JP7165907B2 - VEHICLE CONTROL DEVICE, VEHICLE, VEHICLE CONTROL METHOD AND PROGRAM - Google Patents

Description

The present disclosure relates to a vehicle control device, a vehicle, a vehicle control method, and a program.

Patent Document 1 discloses an autonomous vehicle that, when confirming the presence of a first vehicle that violates traffic rules, tracks the first vehicle and executes a predetermined process on the first vehicle. discloses a police vehicle capable of driving in the United States. As a predetermined process, the police vehicle establishes a wireless connection with, for example, the first vehicle. Data is received from the first vehicle.

U.S. Patent Application Publication No. 2018/0018869

In the configuration of Patent Document 1, it is considered that the image data of the driver's license to be transmitted from the first vehicle to the police vehicle is pre-stored in the first vehicle, for example. However, if the face of the person shown on the driver's license (in other words, the authorized driver of the first vehicle) is different from the face of the driver who actually violated the traffic rules while driving the first vehicle. was there. In such a case, although it is necessary to accurately identify the face of the driver who actually drove the first vehicle that violated the traffic rules, such identification processing is difficult. was there.

The present disclosure has been devised in view of the above-mentioned conventional circumstances, accurately identifies the face of a driver riding in a vehicle that violates traffic rules, and improves the effectiveness of crackdowns against violations of traffic rules Vehicle control An object of the present invention is to provide a device, a vehicle, a vehicle control method, and a program.

The present disclosure is a vehicle control device mounted on a vehicle, comprising: a detection unit that detects a traffic violation of another vehicle; an instruction unit that instructs imaging of an occupant of the other vehicle; and a vehicle control unit for controlling movement of the own vehicle to a position where an image of an occupant of the other vehicle can be captured using an imaging device provided in the own vehicle, the vehicle control unit being positioned in front of or to the side of the own vehicle. A vehicle control device is provided in which, when a traffic violation of the other vehicle is detected by the detection unit, the instruction unit instructs imaging of the occupant of the other vehicle.

Further, the present disclosure is a vehicle including a vehicle control device, wherein the vehicle control device includes a detection unit that detects a traffic violation of another vehicle, an instruction unit that instructs imaging of an occupant of the other vehicle, and the vehicle . and a vehicle control unit that performs control to move the own vehicle to a position where the occupant of the other vehicle can be imaged using the imaging device provided in the own vehicle according to the imaging instruction. and, when the detection unit detects a traffic violation of the other vehicle located in front of or to the side of the vehicle, the instruction unit instructs imaging of an occupant of the other vehicle. I will provide a.

Further, the present disclosure is a vehicle control method in a vehicle control device mounted on a vehicle, comprising: a step of detecting a traffic violation of another vehicle; a step of instructing imaging of an occupant of the other vehicle; performing control to move the own vehicle to a position where an image of an occupant of the other vehicle can be imaged using an imaging device provided in the own vehicle in response to an instruction, wherein A vehicle control method is provided in which, in the instructing step, the imaging of an occupant of the other vehicle is instructed when a traffic violation of the other vehicle located in a vehicle is detected.

Further, the present disclosure includes a step of detecting a traffic violation of another vehicle, a step of instructing a vehicle control device, which is a computer, to be mounted on the host vehicle to image an occupant of the other vehicle, and a step of instructing the imaging. a step of controlling to move the own vehicle to a position where the occupant of the other vehicle can be imaged using an imaging device provided in the own vehicle, and A program for instructing imaging of an occupant of the other vehicle in the instructing step when a traffic violation of the other vehicle is detected.

It should be noted that any combination of the above-described components and expressions of the present disclosure converted between methods, devices, systems, recording media, computer programs, etc. are also effective as aspects of the present disclosure.

According to the present disclosure, it is possible to accurately identify the face of a driver riding in a vehicle that violates traffic rules, thereby increasing the effectiveness of crackdowns against violations of traffic rules.

FIG. 1 shows a system configuration example of a patrol management system according to Embodiment 1. FIG. Block diagram showing an example of the internal configuration of a patrol vehicle Block diagram showing an example of the internal configuration of the patrol management server Explanatory diagram of the first use case for photographing the face of the driver of the violating vehicle Flowchart showing an example of the operation procedure of the patrol management system in the first use case shown in FIG. Explanatory diagram of the second use case for photographing the face of the driver of the violating vehicle Flowchart showing a first example of the operation procedure of the patrol management system in the second use case shown in FIG. Flowchart showing a second example of the operation procedure of the patrol management system in the second use case shown in FIG.

Hereinafter, embodiments specifically disclosing the configuration and operation of a vehicle control device and a vehicle according to the present disclosure will be described in detail with reference to the accompanying drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid unnecessary verbosity in the following description and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter.

In Embodiment 1 below, a vehicle equipped with a vehicle control device according to the present disclosure (hereinafter sometimes referred to as "self-vehicle") is an automatically driving vehicle capable of autonomous driving and traveling. A patrol use case will be described by way of example, in which a vehicle monitors whether or not other vehicles traveling on a road comply with traffic rules. Note that the vehicle is not limited to an automatically driven vehicle, and may be a vehicle adapted to manual operation in which a driver drives the vehicle.

(Configuration of patrol management system)
FIG. 1 is a diagram showing a system configuration example of a patrol management system 100 according to Embodiment 1. As shown in FIG. The patrol management system 100 includes at least one patrol vehicle 1, at least one violation vehicle 2, at least one other vehicle 3, a patrol management server 4, a police station server 5, m (m: , IFSm (integer of 2 or more). The patrol vehicle 1, the violating vehicle 2, the other vehicle 3, the patrol management server 4, the police station server 5, and the m infrastructure sensors IFS1 to IFSm are communicably connected via a network NW1. Note that the violating vehicle 2 may not be connectable to the network NW1.

The network NW1 may be, for example, a wide area network such as the Internet, or a local wireless communication network such as a wireless LAN (Local Area Network).

To facilitate understanding of the following description, one patrol vehicle 1, one violating vehicle 2, and one other vehicle 3 are used.

The patrol vehicle 1 (an example of the own vehicle) is an autonomously driving vehicle capable of autonomous driving and traveling on roads, and has at least one sensor capable of measuring external environment information around the own vehicle in order to perform autonomous driving. S1, S2, . . . , Sn (see FIG. 2) are mounted. n is an integer of 2 or more. The automatic driving level of the patrol vehicle 1 is 1 or higher. Here, the patrol vehicle 1 is assumed to be an automatic driving vehicle whose automatic driving level is 3, for example.

Here, the automatic driving level will be briefly explained.

In 2016, NHTSA (National Highway Traffic Safety Administration) adopted the definition of the level of automated driving system of SAE (Society of Automotive Engineers) regarding the level of automated driving system. Driver assistance (level 1), partial driving automation (level 2), conditional driving automation (level 3), advanced driving automation (level 4), and fully automated driving (level 5).

