JP6228358B2 - In-vehicle device, danger prediction method, and program - Google Patents

Description

  The present invention relates to an in-vehicle device and the like.

  2. Description of the Related Art Conventionally, a device that predicts the danger of a collision from the behavior of another vehicle and avoids the collision has been developed (see Patent Document 1).

JP2011-242887

  For example, conditions for determining danger are different depending on the type of road being traveled, the structure of the road being traveled, the speed at the time of travel, and the conditions of the road being traveled and the moving body. However, in the conventional vehicle-mounted device, it has not been possible to make a risk prediction according to the condition of the road or moving body that is running.

  The vehicle-mounted device according to the first aspect of the present invention is a road-related information that is information relating to a road on which a moving body is traveling, and a risk judgment condition storage unit that stores one or more risk judgment conditions for determining that the vehicle is dangerous. Road-related information acquisition unit for acquiring mobile body-related information acquisition unit for acquiring mobile body-related information, which is information related to a moving body during traveling, road-related information acquired by the road-related information acquisition unit, and mobile body-related information The risk determination unit that determines whether the moving body related information acquired by the information acquisition unit matches one or more of the risk determination conditions, and the risk determination unit is one of the one or more risk determination conditions It is an in-vehicle device provided with a danger notification unit that outputs a danger message when it is determined that it matches.

  With such a configuration, it is possible to make a risk prediction according to the conditions of the road or the moving body that is running.

  Further, in the in-vehicle device according to the second aspect of the invention, in contrast to the first aspect, the risk judgment condition indicates a condition relating to road type information indicating a type of road on which the moving body is traveling, and a speed of the moving body. A map information storage unit in which map information having one or more road information having road type information indicating a road type is stored, and current position information indicating a current position of the mobile body A road-related information acquisition unit that acquires road type information indicating the type of road located at the current position indicated by the current position information acquired by the current position information acquisition unit; Acquired from the storage unit, the moving body related information acquisition unit acquires speed information, and the risk determination unit includes the road type information acquired by the road related information acquisition unit, the speed information acquired by the moving body related information acquisition unit, and But one or more dangers An in-vehicle device determines whether to meet one of judgment conditions.

  With such a configuration, it is possible to perform risk prediction according to the type of road on which the vehicle is traveling and the speed of the moving object.

  Further, in the in-vehicle device of the third aspect of the invention, the risk judgment condition is a condition having a history of two or more road type information and a condition related to the speed information, and the risk judgment unit An in-vehicle device that determines whether one or more of the risk determination conditions matches the history of two or more road type information acquired by the road type information acquisition unit and the speed information acquired by the speed information acquisition unit It is.

  With such a configuration, it is possible to perform risk prediction according to the history of the type of road that has traveled and the speed of the moving object.

  In addition, the vehicle-mounted device according to the fourth aspect of the invention is different from the third aspect of the invention in that the risk judgment condition is that the type of road on which the moving body travels changes from an expressway to a general road, and the speed of the moving body is It is an in-vehicle device that is at or above a predetermined speed.

  With such a configuration, it is possible to determine that the road is dangerous when the traveling road changes from a highway to a general road and the speed is equal to or higher than a predetermined speed.

  In the in-vehicle device according to the fifth aspect of the present invention, the risk determination condition is a condition that also includes a condition related to other moving body related information that is information related to a relationship with another moving body. The mobile unit further includes a mobile unit related information acquisition unit that acquires mobile unit related information, and the risk determination unit also converts the mobile unit related information acquired by the mobile unit related information acquisition unit to one of the one or more risk determination conditions. It is a vehicle-mounted device that determines whether or not it matches.

  With such a configuration, it is possible to perform risk prediction according to the relationship with other moving objects.

  In addition, in the on-vehicle apparatus of the sixth invention, in contrast to the fifth invention, the risk judgment condition includes a condition relating to road structure information indicating a structure of a road on which the moving body is traveling, and another moving body. A map information storage unit in which map information having one or more road information having road structure information indicating the structure of the road is stored. A current position information acquisition unit that acquires current position information indicating a position, and the road-related information acquisition unit indicates a structure of a road located at the current position indicated by the current position information acquired by the current position information acquisition unit. The structural information is acquired from the map information storage unit, the other mobile body related information acquisition unit acquires distance related information that is information related to the distance from other mobile bodies, and the risk determination unit is the road related information acquisition unit. Acquired road type Information, and distance-related information other mobile-related information acquiring unit has acquired, a vehicle device determines whether to meet one of the one or more risk judgment conditions.

  With such a configuration, it is possible to perform risk prediction according to the structure of the road on which the vehicle is traveling and the distance from other moving objects.

  In the on-vehicle device according to the seventh aspect of the invention, in contrast to the sixth aspect of the invention, the risk judgment condition is that the moving body enters the tunnel and the distance from the other moving body is equal to or less than a predetermined distance. It is a certain in-vehicle device.

  With such a configuration, when entering a tunnel and the distance to another moving body is equal to or less than a predetermined distance, it can be determined that it is dangerous.

  The on-vehicle device according to the eighth aspect of the invention relates to the sixth or seventh aspect of the invention, in which the other mobile body related information acquisition unit includes a front image acquisition unit that acquires a front image that is an image ahead of the mobile body. An in-vehicle apparatus comprising: a distance-related information acquisition unit that detects a moving body from a front image acquired by the front image acquisition unit and acquires distance-related information indicating a distance from another moving body that is a moving body in the front image. It is.

  With such a configuration, the distance from another moving body can be calculated using a front image.

  Further, the in-vehicle device according to the ninth aspect of the invention obtains the weather-related information, as compared with the first aspect, the risk judgment condition is a condition that also includes a condition related to weather-related information that is information related to weather during traveling. A weather determination information acquisition unit, wherein the risk determination unit is an in-vehicle device that determines whether the weather related information acquired by the weather related information acquisition unit also matches one or more of the risk determination conditions is there.

  With such a configuration, it is possible to perform risk prediction according to the weather during traveling.

  The on-vehicle device according to the tenth aspect of the invention relates to any one of the first to ninth inventions, wherein the danger notification unit performs an output in accordance with a risk judgment condition that the risk judgment unit has determined to match. It is.

  With such a configuration, it is possible to change the output method, contents, and the like according to the determination result indicating the danger.

  In addition, the on-vehicle device of the eleventh aspect of the invention is an on-vehicle device in which the danger notification section outputs a screen indicating that it is dangerous with respect to any one of the first to tenth aspects of the invention.

  With such a configuration, it is possible to output a screen indicating a danger.

  According to the vehicle-mounted device or the like according to the present invention, it is possible to perform a risk prediction according to the condition of a road or a moving body that is running.

