JP2010170390A - In-vehicle device and information providing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an in-vehicle device for providing information, and for calling crew's full attention, even when there is a possibility that a pedestrian who attempts to cross a location which is other than a crosswalk exists. <P>SOLUTION: The in-vehicle device is configured to calculate place-outside-crosswalk crossing probability, showing a probability such that a pedestrian crosses a location other than a crosswalk at an object spot, on the basis of information showing road situations that a vehicle travels, intersection information and inter-intersection traffic volume under the control of a processing part 17, and provides information via an information-providing section 18 to the crew of a vehicle, on the basis of the calculated probability of crossing a location which is outside the crosswalk. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an in-vehicle device that can be mounted on a moving body such as a vehicle and an information providing method for providing information to a passenger such as a driver.

  2. Description of the Related Art Conventionally, a technique for registering a predetermined point such as an accident-prone area in map data and notifying passengers of caution information when a vehicle approaches the predetermined point is known (for example, see Patent Document 1). .)

JP 2002-195840 A

  However, in the conventional technique described in Patent Document 1 described above, the caution information is notified based on the current position of the vehicle and the frequent occurrence points registered in the map data. When there is a possibility that there is a pedestrian trying to cross a side other than the sidewalk, the caution information cannot be notified.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and an in-vehicle apparatus and information that can provide information even when there is a possibility that there is a pedestrian who wants to cross other than a pedestrian crossing. An object is to provide a providing method.

  The present invention shows the probability that a pedestrian crosses a road other than a pedestrian crossing with respect to a pedestrian position near a road on which the vehicle travels based on information indicating a road condition on which the vehicle travels, intersection information, and traffic volume between intersections. The crossing probability outside the pedestrian crossing is calculated, and information is provided to the vehicle occupant based on the calculated crossing probability outside the pedestrian crossing.

  According to the present invention, since information is provided based on the probability that a pedestrian crosses a crossing other than a pedestrian crossing, when there is a possibility that there is a pedestrian who wants to cross a crossing other than a pedestrian crossing, it is appropriate. Information can be provided and sufficient attention can be given to passengers.

It is a block diagram shown about the composition of the in-vehicle device shown as an embodiment of the present invention. It is a flowchart which shows a series of procedures at the time of estimating the crossing probability outside a pedestrian crossing in the vehicle-mounted apparatus shown as embodiment of this invention. It is a figure which shows the specific example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. FIG. 3 is a flowchart illustrating a series of procedures when estimating a crossing probability outside a pedestrian crossing in the in-vehicle device shown as an embodiment of the present invention, and is a diagram for explaining a method different from FIG. 2. It is a figure which shows the specific example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. It is a figure for demonstrating the reason which can calculate the average time to wait until a pedestrian crossing becomes possible. It is a figure which shows the specific example of the graph which took the passage time interval on the horizontal axis, and took the ratio of the data which has each passage time interval on the vertical axis. It is a figure which shows the specific example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. 4, and is required for passing the route which does not cross a pedestrian crossing and the average time required to pass the route crossing a pedestrian crossing. It is a figure for demonstrating about average time. It is a figure which shows the example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. 4, and demonstrates a mode that the point of the crossing destination was changed from the point on the left side to the right side of the pedestrian crossing. It is a figure for doing. It is a figure which shows the specific example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. 4, for demonstrating a mode that the crossing origin position shown in FIG. 9 is changed and the crossing probability outside a pedestrian crossing is calculated. FIG. It is a figure which shows the specific example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. 4, and demonstrates a mode that the point of the crossing destination was changed from the point on the right side to the left side of the pedestrian crossing. It is a figure for doing. It is a figure which shows the specific example of the scene used for estimation of the crossing probability outside a pedestrian crossing shown in FIG. 4, for demonstrating a mode that the position of the crossing origin shown in FIG. 11 is changed and the crossing probability outside a pedestrian crossing is calculated. FIG. It is a flowchart which shows a series of procedures at the time of determining whether the information provision with respect to a driver | operator is performed in the vehicle-mounted apparatus shown as embodiment of this invention. FIG. 14 is a flowchart showing a series of procedures for determining whether or not to provide information to the driver in the in-vehicle device shown as the embodiment of the present invention, and is a diagram for explaining a method different from FIG. 13. .

  Hereinafter, an in-vehicle device as a preferred embodiment of the present invention will be specifically described.

[Configuration of in-vehicle device]
An in-vehicle device shown as an embodiment of the present invention is mounted on a vehicle that is a moving body. This in-vehicle device detects, for example, the current position of the vehicle and presents a map corresponding to the current position of the vehicle drawn based on the map data to the driver who is the user, while guiding the route to a desired destination. It is comprised from the navigation apparatus etc. which perform. Specifically, as shown in FIG. 1, the in-vehicle device includes a GPS processing unit 11 that is a position specifying unit that specifies the current position of the vehicle, a timer 12 that is a time specifying unit that specifies the current time, and various types of information. A hard disk device 13 that is an information storage unit that stores information, a camera 14 that captures images around the vehicle, a communication circuit 15 that performs wireless communication with the outside, and a vehicle information acquisition circuit 16 that acquires information such as the moving speed of the vehicle. And a processing unit 17 that comprehensively controls the in-vehicle device, and an information providing unit 18 including a display, a speaker, and the like that provide various types of information to the user. Of these units, the camera 14 and the communication circuit 15 are not essential components and are arbitrarily provided. The in-vehicle device shown in FIG. 1 is configured by hardware by a computer having a CPU, a ROM, a RAM, and the like, but in FIG. .

