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JP2014206804

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DESCRIPTION JP2014206804
PROBLEM TO BE SOLVED: To provide an emergency vehicle position specifying device capable of
specifying the position of an emergency vehicle existing around a host vehicle with higher
accuracy based on alarm sound. SOLUTION: An emergency vehicle 100 is obtained in which
position information indicating the positions of the own vehicle 1 and other vehicles 2 and 3
existing around the own vehicle 1 is acquired, and calculated in each of the own vehicle 1 and
other vehicles. Direction parameters ai, bi, ci indicating the direction of are obtained. The
direction parameters ai, bi, ci are calculated based on the alarm sound of the emergency vehicle
100 acquired by the microphone mounted on the own vehicle 1 and the other vehicles 2, 3, etc.,
and are defined by the direction parameters ai, bi, ci The position of the emergency vehicle 100
is identified based on a plurality of straight lines L1, L2, L3, and so on. [Selected figure] Figure 4
Emergency Vehicle Positioning System
[0001]
The present invention relates to an emergency vehicle position specifying device that specifies
the position of an emergency vehicle when the emergency vehicle outputting an alarm sound is
present in the vicinity of the own vehicle.
[0002]
Patent Document 1 shows a device for specifying the position of an emergency vehicle by
detecting the siren sound of the emergency vehicle using four microphones and calculating the
direction and distance of the emergency vehicle based on the detected siren sound. It is done.
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1
[0003]
Further, in Patent Document 2, the distance to the emergency vehicle is calculated based on the
sound pressure of the alarm sound of the emergency vehicle and the position information
indicating the position of the own vehicle and the other vehicles present in the periphery, and the
own vehicle and the other vehicles. There is also shown a device for specifying a position at
which the position information of the own vehicle and the other vehicle and the distance
calculated in the own vehicle and the other vehicle can be matched as the position of the
emergency vehicle.
[0004]
JP-A-11-48886 JP-A 2009-134480
[0005]
In the methods described in Patent Documents 1 and 2, the distance to the emergency vehicle is
detected based on the sound pressure of the detected alarm sound, but the relationship between
the sound pressure and the distance is not necessarily constant. There is a problem that the
distance detection accuracy is low.
In the method shown in Patent Document 2, the accuracy is improved by using the distance
detected in a plurality of vehicles, but the point of calculating the distance from the sound
pressure is the same as the method shown in Patent Document 1 Yes, the accuracy in identifying
the emergency vehicle position was not sufficient.
[0006]
The present invention has been made focusing on this point, and provides an emergency vehicle
position specifying device capable of specifying the position of an emergency vehicle existing
around the own vehicle with higher accuracy based on an alarm sound. With the goal.
[0007]
In order to achieve the above object, the invention according to claim 1 is mounted on a host
vehicle (1) and determines the position of the emergency vehicle (100) based on the alarm sound
of the emergency vehicle (100). In the device, position information acquiring means for acquiring
position information indicating the position of the own vehicle (1) and the other vehicles (2 to 6)
present around the own vehicle, the own vehicle (1) and the other vehicles (2 to 6) Direction
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information acquiring means for acquiring direction information (ai, bi, ci) indicating the
direction of the emergency vehicle (100) calculated in each of 6), the direction information (ai, bi,
ci) being The directional information (the directional information is calculated based on the alarm
sound of the emergency vehicle (100) acquired by the sound acquisition means (11 to 14)
mounted on the own vehicle (1) and the other vehicles (2 to 6) Multiple straight lines indicating
ai, bi, ci) (L1 to L6) on the basis, and performs certain of the emergency vehicle position.
[0008]
According to this configuration, position information indicating the position of the own vehicle
and the other vehicle present around the own vehicle is acquired, and directional information
indicating the direction of the emergency vehicle calculated in the own vehicle and the other
vehicle is obtained. The direction information is calculated based on the alarm sound of the
emergency vehicle acquired by the voice acquisition means mounted on the own vehicle and the
other vehicle, and based on the plurality of straight lines indicating the direction information,
Identification is done.
