JP2008027124A - Pedestrian information informing device, and program used for pedestrian information informing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To support an occupant to sensuously recognize the pedestrian's position reported at night in an on-vehicle pedestrian information informing device for informing the occupant of the pedestrian's position. <P>SOLUTION: A navigation device for vehicle detects relative position relationships L1 and A1 between the pedestrian 33 and one's own vehicle 31 during travel of the own vehicle 31. On determining that it is necessary to warn the pedestrian 33, the navigation device calculates distance L3 and direction A3 from a light emitting object 32 to the pedestrian 33 in the view from the own vehicle 31 based on the relative position relationships L2 and A2 of the light emitting object 32 existing around the pedestrian 33 to one's own vehicle 31. When the calculated distance is shorter than a reference distance R, the navigation device informs a user of the information on the distance L3 and direction A3 from the light emitting object 32 to the pedestrian 33 in the view from the own vehicle 31. When the calculated distance is the reference distance R or longer, the navigation device informs the user of the information on the distance L1 and direction A1 from the own vehicle 31 to the pedestrian 32 in the view from the own vehicle 31. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a program used for a pedestrian information notification device and a pedestrian information notification device mounted on a vehicle.

2. Description of the Related Art Conventionally, there is known a pedestrian information notification device that is mounted on a vehicle and notifies the occupant of the position of the pedestrian when the presence of a pedestrian around the vehicle is detected (see, for example, Patent Documents 1 to 4).
No. 2000-149198 2004-171269 2004-157847 2004-178610

  However, in a dark environment such as at night, even if a notification of the position of the pedestrian is received, the vehicle occupant may not be able to visually confirm the pedestrian. In such a case, it can be said that the occupant cannot know the position of the notified pedestrian.

  In view of the above points, the present invention is a vehicle-mounted pedestrian information notification device that notifies the occupant of the position of a pedestrian when the presence of a pedestrian around the vehicle is detected, and is notified in a dark environment such as at night. It aims at providing the technique for supporting the passenger | crew's sensory grasp with respect to the position of a pedestrian.

  In order to achieve the above object, the present invention is characterized in that a pedestrian information notifying device mounted on a vehicle specifies a pedestrian position, and a position of an object that emits light in the vicinity of the pedestrian (hereinafter referred to as a light emitter position). And the relative positional relationship between the identified pedestrian position and the light emitter position (hereinafter referred to as the inter-step position relationship), and the calculated inter-step position information is Is to notify the passengers. In this way, since the occupant is notified of the relative positional relationship between the pedestrian and the light-emitting object, the occupant can use the visible light-emitting object as a clue even at night, so that the The position can be grasped sensuously.

  Moreover, the pedestrian information notification apparatus may be able to identify the own vehicle position. In this case, the pedestrian information notification device compares the distance between the two points from the pedestrian position to the light emitter position and the reference distance, and based on the comparison result, when the distance between the two points is smaller than the reference distance, Information on the positional relationship between the steps is notified to the occupant, and when the distance between the two points is larger than the reference distance, information on the relative positional relationship between the specified vehicle position and the pedestrian position is notified to the occupant. It may be. By doing so, it is possible to reduce the risk of notifying the relative positional relationship between the light emitting object and the pedestrian, even for the light emitting object that is difficult to help sense the position of the pedestrian. it can.

  In addition, the pedestrian information notification device is a storage medium that stores road position information and position information of a plurality of facilities in the vicinity of the road. Any one of them may be extracted, and the position information of the extracted one may be specified as the light emitter position. By doing in this way, a light emitter position can be specified more reliably.

  Further, the pedestrian information notification device specifies a relative positional relationship between the own vehicle and the pedestrian (hereinafter referred to as an inter-vehicle position relationship), and further, a relative positional relationship between the own vehicle and the light emitting object (hereinafter referred to as the vehicle). The positional relationship between lights) may be specified. At this time, the pedestrian information notification device, based on the identified inter-vehicle positional relationship and inter-vehicle positional relationship, as the inter-step positional relationship, the pedestrian position and the light emitter position as viewed from the own vehicle The relative positional relationship between the two may be calculated.

