JP2015114931A - Vehicle warning device, server device and vehicle warning system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle warning device which can perform proper warning by suppressing hindrance to driving of a vehicle, a server device and a vehicle warning system.SOLUTION: In a first vehicle 3b of a vehicle warning system 4, when a pedestrian crossing a road in front of or behind the first vehicle 3b is detected by a crossing pedestrian detection part 22, crossing pedestrian information on the presence/absence of the crossing pedestrian and travel direction is transmitted to a second vehicle 3a by a radio communication part 23. The transmitted crossing pedestrian information is received by a radio reception part 23a of a vehicle warning device 2 mounted on the second vehicle 3a. Relevant crossing pedestrian information related to a travel path of the second vehicle 3a of the received crossing pedestrian information is extracted by a control part 26 and notified by a warning part 24. The warning part 24, for example, warns the driver of the second vehicle 3a of the existence of the crossing pedestrian by outputting an image and sound in accordance with the relevant crossing pedestrian information from an image output part 24b and a sound output part 24d.

Description

  The present invention relates to a vehicle warning device, a server device, and a vehicle warning system that perform a warning related to a vehicle.

  For example, Patent Literature 1 discloses a technique for notifying a vehicle of the presence of a moving body such as another vehicle.

  A moving body display system disclosed in Patent Document 1 includes transmission information including a camera that captures a traffic situation of a road including the moving body and an image captured by the camera (hereinafter also referred to as “captured image”). An image transmission device for transmission and an in-vehicle device mounted on a vehicle are provided. The camera may be traveling in front of a vehicle equipped with an in-vehicle device (hereinafter may be referred to as “own vehicle”) or stopped in front of the own vehicle (hereinafter referred to as “front vehicle”). Installed). The in-vehicle device receives transmission data from the image transmission device and displays a captured image on a screen in the own vehicle.

  This display system displays a captured image of a moving object that becomes a blind spot by a preceding vehicle, for example, a pedestrian or a bicycle hidden in the preceding vehicle, on a screen in the own vehicle and gives it to the driver of the own vehicle.

JP 2008-070955 A

  In the technique disclosed in Patent Document 1, even when a moving body exists on a route that is not related to a route on which the host vehicle travels, a captured image of the moving body is displayed on a screen in the host vehicle. For example, the host vehicle may turn right or stop before the moving body, but even in that case, an image of the moving body is displayed on the screen in the host vehicle.

  In these cases, the image of the moving body displayed on the screen in the host vehicle is information that is unnecessary for the driver of the host vehicle. If information that is not necessary for the driver is displayed on the screen, it may hinder driving of the vehicle and may impair driving safety.

  An object of the present invention is to provide a vehicle warning device, a server device, and a vehicle warning system that can perform an appropriate warning while suppressing an obstacle to driving of the vehicle.

  A vehicle warning device according to the present invention is a vehicle warning device that issues a warning related to a vehicle, and obtains crossing information about the presence / absence of a crossing person who crosses the front or rear of the first vehicle and a traveling direction thereof. An extraction unit that extracts related crosser information that is information related to the travel route of the second vehicle from crossing information of the first vehicle acquired by the acquisition unit, and a related crosser extracted by the extraction unit And a notification unit for notifying information.

  The server device of the present invention includes the vehicle warning device of the present invention.

  The vehicle warning system of the present invention includes a first vehicle including a first vehicle-side detection unit that detects crossing information about the presence / absence of a crossing person who crosses the front or rear of the first vehicle and a traveling direction, and the present invention. And a second vehicle including a vehicle warning device. The vehicle warning device acquires crossing information detected by the first vehicle-side detection unit by the acquisition unit, and extracts the relevant crossing by the extraction unit from the acquired crossing information. The person information is extracted, and the related crossing person information extracted is notified by the notification unit.

  The vehicle warning system of the present invention also includes a first vehicle including a first vehicle-side detection unit that detects crossing information about the presence and presence of a crossing person that crosses the front or rear of the first vehicle and the traveling direction; Of the crossing person information detected by the vehicle side detection part, the second vehicle provided with a second vehicle side notification part for notifying related crossing person information that is information related to the travel route of the second vehicle, and the present invention And a server device including the vehicle warning device, wherein the vehicle warning device acquires the crosser information detected by the first vehicle side detection unit by the acquisition unit, and extracts the related crosser information by the extraction unit from the acquired crosser information. And the extracted related crossing person information is notified to the second vehicle by the notification unit, and the second vehicle side notification unit notifies the related crossing person information notified by the notification unit of the vehicle warning device. And

  According to the vehicle warning device of the present invention, the acquisition unit acquires crosser information related to the presence / absence of a crosser crossing the front or rear of the first vehicle and the traveling direction. Related crosser information related to the travel route of the second vehicle is extracted by the extracting unit from the crossing information of the first vehicle acquired by the acquiring unit. The related crossing person information extracted by the extraction unit is notified by the notification unit.

  Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle among the crossing person information of the 1st vehicle can be performed. In addition, information other than the relevant crossing information among the crossing information of the first vehicle can be prevented from being notified by the notification unit, so that information unnecessary for the second vehicle is notified. Can be prevented. Therefore, since it is possible to realize a vehicle warning device capable of performing an appropriate warning while suppressing troubles in driving the vehicle, it is possible to improve the safety of driving the vehicle.

  According to the server device of the present invention, the server device is configured by including the vehicle warning device of the present invention. Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle among the crossing person information of the 1st vehicle can be performed. Moreover, since information other than related crosser information among the crosser information of the first vehicle can be prevented from being notified by the notification unit of the vehicle warning device, the information unnecessary for the second vehicle is also included. Notification can be prevented. Accordingly, it is possible to suppress an obstacle to the driving of the vehicle and perform an appropriate warning, so that it is possible to improve the driving safety of the vehicle.

  According to the vehicle warning system of the present invention, the vehicle warning system is configured by including the first vehicle including the first vehicle-side detection unit and the second vehicle including the vehicle warning device of the present invention. In the vehicle warning device for the second vehicle, the crossing information detected by the first vehicle side detection unit is acquired by the acquisition unit, and the related crossing information related to the second vehicle is obtained from the acquired crossing information. The related crossing person information extracted by the extraction unit is notified by the notification unit.

  Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle among the crossing person information of the 1st vehicle can be performed. Moreover, since information other than related crosser information among the crosser information of the first vehicle can be prevented from being notified by the notification unit of the vehicle warning device, the information unnecessary for the second vehicle is also included. Notification can be prevented. Accordingly, it is possible to suppress an obstacle to the driving of the vehicle and perform an appropriate warning, so that it is possible to improve the driving safety of the vehicle.

  Moreover, according to the vehicle warning system of this invention, the 1st vehicle provided with the 1st vehicle side detection part, the 2nd vehicle provided with the 2nd vehicle side notification part, and the server apparatus provided with the vehicle warning device of this invention, A vehicle warning system is configured. In the vehicle warning device of the server device, the crossing person information detected by the first vehicle side detection unit is acquired by the acquisition unit, and the related crossing person information related to the second vehicle is extracted from the acquired crossing person information. And the related crossing person information extracted is notified by the notification unit.

  Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle among the crossing person information of the 1st vehicle can be performed. Moreover, since information other than related crosser information among the crosser information of the first vehicle can be prevented from being notified by the notification unit of the vehicle warning device, the information unnecessary for the second vehicle is also included. Notification can be prevented. Accordingly, it is possible to suppress an obstacle to the driving of the vehicle and perform an appropriate warning, so that it is possible to improve the driving safety of the vehicle.