  The GPS processing unit 11 includes a so-called GPS (Global Positioning System) receiver. Under the control of the processing unit 17, the GPS processing unit 11 receives a GPS signal transmitted from a GPS satellite via a GPS antenna, performs position measurement by GPS navigation, and is a mobile body on which the in-vehicle device is mounted. The absolute position (latitude, longitude) information of a certain vehicle is calculated. The GPS processing unit 11 calculates the relative position of the vehicle by autonomous navigation based on travel distance information detected by a distance sensor (not shown) and travel direction information detected by an orientation sensor (not shown). And the GPS process part 11 calculates the position on the map of the vehicle by which the said vehicle-mounted apparatus is mounted based on the absolute position (latitude, longitude) information mentioned above, and relative position information. The GPS processing unit 11 supplies the calculated current vehicle position information to the processing unit 17.

  The timer 12 measures time and acquires the time when the current position information of the vehicle is acquired by the GPS processing unit 11 as current time information. The timer 12 supplies the acquired current time information to the processing unit 17.

  The hard disk device 13 includes various application software executed by the in-vehicle device as a navigation device, map information to be displayed on the information providing unit 18, road information used for map matching, route guidance, etc., information on the traffic state of the vehicle, etc. Various data necessary for various processes by the navigation and the processing unit 17 are stored. Information stored in the hard disk device 13 is read out by the processing unit 17.

  The camera 14 constitutes a part of information acquisition means for acquiring update information for updating information stored in the hard disk device 13, and images a video around the vehicle under the control of the processing unit 17. Specifically, the camera 14 captures and acquires, as update information, the width of the road on which the vehicle travels, the installation status of the median strip, and the like. The camera 14 stores the acquired update information in the hard disk device 13.

  The communication circuit 15 constitutes a part of information acquisition means for acquiring update information for updating information stored in the hard disk device 13, and performs wireless communication via a wide area communication network under the control of the processing unit 17. For example, information transmitted from an external information center device is received. Specifically, the communication circuit 15 receives and acquires information on traffic volume, map update information, and the like as update information from the information center device. The communication circuit 15 stores the acquired update information in the hard disk device 13.

  The vehicle information acquisition circuit 16 acquires vehicle information related to the operation state of the driver such as the moving speed of the vehicle, the traveling direction and direction, the steering angle, and the operating winker. The vehicle information acquisition circuit 16 supplies the acquired vehicle information to the processing unit 17.

  Based on the current position information calculated by the GPS processing unit 11, the processing unit 17 reads various information necessary for vehicle navigation, such as corresponding map data and road data, from the hard disk device 13 or the communication circuit 15. Or by wireless communication from the information center device. In addition, the processing unit 17 uses the destination input by the user via an operation unit (not shown) and the current position information acquired by the position specifying unit 11 to optimally travel the route from the current position to the destination. Is calculated and presented by the information providing unit 18, and route guidance for performing route guidance (navigation) to the vicinity region of the destination is performed. At this time, the processing unit 17 can also perform navigation by voice by controlling the information providing unit 18. Further, the processing unit 17 generates a display image to be displayed on the information providing unit 18. For example, the processing unit 17 generates a navigation map as a display image and causes the information providing unit 18 to display the map.

  Furthermore, the processing unit 17 is based on the information indicating the road condition on which the vehicle is traveling, the intersection information, and the traffic volume between the intersections. Estimate the crossing probability outside the pedestrian crossing that indicates the probability that the pedestrian crosses other than the pedestrian crossing for the target point. Then, the processing unit 17 includes the current position information of the vehicle specified by the GPS processing unit 11, the current time information specified by the timer 12, the vehicle information acquired by the vehicle information acquisition circuit 16, and the camera 14 or the communication circuit. Whether or not to provide information to the driver is determined based on the update information acquired by 15 and the estimated crossing probability outside the pedestrian crossing.

  The processing unit 17 may read out the crossing probability outside the pedestrian crossing estimated in advance and stored in the hard disk device 13 and determine whether or not to provide information to the driver. If the processing unit 17 determines that information is to be provided, the processing unit 17 generates necessary information and presents the information through the information providing unit 18.

  The information providing unit 18 is a display unit that displays the display image generated by the processing unit 17. The information providing unit 18 includes a liquid crystal display or the like. For example, when the information providing unit 18 is mounted on a vehicle, the information providing unit 18 is installed at a position that is easily visible to the user, such as a position that is easily visible to the driver. Further, the display panel of the information providing unit 18 may be configured as a touch panel that can be operated by the user. Further, the information providing unit 18 is also configured as an audio output unit such as a speaker. For example, when the information providing unit 18 as a sound output unit is mounted on a vehicle, the information providing unit 18 is installed at a position where the user can easily listen to the sound, such as a right and left side position of the driver.

[Operation of in-vehicle device]
Such an in-vehicle device follows a series of procedures as shown in FIG. 2, information indicating road conditions such as traffic signal installation conditions, intersection information such as nodes and links and intersection shapes constituting intersections, and intersections Estimate the crossing probability outside the pedestrian crossing based on the traffic volume. Information indicating road conditions, intersection information, and traffic information are assumed to be stored in the hard disk device 13 in advance.

  The information indicating the road condition is information on an installation that affects when a pedestrian tries to cross the road. For example, the information indicating the road condition includes the presence / absence of a traffic signal provided near the intersection, the number and installation positions of the traffic lights, the presence / absence and installation position of a pedestrian crossing drawn near the intersection, and the presence / absence of a pedestrian bridge.