  Thus, by receiving notification of the positional relationship between the light emitting object and the pedestrian viewed from the host vehicle, the occupant can more easily grasp the position of the pedestrian sensuously.

  Moreover, the pedestrian information notification device may be configured to notify the vehicle occupant of information on the calculated positional relationship between steps based on the current time being the night time zone. By doing in this way, it can suppress that a useless notification process is performed in the time slot | zone when a light-emitting body is not conspicuous.

  Moreover, the pedestrian information notification device may be configured to switch the type of a target used as a light emitting object based on the current time. In this way, the pedestrian information notification device can realize an operation corresponding to a situation in which the light-emitting body that is conspicuous changes depending on the time zone.

  A feature of the present invention is a program used in a pedestrian information notification device mounted on a vehicle, the pedestrian position specifying means for specifying the position of a pedestrian (hereinafter referred to as a pedestrian position), the pedestrian The light emitter position specifying means for specifying the position of an object that emits light (hereinafter referred to as the light emitter position), the pedestrian position specified by the pedestrian position specifying means, and the light emitter position specifying means specified A computer as a calculation means for calculating the positional relationship between the gait with the light emitter position, and a notification means for notifying the occupant of the vehicle of the information on the positional relationship between the gait calculated by the calculation means. It can also be understood as a functioning program.

  Hereinafter, an embodiment of the present invention will be described. FIG. 1 shows a hardware configuration of a vehicle navigation apparatus 1 according to this embodiment. As will be described in detail below, the vehicle navigation device 1 specifies a relative positional relationship between a pedestrian around a vehicle on which the vehicle is mounted and a light emitting object, and uses the information on the specified relative positional relationship as a user. Notify

  The vehicle navigation device 1 includes a position detector 11, an image display device 12, an operation switch group 13, a speaker 14, a wireless communication unit 15, a RAM 16, a ROM 17, a map data acquisition unit 18, and a control circuit 19. .

  The position detector 11 includes a well-known sensor (not shown) such as a geomagnetic sensor, a gyroscope, a vehicle speed sensor, and a GPS receiver. The current position and direction of the vehicle based on the characteristics of each of these sensors. Is output to the control circuit 19. The image display device 12 displays a video based on the video signal output from the control circuit 19 to the user. The operation switch group 13 includes a mechanical switch, a touch panel, and the like, and outputs a signal based on pressing of the mechanical switch by the user and a touch on the touch panel to the control circuit 19.

  The wireless communication unit 15 performs predetermined wireless reception processing such as amplification, frequency conversion, demodulation, and A / D conversion on a signal received by an antenna (not shown), and outputs the result to the control circuit 19. In addition, the wireless communication unit 15 performs predetermined wireless transmission processing such as D / A conversion, modulation, frequency conversion, amplification, and the like on the data input from the control circuit 19 and outputs the resultant signal to the antenna. . By such an operation, the wireless communication unit 15 can transmit and receive wireless signals to the surroundings based on the control of the control circuit 19.

  The map data acquisition unit 18 includes a nonvolatile storage medium such as a DVD, a CD, and an HDD, and a device that reads (and writes if possible) data from and to the storage medium. And map data.

  The map data has road data and facility data. The road data includes link and node position information, type information, and connection relation information between nodes and links. The facility data has a plurality of records for each facility, and each record includes data indicating the name information of the target facility, location information, facility type (separate from traffic lights, convenience stores, street lights, etc.) information, etc. Have.

  A control circuit (corresponding to a computer) 19 executes a program for the operation of the vehicle navigation device 1 read from the ROM 17 and the map data acquisition unit 18, and in executing the program, the RAM 16, the ROM 17, and the map data acquisition Information is read from the unit 18, information is written to the RAM 16 and the map data acquisition unit 18, and signals are exchanged with the position detector 11, the image display device 12, the operation switch group 13, and the speaker 14.