Block diagram of in-vehicle device 1 in the first embodiment A flowchart for explaining the overall operation of the in-vehicle device 1 A flowchart for explaining whether or not the risk judgment condition is met. Figure showing an example of the same risk judgment condition Figure showing an example of the same screen output Figure showing an example of the same screen output The figure which shows the example of the front image The figure which shows the example of the contour extraction from the front image Figure showing an example of the same risk judgment condition Overview of the computer system in the above embodiment Block diagram of a computer system in the above embodiment

  Hereinafter, embodiments of an in-vehicle device and the like according to the present invention will be described with reference to the drawings. In addition, since the component which attached | subjected the same code | symbol in embodiment performs the same operation | movement, description may be abbreviate | omitted again. In addition, the format, content, and the like of each information described in this embodiment are merely examples, and the format, content, and the like are not limited as long as the meaning of each information can be indicated.

(Embodiment 1)
In the present embodiment, an in-vehicle device 1 that performs risk prediction according to the road on which the mobile body is traveling, the speed of the mobile body, the distance from other mobile bodies, and the like will be described.

  The in-vehicle device 1 according to the present embodiment is, for example, a car navigation system, a display / audio, or the like, and is usually mounted on a moving body. The moving body is, for example, an automobile, a motorcycle, a bicycle, or the like. The moving body may include a person.

  FIG. 1 is a block diagram of an in-vehicle device 1 in the present embodiment. The in-vehicle device 1 includes a risk determination condition storage unit 11, a map information storage unit 12, a current position information acquisition unit 13, a road related information acquisition unit 14, a mobile body related information acquisition unit 15, an other mobile body related information acquisition unit 16, a weather A related information acquisition unit 17, a risk determination unit 18, and a risk notification unit 19 are provided. Further, the other moving body related information acquisition unit 16 includes a front image acquisition unit 161 and a distance related information acquisition unit 162.

  The risk determination condition storage unit 11 stores one or more risk determination conditions for determining a risk. The risk judgment conditions include, for example, road-related conditions that are conditions related to the road on which the mobile body is traveling, mobile body-related conditions that are conditions related to the mobile body during travel, and a mobile body in which the in-vehicle device 1 is mounted ( Hereinafter, as appropriate, other vehicle-related conditions, which are conditions related to the relationship between the own vehicle) and other mobile objects (hereinafter, appropriately, other vehicles), weather-related conditions, which are conditions related to the weather during travel, and the like.

  The road-related condition is a condition related to road-related information that is information related to a road on which the mobile body is traveling. The road-related information is information indicating, for example, a road type, a road structure, a road name, a road speed limit, a road slope, and the like. Examples of road types include expressways, general roads, prefectural roads, and city roads. The road structure is, for example, a tunnel, a bridge, or an elevated.

  From the above, the road-related conditions are, for example, “running on a highway”, “going off a highway”, “traveling road changed from a highway to a general road”, “ “I entered the tunnel”.

  In addition, the moving body related condition is a condition related to moving body related information, which is usually information related to the moving body during traveling. The moving body related information is speed related information that is information related to the speed at which the moving body travels. The speed-related information is, for example, information indicating the speed of the moving object, the acceleration of the moving object, the angular velocity of the moving object, the angular acceleration of the moving object, the determination result of whether the moving object is faster or slower, and the like. is there.

  From the above, the moving body-related condition is, for example, “the speed is 60 km / h or more”, “the speed is increasing”, and the like.

  The other-moving body related condition is a condition related to other moving body-related information that is information related to the relationship between the own vehicle and the other vehicle. The other mobile body related information is, for example, distance related information that is information related to the distance between the host vehicle and the other vehicle, speed difference information that indicates a difference in speed between the host vehicle and the other vehicle, and the progress of the host vehicle and the other vehicle. This is travel direction difference information indicating a direction difference, positional relationship information indicating a positional relationship between the own vehicle and another vehicle, and the like. The distance-related information includes, for example, distance information indicating the distance between the host vehicle and the other vehicle (front and rear, left and right), and whether the distance between the host vehicle and the other vehicle is shortened or extended (whether the vehicle is approaching the other vehicle). Distance change information indicating a determination result of whether the vehicle is moving away from another vehicle.

  The distance change information includes, for example, “shrinkage” indicating that the distance is shortened, “approach” indicating that the vehicle is approaching another vehicle, and the like. The speed difference information is, for example, “+10 km / h” indicating that the own vehicle is “10 km / h” faster than the other vehicle, “speed” indicating that the other vehicle is faster than the own vehicle, or the like. is there. Further, the speed difference information may be information indicating a difference in speed of another vehicle with respect to the own vehicle, for example. The traveling direction difference information is, for example, “+ 10 °” indicating that the traveling direction of the own vehicle is inclined “10 °” with respect to the traveling direction of the other vehicle, or the traveling direction of the own vehicle is the traveling direction of the other vehicle. For example, “reverse” indicating that the direction is opposite. The positional relationship information is, for example, “front” indicating that the other vehicle is located in front of the own vehicle, “north” indicating that the other vehicle is located in the north direction as viewed from the own vehicle. Further, the other mobile body related information may indicate, for example, a relationship of the other vehicle with respect to the own vehicle or a relationship of the own vehicle with respect to the other vehicle.

  From the above, the other moving body related conditions are, for example, “the distance between the vehicle and the other vehicle in front is 4 m or less”, “being close to the moving body in front”, “the vehicle and the other vehicle The difference in speed is 10 km / h or more, “the traveling direction of the own vehicle and the other vehicle is the same”, “the other vehicle is positioned in front of the own vehicle”, and the like.

  The weather-related condition is a condition related to weather-related information that is usually information related to the weather during traveling. The weather related information is, for example, information indicating weather, precipitation, wind speed, wind direction, and the like.

  From the above, the weather-related conditions are, for example, “the weather is clear”, “the wind speed is 5 m / s or more”, “it is raining”, “the wind is northward” Etc.

  Further, the risk determination condition may be, for example, a combination of the above two or more conditions. The combination is usually a logical product (AND), but may be a logical sum (OR). In this case, the risk determination condition includes, for example, a combination of a condition regarding the type of road and a condition regarding the speed of the moving body, a combination of a condition regarding the structure of the road and a condition regarding the inter-vehicle distance, and a condition regarding the speed of the moving body. A combination of conditions related to the weather, a condition related to the structure of the road, and a condition related to the wind speed and direction. Moreover, it is preferable that the risk determination condition usually has at least a road-related condition.

  Moreover, the notification content information which shows the content which the below-mentioned danger alerting | reporting part 19 outputs may respond | correspond to the danger judgment conditions. The notification content information is, for example, “screen output” indicating that a danger message is output on the screen, “warning sound” indicating that a warning message is output using a warning sound, and characters to be output to the screen. “Danger!”, “Alert.mp3” for identifying a warning sound, and the like.