At level 0, the human driver does everything. At Level 1, the vehicle's automated driving system can assist the human driver from time to time to perform some driving tasks. At Level 2, the vehicle's automated driving system can effectively perform some driving tasks, while the human driver continues to monitor the driving environment and perform the rest of the driving tasks. At Level 3, the automated driving system effectively performs some driving tasks and sometimes monitors the driving environment, while the human driver takes control when requested by the automated driving system. I need to prepare to take it back. At Level 4, the automated driving system can perform driving tasks and monitor the driving environment. Humans don't need to regain control, but self-driving systems can only operate under certain circumstances and conditions. At Level 5, the automated driving system can perform all driving tasks under all conditions in which a human driver can drive.

Levels 4 and 5 do not require the human driver to be involved in driving. Level 4 is automated driving in a dedicated space or limited area, and Level 5 is automated driving without limiting the area. Level 1 is widely put into practical use as of 2017, and Level 2 is partially put into practical use. At Level 3, the autonomous driving system takes the lead in driving, while human driving is requested as necessary.

The patrol vehicle 1 is a police vehicle such as a patrol car that monitors and cracks down on whether or not other vehicles 3 (including the violating vehicle 2) comply with traffic rules on the road during automatic operation. In the patrol management system 100, the number of patrol vehicles 1 is not limited to one. Details of an internal configuration example of the patrol vehicle 1 will be described later with reference to FIG.

The violating vehicle 2 is an example of another vehicle 3 traveling on the road. In other words, the violating vehicle 2 conceptually belongs to the lower level of the other vehicle 3 and is a vehicle different from the patrol vehicle 1 . The violating vehicle 2 is a vehicle that does not legally comply with traffic rules (in other words, violates them) during patrol by the patrol vehicle 1 . The violation of traffic rules by the violating vehicle 2 may be detected by, for example, the patrol vehicle 1, or may be detected by another device (for example, at least one of the infrastructure sensors IFS1 to IFSm). When the violating vehicle 2 receives an instruction from the patrol vehicle 1, an imaging device such as a DMS (Driver Monitoring System) capable of imaging the face of an occupant (for example, a driver) on board when the violating vehicle 2 commits a traffic violation. device may be provided. In the patrol management system 100, the number of violating vehicles 2 is not limited to one.

The other vehicle 3 is a vehicle that travels on the road while the patrol vehicle 1 is patrolling, and may be one vehicle or a plurality of vehicles. Here, the other vehicles 3 include the violating vehicle 2 but are clearly distinguished as not including the patrol vehicle 1 .

The patrol management server 4, which is an example of a predetermined server, is composed of, for example, a cloud server connected to the network NW1. Note that the patrol management server 4 is not limited to a cloud server. terminal). The patrol management server 4 acquires information about the violating vehicle 2 detected by the patrol vehicle 1 as violating the traffic rules (for example, identification information of the violating vehicle 2 and the crew such as the driver of the violating vehicle 2, which will be described later). Accumulate and manage. The patrol management server 4 periodically sends the accumulated information on the violating vehicle 2 to the police station server 5 .

The police station server 5 is, for example, a server device installed in a police station. The police station server 5 receives and accumulates information (see above) about the violating vehicle 2 periodically sent from the patrol management server 4 .

The infrastructure sensors IFS1 to IFSm are sensors arranged on or around the road on which the patrol vehicle 1 travels during patrol. For example, the infrastructure sensors IFS1 to IFSm are monitoring cameras or the like attached to poles erected vertically on the side of the road.

FIG. 2 is a block diagram showing an internal configuration example of the patrol vehicle 1. As shown in FIG. The patrol vehicle 1 includes a memory 11, a vehicle control device 12, a communication circuit 13, an information input/output device 14, an actuator 15, and n sensors S1 to Sn. The memory 11, the vehicle control device 12, the communication circuit 13, the information input/output device 14, the actuator 15, and the n sensors S1 to Sn communicate with each other via an in-vehicle network such as CAN (Controller Area Network). Data or information input/output is connected.

The memory 11 is configured using, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory), and stores a software program 113 necessary for executing the operation of the vehicle control device 12 and data generated during the operation. Or retain information temporarily. In FIG. 2, the software program is written as "S/W program" for convenience. The RAM is a work memory used when the vehicle control device 12 operates, for example. The ROM pre-stores and retains programs and data for controlling the vehicle control device 12, for example.

The memory 11 may also include a disk device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive). For example, as shown in FIG. 2, the memory 11 records owner information 111, road map information 112, and traffic regulation database 114 in the disk device described above.

The owner information 111 is, for example, identification information relating to the owner of the patrol vehicle 1 (for example, the driver or the manager of the patrol vehicle 1). Note that the owner information 111 may be stored in the ROM.

The road map information 112 is, for example, information (data) relating to a road map on which the patrol vehicle 1 runs when executing automatic driving. The road map information 112 may be stored in a ROM, but is preferably stored in a disk device such as an HDD or SSD because the road map may be updated due to construction of a new road or the like.

The software program 113 is a program and data including a software program necessary for executing the operation of the vehicle control device 12, a firmware program necessary for the operation of the software program, and an operating system (OS).

The traffic rules database 114 is a database that holds traffic rules regarding driving that are stipulated based on predetermined laws, guidelines, or the like. In FIG. 2, the traffic rule database is written as "traffic rule DB" for convenience. Vehicle control device 12 detects whether or not other vehicles have violated traffic rules based on the detection outputs of sensors S1 to Sn relating to other vehicles traveling around patrol vehicle 1 and traffic rule database 114. . In other words, the traffic rule database 114 is used to determine whether or not the patrol vehicle 1 has violated the traffic rules of other vehicles. In Embodiment 1, the detected traffic violations are, for example, speeding, parking violations, tailgate driving, distracted driving, overtaking driving, ignoring traffic lights, etc., but are not limited to these traffic violations.

Excessive speed is determined, for example, by the patrol vehicle 1 determining whether or not the other vehicle 3 has traveled on the road exceeding a prescribed speed based on the detection outputs of the sensors S1 to Sn during automatic operation of the patrol vehicle 1. detected.

A parking violation is, for example, the difference between the parking position of the other vehicle 3 when the first image is taken and the parking position of the other vehicle 3 when the second image is taken after a predetermined fixed time has elapsed from the time of the first image. It is detected by the patrol vehicle 1 determining whether or not they are the same.

For example, during automatic operation of the patrol vehicle 1, the patrol vehicle 1 determines whether or not the other vehicle 3 is driving while tilting another vehicle in motion based on the detection outputs of the sensors S1 to Sn. detected by As an example, the patrol vehicle 1 determines that it is tailgating when the inter-vehicle distance between the other vehicle 3 and another vehicle running in front of the other vehicle 3 is short.

Inattentive driving is, for example, patrol based on the detection outputs of sensors S1 to Sn during automatic operation of the patrol vehicle 1 to determine whether or not the occupant of another vehicle 3 is driving while looking at the smartphone that the occupant possesses while the occupant is driving. It is detected by the vehicle 1 judging. As an example, the patrol vehicle 1 detects the line of sight of the occupant of the other vehicle 3 and determines that the driver is looking aside when the line of sight of the occupant is directed downward.