1 is a block diagram showing a configuration of a vehicle warning device 1 according to a first embodiment of the present invention. It is a flowchart which shows the process sequence regarding the notification process of the related crossing person information in the vehicle warning apparatus 1 of the 1st Embodiment of this invention. It is a block diagram which shows the structure of vehicle warning device 1A which is the 2nd Embodiment of this invention. It is a flowchart which shows the process sequence regarding the notification process of the crossing information of the own vehicle in the vehicle warning apparatus 1A of the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the vehicle warning system 4 provided with the vehicle warning device 2 which is the 3rd Embodiment of this invention. It is a flowchart which shows the process sequence regarding the notification process of the related crossing person information in the vehicle warning apparatus 2 of the 3rd Embodiment of this invention. It is a flowchart which shows the process sequence regarding the notification process of the crossing information of the own vehicle in the vehicle warning apparatus 2 of the 3rd Embodiment of this invention. It is a figure which shows an example of the positional relationship of a vehicle and a crossing person. It is a figure which shows the other example of the positional relationship of a vehicle and a crossing person. It is a figure which shows the other example of the distance between vehicles. It is a figure which shows the other example of the positional relationship of a vehicle and a crossing person. It is a figure which shows the other example of the positional relationship of a vehicle and a crossing person. It is a figure which shows the other example of the positional relationship of a vehicle and a crossing person. It is a block diagram which shows the structure of 4A of vehicle warning systems which are the 4th Embodiment of this invention. It is a figure which shows an example of the driving plan route of a vehicle. It is a block diagram which shows the structure of the vehicle warning system 4B provided with the vehicle warning device 2A which is the 5th Embodiment of this invention. It is a figure which shows an example of a travel lane. It is a flowchart which shows the process sequence regarding the notification process of the related crossing person information in the vehicle warning apparatus 2A of the 5th Embodiment of this invention. It is a flowchart which shows the process sequence regarding the notification process of the related crossing person information in the vehicle warning apparatus 2A of the 5th Embodiment of this invention. It is a block diagram which shows the structure of the vehicle warning system 9 provided with the vehicle warning device 80 which is the 6th Embodiment of this invention. It is a flowchart which shows the process sequence regarding the notification process of the related crossing person information in the vehicle warning apparatus 80 of the 6th Embodiment of this invention.

<First Embodiment>
FIG. 1 is a block diagram showing a configuration of a vehicle warning device 1 according to the first embodiment of the present invention. The vehicle warning device 1 issues a warning related to the vehicle. The vehicle warning device 1 includes a receiving unit 11, a control unit 12, and a notification unit 13. The vehicle warning device 1 is used by being mounted on, for example, a vehicle or a server device.

  When the vehicle warning device 1 is mounted on a vehicle, the vehicle warning device 1 is given crossing information of vehicles other than the vehicle on which the vehicle warning device 1 is mounted from the outside of the vehicle warning device 1. The vehicle crossing information refers to information on the presence or absence of a crossing vehicle that crosses the front or rear of the vehicle and the traveling direction of the crossing vehicle. Here, traversers include pedestrians, bicycles and motorcycles. The vehicle crossing information may be given directly to the vehicle warning device 1 from the vehicle, or may be given to the vehicle warning device 1 via the server device.

  When the vehicle warning device 1 is mounted on a server device, the server device on which the vehicle warning device 1 is mounted constitutes a vehicle warning system together with a plurality of vehicles. In this case, the vehicle warning device 1 is given crossing information of the vehicle from each vehicle. The vehicle warning device 1 notifies the corresponding vehicle of relevant crosser information related to the travel route of a vehicle other than the vehicle that gave the crosser information among the given crosser information.

  In the following description, a vehicle that gives crossing information to the vehicle warning device 1 is referred to as a “first vehicle”, and a vehicle to which crossing information of the first vehicle is given directly from the first vehicle or via a server device. May be referred to as a “second vehicle”. Since the vehicle warning device 1 is given the crossing information of the first vehicle directly from the first vehicle or via the server device, the vehicle on which the vehicle warning device 1 is mounted is referred to as a “second vehicle”. Become.

  The receiving unit 11 receives crosser information of the first vehicle from the first vehicle or the server device. The reception unit 11 corresponds to an acquisition unit. The receiving unit 11 gives the received crosser information to the control unit 12.

  The control unit 12 includes, for example, a central processing unit (abbreviation: CPU) and a memory such as a writable RAM (Random Access Memory). The memory stores a control program. The functions of the reception unit 11 and the notification unit 13 are realized by the CPU executing the control program stored in the memory. The control unit 12 comprehensively controls the reception unit 11 and the notification unit 13 according to a control program stored in the memory.

  The control unit 12 extracts relevant crossing information, which is information related to the travel route of the second vehicle, from the crossing information given from the receiving unit 11. The control unit 12 corresponds to an extraction unit. The control unit 12 gives the extracted related traverser information to the notification unit 13.

  The notification unit 13 notifies related crossing person information given from the control unit 12. When the vehicle warning device 1 is mounted on the second vehicle, the notification unit 13 realizes the same function as the warning unit 24 shown in FIG. When the vehicle warning device 1 is mounted on a server device, the notification unit 13 realizes a function similar to, for example, a transmission unit 82b illustrated in FIG.

  FIG. 2 is a flowchart illustrating a processing procedure related to a notification process of related crossing person information in the vehicle warning device 1 according to the first embodiment of this invention. In FIG. 2, there are first and second vehicles, and crossing information of the first vehicle is transmitted from the first vehicle to the vehicle warning device 1 mounted on the second vehicle or the server device. Indicates. Each process of the flowchart illustrated in FIG. 2 is executed by the reception unit 11, the control unit 12, and the notification unit 13. The process of the flowchart shown in FIG. 2 is started when power is supplied to the vehicle warning device 1 from a power source (not shown), and the process proceeds to step a1.

  In step a1, the receiving unit 11 determines whether or not crossing person information of the first vehicle has been received from the first vehicle. If it is determined in step a1 that crossing information has been received, the process proceeds to step a2. If it is determined that crossing information has not been received, the process waits until crossing information is received.

  In step a2, the control unit 12 determines that the crossing information of the first vehicle received by the receiving unit 11 is related crossing information related to the travel route of the second vehicle (hereinafter referred to as “related crossing of the second vehicle”). It is determined whether or not the received crossing information includes related crossing information of the second vehicle. If it is determined in step a2 that the received crosser information includes the relevant crosser information of the second vehicle, the process proceeds to step a3, and the received crosser information includes the relevant crosser of the second vehicle. If it is determined that there is no information, the process returns to step a1.

  In step a <b> 3, the control unit 12 extracts related crossing person information of the second vehicle from the crossing person information of the first vehicle received by the receiving unit 11. When the related crossing person information of the second vehicle is extracted, the process proceeds to step a4.

  In step a4, the notification unit 13 notifies the related crossing person information of the second vehicle extracted in step a3. When the vehicle warning device 1 is mounted on the second vehicle, in step a4, the notification unit 13 outputs the related crossing person information of the second vehicle extracted in step a3, for example, as at least one of an image and a sound. By doing so, the driver of the second vehicle is notified. In the case where the vehicle warning device 1 is mounted on the server device, in step a4, the notification unit 13 transmits the second traverser information related to the second vehicle extracted in step a3 to the second vehicle. The related vehicle crossing information of the vehicle is notified to the second vehicle. After the process of step a4 is completed, the process returns to step a1.

  As described above, according to the vehicle warning device 1 of the present embodiment, the traverser information of the first vehicle is received by the receiving unit 11. From the received crossing information of the first vehicle, related crossing information of the second vehicle is extracted by the control unit 12 and notified by the notification unit 13.

  Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle among the crossing person information of the 1st vehicle can be performed. Moreover, since information other than related crosser information among the crosser information of the first vehicle can be prevented from being notified by the notification unit 13, even information unnecessary for the second vehicle is notified. Can be prevented. Therefore, since it is possible to realize the vehicle warning device 1 capable of performing an appropriate warning while suppressing troubles in driving the vehicle, it is possible to improve the safety of driving the vehicle.

<Second Embodiment>
FIG. 3 is a block diagram showing the configuration of the vehicle warning device 1A according to the second embodiment of the present invention. Since the vehicle warning device 1A of the present embodiment is similar in configuration to the vehicle warning device 1 of the first embodiment, the same components as those in the first embodiment are denoted by the same reference numerals. Thus, the description is omitted.

  The vehicle warning device 1A of the present embodiment has a configuration in which a detection unit 14 is added to the vehicle warning device 1 of the first embodiment. That is, the vehicle warning device 1 </ b> A according to the present embodiment includes the receiving unit 11, the control unit 12, the notification unit 13, and the detection unit 14.