  The map information storage unit 12 stores map information indicating a map. The type of map indicated by the map information is not limited. The map information is usually in the KIWI format used in car navigation, but may be, for example, so-called raster data or so-called vector data. The map information usually has one or more road information. The road information usually indicates the position of road type information indicating the type of road, road structure information indicating the structure of the road, road name information indicating the name of the road, the starting and ending points of the road, and the passing point. It has road location information. The position information is usually longitude and latitude information indicating longitude and latitude. The map information may include, for example, terrain information indicating terrain, terrain range information indicating the range of the terrain, and the like. The terrain range information usually has one or more position information, and the terrain range is indicated by the position indicated by the one or more position information. Moreover, the map information may have, for example, one or more pieces of point information indicating one or more points on the map. Such points include, for example, stations, tourist attractions, parks, theme parks, and other structures.

  The current position information acquisition unit 13 acquires current position information indicating the current position of the moving object. The position information is usually longitude and latitude information indicating longitude and latitude, but may be height information indicating altitude. In addition, the current position information acquisition unit 13 normally acquires current position information periodically. The current position information acquisition unit 13 acquires current position information from a satellite navigation system (such as a GPS receiver) or a device that receives position information from a base station for mobile communication. In this case, the current position information acquisition unit 13 may have these devices or may be realized by these devices. The processing procedure of the current position information acquisition unit 13 is usually realized by software, and the software is recorded on a recording medium such as a ROM.

  The road-related information acquisition unit 14 acquires road-related information that is information regarding the road on which the mobile object is traveling. The road related information acquisition unit 14 usually acquires road related information regularly. Moreover, the road related information acquisition part 14 may acquire road related information according to the instruction | indication from a user, for example.

  In addition, the road related information acquisition unit 14 normally acquires road related information from the map information storage unit 12. The road related information is information related to a road located at the current position indicated by the current position information acquired by the current position information acquisition unit 13. For example, when acquiring road type information, the road related information acquisition unit 14 first displays road information indicating a road located at the current position indicated by the current position information acquired by the current position information acquisition unit 13 with a map information storage unit. 12 is acquired from one or more pieces of road information included in the map information stored in 12. At this time, the road-related information acquisition unit 14 is usually located at the current position by determining whether or not the distance between the current position indicated by the current position information and the position of the road indicated by the road position information is short. A road is specified, and road information indicating the road is acquired. Then, the road related information acquisition unit 14 acquires road type information included in the acquired road information.

  The method and procedure for acquiring other road-related information indicating the structure of the road and the name of the road are the same as the method and procedure for acquiring the road type information, and a description thereof will be omitted.

  The moving body related information acquisition unit 15 acquires moving body related information that is information related to the moving body during traveling. The moving body related information acquisition unit 15 normally acquires moving body related information periodically. Moreover, the mobile body related information acquisition part 15 may acquire mobile body related information according to the instruction | indication from a user, for example.

  For example, when acquiring speed information, the mobile body related information acquisition unit 15 normally acquires speed information from a device such as a speed sensor or a speedometer. In this case, the mobile body related information acquisition unit 15 may have, for example, these devices or may be realized by these devices. The processing procedure of the mobile body related information acquisition unit 15 is usually realized by software, and the software is recorded in a recording medium such as a ROM.

  Moreover, the mobile body related information acquisition unit 15 may acquire other speed related information such as acceleration and angular acceleration, for example. In this case, the mobile body related information acquisition unit 15 acquires speed related information from an acceleration sensor, a gyro, and a device that displays information acquired from these devices. Moreover, in this case, the mobile body related information acquisition unit 15 may have, for example, these devices, or may be realized by these devices.

  The other mobile body related information acquisition unit 16 acquires other mobile body related information. The other mobile body related information acquisition unit 16 usually acquires the other mobile body related information periodically. Moreover, the other mobile body related information acquisition part 16 may acquire other mobile body related information according to the instruction | indication from a user, for example. Moreover, the other mobile body related information acquisition part 16 acquires other mobile body related information normally by each means mentioned later. That is, other moving body related information acquired by each means described later is other moving body related information acquired by the other moving body related information acquisition unit 16.

  The front image acquisition unit 161 acquires a front image that is an image ahead of the moving object. The front image may be a video having the two or more images. Further, the front image acquisition unit 161 usually acquires a front image from an image sensor (solid-state imaging device) such as a CMOS or CCD, a camera (digital still camera, digital video camera) using the image sensor, or the like. In this case, the front image acquisition unit 161 may include, for example, these devices, or may be realized by these devices. The processing procedure of the front image acquisition unit 161 is usually realized by software, and the software is recorded in a recording medium such as a ROM.

  The distance related information acquisition unit 162 acquires distance related information that is information related to a distance (inter-vehicle distance) with another moving body. The distance related information acquisition unit 162 normally acquires the distance related information without using or using the front image acquired by the front image acquisition unit 161. In addition, the distance related information acquisition unit 162 normally acquires distance information indicating the distance between the host vehicle and another vehicle. Moreover, the distance related information acquisition means 162 normally uses the two or more distance information acquired about one other vehicle, whether the own vehicle is approaching the other vehicle, or the own vehicle is moving away from the other vehicle. Is obtained.

  When the front image is not used, the distance related information acquisition unit 162 acquires distance information using, for example, own vehicle position information indicating the position of the own vehicle and other vehicle position information indicating the position of the other vehicle. The “acquisition” is usually “calculation”. The own vehicle position information and the other vehicle position information are usually longitude and latitude, but may be coordinates on a map or altitude.

  In addition, the distance related information acquisition unit 162 normally acquires other vehicle position information by so-called inter-vehicle communication. The “acquisition” is usually “reception”. In addition, the distance related information acquisition unit 162 normally acquires one or more other vehicle position information. Therefore, the distance related information acquisition means 162 acquires one or more distance information using the own vehicle position information and one or more other vehicle position information. Since the method and procedure for calculating distance information indicating the distance between the two positions using the two pieces of position information of the own vehicle position information and the other vehicle position information are well known, detailed description will be given. Is omitted.

  Moreover, when using a front image, the distance relevant-information acquisition means 162 detects another vehicle from the said front image, for example, and acquires the distance information which shows the distance with the said other vehicle. The distance related information acquisition unit 162 detects, for example, a region where another vehicle is shown from the front image. The region is detected by, for example, contour extraction (edge detection), pattern recognition of the extracted contour, or the like. Since contour extraction, pattern recognition, and the like are known techniques, detailed description thereof is omitted. In addition, the detection method of the area | region where the other vehicle is reflected will not ask | require the method, if the said area | region can be detected. The distance related information acquisition unit 162 calculates distance information indicating the distance to the other vehicle from, for example, the ratio of the size of the detected area to the size of the front image, the size of the detected area, and the like. In this case, the distance related information acquisition unit 162 holds, for example, an expression for calculating distance information from the ratio, the size of the detected area, and the like, and the ratio calculated in the expression and the size of the detected area are calculated. By substituting the distance, distance information is calculated.