For overtaking driving, for example, while the patrol vehicle 1 is automatically driving on a highway, it is determined whether or not another vehicle 3 in front or on the side continues to run in the overtaking lane for a certain distance or more based on the detection outputs of the sensors S1 to Sn. Alternatively, it is detected by the patrol vehicle 1 determining whether or not the vehicle has overtaken across an overtaking prohibited lane.

The signal ignoring is, for example, based on the detection outputs of the sensors S1 to Sn during the automatic operation of the patrol vehicle 1. The patrol vehicle determines whether or not another vehicle 3 in front or on the side has passed while ignoring the red light state of the traffic signal. 1 is detected by judging.

The vehicle control device 12 controls automatic driving of the patrol vehicle 1 . The vehicle control device 12 is configured using, for example, a single or a plurality of ECUs (Electronic Control Units). Vehicle control device 12 includes detection unit 121 , instruction unit 122 , and drive control unit 123 . Note that the vehicle control device 12 may be configured to include a communication circuit 13, which will be described later.

Vehicle control device 12 operates according to a software program 113 stored in memory 11 . Specifically, the vehicle control device 12 follows the patrol route specified by the operation of the information input/output device 14 (see below) by the driver of the patrol vehicle 1, for example. Based on the output value (hereafter referred to as "detection output"), it supports the execution of automatic driving following the patrol route.

The vehicle control device 12 issues control instructions for controlling the operation of various controlled equipment (e.g., steering, accelerator pedal, brake, direction indicator, etc.) in the patrol vehicle 1 during automatic driving along the patrol route. Output to the actuator 15 . The automatic driving of the patrol vehicle 1 operates the brake just before it is about to collide with an obstacle (for example, another vehicle, a two-wheeled vehicle such as a motorcycle, a pedestrian, a guardrail, a utility pole, a facility such as a store, etc.). and stop the patrol vehicle 1. Further, the automatic driving of the patrol vehicle 1 includes a function of following another vehicle running in front or behind the patrol vehicle 1 while maintaining a certain distance. The automatic driving of the patrol vehicle 1 includes a function of controlling the steering of the patrol vehicle 1 so as not to stray from the white line (i.e., lane) or overtake another vehicle in front when overtaking is possible. However, each function mentioned above is an example of the automatic operation in the patrol vehicle 1, and it is not limited to these functions.

The detection unit 121 detects traffic violations of other vehicles 3 including the violating vehicle 2 based on the detection outputs of the sensors S1 to Sn and the traffic rule database 114 in the memory 11 . The detection unit 121 notifies the instruction unit 122 that the other vehicle 3 has detected a traffic violation.

In accordance with the notification from the detection unit 121 (that is, the notification that the traffic violation of the other vehicle 3 has been detected), the instruction unit 122 detects the occupant (for example, the driver) of the other vehicle 3 who committed the traffic violation or the face of the occupant. command to take an image of The subject that receives the instruction from the instruction unit 122 may be the own vehicle (that is, the patrol vehicle 1) (see the first use case described later), the infrastructure sensors IFS1 to IFSm, or the other vehicle 3 that has not committed a traffic violation. (see the second use case described later).

The drive control unit 123, which is an example of a vehicle control unit, comprehensively controls operations of the patrol vehicle 1 required to start, continue, and end the automatic operation of the patrol vehicle 1, respectively. For example, the drive control unit 123 sets control values for controlling equipment to be controlled necessary for automatic driving, such as the accelerator throttle opening of the patrol vehicle 1, the braking force of the patrol vehicle 1, the steering angle, and the blinking timing of the turn signals. calculate. The control value is calculated so that the patrol vehicle 1 travels according to route information set in the vehicle control device 12, for example. The drive control unit 123 applies the calculated control values to actuators 15 (i.e., steering actuator, accelerator pedal actuator, brake actuator, turn signal flashing controller).

A communication circuit 13, which is an example of a communication unit, communicates data or data with each of the offending vehicle 2, other vehicle 3, patrol management server 4, police station server 5, and infrastructure sensors IFS1 to IFSm connected to the network NW1. It is a communication circuit capable of transmitting and receiving information. The communication circuit 13 sends data or information generated or acquired by the vehicle control device 12 to each of the violating vehicle 2, the other vehicle 3, the patrol management server 4, the police station server 5, or the infrastructure sensors IFS1 to IFSm. The communication circuit 13 receives data or information sent from each of the violating vehicle 2, the other vehicle 3, the patrol management server 4, the police station server 5, and the infrastructure sensors IFS1 to IFSm, and sends the information to the vehicle control device 12.

The information input/output device 14 is configured using an HMI (Human Machine Interface, not shown) such as a touch panel that can be operated by the passenger of the patrol vehicle 1 , and accepts input from the passenger's operation and outputs data from the vehicle control device 12 . Or output information. Further, the information input/output device 14 is not limited to an HMI such as a touch panel, and may be configured by a keyboard, a dial, one or more microphones, and one or more speakers.

The actuator 15 drives the operation of equipment to be controlled (eg, steering, accelerator pedal, brake, direction indicator) mounted in the patrol vehicle 1 . The equipment to be controlled is equipment installed in the patrol vehicle 1, and is controlled by the drive control unit 123 during automatic operation of the patrol vehicle 1. FIG. Equipment to be controlled includes, for example, a steering actuator, an accelerator pedal actuator, a brake actuator, and a winker flashing controller, but is not limited to these.

The steering actuator is connected to the steering wheel of the patrol vehicle 1, and operates the steering during automatic operation (in other words, the movement of the patrol vehicle 1) according to a steering control signal (not shown) input from the drive control unit 123. maintain or change direction).

The accelerator pedal actuator is connected to an accelerator pedal arranged on the patrol vehicle 1, and operates the accelerator pedal (not shown) during automatic operation according to a control signal for an accelerator pedal (not shown) input from the drive control unit 123 (in other words, patrol vehicle 1). control (maintenance or increase/decrease of the vehicle speed of the vehicle 1).

The brake actuator is connected to a brake disposed on the patrol vehicle 1, and according to a control signal for the brake (not shown) input from the drive control unit 123, operates the brake during automatic operation (in other words, advances the patrol vehicle 1). control the maintenance or change of braking for

The winker flashing controller is connected to a winker flashing mechanism arranged in the patrol vehicle 1, and operates the direction indicator during automatic driving according to the control signal of the winker flashing mechanism (not shown) input from the drive control unit 123 (in other words, and flashing of the direction indicator for notifying that the patrol vehicle 1 is turning left or right).

Each of the sensors S1 to Sn detects and acquires environmental information of the road around the patrol vehicle 1, whether the patrol vehicle 1 is stopped or running, and outputs an output value based on the detection (that is, detection output) is sent to the vehicle control device 12 . Examples of each of the sensors S1 to Sn include a camera, LiDAR (Light Detection and Ranging), millimeter wave radar, and the like.

