Traffic accident detection device and method of detecting traffic accident
View Patent ↗The present invention provides a traffic accident detection device of detecting traffic accident that estimates a precise speed variation for a vehicle, and detects dangerous events similar to traffic accidents. A time series estimation unit ( 202 ) chronologically estimates a speed from a detected speed of a vehicle that a sensor unit ( 102 ) has detected, and acquires a first estimated value; and a reverse time series estimation unit ( 204 ) reverse chronologically estimates a speed from the detected speed, and acquires a second estimated value. An integration estimation unit ( 206 ) estimates the speed and the speed shift of the vehicle by defining the first estimated value as an integrated estimated value until a time when the distance between the first estimated value and the second estimated value is at maximum, and defining the second estimated value as the integrated estimated value at the time the distance is at maximum and thereafter.
1. A traffic accident detection apparatus comprising:
a sensor section that detects a vehicle and obtains speed observation values of the vehicle;
a time-series/reverse-time-series combined estimation section that computes time-series speed estimate values estimated by reading out the speed observation values in a time-series fashion and applying a predetermined filter to the speed observation values read in a time-series fashion, computes reverse-time-series speed estimate values estimated by reading out the speed observation values in a reverse-time-series fashion and applying the predetermined filter to the speed observation values in a reverse-time-series fashion, extracts a time at which the difference between the time-series speed estimate values and the reverse-time-series speed estimate values becomes greatest, and computes speed estimate values by connecting the time-series speed estimate values preceding the extracted time and the reverse-time-series speed estimate values following the extracted time at the extracted time;
an acceleration computation section that computes acceleration values in a time-series fashion based on an amount of change in the speed estimate values per unit time; and
a sudden braking determination section that compares the acceleration values and a pre-defined determination threshold in a time-series fashion, and determines a time at which the acceleration values are less than the determination threshold to be a sudden braking time of the vehicle.
2. The traffic accident detection apparatus according to claim 1 , wherein the predetermined filter is a filter that takes a predetermined time to follow changes in speed corresponding to sudden braking of the vehicle.
3. The traffic accident detection apparatus according to claim 1 , wherein:
the determination threshold varies according to a corresponding per-hour-speed; and
the sudden braking determination section obtains the speed estimate values in a time-series fashion, determines a determination threshold for each observation time based on the obtained speed estimate values, and determines the sudden braking time based on the determination thresholds that have been defined and the acceleration values.
4. The traffic accident detection apparatus according to claim 3 , wherein the determination thresholds decrease in absolute value in accordance with how slow the corresponding per-hour-speed is, and increase in absolute value in accordance with how fast the corresponding per-hour-speed is.
5. The traffic accident detection apparatus according to claim 1 , wherein the predetermined filter is a Kalman filter.
6. The traffic accident detection apparatus according to claim 1 , wherein:
the sudden braking determination section performs a comparative determination with respect to the determination threshold only when the acceleration values are greater than a predetermined threshold; and
the predetermined threshold is determined by at least one of an error distribution computed by a Kalman filter, a SN ratio obtained by the sensor section, and a vehicle count observed by the sensor section.
7. The traffic accident detection apparatus according to claim 1 , wherein a range for the speed observation values used to compute the time-series speed estimate values or the reverse-time-series speed estimate values at the time-series/reverse-time-series combined estimation section is broader than a range for the time-series speed estimate values or reverse-time-series speed estimate values as computation results.
8. The traffic accident detection apparatus according to claim 1 , wherein,
one time-series speed estimate value at a first time is estimated using at least one speed observation value at a second time preceding the first time, and
one reverse-time-series speed estimate value at the first time is estimated using at least one speed observation value at a third time following the first time.
9. A traffic accident detection method, comprising the steps of:
detecting a vehicle and obtaining speed observation values of the vehicle;
computing time-series speed estimate values estimated by reading out the speed observation values in a time-series fashion and applying a predetermined filter to the speed observation values read in a time-series fashion, reverse-time-series speed estimate values estimated by reading out the speed observation values in a reverse-time-series fashion and applying the predetermined filter to the speed observation values in a reverse-time-series-fashion;
extracting a time at which the difference between the time-series speed estimate values and the reverse-time-series speed estimate values becomes greatest;
computing speed estimate values by connecting the time-series speed estimate values preceding the extracted time and the reverse-time-series speed estimate values following the extracted time at the extracted time;
computing acceleration values in a time-series fashion based on an amount of change in the speed estimate values per unit time; and
comparing the acceleration values and a pre-defined determination threshold in a time-series fashion, and determines a time at which the acceleration values are less than the determination threshold to be a sudden braking time of the vehicle.