  The vehicle warning device 1A of the present embodiment is mounted and used in a vehicle. In the vehicle warning device 1A of the present embodiment, the functions of the reception unit 11, the notification unit 13, and the detection unit 14 are realized by the CPU configuring the control unit 12 executing the control program stored in the memory. The

  Similar to the first embodiment, in the following description, a vehicle that gives crossing information to the vehicle warning device 1A is referred to as a “first vehicle”, and the first vehicle is directly connected to the vehicle warning device 1A or via the server device. The vehicle to which the crossing information of the vehicle is given may be referred to as a “second vehicle”. Since the vehicle warning device 1A is given the crossing information of the first vehicle directly from the first vehicle or via the server device, the vehicle on which the vehicle warning device 1A is mounted is referred to as a “second vehicle”. Become.

  Here, “first vehicle” and “second vehicle” are names classified on the basis of exchange of crossing information. In the present embodiment, the vehicle warning device 1A includes a receiving unit 11 that receives crossing information from the outside, a detection unit 14 that detects crossing information of a vehicle on which the vehicle warning device 1A is mounted, and a detection unit 14. And a notification unit 13 that notifies the detected crosser information to the outside. Therefore, the vehicle on which the vehicle warning device 1A is mounted functions as both a first vehicle that provides crossing information and a second vehicle that receives crossing information.

  In order to facilitate understanding, in the following description, a vehicle on which the vehicle warning device 1A is mounted may be referred to as “own vehicle”, and a vehicle other than the own vehicle may be referred to as “other vehicle”.

  The detection unit 14 detects crossing information of the own vehicle that is a vehicle on which the vehicle warning device 1A is mounted. The detection unit 14 gives the detected crosser information of the own vehicle to the control unit 12. The control unit 12 provides the crossing person information of the own vehicle given from the detection unit 14 to the notification unit 13.

  In the present embodiment, the notification unit 13 realizes the same function as the warning unit 24 shown in FIG. 5 described later and the same function as the transmission unit 82b shown in FIG. 20 described later. When the crossing information of the own vehicle is given from the control unit 12, the notifying unit 13 notifies the crossing information of the given own vehicle by transmitting it to the outside of the own vehicle. The outside of the host vehicle is, for example, a vehicle warning device mounted on another vehicle or server device, specifically, another vehicle or server device.

  Thus, in the present embodiment, vehicle warning device 1A provides the crossing information of the host vehicle to the outside of the host vehicle, for example, another vehicle warning device mounted on another vehicle or a server device. Further, as with the vehicle warning device 1 of the first embodiment, the vehicle warning device 1A of the present embodiment is given crossing information of other vehicles directly from another vehicle or via a server device.

  FIG. 4 is a flowchart showing a processing procedure related to a notification process of crossing person information of the host vehicle in the vehicle warning device 1A according to the second embodiment of the present invention. Each process of the flowchart shown in FIG. 4 is executed by the control unit 12. The process of the flowchart shown in FIG. 4 is started when electric power is supplied from a power source (not shown) to the vehicle warning device 1A, and the process proceeds to step b1.

  In step b <b> 1, the control unit 12 determines whether or not crossing person information of the host vehicle is detected by the detection unit 14. If it is determined in step b1 that the crossing information of the own vehicle has been detected, the process proceeds to step b2, and if it is determined that the crossing information of the own vehicle has not been detected, the crossing information of the own vehicle. Wait until is detected.

  In step b2, the control unit 12 uses the notification unit 13 to inform the crossing person information of the host vehicle detected by the detection unit 14 to the outside of the host vehicle, specifically, another vehicle or another vehicle mounted on the server device. Send to warning device.

  As described above, according to the vehicle warning device 1 </ b> A of the present embodiment, the detection unit 14 detects crosser information of the host vehicle. The detected crosser information of the own vehicle is notified by the notification unit 13 to the outside of the own vehicle, for example, another vehicle or another vehicle warning device mounted on the server device. Thereby, the crossing information of the own vehicle on which the vehicle warning device 1A is mounted can be notified to other vehicles directly or via the server device, and a warning can be given.

<Third Embodiment>
FIG. 5 is a block diagram showing a configuration of a vehicle warning system 4 including the vehicle warning device 2 according to the third embodiment of the present invention. The vehicle warning system 4 includes a plurality of vehicles 3a and 3b. It is assumed that the vehicle warning device 2 according to the present embodiment is mounted on a plurality of vehicles 3a and 3b.

  FIG. 5 shows a case where there are two vehicles, specifically, a first vehicle 3b and a second vehicle 3a as the plurality of vehicles 3. Since the first vehicle 3b and the second vehicle 3a have the same configuration, the configuration of the second vehicle 3a is shown as a representative, and a part of the configuration of the first vehicle 3b is omitted. To do.

  In the following description, when each vehicle is shown separately, the reference sign “3” is shown with the suffixes “a” and “b”, and when each vehicle is shown without being distinguished, the suffix is shown. This is indicated by reference numeral “3” without being attached.

  The vehicle warning device 2 of the present embodiment corresponds to a configuration in which the vehicle warning device 1A of the second embodiment shown in FIG. The vehicle warning device 2 of the present embodiment includes a vehicle position detection unit 21, a crossing person detection unit 22, a wireless communication unit 23, a warning unit 24, a travel schedule determination unit 25, and a control unit 26. The wireless communication unit 23 includes a wireless reception unit 23a, a wireless reception antenna 23b, a wireless transmission unit 23c, and a wireless transmission antenna 23d.

  In the second vehicle 3a, the crossing person detection unit 22 corresponds to a detection unit, the wireless reception unit 23a corresponds to an acquisition unit, the wireless transmission unit 23c and the warning unit 24 correspond to a notification unit, and a control unit. 26 corresponds to an extraction unit. In the first vehicle 3b, the crossing person detection unit 22 corresponds to a first vehicle side detection unit.

  In addition to the vehicle warning device 2 configured as described above, the vehicle 3 includes a global positioning system (abbreviation: GPS) receiving unit 31, a direction detecting unit 32, a pulse detecting unit 33, and a map data storage unit. 34 is comprised.

  The GPS receiver 31 receives a radio signal transmitted from a GPS satellite, and detects the current position of the vehicle 3 based on the received radio signal. The direction detection unit 32 is constituted by, for example, a gyro sensor or an direction sensor, and detects the traveling direction of the vehicle 3. The pulse detection unit 33 acquires a vehicle speed pulse corresponding to the speed of the vehicle 3 and detects the speed of the vehicle 3.

  The vehicle position detection unit 21 detects the current position of the vehicle 3 based on the data obtained by the GPS reception unit 31, the direction detection unit 32, and the pulse detection unit 33. The vehicle position detection unit 21 generates current position information indicating the detected current position of the vehicle 3, and gives the generated current position information to the control unit 26.

  The map data storage unit 34 is configured by, for example, a hard disk drive (abbreviation: HDD) device or a storage device such as a semiconductor memory. The map data storage unit 34 stores map data representing a map.

  The crossing person detection unit 22 includes at least one of a human sensor, a radar, and a camera. The human sensor is realized by, for example, an infrared sensor, an ultrasonic sensor, or a visible light sensor. Two crossing person detection units 22 are provided and attached to the front and rear of the vehicle 3, respectively. In the following description, the two crossing person detection units 22 may be collectively referred to as a “crossing person detection unit”.

  The crossing person detection unit 22 detects the presence or absence of a crossing person such as a pedestrian, a bicycle, and a motorcycle crossing the front or rear of the vehicle 3 and the traveling direction of the crossing person. The crossing person detection unit 22 generates crossing person information including the presence / absence of the detected crossing person and the traveling direction of the crossing person, and gives the generated crossing person information to the control part 26.