  In addition, when acquiring the distance change information, the distance related information acquisition unit 162 usually has two or more pieces of distance information acquired with respect to one other moving body (temporal distance information and temporal distance). Information). If the distance information after the time is smaller than the distance information ahead, the distance related information acquisition unit 162 determines that the vehicle is approaching another vehicle and indicates that the vehicle is approaching another vehicle. Get distance change information. In addition, for example, when the distance information that is later in time is larger than the distance information that is earlier in time, the distance related information acquisition unit 162 determines that it is moving away from the other vehicle and is moving away from the other vehicle. Is obtained. For example, when the distance information after the time is the same as the distance information before the time, the distance related information acquisition unit 162 determines that there is no change in the distance to the other vehicle, and Distance change information indicating that there is no change in distance is acquired.

  In addition, the distance related information acquisition unit 162 usually acquires its own vehicle position information from a satellite navigation system (such as a GPS receiver) or a device that receives position information from a base station for mobile communication. In this case, the distance related information acquisition unit 162 may have these devices or may be realized by these devices. Further, the distance related information acquisition unit 162 is usually realized by a wireless or wired communication unit in order to acquire the other vehicle position information, but may be realized by a unit that receives a broadcast. Further, the distance related information acquisition unit 162 may acquire distance information from, for example, a laser distance measuring device, a device for measuring a distance such as an infrared distance sensor, or the like. In this case, the distance related information acquisition unit 162 may have these devices or may be realized by these devices. In addition, the processing procedure of the distance related information acquisition unit 162 is usually realized by software, and the software is recorded in a recording medium such as a ROM.

  Note that acquisition of other moving body related information such as speed difference information, traveling direction difference information, and positional relationship information may be performed by, for example, other moving body related information acquisition means (not shown). In this case, the other mobile body related information acquisition unit 16 normally includes the other mobile body related information acquisition means.

Another moving body related information acquisition means acquires speed difference information. The other moving body related information acquisition means acquires speed difference information normally using the speed information of the own vehicle acquired by the moving body related information acquisition unit 15 and the speed information of the other vehicle. The “acquisition” is usually “calculation”. Moreover, the other mobile body related information acquisition unit may acquire the speed difference information using, for example, two or more front images acquired by the front image acquisition unit 161. In this case, the other moving body related information acquisition unit detects, for example, a region where the other vehicle is shown from two temporally continuous front images. The other vehicles are usually the same. Then, the other mobile body related information acquisition unit compares the sizes of the two detected areas (the temporally previous area and the temporally subsequent area). And when the area after the time is smaller than the area ahead, the other mobile related information acquisition means determines that the other vehicle is faster, and the speed indicating that the other vehicle is faster Get difference information. In addition, for example, when the later area in time is larger than the earlier area in time, the other mobile body related information acquisition unit determines that the own vehicle is faster and determines that the own vehicle is faster. The speed difference information shown is acquired. Also, for example, if the size of the area after the time and the area before the time are the same, the other mobile body related information acquisition means determines that the speed with the other vehicle is not Saga, The speed difference information indicating that there is no difference in speed is acquired.

Further, the other moving body related information acquisition means acquires the traveling direction difference information. The other mobile body related information acquisition means usually acquires the traveling direction information from a so-called azimuth sensor or geomagnetic sensor. Then, the other moving body related information acquisition means acquires the traveling direction difference information using the traveling direction information of the own vehicle and the traveling direction information of the other vehicle. The “acquisition” is usually “calculation”.

  Further, the other moving body related information acquisition means acquires the positional relationship information. The other moving body related information acquisition means usually includes the current position information acquired by the current position information acquisition unit 13 (hereinafter referred to as own vehicle position information) and the current position information of other vehicles (hereinafter referred to as other vehicle position information as appropriate). ) To obtain positional relationship information. The “acquisition” is usually “calculation”. Since the method and procedure for calculating the positional relationship information indicating the two positional relationships using the two positional information of the own vehicle positional information and the other vehicle positional information are well known, detailed description will be given. Omitted.

  The other moving body related information acquisition means acquires speed information of other vehicles, traveling direction information of other vehicles, current position information of other vehicles, etc. by so-called inter-vehicle communication. The “acquisition” is usually “reception”.

  The weather related information acquisition unit 17 acquires weather related information. The weather-related information acquisition unit 17 usually acquires weather-related information from devices such as an illuminometer, a cloud meter, and an anemometer. In this case, the weather related information acquisition part 17 may have these apparatuses, for example, and may be implement | achieved with these apparatuses. Further, the processing procedure of the weather related information acquisition unit 17 is usually realized by software, and the software is recorded in a recording medium such as a ROM.

  The road related information acquisition unit 14, the moving body related information acquisition unit 15, the other moving body related information acquisition unit 16, and the weather related information acquisition unit 17 are each stored in the danger determination condition storage unit 11, for example. Predetermined information may be acquired according to the content of the determination condition.

  For example, when the risk determination condition includes a condition related to road type information, the road related information acquisition unit 14 acquires road type information. For example, when the risk determination condition includes a condition related to road structure information, the road related information acquisition unit 14 acquires road structure information.

  In addition, for example, when the risk determination condition includes a condition regarding speed information, the moving body related information acquisition unit 15 acquires speed information. In addition, for example, when the risk determination condition includes a condition regarding acceleration information, the mobile body related information acquisition unit 15 acquires acceleration information.

  In addition, for example, when the risk determination condition includes a condition regarding distance change information, the other moving body related information acquisition unit 16 acquires distance change information. In addition, for example, when the risk determination condition includes a condition regarding speed difference information, the other moving body related information acquisition unit 16 acquires speed difference information.

  For example, when the risk determination condition includes a condition regarding weather information, the weather related information acquisition unit 17 acquires the weather information. For example, when the risk determination condition includes a condition regarding precipitation information indicating precipitation, the weather related information acquisition unit 17 acquires precipitation information.

  The risk determination unit 18 includes road-related information acquired by the road-related information acquisition unit 14, mobile-related information acquired by the mobile-related information acquisition unit 15, and other mobile-related information acquired by the other mobile-related information acquisition unit 16. Whether or not one or more pieces of information related to the weather related information acquired by the weather related information acquisition unit 17 meets one of the one or more risk determination conditions stored in the risk determination condition storage unit 11 is determined. To do. In addition, the risk determination unit 18 may determine, for example, whether the road-related information or the like does not match any of the one or more risk determination conditions.