A camera as an example of a sensor is a so-called vehicle-mounted camera, and has an imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera is installed, for example, in the center of the front part of the vehicle body of the patrol vehicle 1, and images the front center range as a detection range. For example, the camera detects obstacles (see above) or traffic lights in front of the vehicle. The camera can perform image processing using captured image data, and information indicating the relationship between the obstacle detected by the image processing and the own vehicle (for example, the speed of the obstacle relative to the own vehicle, location information), and the position, size, and color of traffic lights. The camera sends the captured image or the result of image processing for the captured image to the vehicle control device 12 . In the following description, the data of the captured image also includes information on the date and time when the captured image was captured by the camera. In addition, the camera is not limited to be installed in the center of the front part of the patrol vehicle 1 , but may be installed in the rear part or the side part of the vehicle body of the patrol vehicle 1 .

A LiDAR as an example of a sensor emits a light beam (for example, an infrared laser) around the patrol vehicle 1 and receives its reflected signal. It measures the distance to objects (obstacles on the ground), the size of objects, and the composition of objects. LiDAR sends this measurement result to vehicle controller 12 .

A millimeter wave radar, which is an example of a sensor, radiates radio waves (for example, millimeter waves) around the patrol vehicle 1, receives the reflected signal, and based on the received reflected signal, determines the distance to an object existing in the surroundings. Measure distance. The millimeter wave radar sends this measurement result to the vehicle control device 12 . Note that the millimeter wave radar can detect distant objects that are difficult to detect with LiDAR.

In addition to the camera, LiDAR, and millimeter wave radar described above, the sensor may include, for example, an around view camera, a GNSS sensor, and a laser range finder.

A plurality of around-view cameras, which are examples of sensors, are installed in the front, rear, and sides of the patrol vehicle 1 (for example, two in front of the vehicle, two in the rear, and two on the sides of the vehicle). It consists of two cameras (total of 6 cameras). The around-view camera detects white lines in the vicinity of the patrol vehicle 1 and other vehicles in adjacent lanes.

A GNSS (Global Navigation Satellite System) sensor as an example of a sensor receives a plurality of signals indicating the time and the position (coordinates) of each GPS satellite transmitted from a plurality of GPS satellites, and the received plurality of signals Based on this, the position of the GPS receiver (that is, the position of the patrol vehicle 1) is calculated. The GNSS sensor sends position information (calculation result) of the patrol vehicle 1 to the vehicle control device 12 .

A laser range finder as an example of a sensor is installed on the vehicle front right, vehicle front left, vehicle lateral right, vehicle lateral left, vehicle rear right, and vehicle rear left. The laser range finder detects obstacles (see above) present on the front right side, the front left side, the side right side, the side left side, the rear right side, and the rear left side of the patrol vehicle 1 . Specifically, the laser range finder emits laser light while scanning in a certain wide angle range, receives the reflected light, and detects the time difference between the start of irradiation and the time when the reflected light is received. Thus, the distance between the vehicle and the obstacle and the direction of the obstacle viewed from the vehicle are detected.

In addition to the above-described around-view camera, GNSS sensor, and laser range finder, the sensor may include, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, an inclination sensor, an air temperature sensor, an air pressure sensor, a humidity sensor, and an illuminance sensor. . Furthermore, the patrol vehicle 1 does not need to be equipped with all of the various sensors described above, and may be equipped appropriately according to the automatic driving level assigned to the patrol vehicle 1 .

FIG. 3 is a block diagram showing an example internal configuration of the patrol management server 4. As shown in FIG. The patrol management server 4 includes a memory 41 , a processor 42 , a communication circuit 43 and a data storage unit 44 .

The memory 41 is configured using, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory), and stores software programs necessary for executing the operation of the patrol management server 4 and data generated during operation. Or retain information temporarily. The RAM is, for example, a work memory used when the patrol management server 4 operates. The ROM pre-stores and retains programs and data for controlling the patrol management server 4, for example.

The processor 42 is configured using, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field Programmable Gate Array). The processor 42 functions as a controller that governs the overall operation of the patrol management server 4, performs control processing for supervising the operation of each section of the patrol management server 4, and inputs and outputs data to and from each section of the patrol management server 4. processing, data calculation (calculation) processing, and data storage processing. The processor 42 operates according to software programs and the like stored in the memory 41 . The processor 42 uses the memory 41 during operation, and temporarily stores data or information generated or acquired by the processor 42 in the memory 41 or records it in the data storage unit 44 .

The processor 42 receives, via the communication circuit 43 , the captured image data of the license plate of the violating vehicle 2 , which is sent from the patrol vehicle 1 , for example. The processor 42 recognizes the license plate appearing in the captured image, and specifies and extracts information on the violating vehicle 2 corresponding to the license plate.

The processor 42 also receives, via the communication circuit 43, the data of the captured image showing the face of the passenger (eg, the driver) of the violating vehicle 2 that committed the traffic violation. The processor 42 associates the information about the identified violating vehicle 2 with the captured image showing the face of the occupant of the violating vehicle 2 and stores them in the data storage unit 44 .

The communication circuit 43 is capable of transmitting/receiving data or information to/from each of the patrol vehicle 1, the violating vehicle 2, the other vehicle 3, the police station server 5, and the infrastructure sensors IFS1 to IFSm connected to the network NW1. circuit. The communication circuit 43 sends data or information generated by the processor 42 to each of the patrol vehicle 1, the violating vehicle 2, the other vehicle 3, the police station server 5, and the infrastructure sensors IFS1 to IFSm. The communication circuit 43 also receives data or information sent from the patrol vehicle 1, the offending vehicle 2, the other vehicle 3, the police station server 5, and the infrastructure sensors IFS1 to IFSm, and sends the data or information to the processor .

The data storage unit 44 is configured using, for example, a HDD (Hard Disk Drive) or an SSD (Solid State Drive), and records and stores data or information generated by the processor 42 . The data storage unit 44 stores information about all vehicles registered as vehicles (for example, information about the owner of the vehicle and the license plate of the vehicle). The data accumulation unit 44 records and accumulates, for example, information relating to the violating vehicle 2 in association with the captured image of the face of the passenger on board when the violating vehicle 2 committed the traffic violation. A data set of the information on the violating vehicle 2 and the captured image of the face of the passenger on board when the violating vehicle 2 committed the traffic violation is periodically transmitted (submitted) to the police station server 5 .

(Operation of patrol management system)
Next, the operation procedure of the patrol management system 100 according to the first embodiment will be specifically described by exemplifying two use cases.

First, the first use case will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is an explanatory diagram of the first use case for photographing the face of the driver of the violating vehicle. FIG. 5 is a flow chart showing an example of the operation procedure of the patrol management system 100 in the first use case shown in FIG.

In the first use case, the patrol vehicle 1 detects the traffic violation of the violating vehicle 2 on a general road where the violating vehicle 2 travels at a low speed, and detects the traffic violation of the violating vehicle 2 in order to take a captured image of the face of the occupant of the violating vehicle 2. Track 2. In FIG. 4, a one-lane road is shown with respect to the center line CTL1, the vehicle travels in the direction DR1 on the road WY1, and the vehicle travels in the opposite direction DR2 on the road WY2 on the opposite side.