  The wireless reception unit 23a receives various types of information transmitted from the outside of the vehicle 3 via the wireless reception antenna 23b. For example, the wireless reception unit 23a receives information transmitted from another vehicle warning device. The wireless transmission unit 23c transmits various types of information to the outside of the vehicle 3 via the wireless transmission antenna 23d. For example, the wireless transmission unit 23c transmits various types of information to other vehicle warning devices. Wireless communication by the wireless communication unit 23 enables inter-vehicle communication performed between the own vehicle and another vehicle, or road-to-vehicle communication performed between the own vehicle and a roadside device installed on the road surface.

  In the present embodiment, the vehicle warning device 2 detects the vehicle position in the information of the crossing direction of the crossing person when the crossing person detecting unit 22 detects the crossing person crossing the front or rear of the vehicle 3 while the vehicle is stopped. Information to which the current position information of the vehicle 3 acquired by the unit 21 is added is transmitted from the wireless transmission unit 23c to the vehicle warning device of the other vehicle via the wireless transmission antenna 23d. When another vehicle equipped with the vehicle warning device 2 having the same configuration transmits crossing information, the wireless reception unit 23a receives the crossing information via the receiving antenna 23b.

  The warning unit 24 includes an image control unit 24a, an image output unit 24b, an audio control unit 24c, and an audio output unit 24d. The image output unit 24b is realized by a liquid crystal display, for example. The audio output unit 24d is realized by a speaker, for example. The image control unit 24a controls the image output unit 24b so that the image output unit 24b outputs an image. The voice control unit 24c controls the voice output unit 24d so that the voice output unit 24d outputs voice. When it is determined that it is necessary to warn the driver of the host vehicle, a warning to the driver by the image of the image output unit 24b and a warning to the driver by the sound of the audio output unit 24d are performed.

  The traveling schedule determination unit 25 detects a traveling schedule route that is a route on which the host vehicle is traveling. Specific detection methods will be described in a fourth embodiment and a fifth embodiment described later.

  The control unit 26 includes, for example, a CPU and a memory such as a writable RAM. The memory stores a control program. When the CPU executes the control program stored in the memory, each of the vehicle position detection unit 21, the crossing person detection unit 22, the wireless communication unit 23, the warning unit 24, the travel schedule determination unit 25, and the map data storage unit 34 is displayed. Function is realized. The control unit 26 controls the vehicle position detection unit 21, the crossing person detection unit 22, the wireless communication unit 23, the warning unit 24, the travel schedule determination unit 25, and the map data storage unit 34 according to a control program stored in the memory. Control.

  FIG. 6 is a flowchart illustrating a processing procedure related to notification processing of related crossing person information in the vehicle warning device 2 according to the third embodiment of this invention. Each process of the flowchart illustrated in FIG. 6 is executed by the wireless reception unit 23a, the warning unit 24, and the control unit 26. The process of the flowchart shown in FIG. 6 is started when power is supplied to the vehicle warning device 2 from a power source (not shown), and the process proceeds to step c1.

  In step c <b> 1, the control unit 26 determines whether or not the wireless reception unit 23 a has received crossing information from the outside of the vehicle 3, for example, another vehicle (hereinafter also referred to as “other vehicle”). In step c1, the other vehicle having the vehicle warning system 4 detects the crossers before and after the other vehicle while stopping by a signal stop or on the road, and detects the crossing direction of the other vehicle. Whether or not the information received from the wireless transmission unit 23c of the other vehicle combined with the position data of the other vehicle acquired from the vehicle position detection unit 21 of the other vehicle is received by the wireless reception unit 23a of the own vehicle Determine whether.

  If it is determined in step c1 that crossing information has been received from another vehicle, the process proceeds to step c2, and if it is determined that crossing information has not been received from another vehicle, crossing information is received. Wait until.

  In step c <b> 2, it is determined whether or not there is a crossing person on the planned travel route of the own vehicle (hereinafter sometimes referred to as “own vehicle”). In step c2, the control unit 26 determines that the own vehicle has crossed based on the received crossing person information, the planned traveling route of the own vehicle from the traveling schedule determining unit 25, and the map data from the map data storage unit 34. It is determined whether or not the person passes through the detected location.

  If it is determined in step c2 that there is a crossing person on the planned traveling route of the host vehicle, the process proceeds to step c3. If it is determined that there is no crossing person on the planned driving route of the host vehicle, step c1 is performed. Return to.

  In step c3, it is determined whether or not the distance to the crossing person, that is, the distance between the position of the crossing person and the current position of the own vehicle is within a predetermined warning range. The warning range is determined in advance as a warning range. The warning required range can be set arbitrarily. Further, the warning range may be changed according to the speed of the own vehicle. For example, when the vehicle speed is low, the warning area is narrowed, and when the vehicle speed is high, the warning area is widened.

  If it is determined in step c3 that the distance to the crossing is within the warning range, the process proceeds to step c4. If it is determined that the distance to the crossing is not within the warning range, step c1 is performed. Return to.

  In step c4, the control unit 26 extracts related crossing person information from the crossing person information received by the wireless reception unit 23a, and proceeds to step c5. In step c5, the control unit 26 uses the warning unit 24 to notify the related crossing person information and gives a warning.

  In step c4, the control unit 26 warns the driver of the presence of the crosser by the warning unit 24. For example, the position information of the own vehicle and the position information of the crossing person are displayed on the map shown in the image output unit 24b. Further, if the warning is given to the driver by using the audio output unit 24d such as a speaker, the effect is more effective. Either image or sound is possible. After finishing the process of step c5, it returns to step c1.

  FIG. 7 is a flowchart showing a processing procedure related to a notification process of crossing information of the own vehicle in the vehicle warning device 2 according to the third embodiment of the present invention. Since the flowchart shown in FIG. 7 is similar to the flowchart shown in FIG. 4, steps corresponding to FIG. 4 are denoted by the same step numbers, and common description is omitted. The process of the flowchart shown in FIG. 7 is started when electric power is supplied to the vehicle warning device 2 from a power source (not shown), and the process proceeds to step b1.

  In step b1, the control unit 26 determines whether or not the crosser information of the second vehicle that is the host vehicle is detected by the crosser detection unit 22. In the present embodiment, if it is determined in step b1 that crossing information of the own vehicle has been detected, the process proceeds to step b11, and if it is determined that crossing information of the own vehicle has not been detected, It waits until crossing information of the own vehicle is detected.

  In step b11, the control unit 26 adds the current position information of the host vehicle to the crosser information of the second vehicle that is the host vehicle detected by the crosser detection unit 22. When the current position information is added, the process proceeds to step b2.

  In step b2, the control unit 26 uses the wireless transmission unit 23c to transmit the crossing information of the second vehicle to which the current position information is added in step b11 to the outside of the second vehicle, specifically to the other vehicle. It transmits to the other vehicle warning device mounted in the 1st vehicle.

  FIG. 8 is a diagram illustrating an example of a positional relationship between a vehicle and a crossing person. In the following description, the first vehicle 3b shown in FIG. 5 may be indicated by reference numeral “102”, and the second vehicle 3a shown in FIG. 5 may be indicated by reference numeral “101”. In FIG. 8, the first vehicle 102 is shown with hatching with a downward slanting left line.

  For example, when the first vehicle 102 on which the vehicle warning device 2 is mounted stops at a red light and the crosser 120 crosses the front of the first vehicle 102, the crosser detection of the first vehicle 102 is detected. The section 22 detects the crossing person 120 and its traveling direction 120a, and detects crossing person information. As in step b11 shown in FIG. 7 described above, the control unit 26 of the first vehicle 102 receives the detected crosser information, and the first crossing information detected by the vehicle position detecting unit 21 is received. The current position information of the vehicle 102 is added.

  The control unit 26 of the first vehicle 102 transmits crosser information to which the current position information is added from the wireless transmission unit 23c. In the case of this example, the control unit 26 of the first vehicle 102 is within the notification range 100 represented by a circle centered on the first vehicle 102 and having a constant distance indicated by reference numeral “110”. Send crossing information to other vehicles. Since the vehicle warning device 2 of the second vehicle 101 repeats the process of step c1 shown in FIG. 6 at regular intervals, the crossing information transmitted from the first vehicle 102 is transmitted by the wireless reception unit 23a. Then, the process proceeds to step c2.