The direction information calculated based on the alarm sound is more accurate than the
distance information calculated based on the sound pressure of the alarm sound, so use multiple
straight lines indicating the direction of the emergency vehicle seen from multiple vehicles. Thus,
the emergency vehicle position can be identified with higher accuracy.
[0009]
The invention according to claim 2 is the emergency vehicle position specifying device according
to claim 1, wherein a plurality of straight lines (corresponding to the own vehicle (1) and the
other vehicles (2 to 6) corresponding to each other and indicating the direction information) It is
characterized in that the emergency vehicle position is specified based on the intersection of L1
to L6).
[0010]
According to this configuration, the emergency vehicle position is identified based on the
intersection of a plurality of straight lines corresponding to the own vehicle and the other vehicle
and indicating the direction information.
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When the direction information is obtained with relatively high accuracy, a plurality of straight
lines indicating the direction information intersect at substantially one point, so that it is possible
to identify the presence of an emergency vehicle in the vicinity of the point of intersection.
[0011]
The invention according to claim 3 is the emergency vehicle position specifying device according
to claim 1 or 2, wherein the plurality of straight lines (L1 to L6) respectively corresponding to
the host vehicle (1) and the other vehicles (2 to 6) The emergency vehicle position is specified
based on a point (P0) at which the sum of squares (SSD) of the distances with the distance.
[0012]
According to this configuration, the emergency vehicle position is identified based on the point
where the sum of squares of the distances from the own vehicle and the plurality of
corresponding straight lines of the other vehicle is minimum.
Normally, multiple directional information does not intersect at one point because multiple
directional information contains errors respectively, but the emergency vehicle is at a point
(square-sum minimum point) at which the sum of squares of distances to multiple straight lines is
minimum. Most likely to exist.
Therefore, the position of the square sum minimum point itself or the position of the closest
point on the road when the square sum minimum point is not a point on the road can be
identified as the emergency vehicle position.
[0013]
The invention according to claim 4 is the emergency vehicle position specifying device according
to any one of claims 1 to 3, wherein when the plurality of straight lines (L1 to L6) are
substantially parallel to one another, Specifying the position of the emergency vehicle based on
the straight line (L1) indicating the direction information acquired in 1) and the sound pressure
(SAP) of the alarm sound acquired in the host vehicle (1) It features.
[0014]
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According to this configuration, when the plurality of straight lines are parallel to each other, the
emergency vehicle position is determined based on the straight line indicating the direction
information acquired in the host vehicle and the sound pressure of the alarm sound acquired in
the host vehicle. It is identified.
When a plurality of straight lines are almost parallel to each other, it is not possible to find the
intersection point or a square sum minimum point approximating the intersection point, so use
the direction of the emergency vehicle viewed from the own vehicle and the distance information
obtained from the sound pressure. , The emergency vehicle position can be identified.
[0015]
The invention according to claim 5 is the emergency vehicle position specifying device according
to any one of claims 1 to 4, wherein the emergency vehicle position is specified at predetermined
time intervals, and the specified position is determined. A position storing means for storing is
provided, and the traveling direction of the emergency vehicle is further specified based on the
previously identified emergency vehicle position and the currently identified emergency vehicle
position.
[0016]
According to this configuration, the specification of the emergency vehicle position is performed
at predetermined time intervals, and the specified position is stored.
Then, the traveling direction of the emergency vehicle is specified based on the previously
identified emergency vehicle position stored and the emergency vehicle position identified this
time.
Therefore, in addition to the position of the emergency vehicle, the traveling direction can also be
identified with high accuracy.
[0017]
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FIG. 1 is a diagram showing a vehicle provided with an emergency vehicle position specifying
device according to an embodiment of the present invention.
It is a figure for demonstrating arrangement ¦ positioning of a microphone.
It is a figure for demonstrating communication with self-vehicles and other vehicles. It is a figure
for demonstrating an emergency vehicle position identification method. It is a figure for
demonstrating derivation ¦ leading-out of the numerical formula applied when specifying an
emergency vehicle position. It is a flowchart of the process which specifies an emergency vehicle
position. It is a figure which shows the screen display of a navigation apparatus.