In FIG. 4, it is assumed that the patrol vehicle 1 detects that the violating vehicle 2 has committed a traffic violation at time T=t1 during automatic driving on the road WY1. At time T=t2 after time T=T1, the patrol vehicle 1 overtakes the violating vehicle 2 and uses a sensor S1 (for example, a camera with an angle of view AG1) of the patrol vehicle 1 to commit the traffic violation of the violating vehicle 2. Take a picture of the face of the passenger (for example, the driver) at the time of the accident. As a result, the patrol vehicle 1 can acquire the captured image of the face of the passenger riding in the violating vehicle 2 as evidence of the culprit who committed the traffic violation, so the patrol vehicle 1 can effectively crack down on traffic violations during automatic driving. can. In FIG. 4, a one-lane road is illustrated with respect to the center line CTL1, but in the case of a road with two or more lanes on one side, the patrol vehicle 1 detects a traffic violation by the offending vehicle 2 in front of the own vehicle. is not limited to the example of detecting , a traffic violation by the violating vehicle 2 may be detected on the side of the own vehicle.

In FIG. 5, the vehicle control device 12 of the patrol vehicle 1 detects the traffic of the other vehicle 3 (eg, the violating vehicle 2) based on the detection outputs of the sensors S1 to Sn (eg, cameras) and the traffic rule database 114 in the memory 11. It is determined that the detection unit 121 has detected a violation (St11).

The vehicle control device 12 of the patrol vehicle 1 uses the sensor S1 ( For example, a camera is used to take a picture (St12a). In addition, the vehicle control device 12 of the patrol vehicle 1 transmits the picked-up image showing the license plate as an example of information about the violating vehicle 2 obtained in step St12a to the patrol management server 4 via the communication circuit 13 ( St12b).

When the patrol management server 4 receives the captured image sent from the patrol vehicle 1 in step St12b, the patrol management server 4 recognizes the license plate of the violating vehicle 2 shown in the captured image based on the captured image, and corresponds to the license plate. Information about the violating vehicle 2 is specified and extracted (St21).

The vehicle control device 12 of the patrol vehicle 1 generates an instruction in the instruction unit 122 to photograph the face of an occupant (for example, a driver) riding in the violating vehicle 2 that committed the traffic violation. , and transmits the instruction to the violating vehicle 2 via the communication circuit 13 (St13).

This is because when the patrol vehicle 1 and the violating vehicle 2 can use mutual vehicle-to-vehicle communication using V2V (Vehicle to Vehicle), the patrol vehicle 1 can easily communicate with the violating vehicle 2 from the violating vehicle 2. This is because a captured image of the face can be obtained. Only when the violating vehicle 2 has an imaging device such as the DMS described above, the captured image captured by the imaging device is transmitted to the patrol vehicle 1 by vehicle-to-vehicle communication. On the other hand, if the patrol vehicle 1 and the violating vehicle 2 cannot use mutual vehicle-to-vehicle communication using V2V (Vehicle to Vehicle), or if the violating vehicle 2 does not have an imaging device such as a DMS, The patrol vehicle 1 cannot receive the response (that is, the captured image data showing the face of the occupant of the violating vehicle 2) even after a certain period of time has passed since the transmission in step St13.

When the vehicle control device 12 of the patrol vehicle 1 acquires the response to the instruction of step St13 (that is, the captured image data showing the face of the occupant of the violating vehicle 2) (St14, YES), it executes the process of step St17. do. That is, the vehicle control device 12 of the patrol vehicle 1 transmits the captured image data sent from the violating vehicle 2 to the patrol management server 4 via the communication circuit 13 (St17).

On the other hand, if the vehicle control device 12 of the patrol vehicle 1 fails to acquire the response to the instruction in step St13 (that is, the captured image data showing the face of the occupant of the violation vehicle 2) (St14, NO), the vehicle control device 12 of the violation vehicle 2 and overtake the violating vehicle 2 (St15, see FIG. 4).

The vehicle control device 12 of the patrol vehicle 1 uses the sensor S1 (such as a camera) provided in the patrol vehicle 1 to issue an instruction to photograph the face of the passenger (such as the driver) when the violating vehicle 2 commits a traffic violation. is generated and sent to the sensor S1 (eg camera) (St16). As a result, the sensor S1 (for example, a camera), according to an instruction from the vehicle control device 12, photographs the face of the passenger (for example, the driver) of the violating vehicle 2 when it commits a traffic violation, or continues to photograph the face. can be done.

The vehicle control device 12 of the patrol vehicle 1 transmits the captured image data of the face of the occupant of the violating vehicle 2 captured by the sensor S1 (for example, a camera) in step St16 to the patrol management server 4 via the communication circuit 13. (St17).

When the patrol management server 4 receives the captured image sent from the patrol vehicle 1 in step St17, based on the captured image, the information on the violating vehicle identified in step St21 and the face of the passenger of the violating vehicle 2 appear. The captured image data are associated with each other and recorded and stored in the data storage unit 44 (St22).

Next, a second use case will be described with reference to FIGS. 6, 7 and 8. FIG. FIG. 6 is an explanatory diagram of a second use case for photographing the face of the driver of the violating vehicle. FIG. 7 is a flow chart showing a first example of the operation procedure of the patrol management system 100 in the second use case shown in FIG. FIG. 8 is a flow chart showing a second example of the operation procedure of the patrol management system 100 in the second use case shown in FIG. 7 or 8, the same step numbers are assigned to the same processes (steps) as those described in FIG. 5, and the description is simplified or omitted, and different contents are described.

In the second use case, the patrol vehicle 1 detects traffic violations of the violating vehicle 2 on, for example, a highway or toll road on which the violating vehicle 2 travels at high speed, and captures an image of the face of the occupant of the violating vehicle 2. to track violating vehicle 2. In FIG. 6, a one-lane road is shown with respect to the median strip CTL2, and the vehicle travels in the direction DR1 on the road WY1, and the vehicle travels in the opposite direction DR2 on the road WY2 on the opposite side. . Note that a centerline CTL1 shown in FIG. 4 may be provided instead of the median strip CTL2.

In FIG. 6, it is assumed that the patrol vehicle 1 detects that the violating vehicle 2 has committed a traffic violation at time T=t1 during automatic driving on the road WY1. At time T=t1, the patrol vehicle 1 detects the traffic violation of the violating vehicle 2 and captures a captured image showing the license plate of the violating vehicle 2. The patrol management server 4 is sent an instruction to photograph the face (hand). This photographing instruction also includes the position information of the patrol vehicle 1 .