  The method for transmitting the crossing information from the first vehicle 102 is not particularly limited, but a vehicle-to-vehicle communication, a road-to-vehicle communication, or a mobile phone method by wireless communication is conceivable.

  As shown in FIG. 8, when the second vehicle 101 enters the intersection, the second vehicle 101 selects either the first route 101a or the second route 101b. When the control unit 26 of the second vehicle 101 determines that the second route 101b is taken based on the information from the travel schedule determination unit 25, the second vehicle 101 and the traveling direction 120a of the crossing person 120 intersect. Therefore, it is determined that there is no possibility that the second vehicle 101 will collide with the crossing person 120.

  Therefore, in step c2 of FIG. 6, it is determined that there is no crossing person on the planned traveling route of the own vehicle, and the process returns to step c1 again and waits for reception of crossing person information from another vehicle. When the control unit 26 of the second vehicle 101 determines from the information from the travel schedule determination unit 25 that the host vehicle takes the first route 101a, in step c2 of FIG. It is determined that there is a crosser above, and the process proceeds to step c3.

  FIG. 9 is a diagram illustrating another example of the positional relationship between the vehicle and the crossing person. In the example shown in FIG. 8, the left-right turn at the intersection has been described. However, as shown in FIG. 9, it is assumed that the second vehicle 101 reaches the destination 130 before approaching the crossing person 120. In this case, the planned travel route of the second vehicle 101 and the traveling direction 120a of the crossing person 120 do not intersect with the traveling schedule determination unit 25, and the second vehicle 101 has no possibility of colliding with the crossing person 120. It is judged.

  When the process proceeds to step c3 in FIG. 6, the control unit 26 of the vehicle warning device 2 of the second vehicle 101 detects the crossing person 120 and detects the vehicle position detection unit 21 of the first vehicle 102 as shown in FIG. Based on the current position of the first vehicle 102 detected by the second vehicle 101 and the current position of the second vehicle detected by the vehicle position detector 21 of the second vehicle 101. A distance 111 to the vehicle 102 (hereinafter sometimes referred to as “inter-vehicle distance”) 111 is calculated as a distance to the crossing person.

  The control unit 26 compares the inter-vehicle distance 111 with a preset threshold value of the warning required range. If the inter-vehicle distance 111 is larger than the threshold value, it is determined that the distance from the second vehicle 101 to the crossing person 120 is outside the warning required range, and the process returns to step c1 in FIG. Keep waiting.

  When the inter-vehicle distance 111 is equal to or less than the threshold, the distance from the second vehicle 101 to the crossing person 120 is within the warning range, the second vehicle 101 is close to the crossing person 120, and there is a possibility of a collision. It is determined that there is, and the process proceeds to step c4 in FIG. In step c4, as described above, the driver of the second vehicle 101 is notified of the crossing information and warned.

  FIG. 10 is a diagram illustrating another example of the inter-vehicle distance. In the example shown in FIG. 8, a linear distance is shown as the inter-vehicle distance 111. However, in order to improve accuracy, as shown in FIG. 10, the vehicle along the route along which the second vehicle 101 actually travels is shown. The distance 112 may be calculated.

  Next, a case where it is necessary to receive crossing information transmitted from the first vehicle 102 and give a warning will be described with reference to FIGS. FIGS. 11-13 is a figure which shows the other example of the positional relationship of a vehicle and a crossing person.

  FIG. 11 shows a case where the second vehicle 101 travels on the opposite lane of the first vehicle 102 in which the crossing person 120 is detected, as in FIG. The vehicle warning device 2 of the second vehicle 101 receives the crossing information transmitted from the first vehicle 102 that has detected the crossing person 120 as described above, and notifies the driver of the second vehicle 101 to the driver. Warning.

  When the vehicle warning device 2 is provided in another vehicle, that is, the third vehicle 103 and the fourth vehicle 104, the above-described flowchart of FIG. 6 is also applied to the third and fourth vehicles 103 and 104. Each process is executed. For the third vehicle 103, since the position of the crossing person 120 has already run too much, it is determined in step c2 of FIG. 6 that there is no crossing person on the planned travel route, and the process returns to step c1. Therefore, the driver of the third vehicle 103 is not warned.

  In the fourth vehicle 104, the position of the crossing person 120 is on the planned travel route from now on, but the fourth vehicle 104 is waiting for a signal, so the speed is not output. Therefore, in step c3 of FIG. 6, it is determined that the warning range is out of the warning range by reducing the threshold value of the warning range in accordance with the speed of the vehicle. Will not be warned.

  In FIG. 12, the case where the 2nd vehicle 101 passes from the back side of the 1st vehicle 102 which detected the crossing person 120 is shown. In this case, since there is a possibility that the crossing person 120 crosses the planned travel route of the second vehicle 101, the driver of the second vehicle 101 is warned. When another vehicle (hereinafter sometimes referred to as a “fifth vehicle”) 105 equipped with the vehicle warning device 2 is moving in the direction of the crossing 120 on the opposite lane of the first vehicle 102, Since the crossing direction 120a does not intersect the traveling direction of the fifth vehicle 105, it is determined in step c2 of FIG. 6 that there is no crossing person on the planned travel route, and the process returns to step c1. Therefore, the driver of the fifth vehicle 105 is not warned.

  FIG. 13 shows a case where the second vehicle 101 overtakes the first vehicle 102 stopped on the road. In this case, since there is a possibility that the crossing person 120 may cross on the planned travel route of the second vehicle 101, the driver of the second vehicle 101 is warned. Further, even when the first vehicle 102 is stopped with the engine turned off, the vehicle warning device 2 is driven by the battery even when the engine is turned off, and when the crossing person 120 is detected, It is also possible to transmit crossing information.

  As described above, according to the present embodiment, the first vehicle 3b including the crossing person detection unit 22 corresponding to the first vehicle side detection unit and the second vehicle 3a including the vehicle warning device 2 are provided. The vehicle warning system 4 is configured. In the vehicle warning device 2 of the second vehicle 3a, the crossing information detected by the crossing detection unit 22 of the first vehicle 3b is received by the wireless reception unit 23a. From the received crossing information, related crossing information related to the second vehicle 3a is extracted by the control unit 26, and the extracted related crossing information is notified by the warning unit 24 corresponding to the notification unit. .

  Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle 3a among the crossing person information of the 1st vehicle 3b can be performed. Moreover, since the information other than the related crossing information related to the second vehicle 3a among the crossing information of the first vehicle 3b can be prevented from being notified by the warning unit 24 of the vehicle warning device 2. It is possible to prevent notification of unnecessary information to the second vehicle 3a. Therefore, since it is possible to suppress an obstacle to the driving of the vehicle 3 and perform an appropriate warning, it is possible to improve the driving safety of the vehicle 3.

<Fourth embodiment>
FIG. 14 is a block diagram showing a configuration of a vehicle warning system 4A according to the fourth embodiment of the present invention. Since the vehicle warning system 4A of the present embodiment is similar in configuration to the vehicle warning system 4 of the third embodiment, the same components as those in the third embodiment are denoted by the same reference numerals. Thus, the description is omitted.

  The vehicle warning system 4A of the present embodiment includes a plurality of vehicles 5a and 5b. FIG. 14 shows a case where there are two vehicles, specifically, a first vehicle 5b and a second vehicle 5a as the plurality of vehicles 5. Since the first vehicle 5b and the second vehicle 5a have the same configuration, the configuration of the second vehicle 5a is shown as a representative, and the configuration of the first vehicle 5b is partially omitted. To do.

  In the following description, when each vehicle is distinguished and indicated, the suffix “a” and “b” are added to the reference sign “5”, and when each vehicle is indicated without being distinguished, the suffix is indicated. The reference numeral “5” is used without the symbol. Each vehicle 5 includes the same vehicle warning device 2 as in the third embodiment.

  The vehicle 5 in the present embodiment has a configuration in which a route calculation unit 51 is added to the vehicle 3 in the third embodiment. The route calculation unit 51 forms a car navigation system together with means (not shown). In the car navigation system, when the driver of the host vehicle sets the destination, the route calculation unit 51 sets an appropriate route to the destination. In the present embodiment, the travel schedule determination unit 25 determines the travel schedule route of the own vehicle based on the information of the route calculation unit 51.