  The intersection information includes link information (road width) of roads constituting the intersection, information indicating connection states (crossroads, T-shaped roads), and connection status of the link information indicating side roads to the intersections. The traffic volume between the intersections indicates the average traffic volume of the vehicle at the link constituting the intersection.

  Information indicating these road conditions, intersection information, and traffic volume information are stored in correspondence with points included in the map data stored in the hard disk device 13 in advance. Therefore, the processing unit 17 can acquire information indicating the road situation, intersection information, and traffic volume for an intersection near the current position information by acquiring the current position information of the pedestrian. Here, when a plurality of intersections exist at the current position of the pedestrian, the processing unit 17 acquires information regarding the plurality of intersections.

  In the following description, it is assumed that the crossing probability outside the pedestrian crossing at the point A shown in FIG. 3 is estimated, but this estimation method can be applied to any point on the road. Is.

  In addition, although the process of step S1 thru | or step S7 in FIG. 2 is a process which estimates the crossing probability outside a pedestrian crossing, respectively, it is a process independent from each other. Therefore, the process part 17 can estimate the crossing probability outside a pedestrian crossing by performing the process of these step S1 thru | or step S7 separately. However, the processing unit 17 needs to execute at least one of step S1 and step S7. Moreover, the process part 17 can also estimate the crossing probability outside a pedestrian crossing more correctly by combining the result obtained in each step. In addition, although it demonstrates as what performs all the processes of step S1 to step S7 here, the execution order of these steps is arbitrary and the combination of the step to perform is also arbitrary.

  First, as shown in FIG. 2, the in-vehicle device is based on the distance from the point where the pedestrian is allowed to cross the road in the vicinity of the target point A (crossing permission point) in step S <b> 1. Estimate the crossing probability outside the pedestrian crossing. The point where the pedestrian is permitted to cross the road (crossing permission point) is, for example, a point where pedestrian permission is set by law. In addition, "the point where a pedestrian is permitted to cross the road by law" means a pedestrian crossing, a pedestrian bridge, a crossing underground passage, and the like. In this case, the processing unit 17 has a pedestrian position (target point A) near the road on which the vehicle shown in FIG. Based on the distance l between A ′ and the pedestrian crossing probability k1 is estimated. Specifically, the processing unit 17 is based on the map information stored in the hard disk device 13 and between the target point A and the pedestrian crossing (point A ′) closest to the target point A. Measure the distance l. Then, the processing unit 17 multiplies the distance l by a predetermined value e1 to calculate the crossing probability k1 outside the pedestrian crossing. Here, the predetermined value e1 is a value derived from an experimental evaluation result of the relationship between the distance from the pedestrian crossing and the probability that the pedestrian crosses the pedestrian crossing, and is stored in advance in the hard disk device 13 or the like. ing.

  Subsequently, in step S2, the processing unit 17 estimates the crossing probability outside the pedestrian crossing based on the width of the road near the target point A. In this case, the processing unit 17 estimates the pedestrian crossing probability k2 based on the road width d at the target point A shown in FIG. Specifically, the processing unit 17 acquires the road width d based on the map information stored in the hard disk device 13. Then, the processing unit 17 multiplies the road width d by a predetermined value e2, and calculates a crossing probability k2 outside the pedestrian crossing. Here, the predetermined value e2 is a value derived from a result of experimentally evaluating the relationship between the road width and the probability that the pedestrian crosses the pedestrian crossing, and is stored in advance in the hard disk device 13 or the like.

Subsequently, in step S <b> 3, the processing unit 17 estimates a crossing probability outside the pedestrian crossing based on the type of permitted crossing points in the vicinity of the target point A. In addition, a type means types, such as a pedestrian crossing, a pedestrian crossing bridge, a crossing underground road. In this case, the processing unit 17 estimates the crossing probability k3 outside the pedestrian crossing based on the type of the point where the pedestrian who is closest to the target point A shown in FIG. 3 is allowed to cross. Specifically, based on the map information stored in the hard disk device 13, the processing unit 17 determines that the type of the point A ′ that is permitted to cross the pedestrian closest to the target point A is a pedestrian crossing. Is specified. And the process part 17 estimates the crossing probability k3 outside a pedestrian crossing based on the specified kind with reference to the table containing the following Table 1 memorize | stored in the hard disk device 13. FIG. Here, pedestrian crossings outside transverse probability k3 is the probability A3 ₁ relative to the case type is crosswalk.

Subsequently, in step S4, the processing unit 17 estimates the crossing probability outside the pedestrian crossing based on the traffic signal installation state of the legally permitted crossing point A ′ near the target point A. Here, the traffic signal installation status means the installation status of the vehicle traffic signal and the pedestrian traffic signal. In this case, the processing unit 17 determines the crossing probability k4 outside the pedestrian crossing based on the traffic signal installation state of the point A ′ that is legally allowed to cross the pedestrian that is closest to the target point A shown in FIG. presume. Specifically, based on the map information stored in the hard disk device 13, the processing unit 17 installs a traffic signal at a point A ′ that is legally allowed to cross a pedestrian that is closest to the target point A. The situation identifies that only vehicle traffic lights are installed. And the process part 17 estimates the crossing probability k4 outside a pedestrian crossing with reference to the table containing the following Table 2 memorize | stored in the hard-disk apparatus 13 based on the specified traffic signal installation condition. Here, pedestrian crossings outside transverse probability k4 is the probability A4 ₂ relative to the case where only the vehicle traffic is provided.