Based on the instruction sent from the patrol vehicle 1 at time T=t2 after time T=t1, the patrol management server 4 automatically operates the patrol vehicle 1 corresponding to the position information of the patrol vehicle 1 included in the instruction. At least one of the infrastructure sensors IFS1 to IFSm (for example, cameras) installed on the side of the road WY1 is instructed to photograph the face of the occupant of the violating vehicle 2. As a result, at least one of the infrastructure sensors IFS1 to IFSm acquires, for example, a photographed image of the face of an occupant (for example, the driver) of the violating vehicle 2 positioned within the angle of view AG2 as evidence of the criminal who committed the traffic violation. can effectively enforce traffic violations during autonomous driving. At least one of the infrastructure sensors IFS1 to IFSm transmits to the patrol management server 4 the captured image data of the face of the occupant (for example, the driver) of the violating vehicle 2 .

Based on the instruction sent from the patrol vehicle 1 at time T=t2 after time T=t1, the patrol management server 4 automatically operates the patrol vehicle 1 corresponding to the position information of the patrol vehicle 1 included in the instruction. Another vehicle 3 running on a road WY2 on the opposite side of the road WY1 and at a position where the violating vehicle 2 can be photographed is instructed to photograph the face of the occupant of the violating vehicle 2.例文帳に追加As a result, the other vehicle 3 uses a sensor provided in the other vehicle (for example, the camera CAM1 with the angle of view AG3) to capture the captured image of the face of the occupant (for example, the driver) of the violating vehicle 2 as evidence of the criminal who committed the traffic violation. , and can effectively enforce traffic violations during autonomous driving. In addition, the other vehicle 3 transmits to the patrol management server 4 the captured image data of the face of the occupant (for example, the driver) of the violating vehicle 2 . In FIG. 6, a one-lane road is illustrated with respect to the median strip CTL2. It is not limited to the example of detecting a violation, and a traffic violation by the violating vehicle 2 may be detected on the side of the own vehicle.

In FIG. 7, when the vehicle control device 12 of the patrol vehicle 1 fails to acquire the response to the instruction in step St13 (that is, the captured image data showing the face of the occupant of the violating vehicle 2) (St14, NO), A request is sent to the patrol management server 4 to photograph the face of the occupant (for example, the driver) of the violating vehicle 2 at the time of the violation (St31). This photographing instruction also includes the position information of the patrol vehicle 1 .

Based on the instruction sent from the patrol vehicle 1 in step St31, the patrol management server 4 is installed on the side of the road WY1 during automatic operation corresponding to the position information of the patrol vehicle 1 included in the instruction. At least one of the infrastructure sensors IFS1 to IFSm (for example, a camera) is instructed to photograph the face of the occupant of the violating vehicle 2 (St41). At least one of the infrastructure sensors IFS1 to IFSm (for example, a camera) transmits the captured image data of the face of the occupant of the violating vehicle 2 captured based on the instruction in step St41 to the patrol vehicle 1 via the network network NW1. send to

In addition, based on the instruction sent from the patrol vehicle 1 in step St31, the patrol management server 4 detects the road on the opposite side of the road WY1 that is currently being driven and corresponds to the position information of the patrol vehicle 1 included in the instruction. The other vehicle 3 which is WY2 and is traveling in a position where the violating vehicle 2 can be photographed may be instructed to photograph the face of the occupant of the violating vehicle 2 (St41). The other vehicle 3 sends data of the captured image including the face of the occupant of the violating vehicle 2 captured based on the instruction in step St41 to the patrol vehicle 1 via the network NW1.

The vehicle control device 12 of the patrol vehicle 1 controls at least one of the infrastructure sensors IFS1 to IFSm (for example, a camera) or a captured image sent from another vehicle 3 traveling on the road on the opposite side (that is, the occupant of the offending vehicle 2). (St32). Since the processing after step St32 is the same as the processing after step St16 in FIG. 5, the description thereof is omitted.

Further, in FIG. 8, when the vehicle control device 12 of the patrol vehicle 1 fails to acquire the response to the instruction in step St13 (that is, the captured image data showing the face of the occupant of the violating vehicle 2) (St14, NO). , a request for obtaining vehicle information of the offending vehicle 2 at the time of the traffic violation is sent via the communication circuit 13 (St51).

Here, the vehicle information includes, for example, at least one of the door switch, seat belt switch, engine switch, position information, and speed information of the violating vehicle 2, but the vehicle information may not be limited to these. The door switch indicates whether the door of the violating vehicle 2 is opened or closed. The seat belt switch indicates whether or not the seat belt of the violating vehicle 2 is locked. The engine switch indicates whether or not the engine of the violating vehicle 2 is operating (operating). Depending on the state of each switch, the state of the offending vehicle 2 at the time of the traffic violation can be estimated with a certain degree of accuracy, and the presence or absence of negligence of the occupant of the offending vehicle 2 can be determined during interrogation at the police station. can be

Based on the acquisition request sent from the patrol vehicle 1 in step St51, the violating vehicle 2 acquires the vehicle information (see above) of the violating vehicle 2 at the time of receiving the acquisition request, and transmits the vehicle information to the network. It is sent to the patrol vehicle 1 via NW1 (St61). Note that the violating vehicle 2 may transmit vehicle information to the patrol management server 4 .

The vehicle control device 12 of the patrol vehicle 1 receives and acquires the vehicle information sent from the violating vehicle 2 via the communication circuit 13 (St52). The vehicle control device 12 of the patrol vehicle 1 transmits, via the communication circuit 13, the vehicle information (see above) of the violating vehicle 2 acquired in step St52 or the captured image data relating to the appearance of the violating vehicle 2 captured in step St12a. is sent to the patrol management server 4 (St53).

When the patrol management server 4 receives the vehicle information or captured image data of the violating vehicle 2 sent from the patrol vehicle 1 in step St53, the patrol management server 4 performs the process of step St63. Specifically, based on the received vehicle information or captured image data, the patrol management server 4 generates information about the violating vehicle 2 identified in step St21 and a captured image showing the face of the occupant of the violating vehicle 2. or the vehicle information acquired in step St61 are recorded and stored in the data storage section 44 (St63).

As described above, the vehicle control device 12 according to the first embodiment is mounted on the patrol vehicle 1 (own vehicle) according to the first embodiment. The vehicle control device 12 or the patrol vehicle 1 includes a detection unit 121 that detects traffic violations of the other vehicle 3 and an instruction unit 122 that instructs imaging of the occupants of the other vehicle 3 . When the detection unit 121 detects a traffic violation of another vehicle 3 (that is, the violating vehicle 2) positioned in front of or to the side of the patrol vehicle 1, the instructing unit 122 instructs the imaging of the occupant of the violating vehicle 2. .

As a result, the vehicle control device 12 or the patrol vehicle 1 can acquire an image of the face of the driver (passenger) riding in the vehicle 2 that violates the traffic rules. can be accurately identified. Therefore, the vehicle control device 12 or the patrol vehicle 1 can enhance the effectiveness of crackdowns (patrol) against violations of traffic rules.