  For example, when the road related information acquisition unit 14 acquires road type information and the mobile body related information acquisition unit 15 acquires speed information, the risk determination unit 18 determines that the road type information and the speed information are one or more. It is determined whether or not any of the risk judgment conditions is met. For example, when the road-related information acquisition unit 14 acquires speed information and the weather-related information acquisition unit 17 acquires weather information indicating the weather, the danger determination unit 18 determines that the speed information and the weather information are 1 It is determined whether or not any of the above risk determination conditions is met. For example, when the road related information acquisition unit 14 acquires road structure information and the other mobile body related information acquisition unit 16 acquires distance information and distance change information, the risk determination unit 18 It is determined whether the distance information and the distance change information meet any one or more risk determination conditions.

  In addition, the risk determination unit 18 may determine, for example, whether or not two or more road-related information that are different in time meet one of the one or more risk determination conditions. For example, it is assumed that the road related information acquisition unit 14 acquires road type information at times t1 and t2. In this case, the risk determination unit 18 determines whether or not the two road type information matches any one or more risk determination conditions. Also, for example, it is assumed that the road related information acquisition unit 14 acquires road structure information at times t1 and t2. In this case, the risk determination unit 18 determines whether the two road structure information matches any one or more risk determination conditions.

  For example, it is assumed that the road type information is “highway”. Further, it is assumed that the risk judgment condition is “road type = highway or automobile exclusive road”. In this case, the risk determination unit 18 determines that the road type information matches the risk determination condition.

  Further, for example, it is assumed that two types of road information different in time are “highway” and “general road”, and the speed information is “85 km / h”. Further, it is assumed that the risk judgment condition is “(road type = highway → general road) & (speed ≧ 80 km / h)”. In this case, the risk determination unit 18 determines that the road type information and the speed information match the risk determination condition.

  For example, it is assumed that the road structure information is “tunnel”, the distance information is “25 m”, and the distance change information is “approaching”. Further, it is assumed that the risk determination condition is “(road structure = tunnel) & (distance ≦ 30 m) & (distance change = approaching)”. In this case, the risk determination unit 18 determines that the road structure information, the distance information, and the distance change information match the risk determination condition.

  Also, for example, when the notification content information is associated with the risk determination condition, the risk determination unit 18 normally determines the notification content information associated with the risk determination condition determined to match the road-related information, etc. Obtained from the condition storage unit 11.

  The risk notification unit 19 is acquired by the risk determination unit 18, the road related information acquired by the road related information acquisition unit 14, the mobile body related information acquired by the mobile body related information acquisition unit 15, and the other mobile body related information acquisition unit 16. If it is determined that one or more pieces of information related to the other moving body and the weather related information acquired by the weather related information acquisition unit 17 match one of the one or more risk determination conditions, Output. Further, for example, the danger notification unit 19 may output that the danger determination unit 18 is dangerous when it is determined that the road-related information does not match any one or more of the risk determination conditions. Good.

  The “outputting the danger” usually means outputting information indicating the danger. The output includes display on a display, sound output, projection using a projector, printing with a printer, transmission to an external device, storage in a recording medium, and other processing devices and other programs. It is a concept that includes delivery of processing results. In addition, regarding transmission, accumulation, and delivery of processing results, an output target is finally presented to the user. Further, as a result of transmission, storage, and delivery of processing results, for example, a device such as a so-called drive recorder may be started, or video recording by a so-called video camera or digital camera may be started. Further, as a result of the output, the user is usually notified that it is dangerous.

  “Dangerous” refers to, for example, traveling on a general road at a speed higher than the speed limit, approaching a moving body ahead, and the distance between the front moving body and the vehicle. To understand widely, including things like doing things, poor concentration, and attention to driving.

  In addition, the output method and means are usually determined in advance, but this need not be the case. Otherwise, for example, the danger notification unit 19 may output a danger message according to the notification content information acquired by the danger determination unit 18. For example, if the notification content information is “screen output”, the danger notification unit 19 outputs, for example, characters and images on the screen. For example, if the notification content information is “warning sound”, the danger notification unit 19 outputs, for example, a predetermined warning sound or a warning sound included in the notification content information.

  Further, the danger notification unit 19 normally outputs a screen indicating that it is dangerous. In the case of outputting the screen, for example, when the map is output on the screen or when the front image is output, the danger notification unit 19 normally outputs the output content that has already been output. Overlay and output text and images.

  Also, the risk notification unit 19 normally determines that the risk determination unit 18 does not meet any of the one or more risk determination conditions after determining that the risk determination unit 18 meets any of the one or more risk determination conditions. During that time, it keeps outputting that it is dangerous. Further, the danger notification unit 19 outputs, for example, a danger message for a predetermined time after the danger judgment unit 18 determines that one of the one or more risk judgment conditions is met, and then outputs the output. You may end.

  Further, the danger notification unit 19 may or may not include an output device such as a display or a speaker. The danger notification unit 19 can be realized by driver software of an output device or driver software of an output device and an output device.

  The risk determination condition storage unit 11 and the map information storage unit 12 are preferably non-volatile recording media, but can also be realized by volatile recording media. Moreover, the process in which predetermined information is memorize | stored in the danger judgment condition storage part 11 etc. does not ask | require. For example, the predetermined information may be stored in the risk determination condition storage unit 11 or the like via a recording medium, a communication line, an input device, or the like.

  In addition, the road related information acquisition unit 14, the other moving body related information acquisition unit 16, the distance related information acquisition unit 162, the risk determination unit 18, and the like can be usually realized by an MPU, a memory, or the like. Further, the processing procedure of the road related information acquisition unit 14 and the like is usually realized by software, and the software is recorded in a recording medium such as a ROM. However, it may be realized by hardware (dedicated circuit).

  Next, the overall operation of the in-vehicle device 1 will be described using a flowchart. Note that the i-th information in the predetermined information is described as “information [i]”. FIG. 2 is a flowchart showing the overall operation of the in-vehicle device 1.

  (Step S201) The in-vehicle device 1 determines whether or not a reception unit (not shown) has received a power-on instruction. If accepted, the process proceeds to step S202; otherwise, the process returns to step S201.

  (Step S202) The in-vehicle device 1 performs a power ON process.

  (Step S203) The current position information acquisition unit 13 starts acquiring current position information. Thereafter, the current position information acquisition unit 13 periodically acquires current position information.

  (Step S204) The in-vehicle device 1 determines whether or not the reception unit has received an instruction to turn off the power. If accepted, the process proceeds to step S205; otherwise, the process proceeds to step S207.

  (Step S205) The current position information acquisition unit 13 ends the acquisition of the current position information.

  (Step S206) The in-vehicle device 1 performs a power-off process. Then, the process returns to step S201.

  (Step S207) The road-related information acquisition unit 14 determines whether it is the timing for acquiring road-related information. For example, when it is determined in advance that the road-related information is periodically acquired, the road-related information acquisition unit 14 determines whether or not a predetermined time has elapsed since the road-related information was previously acquired. If it is the acquisition timing, the process proceeds to step S208. If not, the process proceeds to step S209.

  (Step S208) The road related information acquisition unit 14 acquires road related information.

