlike the first and second embodiments, a road surface state detection system 31 that performs road surface inspection is configured in one vehicle C. In other words, a camera 32 is provided at the bottom of the vehicle body of the vehicle C at the front side and obliquely rearward and downward, and is located at the rear side and irradiates (projects) the inspection light L obliquely downward and forward. A projector 33 is provided. In other words, the camera 32 and the projector 33 are disposed to face each other diagonally downward so as to be opposed to each other in the front-rear direction.

  According to this road surface condition detection system 31, when the vehicle C is inspected, the road surface located at the bottom of the vehicle C is irradiated with the inspection light L from the projector 33, and the irradiated inspection light L is captured by the camera 32. Is done. Also in this case, since the reflection direction of the inspection light L on the road surface is the direction incident on the camera 32, only the inspection light L with a small output is required. Therefore, in the third embodiment as well, there is a non-contact detection of the road surface unevenness using the light pattern, and the road surface state can be detected even with a small light pattern output. There is an effect.

  FIG. 8 shows a fourth embodiment of the present invention, and FIG. 9 shows a fifth embodiment of the present invention. In the fourth and fifth embodiments, the inspection pattern of the inspection light L irradiated (projected) onto the road surface by the projector is the lattice pattern of the inspection light L of the first embodiment. Is different.

  That is, in the fourth embodiment shown in FIG. 8, the pattern of the inspection light L is a pattern composed of a large number of dots arranged vertically and horizontally. In this case as well, if the road surface is uneven, the arrangement of the pattern of the dots of the captured image taken by the camera will be shifted, and based on this, the area and depth of the unevenness can be detected. it can.

  In the fifth embodiment shown in FIG. 9, the pattern of the inspection light L is a character pattern indicating that the road surface state is inspected, in this case, a Chinese character pattern such as “road surface inspection”. A simpler character pattern such as “test” in katakana may be used. According to this, since the character pattern is displayed on the road surface by the inspection light L, it is possible to tell other vehicles, pedestrians, etc. that the inspection traveling is being performed, and the inspection traveling is disturbed without knowing it. It is possible to obtain a merit that it is possible to suppress such a situation.

  In each of the above-described embodiments, the vehicles A and B traveling on the inspection target road R perform the inspection traveling according to the instruction from the management center 2. However, the first vehicle A and the second vehicle B are configured in advance. Can also be configured so that they perform a test run in pairs. In this case, if the section to be inspected in the road R is determined in advance, each vehicle can perform the inspection by independently performing floodlighting and shooting, thereby omitting the start / end instructions by inter-vehicle communication. Can do. In the first embodiment, the first vehicle A is provided with the image analysis / road surface state determination unit 8 as detection means. However, the captured image data of the camera 7 is recorded and the data is stored in the management center. 2 may be analyzed on the management center 2 side to detect an uneven state.

  Furthermore, in the first embodiment, the in-vehicle device 3 of the first vehicle A includes the camera 7 and the image analysis / road surface state determination unit 8, and the in-vehicle device 4 of the second vehicle B includes the projector 11. However, it is good also as a structure provided with the camera 7, the image analysis / road surface state determination part 8, and the light projector 11 in each vehicle-mounted apparatus. According to this, since each vehicle can be either a 1st vehicle or a 2nd vehicle, the convenience can be improved more. In addition, the present invention is not limited to the embodiments described above and shown in the drawings, and various modifications can be made to the specific configuration of the projector and the camera, for example, the wavelength band of the light to be used. It can be implemented with appropriate modifications within the range.

  In the drawings, 1 and 31 are road surface condition detection systems, 2 is a management center, 3 and 4 are in-vehicle devices, 5 is an inter-center communication unit, 6 is a vehicle position detection unit, 7, 21 and 32 are cameras, and 8 is an image. Analysis / road surface state determination unit (detection means), 9 is an inter-vehicle communication unit (inter-vehicle communication device), 10 is a system control unit, 11, 22 and 33 are projectors, A is a first vehicle, B is a second vehicle, C indicates a vehicle, L indicates inspection light, and R indicates a road.

Claims (6)

A road surface state detection system (1) for detecting the road surface state by irradiating the road surface of the road (R) with inspection light (L) having an inspection pattern and photographing the road surface with a camera (7, 21). Because
A first vehicle (A) comprising the camera (7, 21);
A second vehicle (B) including a projector (11, 22) for projecting the inspection light (L);
Detecting means (8) for detecting a road surface state based on the photographed image of the camera (7, 21),
The first vehicle (A) and the second vehicle (B) perform an inspection run in which the road to be inspected (R) travels back and forth,
During the inspection traveling, the second vehicle (B) irradiates the road surface before or after the traveling side of the first vehicle (A) with inspection light (L) by the projectors (11, 22), and The road surface characterized in that the first vehicle (A) images the inspection light (L) irradiated on the road surface after or in front of the second vehicle (B) by the camera (7, 21). Condition detection system.   The said 1st vehicle (A) and the 2nd vehicle (B) are each provided with the inter-vehicle communication apparatus (9), and test | inspection driving | running | working is performed based on communication between both. Road surface condition detection system. It has a management center (2) that manages road information.
The road surface according to claim 1 or 2, wherein the management center (2) instructs an inspection run by communication with the first vehicle (A) and / or the second vehicle (B). Condition detection system.   The road surface state detection system according to claim 3, wherein the first vehicle (A) includes the detection means (8), and transmits a road surface state detection result to the management center (2).   The inspection pattern of the inspection light (L) irradiated by the projector (11, 22) is formed of a character pattern indicating that the road surface state is being inspected. The road surface condition detection system according to one item. The road surface state detection system (31) detects the road surface state by irradiating the road surface of the road (R) with inspection light (L) having an inspection pattern and photographing the road surface with a camera (32). And
A projector (33) for projecting the inspection light (L) and the camera (32) positioned at the front and rear of the vehicle (C) traveling diagonally downward and facing each other at the lower part of the vehicle (C) traveling on the inspection target road (R). Has
During the inspection traveling, the road surface located at the bottom of the vehicle (C) is irradiated with inspection light (L) by the projector (33), and the irradiated inspection light (L) is photographed by the camera (32). A road surface condition detection system characterized by:

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