  FIG. 15 is a diagram illustrating an example of a planned travel route of the vehicle. When the driver of the second vehicle 101 sets the destination 130 in the car navigation system, the route from the current location of the second vehicle 101 to the destination 130 is set as the first route 101a by the route calculation unit 51. Calculated. The route calculation unit 51 generates route information representing the calculated route from the current location of the second vehicle 101 to the destination, and gives the route information to the travel schedule determination unit 25.

  The route information generated by the route calculation unit 51 and given to the travel schedule determination unit 25 is used when the second vehicle 101 calculates the planned travel route in the process of step c2 of FIG.

  In FIG. 15, it is assumed that a crossing person crossing the front and rear of another vehicle is detected at a first point 140 and a second point 141. When the crossing information transmitted from the other vehicle is received by the wireless reception unit 23a of the second vehicle 101, the travel schedule determination unit 25 provides the route information given from the route calculation unit 51 in step c2 of FIG. Based on the route, the travel planned route is determined from the route calculated by the route calculation unit 51, and the travel planned route information representing the planned travel route is given to the control unit 26. The control unit 26 warns the driver of the second vehicle 101 of the crossing information of the second point 141 related to the traveling route of the own vehicle based on the given planned traveling route information.

  As described above, according to the present embodiment, the control unit 26 relates the related crossing person information based on the route information representing the route from the current location of the second vehicle 5a to the destination calculated by the route calculation unit 51. To extract. Thereby, related crossing person information can be extracted easily.

<Fifth embodiment>
FIG. 16: is a block diagram which shows the structure of the vehicle warning system 4B provided with 2A of vehicle warning apparatuses which are the 5th Embodiment of this invention. The vehicle warning device 2A and the vehicle warning system 4B of the present embodiment are similar in configuration to the vehicle warning device 2 and the vehicle warning system 4 of the third embodiment, and are therefore the same as those of the third embodiment. About the structure, the same referential mark is attached | subjected and description is abbreviate | omitted.

  The vehicle warning system 4B of the present embodiment includes a plurality of vehicles 6a and 6b. FIG. 16 illustrates a case where there are two vehicles, specifically, a first vehicle 6b and a second vehicle 6a as the plurality of vehicles 6. Since the first vehicle 6b and the second vehicle 6a have the same configuration, the configuration of the second vehicle 6a is shown as a representative, and the configuration of the first vehicle 6b is partially omitted. To do.

  In the following description, when each vehicle is indicated separately, the reference symbol “6” is indicated by suffixes “a” and “b”, and when each vehicle is indicated without distinction, the suffix is indicated. The reference symbol “6” is used without the symbol. Each vehicle 6 includes a vehicle warning device 2A.

  The vehicle warning device 2A in the present embodiment has a configuration in which a direction indicator detection unit 61 and a travel lane detection unit 62 are added to the vehicle warning device 2 in the third embodiment. In the present embodiment, the travel schedule determination unit 25 is connected to the direction detection unit 32 and is given travel direction information representing the travel direction of the vehicle 5 from the direction detection unit 32.

  The direction indicator detector 61 detects the operating state and the indication direction of a direction indicator (not shown). The operating state of the direction indicator is whether the direction indicator is on or off. The direction indicator detection unit 61 generates direction indicator information indicating the detected operation state of the direction indicator and the indicated direction. The direction indicator detection unit 61 gives the generated direction indicator information to the travel schedule determination unit 25.

  The traveling lane detector 62 detects the lane in which the vehicle 6 is traveling. The travel lane detection unit 62 generates travel lane information representing the detected lane, and gives the generated travel lane information to the travel schedule determination unit 25.

  In the present embodiment, the travel schedule determination unit 25 includes direction indicator information provided from the direction indicator detection unit 61, travel lane information provided from the travel lane detection unit 62, and the host vehicle provided from the direction detection unit 32. 6 based on the traveling direction information of 6, the travel planned route of the host vehicle 6 is determined.

  FIG. 17 is a diagram illustrating an example of a traveling lane. In FIG. 17, three traveling lanes are shown, and a vehicle traveling in each lane is denoted by reference numeral “106”. When the three vehicles 106 are distinguished from each other, the subscripts “a”, “b”, and “c” are attached to the reference symbol “106” to indicate the left vehicle 106a, the central vehicle 106b, and the right vehicle 106c, When the three vehicles 106 are not distinguished from each other, they are shown without a suffix.

  The travel lane detector 62 detects travel lane information representing the lane in which the second vehicle 106 is traveling. As a detection method, a camera attached in front of the second vehicle 106 is used to read and determine a road marking 150 indicating a right / left turn or straight ahead drawn on the road surface.

  For example, in the case of the left vehicle 106a, it can be seen from the first road marking 150a that the vehicle is traveling in a left turn lane. Also, the driver of the left vehicle 106a turns on the direction indicator to turn left at the intersection. When the direction indicator detector 61 detects this, the travel schedule determination unit 25 determines that the left vehicle 106a turns left.

  In the case of the central vehicle 106b, it can be seen from the second road marking 150b that the vehicle is traveling in a straight lane, so the travel schedule determination unit 25 determines that the central vehicle 106b goes straight through the intersection.

  In the case of the right vehicle 106c, it can be seen from the third road marking 150c that the vehicle is traveling in a right turn lane. Further, the driver of the right vehicle 106c turns on the direction indicator to turn right at the intersection. When the direction indicator detection unit 61 detects this, the travel schedule determination unit 25 determines that the right vehicle 106c turns right.

  It is assumed that a crossing person crossing the other vehicle is detected at the third point 142 and the fourth point 143. When the crossing information transmitted from the other vehicle is received by the wireless reception unit 23a of the host vehicle 106, in the above-described step c2 of FIG. The route is determined and given to the control unit 26. The control unit 26 notifies and warns the driver of the host vehicle 106 when the crossing information relates to the travel route of the host vehicle 106.

  In the case of the example illustrated in FIG. 17, the warning regarding the third point 142 is given to the driver of the central vehicle 106b. The warning regarding the fourth point 143 is given to the driver of the right vehicle 106c. Otherwise, in step c2 of FIG. 6, there is no crossing person on the planned traveling route of the own vehicle, and it is determined that the crossing information is not related to the traveling route of the own vehicle, so the driver is not warned.

  In the example shown in FIG. 17, the case of turning right or left or running on a straight dedicated lane has been described. However, depending on the lane, the case of a single lane, the case of a right turn and a straight advance, and the case of a left turn and a straight advance In some cases. In these cases, the planned travel route of the host vehicle is determined by adding a procedure to the processing of the flowchart shown in FIG. 6 as shown in FIGS. 18 and 19 described later.

  FIG. 18 and FIG. 19 are flowcharts showing a processing procedure relating to notification processing of related crossing person information in the vehicle warning device 2A according to the fifth embodiment of this invention. The flowcharts shown in FIGS. 18 and 19 are similar to the flowchart shown in FIG. 6, and therefore, steps corresponding to FIG. 6 are denoted by the same step numbers and common description is omitted.

  In the present embodiment, if it is determined in step c1 that crossing information has been received from another vehicle, the process proceeds to step d1, and if it is determined that crossing information has not been received from another vehicle, Wait until you receive crossing information.

  In step d1, it is determined whether there is travel schedule route information. If it is determined in step d1 that there is planned traveling route information, the process proceeds to step c2, and if it is determined that there is no planned traveling route information, the process proceeds to step d2 in FIG.

  In step d2 of FIG. 19, the travel schedule determination unit 25 acquires travel lane information of the host vehicle. If travel lane information is acquired in step d2, it will transfer to step d3.

  In step d3, the travel schedule determination unit 25 determines whether the travel lane of the host vehicle is a left-right turn or a straight-ahead lane. If it is determined in step d3 that the travel lane is a left-right turn or straight-ahead lane, the process proceeds to step d4. If it is determined that the travel lane is not a right-left turn or a straight-ahead lane, the process proceeds to step d7. To do.