Further, in the vehicle control device 12 or the patrol vehicle 1, the detection unit 121 detects that the speed of the other vehicle 3 (violating vehicle 2) exceeds a threshold (for example, the upper speed limit defined according to the road on which it is traveling, or the legal speed limit). , parking violations, overtaking violations, tailgating, ignoring traffic lights, and inattentive driving by the occupants of the other vehicle 3 (violating vehicle 2) are detected as traffic violations. As a result, the vehicle control device 12 or the patrol vehicle 1 can detect at least one of speeding, parking violations, overtaking violations, tailgating, ignoring traffic lights, and inattentive driving, which have a relatively high incidence of traffic violations, as traffic violations. , can carry out effective enforcement. In particular, since the patrol vehicle 1 is assumed to be an automatic driving vehicle, the vehicle on the detection side may be subject to overtaking violations, inattentive driving (for example, an occupant removes the field of vision from the front and operates a smartphone on the hand side), or tailgating. The detection accuracy can be improved relatively even for traffic violations that are difficult to detect if the vehicle is not moving.

Further, in the vehicle control device 12 or the patrol vehicle 1, the instruction unit 122 is provided in an imaging device (for example, a camera installed in the violation vehicle 2 so as to be able to image a passenger's face) provided in the other vehicle 3 (violation vehicle 2). An instruction is given to image the occupant of vehicle 3 (violating vehicle 2). As a result, the vehicle control device 12 or the patrol vehicle 1 can acquire an image that can identify the face of the passenger of the other vehicle 3 (violating vehicle 2) by using the camera of the other vehicle 3 (violating vehicle 2). effective enforcement.

Further, in the vehicle control device 12 or the patrol vehicle 1, the instruction unit 122 instructs imaging of the occupant and license plate of the other vehicle 3 (violating vehicle 2). As a result, the vehicle control device 12 or the patrol vehicle 1 can acquire a photographed image of the appearance and license plate of the violating vehicle 2 that has committed a traffic violation, and the patrol management server 4 can accurately identify information such as the owner of the violating vehicle 2. can be improved.

In addition, the vehicle control device 12 or the patrol vehicle 1 uses an imaging device (for example, a sensor S1 such as a camera) provided in the own vehicle in response to an imaging instruction from the instruction unit 122 to detect the other vehicle 3 (violating vehicle 2). It further includes a drive control unit 123 that controls the movement of the own vehicle to a position where the passenger can be imaged. The position where the occupant of the other vehicle 3 (violating vehicle 2) can be imaged may include, for example, the position in front of the violating vehicle 2 or an occupant such as the driver of the violating vehicle 2 (including diagonally forward direction). As a result, the patrol vehicle 1 can acquire the captured image of the face of the passenger riding in the violating vehicle 2 as evidence of the culprit who committed the traffic violation, so the patrol vehicle 1 can effectively crack down on traffic violations during automatic driving. can.

In addition, the vehicle control device 12 or the patrol vehicle 1 uses an imaging device (for example, a sensor S1 such as a camera) provided in the own vehicle in response to an imaging instruction from the instruction unit 122 to detect the other vehicle 3 (violating vehicle 2). It further includes a drive control unit 123 that controls the host vehicle so as to start imaging the occupant and continue imaging even after imaging the occupant of the other vehicle 3 (violating vehicle 2). As a result, even if the violating vehicle 2 escapes from the spot (site) after committing a traffic violation, the patrol vehicle 1 follows the escaped violating vehicle 2 and the occupant riding in the violating vehicle 2 Since the captured image of the face of the vehicle or the captured moving image based on the captured image can be acquired as evidence of the criminal who committed the traffic violation, effective enforcement of traffic violations can be executed during automatic driving.

In the vehicle control device 12 or the patrol vehicle 1, the drive control unit 123 controls the own vehicle so as to overtake the other vehicle 3 (violating vehicle 2). As a result, the patrol vehicle 1 can be positioned in front of the violating vehicle 2, so that a sensor S1 (for example, a camera) provided in the patrol vehicle 1 captures an image of the face of the occupant of the violating vehicle 2 as evidence. can be held by

Further, in the vehicle control device 12 or the patrol vehicle 1, the instruction unit 122 manages patrol management of an image of the face of the occupant of the violating vehicle 2 captured by the sensor S1 (for example, a camera) in the communication circuit 13 of the own vehicle. It instructs to send to the server 4. As a result, the patrol management server 4 can acquire the captured image including the face of the passenger of the violating vehicle 2 sent from the patrol vehicle 1, so that the image can be retained as evidence of the traffic violation.

Further, in the vehicle control device 12 or the patrol vehicle 1, the instructing unit 122 causes the other vehicles 3 (see FIG. 6) around the violating vehicle 2 to image the occupants of the violating vehicle 2 and to image the occupants of the violating vehicle 2. to the patrol management server 4. As a result, the other vehicles 3 around the violating vehicle 2 use a sensor (eg, a camera CAM1 with an angle of view AG3) provided in the other vehicle 3 to capture the captured image of the face of the occupant of the violating vehicle 2 (eg, the driver). It can be obtained as evidence of the culprit who committed the violation, and effective enforcement of traffic violations can be carried out during autonomous driving.

Further, in the vehicle control device 12 or the patrol vehicle 1, the instruction unit 122 causes an existing imaging device (for example, an infrastructure sensor IFS1 such as a camera) installed on the road on which the own vehicle is traveling to take an image of the occupant of the violating vehicle 2, and An instruction is given to transmit to the patrol management server 4 a captured image based on the captured image of the occupant of the vehicle 2 . As a result, the infrastructure sensor IFS1 can acquire, for example, a captured image of the face of the occupant (for example, the driver) of the violating vehicle 2 located within the angle of view AG2 as evidence of the culprit who committed the traffic violation. Effective enforcement of violations can be implemented.

In the vehicle control device 12 or the patrol vehicle 1, the instruction unit 122 causes the communication circuit 13 of the own vehicle to receive at least one of the door switch, seat belt switch, engine switch, position information, and speed information of the violating vehicle 2. directly or via the patrol management server 4 to the violating vehicle 2 to obtain vehicle information including As a result, the patrol vehicle 1 can estimate with a certain accuracy the state of the violating vehicle 2 when it commits a traffic violation based on the violating vehicle 2 or the vehicle information of the violating vehicle 2 sent from the patrol management server 4. It is possible to assist in determining whether or not the occupant of the violating vehicle 2 is at fault during interrogation in the police station.

Further, in the vehicle control device 12 or the patrol vehicle 1, the instruction unit 122 instructs either the own vehicle or the surrounding vehicles of the other vehicle 3 to image the occupant of the other vehicle 3 (violating vehicle 2). As a result, the patrol vehicle 1 can adaptively acquire an image of the occupant of the violating vehicle 2 according to the situation when the vehicle 2 violates the traffic rules, and the face of the occupant can be accurately identified. can be identified.

Various embodiments have been described above with reference to the drawings, but it goes without saying that the present disclosure is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications, modifications, substitutions, additions, deletions, and equivalents within the scope of the claims. Naturally, it is understood that it belongs to the technical scope of the present disclosure. In addition, the constituent elements of the various embodiments described above may be combined arbitrarily without departing from the gist of the invention.