  (Step S209) The moving body related information acquisition unit 15 determines whether or not it is the timing of acquiring the moving body related information. For example, when it is determined in advance that the mobile body related information is acquired periodically, the mobile body related information acquisition unit 15 determines whether or not a predetermined time has elapsed since the mobile body related information was previously acquired. to decide. If it is the acquisition timing, the process proceeds to step S210. If not, the process proceeds to step S211.

  (Step S210) The moving body related information acquisition unit 15 acquires moving body related information.

  (Step S211) The other moving body related information acquisition unit 16 determines whether or not it is the timing of acquiring the other moving body related information. For example, if it is determined in advance that other mobile body related information is to be periodically acquired, has the predetermined time elapsed since the other mobile body related information acquisition unit 16 previously acquired the other mobile body related information? Judge whether or not. If it is the acquisition timing, the process proceeds to step S212. If not, the process proceeds to step S213.

  (Step S212) Other mobile body related information acquisition unit 16 acquires other mobile body related information.

  (Step S213) The weather-related information acquisition unit 17 determines whether it is the timing for acquiring weather-related information. For example, when it is determined in advance that weather-related information is to be periodically acquired, the weather-related information acquisition unit 17 determines whether or not a predetermined time has elapsed since the weather-related information was previously acquired. If it is the acquisition timing, the process proceeds to step S214. If not, the process proceeds to step S215.

  (Step S214) The weather related information acquisition unit 17 acquires weather related information.

  (Step S215) The risk determination unit 18 includes the road related information acquired in Step S208, the mobile body related information acquired in Step S210, the other mobile body related information acquired in Step S212, and the weather related information acquired in Step S214. It is determined whether or not any of one or more risk determination conditions stored in the risk determination condition storage unit 11 is met. Details of this processing will be described with reference to the flowchart of FIG. As a result of this processing, the risk judgment unit 18 substitutes “1” or “0” for a match flag indicating whether road-related information or the like matches the risk judgment condition.

  (Step S216) The danger notification unit 19 determines whether or not the match flag is 1. When it is 1, it progresses to step S217, and when that is not right, it returns to step S204.

  (Step S217) The danger notifying unit 19 outputs a danger message.

  In the flowchart of FIG. 2, the process may be terminated by powering off or a process termination interrupt.

  FIG. 3 is a flowchart showing a determination process of whether or not the risk determination condition in step S215 in the flowchart of FIG. 2 is met. In the flowchart of FIG. 3, it is assumed that the risk determination condition storage unit 11 stores m risk determination conditions.

  (Step S301) The risk determination unit 18 sets 0 to the match flag.

  (Step S302) The risk determination unit 18 determines whether the road related information acquisition unit 14 has already acquired the road related information. If it has been acquired, the process proceeds to step S303, and if not, the process proceeds to step S304.

  (Step S303) The risk determination unit 18 sets road-related information in the array Target [] that stores information for determining whether or not the risk determination condition is met.

  (Step S304) The risk determination unit 18 determines whether the moving body related information acquisition unit 15 has already acquired the moving body related information. If it has been acquired, the process proceeds to step S305, and if not, the process proceeds to step S306.

  (Step S305) The risk determination unit 18 adds the moving body related information to Target [].

  (Step S306) The risk determination unit 18 determines whether or not the other moving body related information acquisition unit 16 has already acquired the other moving body related information. If it has been acquired, the process proceeds to step S307, and if not, the process proceeds to step S308.

  (Step S307) The risk determination unit 18 adds other mobile-related information to Target [].

  (Step S308) The risk determination unit 18 determines whether or not the weather related information acquisition unit 17 has acquired the weather related information. If it has been acquired, the process proceeds to step S309. If not, the process proceeds to step S310.

  (Step S309) The risk determination unit 18 adds weather-related information to Target [].

  (Step S310) The risk determination unit 18 sets 1 to the counter i.

  (Step S311) The risk determination unit 18 determines whether or not the information stored in Target [] matches the risk determination condition [i]. If they match, the process proceeds to step S312; otherwise, the process proceeds to step S313.

  (Step S312) The risk determination unit 18 sets 1 to the match flag. Then, the process returns to the upper process.

  (Step S313) The risk determination unit 18 determines whether i is m. If m, the process returns to the upper process, and if not, the process proceeds to step S314.

  (Step S314) The danger determination unit 18 increments i by 1, and returns to step S311.

(Concrete example)
Next, a specific example of the operation of the in-vehicle device 1 will be described. In this specific example, the moving body is assumed to be an automobile. Further, the in-vehicle device 1 is assumed to be a car navigation system (hereinafter referred to as “car navigation”) installed in an automobile. Further, it is assumed that the risk determination condition storage unit 11 stores the risk determination condition shown in FIG. The risk judgment condition (item name: condition) is associated with an ID (item name: ID) for uniquely identifying the record.

(Example 1)
First, it is assumed that a user (driver) gets into a car and starts driving. Then, the current position information acquisition unit 13 starts to acquire the current position information periodically. In addition, the road related information acquisition unit 14, the mobile body related information acquisition unit 15, the other mobile body related information acquisition unit 16, and the weather related information acquisition unit 17, respectively, road related information, mobile body related information, Start acquisition of other mobile related information and weather related information.

  Next, it is assumed that the road related information acquisition unit 14 acquires road type information “highway” at the timing of acquiring road related information. Further, it is assumed that the road related information acquisition unit 14 acquires the road type information “general road” at the next timing.

  Next, it is assumed that the mobile body related information acquisition unit 15 acquires the speed information “85 km / h” at the timing when the road related information acquisition unit 14 acquires the road type information “general road”.

  Next, the risk determination unit 18 includes two types of road type information “highway” and “general road” that are temporally continuous acquired by the road related information acquisition unit 14 and the speed acquired by the mobile body related information acquisition unit 15. It is determined whether or not the information “85 km / h” meets any of the risk determination conditions in FIG. Then, the risk determination unit 18 determines that these pieces of information match the risk determination condition “(road type = highway → general road) & (speed ≧ 80 km / h)” of “ID = 012” in FIG. . The risk judgment condition means that “the road that is running has changed from a highway to a general road and that the speed is 80 km / h or more”.

  Next, the danger notification part 19 outputs that it is dangerous. Here, it is assumed that the in-vehicle device 1 includes a screen and outputs an image shown in FIG. In this case, for example, as illustrated in FIG. 6, the danger notification unit 19 outputs information (here, an image) indicating that the danger is superimposed on the already output image.