Subsequently, in step S5, the processing unit 17 determines the outside of the pedestrian crossing on the basis of the installation state of the road structure in which the pedestrian is not permitted to cross the road. Estimate crossing probability. Specifically, based on the map information stored in the hard disk device 13, the processing unit 17 is provided with a median fence and curb as a road structure that prevents a pedestrian from crossing the target point A. Identify that And the process part 17 estimates the crossing probability k5 outside a pedestrian crossing based on the installation condition of the specified road structure with reference to the table containing the following Table 3 memorize | stored in the hard disk drive 13. FIG. Here, pedestrian crossings outside transverse probability k5 as road structures that prevent crossing pedestrians is the probability A5 ₁₃ relative to the case where the median strip fence and curbs are installed.

Subsequently, in step S6, the processing unit 17 estimates the crossing probability outside the pedestrian crossing based on the connection situation of the side roads near the target point A. In this case, the processing unit 17 estimates the crossing probability k6 outside the pedestrian crossing based on the side road connection status of the target point A shown in FIG. Specifically, based on the map information stored in the hard disk device 13, the processing unit 17 specifies that the side road connection status of the target point A is no side road connection. Then, the processing unit 17 refers to a table containing the following Table 4 stored in the hard disk device 13, and estimates the crossing probability k6 outside the pedestrian crossing based on the identified side road connection status. Here, the crossing probability k6 outside the pedestrian crossing is a probability A63 based on the case where the side road connection state is no side road connection.

  Subsequently, in step S7, the processing unit 17 estimates the crossing probability outside the pedestrian crossing based on the reciprocal of the traffic volume between the intersections near the target point A (1 / traffic volume). In this case, the processing unit 17 estimates the crossing probability k7 outside the pedestrian crossing based on the reciprocal of the traffic volume at the target point A shown in FIG. Specifically, the processing unit 17 specifies the traffic volume at the target point A based on the information related to the traffic state of the vehicle stored in the hard disk device 13. Then, the processing unit 17 multiplies the reciprocal of the traffic volume by a predetermined value e7 to calculate a crosswalk outside crossing probability k7. Here, the predetermined value e7 is a value derived from an experimental evaluation result of the relationship between the reciprocal of the traffic volume and the probability that the pedestrian crosses the pedestrian crossing, and is stored in advance in the hard disk device 13 or the like. Yes.

In step S8, the processing unit 17 calculates the crossing probability outside the pedestrian crossing estimated in steps S1 to S7 and calculates the crossing probability K outside the pedestrian crossing at the point A as shown in the following equation (1). Then, a series of processing ends.

  The in-vehicle device can estimate the crossing probability outside the pedestrian crossing according to such a series of procedures.

  The in-vehicle device can estimate the crossing probability outside the pedestrian crossing according to a series of procedures as shown in FIG. 4 instead of such a series of procedures. Here, it demonstrates as what estimates the crossing probability outside a pedestrian crossing in case a pedestrian moves to the opposing point B1 from the target point A shown in FIG.

  First, as shown in FIG. 4, the in-vehicle device uses a processing unit 17 to cross the crosswalk on the right side of the target point A in the figure for the route from the target point A to the opposite point B <b> 1 shown in FIG. 5 in step S <b> 11. The crossing probability outside the pedestrian crossing that crosses the pedestrian crossing without crossing R is calculated. Specifically, the processing unit 17 specifies the blue duration Tb of the traffic light installed on the side of the road on which the pedestrian crossing R is drawn based on the map information stored in the hard disk device 13. Then, the processing unit 17 calculates an average time Twr to wait until the pedestrian crossing R can cross based on the blue duration Tb.

The average time Twr to wait until the pedestrian crossing R can cross is calculated by the following equation (2). Here, the reason why the average time Twr can be calculated by the following formula (2) is as follows, as can be explained using FIG. First, the pedestrian cannot cross during the blue duration Tb when the traffic light installed on the road with the pedestrian crossing R is blue. Second, the average time Twr to be calculated is a value obtained by averaging the time to wait until the pedestrian crossing R can cross. If the value of the blue duration Tb of the traffic light installed on the road with the pedestrian crossing R cannot be obtained, the processing unit 17 determines the width of the road that intersects the intersection with the pedestrian crossing R. The blue duration Tb may be estimated based on the type or the like.

In addition, the processing unit 17 calculates an average time Twi that waits until it is possible to cross outside the pedestrian crossing when crossing outside the pedestrian crossing from the target point A to the opposite point B1. In order to specifically explain this, an example is given of a case in which the traffic volume per 10 seconds (the number of vehicles traveling) obtained over one hour is obtained with Q being the traffic volume on one side per unit time. In this case, as shown in FIG. 7, the processing unit 17 sets the horizontal axis as the passage time interval (the number of vehicles traveling per 10 seconds / 10 seconds), and the vertical axis as the ratio of data having each passage time interval. Create the graph. Subsequently, the processing unit 17 multiplies the created graph by a predetermined margin α to the average time Tci required to cross the pedestrian crossing from the target point A to the opposite point B1 as indicated by the hatched portion in FIG. Based on the obtained value, the ratio total of the data with a smaller passing time interval value is calculated. Note that the processing unit 17 does not have to create a graph when the ratio total corresponding to the hatched portion in FIG. 7 can be calculated without using such a graph. Then, the processing unit 17 waits until it is possible to cross the pedestrian crossing as shown in the following equation (3) based on the total ratio indicated by the hatched portion in FIG. 7 and the total number of traffic for one hour. Time Twi is calculated.