  In step d4, the travel schedule determination unit 25 determines whether the road marking and the direction indicated by the direction indicator coincide with each other. If it is determined in step d4 that the road marking and the direction indicated by the direction indicator match, the process proceeds to step d5, and if it is determined that the road indication does not match the direction indicated by the direction indicator, Move to d7.

  In step d5, the travel schedule determination unit 25 determines the traveling direction of the host vehicle based on the direction indicated by the direction indicator. When the traveling direction is determined, the process proceeds to step d6.

  In step d6, the control unit 26 determines whether or not there is a crossing person in the traveling direction of the host vehicle. In step d6, if it is determined that there is a crossing person in the traveling direction of the host vehicle, the process returns to step c3 in FIG. 18, and if it is determined that there is no crossing person in the traveling direction of the host vehicle, the step in FIG. Return to c1.

  In step d7, the travel schedule determination unit 25 determines whether or not the direction indicator is turned on. If it is determined in step d7 that the direction indicator is turned on, the process proceeds to step d8. If it is determined that the direction indicator is not turned on, the process proceeds to step d10.

  In step d8, the travel schedule determination unit 25 determines whether or not the direction indicator is turned off. If it is determined in step d8 that the direction indicator is turned off, the process proceeds to step d9. If it is determined that the direction indicator is not turned off, the process waits until it is turned off.

  In step d9, the travel schedule determination unit 25 determines whether or not the traveling direction of the host vehicle has changed due to a left or right turn based on the traveling direction information given from the direction detection unit 32. Specifically, the travel schedule determination unit 25 determines whether or not the amount of change in the traveling direction of the host vehicle before and after detection of the direction indicated by the direction indicator is greater than a predetermined threshold value. If it is determined that the amount of change in the traveling direction is greater than the threshold, it is determined that the traveling direction has changed due to a right or left turn, that is, a right or left turn has been performed, and the process proceeds to step d11. If it is determined that the amount of change in the traveling direction is equal to or less than the threshold value, it is determined that the traveling direction has not changed, that is, the vehicle is traveling straight, and the process proceeds to step d10.

  In step d10, the travel schedule determination unit 25 determines that the traveling direction of the vehicle is straight. If it is determined in step d10 that the vehicle travels straight, the process proceeds to step d6.

  In step d11, the travel schedule determination unit 25 determines whether to turn right or left based on the direction indicated by the direction indicator. By performing step d9, it is possible to prevent a right / left turn from being erroneously determined based on the direction indicated by the direction indicator when changing the lanes of a plurality of lanes in the same traveling direction. If it is determined in step d11 whether to turn right or left, the process proceeds to step d6.

  After the planned travel route of the vehicle is determined as described above, it is determined in step d6 whether or not there is a crossing person in the traveling direction of the vehicle. If it is determined that there is a crossing person in the traveling direction, the process proceeds to step c3 in FIG. If it is determined that there is no crossing in the traveling direction, the process returns to step c1 of FIG. 18 and continues to wait for crossing information from another vehicle.

  As described above, according to the present embodiment, the control unit 26 is based on the travel lane information of the second vehicle 6a and the direction indication information indicating the direction of the left or right turn or the course change of the second vehicle 6a. , Extract related crossing person information. Thereby, even when the route calculation unit 51 is not provided as in the fourth embodiment, for example, even when the vehicle 6 is not provided with a car navigation system, related crossing person information can be extracted.

  The vehicle warning device according to each embodiment described above is a system in which not only a vehicle navigation device mounted on a vehicle but also a communication terminal device that can be mounted on a vehicle, a server device, and the like are appropriately combined. The present invention can also be applied to a built vehicle warning device. The communication terminal device is, for example, a PND (Portable Navigation Device) and a portable communication device having a function of communicating with a server device. The mobile communication device is, for example, a mobile phone, a smartphone, and a tablet terminal device.

  As described above, when the system is constructed by including the vehicle warning device and the server device, each function and each component of the vehicle warning device according to each of the above-described embodiments is distributed to each device constituting the system. Arranged.

  For example, the aforementioned function of the vehicle warning device may be arranged in the server device. When this function is arranged in the server device, the server device has, for example, the configuration shown in the following sixth embodiment.

<Sixth Embodiment>
FIG. 20 is a block diagram showing a configuration of a vehicle warning system 9 including a vehicle warning device 80 according to the sixth embodiment of the present invention. The vehicle warning system 9 according to the present embodiment includes a server device 8 including a vehicle warning device 80 and a plurality of vehicles 7.

  FIG. 20 shows a case where there are two vehicles as the plurality of vehicles 7, specifically, a first vehicle 7b and a second vehicle 7a. Since the first vehicle 7b and the second vehicle 7a have the same configuration, the configuration of the second vehicle 7a is shown as a representative, and the configuration of the first vehicle 7b is partially omitted. To do. In the following description, when each vehicle is distinguished and indicated, the reference numerals “7” are indicated by suffixes “a” and “b”, and when each vehicle is indicated without distinction, the suffix is indicated. The reference numeral “7” is used without the symbol. Each vehicle 7 includes a vehicle warning device 2A.

  Since the vehicle 7 in the present embodiment is similar in configuration to the vehicle 3 in the third embodiment, the same components as those in the third embodiment are denoted by the same reference numerals and described. Is omitted.

  In the present embodiment, the vehicle 7 includes an information providing device 2B having a configuration similar to that of the vehicle warning device 2 in the third embodiment, a GPS receiving unit 31 similar to the vehicle 3 in the third embodiment, and an azimuth. A detection unit 32, a pulse detection unit 33, and a map data storage unit 34 are provided. The information providing apparatus 2B includes a vehicle position detection unit 21, a crossing person detection unit 22, a warning unit 24, a travel schedule determination unit 25, a vehicle side communication unit 71, and a vehicle side control unit 72. The vehicle-side communication unit 71 includes a vehicle-side communication antenna 71a.

  The vehicle side control unit 72 of the information providing device 2B corresponds to the control unit 26 of the vehicle warning device 2 in the third embodiment and has the same function. The vehicle-side communication unit 71 of the information providing device 2B corresponds to the wireless communication unit 23 of the vehicle warning device 2 in the third embodiment and has the same function. The vehicle-side communication antenna 71a of the vehicle-side communication unit 71 corresponds to the radio reception antenna 23b and the radio transmission antenna 23d of the radio communication unit 23 and has the same function.

  In the second vehicle 7a, the vehicle-side communication unit 71 corresponds to a second vehicle-side notification unit. In the first vehicle 7b, the crossing person detection unit 22 corresponds to a first vehicle side detection unit. Here, “first vehicle” and “second vehicle” are names classified based on the exchange of crossing information, and each vehicle 7 actually has a crossing detector 22 and vehicle side communication. Since both are provided with the part 71, it functions as both the 1st vehicle which is a vehicle which gives crossing information, and the 2nd vehicle which is a vehicle to which crossing information is given.

  In the present embodiment, the vehicle warning device 80 is mounted on the server device 8. The vehicle warning device 80 includes a server-side control unit 81 and a server-side communication unit 82. The server side communication unit 82 includes a reception unit 82a, a transmission unit 82b, and a server side communication antenna 82c. The server side control unit 81 corresponds to an extraction unit. The reception unit 82a corresponds to an acquisition unit. The transmission unit 82b corresponds to a notification unit.

  The server-side control unit 81 includes, for example, a CPU and a memory such as a writable RAM. The memory stores a control program. The function of the server side communication unit 82 is realized by the CPU executing the control program stored in the memory. The server side control unit 81 comprehensively controls the server side communication unit 82 according to a control program stored in the memory.

  The server-side communication unit 82 performs wireless communication with the information providing device 2B mounted on each vehicle 7. The information providing apparatus 2B includes a crossing person detection unit 22, detects crossing information of the vehicle 7 on which the information providing apparatus 2B is mounted by the crossing person detection unit 22, and detects the detected crossing person information on the vehicle side communication unit. 71 to the server device 8 via the vehicle-side communication antenna 71a.