The present disclosure is a vehicle control device that efficiently suppresses an increase in load on patrols for monitoring traffic rule violations and supports execution of wide-area and effective patrols instead of patrols in partial locations. and useful as a vehicle.

1 Patrol vehicle 2 Violation vehicle 3 Other vehicle 4 Patrol management server 5 Police station server 11, 41 Memory 12 Vehicle control device 13, 43 Communication circuit 14 Information input/output device 15 Actuator 42 Processor 44 Data storage unit 100 Patrol management system 111 Possession Person information 112 Road map information 113 Software program 114 Traffic regulation database 121 Detection unit 122 Instruction unit 123 Drive control unit IFS1, IFSm Infrastructure sensor NW1 Network network S1, S2, Sn Sensor

Claims (24)

A vehicle control device mounted on an own vehicle,
a detection unit for detecting traffic violations of other vehicles;
an instruction unit that instructs imaging of an occupant of the other vehicle;
a vehicle control unit that performs control to move the own vehicle to a position where an image of an occupant of the other vehicle can be imaged using an imaging device provided in the own vehicle in accordance with the imaging instruction; with
When the detection unit detects a traffic violation of the other vehicle located in front of or to the side of the own vehicle, the instruction unit instructs to capture an image of the occupant of the other vehicle.
Vehicle controller. The detection unit detects that the speed of the other vehicle exceeds a threshold value, parking violation by the other vehicle, overtaking violation by the other vehicle, tailgating by the other vehicle, ignoring a signal by the other vehicle, and Detecting at least one of distracted driving by a passenger as the traffic violation;
The vehicle control device according to claim 1. The instruction unit instructs an imaging device provided in the other vehicle to image an occupant of the other vehicle.
The vehicle control device according to claim 1. The instruction unit instructs imaging of the occupant and license plate of the other vehicle,
The vehicle control device according to claim 1. A vehicle that controls the subject vehicle so as to start imaging the other vehicle using an imaging device provided in the subject vehicle in response to the instruction to image the subject vehicle, and to continue imaging even after imaging the occupant of the subject vehicle. further comprising a control unit,
The vehicle control device according to claim 1. The vehicle control unit controls the own vehicle to overtake the other vehicle.
The vehicle control device according to claim 5 . The instruction unit instructs the communication unit provided in the own vehicle to transmit the captured image of the passenger captured by the imaging device to a predetermined server.
The vehicle control device according to claim 6 . The instruction unit instructs a vehicle surrounding the other vehicle to transmit an image of an occupant of the other vehicle and a captured image based on the image of the occupant of the other vehicle to a predetermined server.
The vehicle control device according to claim 1. The instruction unit instructs an imaging device installed on a road on which the own vehicle travels to capture an image of the occupant of the other vehicle and transmit an imaged image based on the imaging of the occupant of the other vehicle to a predetermined server. do,
The vehicle control device according to claim 1. The instruction unit requests the other vehicle to acquire vehicle information including at least one of a door switch, a seat belt switch, an engine switch, position information, and speed information of the other vehicle, from a communication unit provided in the own vehicle. do,
The vehicle control device according to claim 1. The instruction unit instructs either the own vehicle or a vehicle surrounding the other vehicle to capture an image of the occupant of the other vehicle.
The vehicle control device according to claim 1. A vehicle comprising a vehicle control device,
The vehicle control device includes:
a detection unit for detecting traffic violations of other vehicles;
an instruction unit that instructs imaging of an occupant of the other vehicle;
an imaging device for imaging the surroundings of the vehicle;
a vehicle control unit that performs control to move the vehicle to a position where the occupant of the other vehicle can be imaged using the imaging device in accordance with the imaging instruction ;
When the detection unit detects a traffic violation of the other vehicle located in front of or to the side of the vehicle, the instruction unit instructs imaging of the occupant of the other vehicle.
vehicle. The detection unit detects that the speed of the other vehicle exceeds a threshold value, parking violation by the other vehicle, overtaking violation by the other vehicle, tailgating by the other vehicle, ignoring a signal by the other vehicle, and Detecting at least one of distracted driving by a passenger as the traffic violation;
13. Vehicle according to claim 12 . The instruction unit instructs an imaging device provided in the other vehicle to image an occupant of the other vehicle.
13. Vehicle according to claim 12 . The instruction unit instructs imaging of the occupant and license plate of the other vehicle,
13. Vehicle according to claim 12 . Further comprising an imaging device for imaging the surroundings of the vehicle,
The vehicle control device includes:
a vehicle control unit for controlling the vehicle so as to start imaging the other vehicle using the imaging device in response to the imaging instruction, and continue imaging even after imaging the occupant of the other vehicle; have
13. Vehicle according to claim 12 . The vehicle control unit controls the vehicle to overtake the other vehicle.
17. A vehicle according to claim 16 . further comprising a communication unit that communicates with a predetermined server,
The instruction unit instructs the communication unit to transmit the captured image of the passenger captured by the imaging device to the server.
Vehicle according to claim 16 or 17 . further comprising a communication unit that communicates with vehicles surrounding the other vehicle,
The instruction unit instructs the surrounding vehicle to transmit an image of the occupant of the other vehicle and a captured image based on the image of the occupant of the other vehicle to a predetermined server via the communication unit. ,
13. Vehicle according to claim 12 . A communication unit that communicates with an existing imaging device on the road on which the vehicle travels,
The instruction unit instructs the existing imaging device to transmit an image of the occupant of the other vehicle and a captured image based on the image of the occupant of the other vehicle to a predetermined server.
13. Vehicle according to claim 12 . further comprising a communication unit that communicates with a predetermined server,
The instruction unit, via the communication unit, requests the other vehicle to acquire vehicle information including at least one of door switches, seat belt switches, engine switches, position information, and speed information of the other vehicle.
13. Vehicle according to claim 12 . The instruction unit instructs either the vehicle or a vehicle surrounding the other vehicle to capture an image of the occupant of the other vehicle.
13. Vehicle according to claim 12 . A vehicle control method in a vehicle control device mounted on an own vehicle,
detecting traffic violations of other vehicles;
a step of instructing imaging of an occupant of the other vehicle;
a step of performing control to move the own vehicle to a position where an image of the occupant of the other vehicle can be imaged using an imaging device provided in the own vehicle in accordance with the imaging instruction; has
In the step of instructing, when a traffic violation of the other vehicle positioned in front of or to the side of the own vehicle is detected, instructing imaging of an occupant of the other vehicle;
Vehicle control method. In the vehicle control device, which is a computer installed in the own vehicle,
detecting traffic violations of other vehicles;
a step of instructing imaging of an occupant of the other vehicle;
a step of controlling to move the own vehicle to a position where an image of an occupant of the other vehicle can be imaged using an imaging device provided in the own vehicle in accordance with the imaging instruction; and
In the step of instructing, when a traffic violation of the other vehicle positioned in front of or to the side of the own vehicle is detected, instructing imaging of an occupant of the other vehicle;
program.

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