  Finally, based on the calculated average times Twr and Twi, the processing unit 17 calculates the crosswalk probability outside the pedestrian crossing PRb for the route from the point A to the point B1 without crossing the pedestrian crossing R. presume. This estimation is performed by the determination formula shown in the following formula (4). That is, as illustrated in FIG. 8, the processing unit 17 does not cross the pedestrian crossing R and the average time Tr required to pass the route R1 that crosses the pedestrian crossing R and reaches the opposite point B1 from the target point A. When the difference Tr-Ti with the average time Ti required to pass the route R2 from the target point A to the opposite point B1 is equal to or longer than the expected time T3 for shortening the movement by crossing the pedestrian crossing, the pedestrian crossing The outer crossing probability is estimated as “high”. On the other hand, when the difference Tr-Ti is less than the expected movement shortening time T3, the crossing probability outside the pedestrian crossing is estimated as “low”. In the following equation (4), the time Tpr is the average time required to move from the target point A to the pedestrian crossing R, the time Tcr is the average time required to cross the pedestrian crossing R, and Lp Is the distance from the target point A to the pedestrian crossing R, Lc is the distance from the target point A to the opposing point B1, and Vpr is walking along the sidewalk from the target point A, the opposing point B1 to the pedestrian crossing R Vcr is the average speed when crossing the pedestrian crossing R (about 4 km / h), and Vci is the average speed when crossing the pedestrian crossing (4 km / h to 8 km / h). h).

これにより、処理部１７は、対象地点Ａから対向地点Ｂ１までのルートについて、横断歩道Ｒを横断せずに横断歩道外横断をする横断歩道外横断確率ＰＲｂを算出することができる。

As a result, the processing unit 17 can calculate the crossing crossing probability PRb outside the pedestrian crossing without crossing the pedestrian crossing R for the route from the target point A to the opposite point B1.

  Subsequently, in step S12 in FIG. 4, the processing unit 17 crosses the opposite point B1 on the left side of the pedestrian crossing R, as shown in FIG. 9, based on the pedestrian crossing probability PRb estimated in step S11. The probability of crossing outside the pedestrian crossing that crosses outside the pedestrian crossing when changing to the point B2 on the right side of the sidewalk R is calculated.

  The crossing probability outside the pedestrian crossing at the target point A differs depending on whether the destination of the pedestrian is the opposite point B1 or the point B2. Here, in the case of assuming a randomly extracted pedestrian, it is an equal probability whether the pedestrian crosses the facing point B1 or the point B2.

Therefore, the processing unit 17 estimates the crossing probability PRb, PRb2 outside the pedestrian crossing in each case, and integrates them so that the pedestrian's destination is the point B1 or the point B2 outside the pedestrian crossing. The crossing probability PR can be estimated. Specifically, in order to estimate the crossing crossing probability PRb2 outside the pedestrian crossing without crossing the pedestrian crossing R for the route from the target point A to the point B2, the processing unit 17 calculates the following formula ( The determination formula shown in 5) is used.

  The processing unit 17 estimates the crossing crossing probability PRb2 outside the pedestrian crossing without crossing the pedestrian crossing R for the route moving from the target point A to the point B2 using the above determination formula. Then, when the processing unit 17 estimates the crossing probability PRb, PRb2 outside the pedestrian crossing using the equations (4) and (5), the processing unit 17 integrates the crossing probability PRb, PRb2 outside the pedestrian crossing in step S13 in FIG. The crossing crossing probability PR outside the pedestrian crossing without crossing the pedestrian crossing R from the target point A is calculated. Specifically, as shown in Table 5 below, the processing unit 17 estimates the crosswalk probability PR outside the pedestrian crossing in three stages of “high”, “medium”, and “low”. Also, as shown in the following table 6 and FIG. 10, the position of the target point A is changed, that is, the distance Lp from the target point A to the pedestrian crossing R is changed, An example of calculating is shown.

  In this way, the processing unit 17 can estimate the pedestrian crossing probability PR outside the pedestrian crossing for the point B2 to the pedestrian crossing R on the right side of the target point A.

  Further, the target point A has pedestrian crossings R and L on both sides thereof, and the crossing probability outside the pedestrian crossing varies depending on whether the pedestrian crosses the pedestrian crossing R or the pedestrian crossing L.

  Therefore, the processing unit 17 estimates the crossing probability PR, PL outside the pedestrian crossing in each case, and integrates these to cross the pedestrian regardless of whether the pedestrian crosses the pedestrian crossing R or the pedestrian crossing L. A crosswalk probability P outside the sidewalk can be estimated.

  That is, in step S14 in FIG. 4, the processing unit 17 does not cross the pedestrian crossing L on the left side of the target point A for the route from the target point A to the opposite point B1 in the same manner as in step S11. A crossing probability PLb outside the pedestrian crossing that crosses outside is calculated.

  Subsequently, in step S15, the processing unit 17 changes the facing point B1 on the right side of the pedestrian crossing L to the point B3 on the left side of the pedestrian crossing L as shown in FIG. The crossing probability PLb2 outside the pedestrian crossing is calculated.