  Further, for example, in the above, it is assumed that the road related information acquisition unit 14 acquires the road structure information “tunnel”, and the distance related information acquisition unit 162 acquires the distance information “25 m” and the distance change information “approach”. The distance information and the distance change information are for other vehicles located in front of the host vehicle. In this case, the risk judgment unit 18 matches these information with the risk judgment condition “(road structure = tunnel) & (distance between vehicles ≦ 30 m) & (distance change = approach)” of “ID = 013” in FIG. Judge that. The risk judgment condition is “the structure of the road on which the vehicle is traveling is a tunnel, the distance between the vehicle and the other vehicle in front is 30 m or less, and the vehicle is approaching the other vehicle in front” Means.

  An example of the method for acquiring the distance change information is as follows. First, the distance related information acquisition unit 162 acquires distance information at the timing of acquiring the distance change information. Here, it is assumed that the distance information is “26 m”. Next, the distance related information acquisition unit 162 further acquires distance information at the next timing. Here, it is assumed that the distance information is “25 m”. Then, the distance related information acquisition unit 162 determines whether the distance information “25 m” acquired later is larger, smaller, or the same as the distance information “26 m” acquired earlier. Then, the distance related information acquisition unit 162 determines that the distance information acquired later is smaller than the distance information acquired earlier, and acquires the distance change information “approach” indicating that the distance to the other vehicle is reduced. .

  Further, for example, in the above, the road related information acquisition unit 14 acquires the road type information “general road”, the weather related information acquisition unit 17 acquires the weather information “rain”, and the moving body related information acquisition unit 15 It is assumed that the information “55 km / h” is acquired. In this case, the risk determination unit 18 matches the risk determination condition “(road type = general road) & (weather = rain) & (speed ≧ 50 km)” of “ID = 014” in FIG. 4. to decide. The risk determination condition means that the type of road on which the vehicle is running is a general road, that the weather is rain, and that the speed is 50 km / h or more.

(Example 2)
In this example, an example of a method for acquiring distance related information using a front image will be described. In addition, since the example of the acquisition method of distance change information was demonstrated in Example 1, only the example of the acquisition method of distance information is demonstrated.

  First, the front image acquisition unit 161 acquires a front image at the timing of acquiring the distance related information. Here, it is assumed that the front image is an image shown in FIG.

  Next, the distance related information acquisition unit 162 detects a contour from the image of FIG. Then, it is assumed that the distance related information acquisition unit 162 has acquired the image shown in FIG.

  Next, the distance related information acquisition unit 162 determines whether the shape of FIG. 8 is the shape of an automobile. At this time, the distance related information acquisition unit 162 holds the pattern of the shape of the automobile, and determines whether the shape of FIG. 8 matches or is similar to the pattern. As a result, it is assumed that the distance related information acquisition unit 162 determines that the shape of FIG. 8 is the shape of an automobile. Then, the distance related information acquisition unit 162 identifies the region in the image of FIG. 7 shown in the shape of FIG. 8 as a region in which another vehicle is shown (hereinafter referred to as another vehicle region as appropriate).

  Next, the distance related information acquisition unit 162 calculates the ratio of the size of the other vehicle area to the size of the front image in FIG. Here, it is assumed that the ratio is “80%”.

  Next, the distance related information acquisition unit 162 holds an expression for calculating distance information by calculating the other vehicle ratio, and calculates the distance information by substituting the calculated other vehicle ratio into the equation. As a result, it is assumed that the distance related information acquisition unit 162 has acquired the distance information “10 m”.

(Example 3)
In this example, an example in which notification content information is associated with a risk determination condition stored in the risk determination condition storage unit 11 will be described. The risk judgment conditions are as shown in FIG. In FIG. 9, the notification content information is an item name “notification content”. Since the other items are as described above, the description thereof is omitted.

  First, similarly to Example 1, as a result of the road-related information acquisition unit 14 and the like acquiring road type information and the like, the risk determination unit 18 matches the risk determination condition of “ID = 012” in FIG. 9. Assume that you have determined. Then, the risk determination unit 18 acquires the notification content information “warning screen 01” of “ID = 012” in FIG. The notification content information indicates that an image prepared in advance identified by the “warning screen 01” is output on the screen. In addition, it is assumed that the image is stored in a predetermined storage area of the in-vehicle device 1.

  Next, the danger notification unit 19 acquires an image identified by the “warning screen 01” from a predetermined storage area. Then, the danger notification unit 19 outputs the acquired image on the screen. The state of the output is, for example, FIG.

  Further, for example, it is assumed that the risk determination unit 18 determines that the information matches the risk determination condition of “ID = 015” in FIG. 9 as a result of the road related information acquisition unit 14 and the like acquiring the road structure information and the like. . Then, the risk determination unit 18 acquires the notification content information “warning sound 02” of “ID = 015” in FIG. 9. The notification content information indicates that music data prepared in advance identified by “warning sound 02” is reproduced and output to a speaker. The music data is, for example, a warning sound. The music data is stored in a predetermined storage area of the in-vehicle device 1.

  Next, the danger notification unit 19 acquires music data identified by “warning sound 02” from a predetermined storage area. And the danger alerting | reporting part 19 reproduces | regenerates the said acquired music data, and outputs a warning sound to a speaker.

  As mentioned above, according to the vehicle-mounted apparatus 1 by this Embodiment, danger prediction can be performed according to the road and the condition of a moving body which are drive | working. Accordingly, for example, it is possible to notify a user who is traveling in a scene that is likely to be in a dangerous situation, that it is dangerous, and an accident can be prevented in advance.

  Further, in each of the above embodiments, it goes without saying that two or more communication units existing in one apparatus may be physically realized by one medium.

  The in-vehicle device in each of the above embodiments may be, for example, a stand-alone device or a server device in a server / client system. In the latter case, for example, risk prediction may be performed as an ASP (Application Service Provider).

  In each of the above embodiments, each process or each function may be realized by centralized processing by a single device or a single system, or distributed by a plurality of devices or a plurality of systems. It may be realized by being processed.

  In each of the above embodiments, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

  Moreover, the software which implement | achieves the vehicle-mounted apparatus in each said embodiment is the following programs, for example. That is, this program is a road-related information that is information related to a road on which a moving body is running on a computer that can access a risk determination condition storage unit in which one or more risk determination conditions for determining a risk is stored. A road-related information acquisition unit that acquires information, a mobile-body-related information acquisition unit that acquires mobile-body-related information that is information about a moving body during travel, the road-related information acquired by the road-related information acquisition unit, A risk determination unit that determines whether the mobile object related information acquired by the mobile object related information acquisition unit meets any of the one or more risk determination conditions; and the risk determination unit includes the one or more risk determination units. This is a program for functioning as a danger notification unit that outputs a danger message when it is judged that any of the danger judgment conditions is met.

  Note that the program does not include at least processing that is performed only by hardware.

  The program may be executed by being downloaded from a server or the like, or a program recorded on a predetermined recording medium (for example, an optical disk such as a CD-ROM, a magnetic disk, a semiconductor memory, or the like) is read out. May be executed. Further, this program may be used as a program constituting a program product.