[0018]
Hereinafter, embodiments of the present invention will be described with reference to the
drawings. 1 and 2 show a vehicle provided with an emergency vehicle position specifying device
according to an embodiment of the present invention. FIG. 1 is a block diagram showing
elements constituting the emergency vehicle position specifying device, and FIG. 2 is a view for
explaining the arrangement of microphones (hereinafter referred to as "microphones") 11 to 14
shown in FIG. Vehicles (hereinafter referred to as "own vehicle") 1 shown in these figures are
microphones 11 to 14 disposed at the four corners of the upper part of the vehicle body as
shown in FIG. 2, an antenna 15 for GPS (Global Positioning System), and communication An
antenna 16 and a vehicle position display unit 17 are provided. The vehicle position display unit
17 includes a navigation device 21 including a storage device of map information and GPS, a
voice processing unit 22 for detecting the direction of the emergency vehicle based on voice
signals output from the microphones 11 to 14, and the vehicle 1 And a communication unit 23
for performing data communication with other vehicles 2, 3, 4 and the like (see FIG. 3) existing in
the vicinity of the above. The vehicle position display unit 17 displays the position of the vehicle
1 together with the map information on the display unit of the navigation device 21 and further
outputs an alarm sound (siren sound) if there is an emergency vehicle in the periphery. The
position is specified, and the specified position is displayed on the display unit of the navigation
device 21.
[0019]
In the present embodiment, it is assumed that the other vehicles 2, 3, 4 and so on are also
provided with four microphones, a navigation device, an audio processing unit, and a
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communication unit, as in the case of the host vehicle 1 shown in FIG.
[0020]
FIG. 4 is a view for explaining the emergency vehicle position specifying method in the present
embodiment, and on the coordinate plane having the current position of the own vehicle 1 as the
origin, the positions of the other surrounding vehicles 2 to 6 and the emergency vehicle 100. It is
shown.
In the present embodiment, when there is an emergency vehicle that outputs an alarm sound in
the periphery, each vehicle is based on the sound pressure level of the alarm sound detected by
the four microphones in the own vehicle 1 and the other vehicles 2-6. The direction of the
emergency vehicle 100 viewed from the viewpoint is detected.
[0021]
The sound pressure levels detected by the four microphones 11 to 14 are converted into relative
sound pressure levels based on the maximum sound pressure level. The relationship between the
relative sound pressure level and the direction of the sound source is determined in advance by
experiment, and the result is stored in the memory in the vehicle position display unit 17 as a
sound source direction map. Therefore, the direction of emergency vehicle 100 is identified by
searching the sound source direction map according to the detected relative sound pressure
level. In order to indicate the identified direction, direction parameters ai, bi, and ci (i = 1 to 6)
defining direction straight lines L1 to L6 as shown in FIG. 4 are calculated, and the distances to
the direction straight lines L1 to L6 are calculated. The coordinates (x0, y0) of a point P0 at
which the square sum SSD of di is a minimum (hereinafter referred to as square sum minimum
point ) are calculated, and the square sum minimum point P0 is identified as the position of the
emergency vehicle 100.
[0022]
When the directional straight line Li is defined by three directional parameters ai, bi and ci using
the following equations (1) and (2), the coordinates (x0, y0) are given by the following equation
(3). In the equation (3), Σ means the total sum of the related number N of vehicles, and in the
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example shown in FIG. 4, for example, the number N of vehicles is
formulas shown below are defined in the same manner.
6
. All the Σ in the
[0023]
The derivation method of equation (3) will be described below. The distance di between the
direction straight line Li and the point P0 shown in FIG. 5A is given by the following equation (4),
and the square sum SSD of the distance di is given by the following equation (5).
[0024]
The following equations (6) and (7) can be obtained by partially differentiating equation (5) with
respect to variable x0 and variable y0, so that the relationship in which these partial differential
coefficients become 0 can be expressed by an equation using a matrix The following
equation (8) is obtained. When this is solved for variables x0 and y0, the above equation (3) is
obtained.