  Then, in step S16, the processing unit 17 integrates the pedestrian crossing probability PLb, PLb2 in the same manner as in step S13, and crosses the pedestrian crossing outside the pedestrian crossing without crossing the pedestrian crossing L from the target point A. The outer crossing probability PL is calculated. Even in this case, the processing unit 17 estimates the crosswalk probability PL outside the pedestrian crossing in three stages of “high”, “medium”, and “low”.

  When the processing unit 17 estimates the crossing probability PR, PL outside the pedestrian crossing in this way, in step S17, the crossing probability PR, PL outside the pedestrian crossing is integrated, and two pedestrian crossings R, L from the target point A are obtained. A crossing probability P outside the pedestrian crossing that crosses outside the pedestrian crossing without crossing is calculated. Specifically, as shown in Table 7 below, the processing unit 17 estimates the crossing probability P outside the pedestrian crossing in three stages of “high”, “medium”, and “low”. Further, as shown in the following table 8 and FIG. 12, the position of the target point A is changed, that is, the distance Lp from the target point A to the pedestrian crossing R is changed. An example of calculating is shown.

  The in-vehicle device can estimate the crossing probability outside the pedestrian crossing according to such a series of procedures.

  The in-vehicle device determines whether or not to provide information to the driver based on the crossing probability outside the pedestrian crossing estimated as described above. This information provision execution determination process is periodically executed. As this determination method, the probability of crossing outside the pedestrian crossing at the determination target point ahead of the host vehicle position is estimated every time the information provision execution determination process is performed periodically, and information is provided based on the crossing probability outside the pedestrian crossing. There are a method for performing the determination process and a method for performing the information provision execution determination process based on the crossing probability outside the pedestrian crossing which is estimated in advance and stored in the hard disk device 13.

  First, the former method will be described. In this case, the in-vehicle device determines whether or not to provide information to the driver according to a series of procedures as shown in FIG.

  As shown in FIG. 13, the in-vehicle device specifies the current position of the vehicle by the GPS processing unit 11 according to the control of the processing unit 17 in step S <b> 21.

  In the next step S <b> 22, the in-vehicle device acquires vehicle information about the vehicle by the vehicle information acquisition circuit 16.

  Subsequently, in step S23, the processing unit 17 provides information based on the current position information acquired in step S21, the vehicle information acquired in step S22, and a preset information providing timing. The target point and range for determining Note that the information provision timing is defined by the time or distance until a point on the road including a point having a high crossing probability outside the pedestrian crossing or a portion having a high crossing probability outside the pedestrian crossing.

  Subsequently, in step S24, the processing unit 17 estimates a crossing probability outside the pedestrian crossing for the spot and range specified in step S23 according to the series of procedures shown in FIG. 2 or FIG.

  In step S25, the processing unit 17 compares the crossing probability outside the pedestrian crossing estimated in step S24 with a predetermined information provision execution threshold. The information provision execution threshold value changes based on the moving state of the vehicle acquired by the vehicle information acquisition circuit 16 and the external environment around the vehicle. For example, the processing unit 17 changes the information provision execution threshold value so as to determine that information provision is performed when vehicle information is obtained such that the vehicle is turned on and it is determined that it is nighttime. . As a result, when the on-vehicle device is set to execute information provision when the probability of crossing outside the pedestrian crossing is equal to or greater than the information provision execution threshold, the in-vehicle device can reduce the information provision execution threshold by reducing the information provision execution threshold. Makes it easier to provide information.

  Here, when the crossing probability outside the pedestrian crossing is less than the information provision execution threshold, the processing unit 17 ends the series of processes without performing the information provision.

  On the other hand, the process part 17 transfers a process to step S26, when the crossing probability outside a pedestrian crossing is more than an information provision execution threshold value. In step S <b> 26, the processing unit 17 causes the information providing unit 18 to provide the vehicle driver with information based on visual information and / or audio information. For example, if the processing section 17 has a probability of crossing outside the pedestrian crossing equal to or greater than the information provision execution threshold and the level is “high”, “the possibility that a pedestrian jumps out in the traveling direction is high. A message with visual information and / or audio information such as “Please be careful.” Is output. In this case, it is desirable for the processing unit 17 to repeatedly output a message or to increase the volume every time it is repeated in order to attract the driver's attention. In addition, the processing unit 17 indicates that the pedestrian may cross in the direction of travel if the probability of crossing outside the pedestrian crossing is equal to or greater than the information provision execution threshold and the level is “medium”. Please send a message with visual and / or auditory information. Furthermore, if the processing section 17 has a probability of crossing outside the pedestrian crossing that is equal to or greater than the information provision execution threshold and the level is “low”, “Please note that there are pedestrians in the direction of travel. A message based on visual information and / or audio information.

  According to such a series of procedures, the in-vehicle device estimates the crossing probability outside the pedestrian crossing at the determination target point ahead of the own vehicle position every time the information providing execution determination process is performed periodically, and crosses the crossing outside the pedestrian crossing. Information provision execution determination processing can be performed based on the probability.

  Further, when the in-vehicle device performs the information provision execution determination process based on the crossing probability outside the pedestrian crossing which is estimated in advance and stored in the hard disk device 13, the processing is performed according to a series of procedures as illustrated in FIG. 14. Whether to provide information to the driver is determined according to the control of the unit 17.

  First, as shown in FIG. 14, the in-vehicle device specifies the current position of the vehicle by the GPS processing unit 11 according to the control of the processing unit 17 in step S <b> 31.

  In the next step S <b> 32, the processing unit 17 acquires vehicle information about the vehicle by the vehicle information acquisition circuit 16.