  Moreover, the computer which performs the said program may be single, and plural may be sufficient as it. That is, centralized processing may be performed, or distributed processing may be performed.

  FIG. 10 is a schematic diagram of a computer system 9 that executes the above-described program to realize the in-vehicle device of the above-described embodiment. The above-described embodiments can be realized by computer hardware and a computer program executed thereon.

  10, the computer system 9 includes a computer 901 including a CD-ROM drive 9011 and an FD drive 9012, a keyboard 902, a mouse 903, and a monitor 904.

  FIG. 11 is a block diagram of the computer system 9. In FIG. 11, in addition to a CD-ROM drive 9011 and an FD drive 9012, a computer 901 is connected to an MPU 9013, a ROM 9014 for storing a program such as a boot-up program, and an MPU 9013, and temporarily sends an instruction of an application program. A bus for mutually connecting a RAM 9015 for storing a temporary storage space, a hard disk 9016 for storing application programs, system programs, and data, a CD-ROM drive 9011, an FD drive 9012, an MPU 9013, etc. 9017. Although not shown here, the computer 901 may further include a network card that provides connection to a LAN.

  A program that causes the computer system 9 to execute the functions of the vehicle-mounted device or the like of the above-described embodiment is stored in the CD-ROM 9101 or FD 9102, inserted into the CD-ROM drive 9011 or FD drive 9012, and further stored in the hard disk 9016. May be forwarded. Alternatively, the program may be transmitted to the computer 901 via a network (not shown) and stored in the hard disk 9016. The program is loaded into the RAM 9015 when executed. The program may be loaded directly from the CD-ROM 9101, the FD 9102, or the network.

  The program does not necessarily include an operating system (OS), a third-party program, or the like that causes the computer 901 to execute the functions of the in-vehicle device of the above-described embodiment. The program only needs to include an instruction portion that calls an appropriate function (module) in a controlled manner and obtains a desired result. How the computer system 9 operates is well known and will not be described in detail.

  The present invention is not limited to the above-described embodiments, and various modifications are possible, and it goes without saying that these are also included in the scope of the present invention.

  As described above, the in-vehicle device according to the present invention has an effect that it is possible to perform a risk prediction according to the traveling road or the state of the moving body, and is useful as a navigation device or the like.

DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus 11 Risk judgment condition storage part 12 Map information storage part 13 Current position information acquisition part 14 Road related information acquisition part 15 Mobile body related information acquisition part 16 Other mobile body related information acquisition part 17 Weather related information acquisition part 18 Risk judgment Unit 19 danger notification unit 161 forward image acquisition unit 162 distance related information acquisition unit

Claims (4)

A risk determination condition storage unit for storing a risk determination condition for determining a risk, having a condition related to distance-related information regarding a distance between the mobile object and another mobile object ;
A road-related information acquisition unit for acquiring road-related information, which is information about a road on which the mobile object is traveling,
A mobile body related information acquisition unit that acquires mobile body related information that is information about the mobile body during traveling;
Other mobile body related information acquisition unit for acquiring distance related information regarding the distance between the mobile body and another mobile body,
And road-related information in which the road-related information acquiring unit has acquired, wherein the mobile body-related information acquiring unit moving-related information is acquired, it is determined whether the matching the danger determination condition, and the other mobile A risk determination unit that determines whether distance-related information acquired by the related information acquisition unit matches the risk determination condition;
A risk notification unit that outputs a danger message when the risk determination unit determines that the risk determination condition is satisfied;
The mobile body related information is:
Whether the result of the determination rate of acceleration information or mobile related to the acceleration of the moving body has become slow or has become faster viewing including,
The other moving body related information acquisition unit includes a front image acquisition means for acquiring a front image that is an image ahead of the moving body,
The front image acquisition means detects an outline of another moving body from the front image, calculates a ratio of the size of the other moving body to the size of the front image, and calculates the ratio of the moving body and the other from the ratio. An in- vehicle device that calculates the distance to a moving object . The distance related information is
The in-vehicle device according to claim 1, further comprising distance change information indicating a determination result of whether the distance between the moving body and another moving body is shortened or extended. A risk determination condition storage unit for storing a risk determination condition for determining a danger, a condition related to distance related information regarding a distance between the mobile object and another mobile object, a road related information acquisition unit, A body related information acquisition unit;
It is a risk prediction method performed using another mobile body related information acquisition unit, a risk determination unit, a risk notification unit, and a front image acquisition unit,
The road-related information acquisition unit acquires road-related information that is information relating to a road on which the moving body is traveling; and
The mobile body related information acquisition unit acquires mobile body related information that is information about the mobile body during travel;
The other mobile body related information acquisition unit acquires distance related information related to a distance between the mobile body and another mobile body; and
The risk determination unit determines whether the road related information acquired by the road related information acquisition unit and the mobile object related information acquired by the mobile object related information acquisition unit match the risk determination condition. And determining whether or not the distance related information acquired by the other mobile body related information acquisition unit matches the risk determination condition;
The risk notification unit, when the risk determination unit determines that the risk determination condition is met, outputting a message that it is dangerous,
The mobile body related information is:
Including acceleration information about the acceleration of the moving object or the determination result of whether the moving object is faster or slower,
The other mobile body related information acquisition unit acquires a front image that is an image ahead of the mobile body;
The front image acquisition means detects an outline of another moving body from the front image, calculates a ratio of the size of the other moving body to the size of the front image, and calculates the ratio of the moving body and the other from the ratio. A risk prediction method comprising a step of calculating a distance to a moving object. A computer having a condition relating to distance-related information relating to the distance between the moving object and another moving object and capable of accessing a risk determination condition storage unit for storing a risk determination condition for determining a risk,
A road-related information acquisition unit for acquiring road-related information, which is information about a road on which the mobile object is traveling,
A mobile body related information acquisition unit that acquires mobile body related information that is information about the mobile body during traveling;
Other mobile body related information acquisition unit for acquiring distance related information regarding the distance between the mobile body and another mobile body,
It is determined whether the road related information acquired by the road related information acquisition unit and the mobile unit related information acquired by the mobile unit related information acquisition unit match the risk determination condition, and the other mobile unit A risk determination unit that determines whether distance-related information acquired by the related information acquisition unit matches the risk determination condition;
When the risk determination unit determines that the risk determination condition is met, the risk determination unit functions as a risk notification unit that outputs a danger.
The mobile body related information is:
Including acceleration information about the acceleration of the moving object or the determination result of whether the moving object is faster or slower,
The other moving body related information acquisition unit includes a front image acquisition means for acquiring a front image that is an image ahead of the moving body,
The front image acquisition means detects an outline of another moving body from the front image, calculates a ratio of the size of the other moving body to the size of the front image, and calculates the ratio of the moving body and the other from the ratio. A program for causing a computer to function as a device for calculating a distance from a moving object.