  The receiving unit 82a of the server side communication unit 82 receives the traverser information of each vehicle 7 transmitted from the vehicle side communication unit 71 of the information providing device 2B of each vehicle 7 via the server side communication antenna 82c. The receiving unit 82 a gives the received crosser information of each vehicle 7 to the server-side control unit 81.

  The server-side control unit 81 extracts related crossing person information related to the travel route of the other vehicle 7 from the crossing person information of each vehicle 7 given from the receiving unit 82a. The server-side control unit 81 gives the extracted related traverser information to the transmission unit 82 b of the server-side communication unit 82. The transmission part 82b transmits the related crossing person information given from the server side control part 81 to the information provision apparatus 2B of the corresponding vehicle 7 via the server side communication antenna 82c.

  FIG. 21 is a flowchart illustrating a processing procedure related to notification processing of related crossing person information in the vehicle warning device 80 according to the sixth embodiment of this invention. Each process of the flowchart shown in FIG. 21 is executed by the server-side control unit 81 and the server-side communication unit 82. The process of the flowchart shown in FIG. 21 is started when electric power is supplied from a power supply (not shown) to the vehicle warning device 80, and the process proceeds to step e1.

  In step e1, the server side control unit 81 determines whether or not the receiving unit 82a has received crossing information from the vehicle 7. If it is determined in step e1 that crossing information has been received, the process proceeds to step e2, and if it is determined that crossing information has not been received, the process waits until crossing information is received.

  In step e <b> 2, the server-side control unit 81 determines whether or not there is a vehicle having a crossing person on the planned travel route in the vehicles 7 constituting the vehicle warning system 9. In step e2, the server-side control unit 81 receives the crossing person information received, information on the planned travel route of each vehicle 7 received from each vehicle 7, current position information of each vehicle 7 received from each vehicle 7, Based on the map data stored in the map data storage unit (not shown), it is determined whether there is a vehicle with a crossing person on the planned travel route. Information on the scheduled travel route of each vehicle 7 and current position information are transmitted from each vehicle 7 to the server device 8 at predetermined intervals or in response to a request from the server device 8.

  If it is determined in step e2 that there is a vehicle with a crosser on the planned travel route, the process proceeds to step e3. If it is determined that there is no vehicle with a crosser on the planned travel route, step e1 is performed. Return to.

  In step e3, it is determined whether or not the distance from the vehicle determined to have a crosser on the planned travel route to the crosser is within a predetermined warning range. When it is determined in step c3 that the distance from the vehicle to the crossing is within the warning range, the process proceeds to step e4, and the distance from the vehicle to the crossing is determined not to be within the warning range. Returns to step e1.

  In step e4, the server-side control unit 81 extracts from the crossing information received by the receiving unit 82a, related crossing information related to the travel route of the vehicle that is determined to have a crossing on the planned travel route, Control goes to step e5. In step e5, the server-side control unit 81 transmits the extracted related traverser information to the target vehicle using the transmission unit 82b. In the vehicle 7 to which the related crossing person information is transmitted, the warning unit 24 warns the driver of the presence of the crossing person. After finishing the process of step e5, it returns to step c1.

  As described above, according to the present embodiment, the first vehicle 7b including the crossing person detection unit 22 corresponding to the first vehicle side detection unit and the warning unit 24 corresponding to the second vehicle side notification unit are provided. The vehicle warning system 9 includes the second vehicle 7a and the server device 8 including the vehicle warning device 80. In the vehicle warning device 80 of the server device 8, the crossing person information detected by the crossing person detection unit 22 of the first vehicle 7b is received by the reception unit 82a. From the received crossing information, related crossing information related to the second vehicle 7a is extracted by the server-side control unit 81, and the extracted related crossing information is transmitted to the second vehicle 7a by the transmission unit 82b. Is done.

  Thereby, the warning according to the related crossing person information relevant to the travel route of the 2nd vehicle 7a among the crossing person information of the 1st vehicle 7b can be performed. Moreover, since information other than related crossing information among the crossing information of the first vehicle 7b can be prevented from being notified to the second vehicle 7a, information that is not necessary for the second vehicle 7a. Can be prevented from being notified. Accordingly, it is possible to suppress an obstacle to the driving of the vehicle 7 and perform an appropriate warning, so that the driving safety of the vehicle 7 can be improved.

  The present invention can be freely combined with each embodiment within the scope of the invention. In addition, any component in each embodiment can be changed or omitted as appropriate.

  1, 1A, 2, 2A, 80 Vehicle warning device, 2B Information providing device, 3a, 5a, 6a, 7a Second vehicle, 3b, 5b, 6b, 7b First vehicle, 4, 4A, 4B, 9 vehicle Warning system, 8 server device, 11, 82a receiving unit, 12, 26 control unit, 13 notifying unit, 14 detecting unit, 21 vehicle position detecting unit, 22 crossing person detecting unit, 23 wireless communication unit, 23a wireless receiving unit, 23b Reception antenna, 23c wireless transmission unit, 23d transmission antenna, 24 warning unit, 24a image control unit, 24b image output unit, 24c audio control unit, 24d audio output unit, 25 travel schedule determination unit, 31 GPS reception unit, 32 Direction detection unit, 33 pulse detection unit, 34 map data storage unit, 51 route calculation unit, 61 direction indicator detection unit, 62 travel lane detection unit, 71 vehicle side communication unit, 1a vehicle communication antenna, 72 a vehicle-side control unit, 81 server-side control unit, 82 server communication unit, 82b transmitting unit, 82c server side communication antenna.

Claims (8)

A vehicle warning device for performing a warning related to a vehicle,
An acquisition unit that acquires crossing information about the presence and presence of a crossing person that crosses the front or rear of the first vehicle; and
An extraction unit that extracts related crossing information that is information related to a travel route of the second vehicle from the crossing information of the first vehicle acquired by the acquisition unit;
A vehicle warning device comprising: a notification unit that notifies the related crossing person information extracted by the extraction unit.   2. The vehicle warning device according to claim 1, wherein the extraction unit extracts the related crossing person information based on route information representing a route from a current location to a destination of the second vehicle.   The extraction unit is configured to perform the related crossing on the basis of travel lane information representing a lane in which the second vehicle is traveling and direction indication information representing a direction of a left or right turn or a course change of the second vehicle. The vehicle warning device according to claim 1, wherein information is extracted. A detection unit for detecting the crossing person information related to the presence / absence and the traveling direction of a crossing person crossing the front or rear of the second vehicle,
4. The notification unit according to claim 1, wherein the notification unit notifies the crossing person information of the second vehicle detected by the detection unit to the outside of the second vehicle. 5. The vehicle warning device described.   The vehicle warning device according to claim 1, wherein the vehicle warning device is mounted on the second vehicle.   A server device comprising the vehicle warning device according to any one of claims 1 to 3. A first vehicle including a first vehicle-side detector that detects crossing information about the presence and presence of a crossing vehicle that crosses the front or rear of the first vehicle; and
A second vehicle comprising the vehicle warning device according to any one of claims 1 to 4,
The vehicle warning device is
The traverser information detected by the first vehicle side detection unit is acquired by the acquisition unit,
From the acquired crossing person information, the extraction unit extracts the related crossing person information,
The vehicle warning system characterized by notifying the extracted related crossing person information by the notification unit. A first vehicle including a first vehicle-side detector that detects crossing information about the presence and presence of a crossing vehicle that crosses the front or rear of the first vehicle; and
2nd vehicle provided with the 2nd vehicle side notification part which notifies the related crossing person information which is the information relevant to the driving | running route of a 2nd vehicle among the said crossing person information detected by the said 1st vehicle side detection part. When,
A server device comprising the vehicle warning device according to any one of claims 1 to 3,
The vehicle warning device is
The traverser information detected by the first vehicle side detection unit is acquired by the acquisition unit,
Extracting the related crossing person information by the extraction unit from the acquired crossing person information,
Notifying the second vehicle by the notification unit of the extracted related crossing person information,
The second vehicle-side notification unit notifies the related crossing person information notified by the notification unit of the vehicle warning device.

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