  Subsequently, in step S33, the processing unit 17 specifies a determination target spot and a range based on the current position information acquired in step S31, the vehicle information acquired in step S32, and the information provision timing described above. To do.

  Subsequently, in step S34, the processing unit 17 refers to the crossing probability outside the pedestrian crossing for the point and range specified in step S33 among the crossing probabilities outside the pedestrian crossing estimated and stored in the hard disk device 13 in advance. To do.

  In step S35, the processing unit 17 compares the crossing probability outside the pedestrian crossing referred to in step S34 with the above-described predetermined information provision execution threshold.

  Here, when the crossing probability outside the pedestrian crossing is less than the information provision execution threshold, the processing unit 17 ends the series of processes without performing the information provision. On the other hand, when the crossing probability outside the pedestrian crossing is equal to or greater than the information provision execution threshold, the processing unit 17 shifts the processing to step S36 and visually recognizes the driver of the vehicle via the information provision unit 18. Information is provided by visual information and / or auditory information.

  The in-vehicle device can perform the information provision execution determination process based on the crossing probability outside the pedestrian crossing estimated in advance and stored in the hard disk device 13 according to such a series of procedures.

  The in-vehicle device receives and acquires the position information of the pedestrian from the mobile terminal device actually owned by the pedestrian via the communication circuit 15, and uses the acquired position information as a base point to cross the crosswalk probability. Thus, it is possible to construct an extremely accurate information providing system.

  In addition, the communication performed between the in-vehicle device and the portable terminal device can use direct communication so that the position information of the pedestrian existing in the vicinity of the vehicle can be acquired. A portable terminal device held by a predetermined information center device and a pedestrian via wireless communication via a wide-area communication network when the distance between the vehicle and the vehicle is far enough to prevent communication by direct communication The information center device collects the position information of the pedestrian by communicating with the information center device, and further communicates between the information center device and the vehicle-mounted device, so that the position of the pedestrian is transmitted via the information center device. Information can be acquired. Therefore, the in-vehicle device acquires the position information of the pedestrian via the information center device even when the distance between the pedestrian and the vehicle is far away to the extent that communication is not possible by direct communication. By estimating the probability of crossing outside the pedestrian crossing and determining the execution of providing information using the position information as a base point, it is possible to estimate the probability of crossing outside the pedestrian crossing and determine the execution of providing information with extremely high accuracy.

[Effect of the embodiment]
As described above in detail, the in-vehicle device shown as the embodiment of the present invention is based on information indicating road conditions on which a vehicle that is a moving body travels, intersection information, and traffic volume between intersections. A crossing probability outside the pedestrian crossing indicating a probability that the pedestrian crosses other than the pedestrian crossing is calculated, and information is provided to the vehicle occupant via the information providing unit 18 based on the calculated crossing probability outside the pedestrian crossing. .

  Thereby, according to this vehicle-mounted apparatus, since the probability that a pedestrian crosses other than a pedestrian crossing can be calculated, the timing which provides information can be prescribed | regulated based on this probability. Therefore, according to this in-vehicle device, even if it is a point that is not registered as an accident frequent occurrence point, for example, a point where there is a high possibility of an accident with a pedestrian crossing outside a potential pedestrian crossing, crossing between intersections Information can be provided appropriately even when there is a possibility that there are pedestrians who want to cross other than the sidewalk, and sufficient attention can be given to the passengers.

  In addition, according to this in-vehicle device, by calculating the crossing probability outside the pedestrian crossing based on the distance between the target point and the crossing permission point existing near the target point, other than the crosswalk between the intersections The possibility that there is a pedestrian trying to cross the road can be estimated appropriately.

  Furthermore, according to this in-vehicle device, it is also possible to calculate the crossing probability outside the pedestrian crossing based on the type of crossing permission point that exists near the target point, thereby trying to cross other than the pedestrian crossing between the intersections. It is possible to appropriately estimate the possibility that a pedestrian is present.

  Furthermore, according to this in-vehicle device, it is also possible to calculate the crossing probability outside the pedestrian crossing based on the traffic signal installation situation at the crossing permission point that exists near the target point, and thereby, other than the pedestrian crossing between the intersections. The possibility that there is a pedestrian trying to cross can be estimated appropriately.

  Moreover, according to this vehicle-mounted apparatus, the crossing probability outside a pedestrian crossing can also be calculated based on the installation state of the road structure where the pedestrian who exists near the target point is not permitted to cross the road. Specifically, according to this in-vehicle device, by calculating the crossing probability outside the pedestrian crossing based on the installation situation of the road structure that prevents the pedestrian from crossing, it is intended to cross other than the pedestrian crossing between the intersections. The possibility that a pedestrian exists can be estimated appropriately.

  Furthermore, according to this in-vehicle device, it is also possible to calculate the crossing probability outside the pedestrian crossing based on the width of the road where the target point is located, so that there is a pedestrian trying to cross other than the pedestrian crossing between the intersections Probability can be estimated appropriately.

  Furthermore, according to this in-vehicle device, it is also possible to calculate the crossing probability outside the pedestrian crossing based on the side road connection status of the target point, and thereby, a pedestrian who tries to cross the crossing other than the pedestrian crossing between the intersections. Can be estimated appropriately.

  Further, according to this in-vehicle device, it is also possible to calculate the crossing probability outside the pedestrian crossing based on the information on the traffic state of the vehicle, and thus there is a pedestrian who tries to cross other than the pedestrian crossing between the intersections. Probability can be estimated appropriately.