[0025]
For example, when the square sum minimum point P0 is obtained for the three direction straight
lines L1 to L3 shown in FIG. 5B, the positions shown in the figure are identified, and when the
three direction straight lines L1 to L3 do not intersect at one point, A position approximating the
intersection can be determined.
[0026]
In the example shown in FIG. 4, since the other vehicles 2 to 6 exist in the periphery of the
emergency vehicle 100 besides the own vehicle 1, the direction of the emergency vehicle 100 is
detected by four microphones in each of the other vehicles 2 to 6 Direction parameters a0i, b0i,
c0i (i = 2 to 6) which are specified based on the sound pressure level and define the direction
straight lines L2 to L6 are calculated.
The calculated direction parameters a0i, b0i, c0i are transmitted together with position
information indicating the current positions of the corresponding other vehicles 2-6.
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[0027]
The host vehicle 1 receives the transmission information, and the direction parameters a0i, b0i
and c0i are converted into numerical values on the coordinate plane with the host vehicle 1 as
the origin, using the position information of the other vehicles 2-6. While calculating direction
parameters ai, bi, ci (i = 2 to 6), direction parameters a1, b1 and c1 defining the direction straight
line L1 are calculated and applied to equation (3) to obtain the square sum minimum point P0
Coordinates (x0, y0) are calculated. By this calculation, the position of the emergency vehicle 100
is specified to the position indicated by a black circle in FIG.
[0028]
Thus, it is determined that the direction shown by the straight line L5 is detected in the other
vehicle 5 shown in FIG. 4 by finding the square sum minimum point P0 at which the square sum
SSD of the distances to the plurality of directional straight lines L1 to L6 is minimum. Also, the
position of the emergency vehicle 100 can be accurately identified. When all of the plurality of
direction straight lines L1 to L6 are calculated with high accuracy, the direction straight lines L1
to L6 intersect at approximately one point, and the square sum minimum point P0 is calculated
as the point of intersection.
[0029]
FIG. 6 is a flowchart of processing for specifying the position of the emergency vehicle by the
above-described method, and this processing is executed in the vehicle position display unit 17
of the own vehicle 1. When the alarm sound of the emergency vehicle 100 is detected, the
process proceeds from step S11 to step S12, and direction parameters a1, b1, c1 indicating the
direction of the emergency vehicle 100 viewed from the host vehicle 1 are calculated.
[0030]
In step S13, direction parameter information and position information from other vehicles (for
example, 2 to 6) are acquired, and the above-described coordinate conversion process is
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performed to calculate direction parameters ai, bi, ci (i = 2, 3, ...) Do. In step S14, the direction
parameters ai, bi, ci (i = 1, 2,...) Are applied to the equation (3) to calculate the coordinates (x0,
y0) of the square sum minimum point P0. At this time, for example, if the number of acquired
direction parameters is small (for example, only one other vehicle is present) and the plurality of
direction straight lines Li specified by the direction parameters ai, bi and ci are substantially
parallel to one another, Since the position of the sum minimum point P0 can not be specified,
when it can not be specified, the indeterminable flag FSIMP is set to "1".
[0031]
In step S15, it is determined whether or not the indeterminacy flag FSIMP is "1". If the answer is
negative (NO), the position P0 calculated in step S14 is, for example, as shown in FIG. It displays
on the map of the navigation apparatus 21 (step S17). When the calculated position P0 is out of
the road of the map, it is desirable to correct and display the point on the nearest road.
[0032]
If the answer to step S15 is affirmative (YES), the process proceeds to step S16, and the own
vehicle is calculated based on the direction parameters a1, b1 and c1 calculated in the own
vehicle 1 and the sound pressure level SAP of the alarm sound Using the distance DIST from 1 to
the emergency vehicle 100, the position (x0, y0) of the emergency vehicle 100 is calculated.
Among the sound pressure levels detected by the microphones 11 to 14, the maximum sound
pressure level is used as the sound pressure level SAP. After execution of step S16, the process
proceeds to step S17.
[0033]
As described above, in the present embodiment, position information indicating the positions of
the host vehicle 1 and the other vehicles 2, 3,... Present around the host vehicle 1 is acquired, and
the host vehicle 1 and the other vehicles 2, 3, Direction parameters ai, bi, ci indicating the
direction of the emergency vehicle 100, which are calculated in each of ..., are obtained. The
direction parameters ai, bi, ci are calculated based on the alarm sound of the emergency vehicle
100 acquired by the microphones mounted on the host vehicle 1 and the other vehicles 2, 3, ...,
and are defined by the direction parameters ai, bi, ci The position of the emergency vehicle 100
is specified based on the plurality of directional straight lines L1, L2, L3,. The directional
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parameters ai, bi, ci calculated based on the alarm sound have higher accuracy than the distance
information calculated based on the sound pressure of the alarm sound, and thus indicate the
direction of the emergency vehicle 100 viewed from a plurality of vehicles. By using a plurality of
directional straight lines L1, L2, L3,..., It becomes possible to specify the emergency vehicle
position with higher accuracy.
[0034]
The emergency vehicle position is determined based on the square sum minimum point P0 at
which the square sum SSD of the distances to the plurality of directional straight lines L1, L2,
L3,... Corresponding to the vehicle 1 and the other vehicles 2, 3,. It is identified. Normally, the
directional parameters ai, bi, ci corresponding to a plurality of directional straight lines do not
cross at one point because the directional parameters ai, bi, ci respectively contain errors, but the
square sum SSD of the distances to the plurality of directional straight lines is the minimum The
emergency vehicle 100 is most likely to exist at the square sum minimum point P0 where
Therefore, it is possible to specify the position of the emergency vehicle 100 as the position of
the emergency vehicle 100, if the position of the square sum minimum point P0 itself or the
nearest point on the road if the square sum minimum point P0 is not a point on the road.
[0035]
When a plurality of direction straight lines are substantially parallel to each other, the
intersection point or the square sum minimum point P0 approximating the intersection point can
not be determined, so the direction parameters a1, b1 and c1 of the emergency vehicle 100
viewed from the host vehicle 1 and the microphone The position of the emergency vehicle 100
can be identified by using the distance DIST calculated based on the sound pressure level SAP
detected at step S5.
[0036]
In the present embodiment, the microphones 11 to 14 and the microphones included in other
vehicles correspond to the sound acquisition means, and the navigation device 21 and the
communication unit 23 constitute position information acquisition means, and the microphones
11 to 14, the navigation device 21, the audio processing The unit 22 and the communication unit
23 constitute a direction information acquisition unit.
[0037]
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The present invention is not limited to the embodiment described above, and various
modifications are possible.
For example, in the above-described embodiment, the microphones 11 to 14 are disposed at the
four corners of the upper portion of the vehicle body of the host vehicle 1, but as shown in
Patent Document 1, for example, the microphone unit including four microphones It may be
arranged on the roof of the vehicle.
[0038]
In addition, while specifying the position of the emergency vehicle at predetermined time
intervals, the specified position is stored, and a direction connecting the previously specified
position and the position specified this time is specified as the traveling direction of the
emergency vehicle. The specified information may be output to the display unit 17.
When the specified position deviates from the road on the map, it may be corrected to the closest
point on the road to specify the traveling direction. Thus, not only the position of the emergency
vehicle but also the traveling direction can be identified with high accuracy.
[0039]
In the above-described embodiment, although the host vehicle 1 and the other vehicles 2, 3,...
Directly perform data communication, data communication may be performed via a server.
Further, as processing after the position of the emergency vehicle 100 is specified, not only
displaying on the map but also changing the display color of the road in the direction in which
the emergency vehicle 100 approaches and / or the vehicle interior The four speakers may be
disposed on the side of the emergency vehicle 100, and the direction notification sound may be
output from the speakers close to the direction of the emergency vehicle 100.
[0040]
1 own vehicle 2, 3, 4, 5, 6 other vehicles 11-14 microphone (voice acquisition means) 17 vehicle
position display unit 21 navigation device (position information acquisition means, direction
information acquisition means) 22 voice processing unit (direction information acquisition)
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Means) 23 Communication unit (position information acquisition means, direction information
acquisition means)
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