  Furthermore, according to this in-vehicle device, when calculating the crossing probability outside the pedestrian crossing based on the traffic volume, a pedestrian who wants to cross other than the pedestrian crossing between intersections by using the reciprocal of the traffic volume. The possibility of existing can be estimated appropriately.

  Furthermore, according to this in-vehicle device, when there are a plurality of permitted crossing points near the target point, by calculating the crossing probability outside the crosswalk calculated by integrating the crossing probability outside the crosswalk calculated for each point, Regardless of which point the pedestrian crosses, it is possible to appropriately estimate the possibility that there is a pedestrian who wants to cross other than the pedestrian crossing between the intersections.

  In addition, according to this in-vehicle device, the crossing probability outside the pedestrian crossing is calculated in a plurality of stages, and different information for each stage is provided to the vehicle occupant via the information providing unit 18 to Appropriate attention can be given to passengers.

  Furthermore, according to this in-vehicle device, the position information of the pedestrian is received and acquired from the portable terminal device held by the pedestrian, and the acquired position information is further taken into account according to the control of the processing unit 17, and the pedestrian crossing By calculating the outer crossing probability, it is possible to estimate the crossing probability outside the pedestrian crossing with extremely high accuracy and provide appropriate information.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and even if it is a form other than this embodiment, as long as it does not depart from the technical idea according to the present invention, the design and the like Of course, various modifications are possible.

DESCRIPTION OF SYMBOLS 11 Position specific part 11 GPS processing part 12 Timer 13 Hard disk drive 14 Camera 15 Communication circuit 16 Vehicle information acquisition circuit 17 Processing part 18 Information provision part

Claims (14)

Information acquisition means for acquiring information indicating road conditions on which the vehicle is traveling, intersection information, and traffic between the intersections;
Probability that the pedestrian crosses other than the pedestrian crossing from the pedestrian position near the road on which the vehicle travels based on the road condition information acquired by the information acquisition means, intersection information, and traffic volume between the intersections A probability calculating means for calculating a probability of crossing outside the pedestrian crossing indicating
An on-vehicle apparatus comprising: information providing means for providing information to an occupant of the vehicle based on the crossing probability outside the pedestrian crossing calculated by the probability calculating means.   The probability calculating means is based on a distance between a pedestrian position near the road on which the vehicle is traveling and a point where a pedestrian is present near the pedestrian position and is allowed to cross the road. The in-vehicle device according to claim 1, wherein a crossing probability outside the sidewalk is calculated.   The probability calculation means calculates the crossing probability outside the pedestrian crossing based on the type of the spot where the pedestrian is present near the pedestrian position near the road on which the vehicle is traveling. The in-vehicle device according to claim 1 or 2, characterized by the above.   The probability calculation means calculates the crossing probability outside the pedestrian crossing based on a traffic signal installation situation at a point where a pedestrian existing near the pedestrian position near the road on which the vehicle travels is permitted to cross the road. The in-vehicle device according to any one of claims 1 to 3 characterized by things.   The probability calculating means calculates the crossing probability outside the pedestrian crossing based on the installation situation of a road structure in which a pedestrian existing near the pedestrian position near the road on which the vehicle travels is not permitted to cross the road. The in-vehicle device according to any one of claims 1 to 4, wherein   6. The in-vehicle apparatus according to claim 5, wherein the probability calculating means calculates a crossing probability outside the pedestrian crossing based on an installation state of the road structure that prevents a pedestrian from crossing.   The probability calculation means calculates a crossing probability outside a pedestrian crossing based on a road width in the vicinity of a pedestrian position in the vicinity of a road on which the vehicle travels. The in-vehicle device according to one item.   The probability calculation means calculates a crossing probability outside the pedestrian crossing based on a side road connection situation at a pedestrian position near the road on which the vehicle is running. The in-vehicle device according to claim 1.   The in-vehicle device according to any one of claims 1 to 8, wherein the probability calculation means calculates a crossing probability outside the pedestrian crossing based on information relating to a traffic state of the vehicle.   The in-vehicle device according to any one of claims 1 to 9, wherein the probability calculating unit calculates a crossing probability outside the pedestrian crossing based on an inverse of the traffic volume.   When there are a plurality of points where a pedestrian is permitted to cross the road near the pedestrian position near the road on which the vehicle travels, the probability calculation means integrates the crosswalk probability outside the pedestrian crossing calculated for each point. The in-vehicle device according to any one of claims 1 to 10, wherein the probability of crossing outside the crosswalk is calculated. The probability calculating means calculates the crossing probability outside the pedestrian crossing in a plurality of stages,
The in-vehicle device according to any one of claims 1 to 11, wherein the information providing unit provides information different for each stage to an occupant of the vehicle. Comprising communication means for receiving and acquiring position information of the pedestrian from the portable terminal device possessed by the pedestrian;
The probability calculation means calculates the probability of crossing outside the pedestrian crossing by further taking into account the position information obtained via the communication means. The in-vehicle device described. In an information providing method for providing information to a vehicle occupant,
A pedestrian crossing indicating the probability that a pedestrian will cross a crossing other than a pedestrian crossing for a pedestrian position near the road on which the vehicle travels based on information indicating road conditions on which the vehicle is traveling, intersection information, and traffic volume between intersections An information providing method comprising: calculating an outside crossing probability and providing information to an occupant of the vehicle based on the crossing probability outside the pedestrian crossing.

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