  Specific processing performed by the control circuit 19 executing the program includes current position specifying processing 50, guidance route calculation processing, route guidance processing, pedestrian notification processing, and the like.

  The current position specifying process 50 is a process for specifying the current position of the vehicle, the traveling speed, and the traveling direction based on a signal from the position detector 11 using a known technique such as map matching.

  The guidance route calculation process is a process of receiving an input of a destination by the user from the operation switch group 13 and calculating an optimum guidance route from the current position to the destination. In the route guidance processing, map data is read using the map data acquisition unit 18, and an image in which the calculated guide route, waypoint, current position, and the like are superimposed on the map indicated by the map data is output to the image display device 12. In this process, a guidance voice signal for instructing a right turn, a left turn, or the like is output to the speaker 14 when necessary, such as when the host vehicle arrives before the guidance intersection.

  The pedestrian detection process is a process of detecting the presence of a pedestrian around the vehicle and notifying the occupant of the detected position of the pedestrian. In order to execute this pedestrian detection process, the control circuit 19 repeatedly executes the program 100 shown in FIG. FIG. 3 schematically shows an example of a typical scene where this pedestrian detection process is executed. In one execution of the program 100, the control circuit 19 first calculates in step 110 whether or not the host vehicle 31 is traveling based on the traveling speed identified by the current position identifying process 50, for example. If the vehicle is traveling, step 110 is executed. If the vehicle is not traveling, the execution of the program 100 for one time is terminated.

  In step 120, pedestrians around the host vehicle 31 are detected. Specifically, the wireless communication unit 15 is used to transmit a search signal for searching for the mobile terminal 35 around the host vehicle 31 (for example, a radius of about 200 meters centered on the host vehicle 31). This search signal includes data indicating the range of an area including the host vehicle 31 (hereinafter referred to as a cell). The cell range data may be, for example, position group information indicating the outer edge of the cell.

  The portable wireless device 35 is a wireless communication device that a pedestrian 33 carries. The portable wireless device 35 has a GPS receiver, and can identify the current position of the own device based on a signal received by the GPS receiver. When the portable wireless device 35 receives the search signal transmitted from the vehicle navigation device 1, the portable wireless device 35 determines whether or not the own device is included in the cell in the search signal. A response signal including information on the current position is wirelessly transmitted to the vehicle navigation apparatus 1.

  When the control circuit 19 further receives a response signal from the portable wireless device 35 in step 120, the current position information of the portable wireless device 35 included in the response signal and the host vehicle 31 specified by the current position specifying process 50 described above. The relative positional relationship with the current position (corresponding to an example of the positional relationship between steps) is calculated. Specifically, the relative positional relationship includes the linear distance L1 from the own vehicle 31 to the portable wireless device 35 (that is, the pedestrian 33 carrying the portable wireless device 35), and the own vehicle 31 to the pedestrian 33. Direction (more strictly speaking, a shift in the direction from the own vehicle 31 to the pedestrian 33 with respect to the traveling direction of the own vehicle 31) A1.

  Subsequently, in step 130, it is determined whether the detected pedestrian 33 is a pedestrian who needs to warn the passenger of the own vehicle 31 of its presence. For example, based on the traveling direction and traveling speed of the host vehicle 31, the time until the host vehicle reaches the pedestrian 33 (or the time until the closest approach) is equal to or less than the reference time. judge. Here, the reference time may be a fixed value determined in advance, or may be a value that varies based on various conditions (for example, time, age of the occupant input by the occupant, visual acuity, driving skill level). Alternatively, it may be a value determined randomly within a certain range. If it is necessary to warn, then step 140 is executed. If not, execution of the program 100 for one time is terminated.

  In step 140, the positions of the luminous objects around the host vehicle 31 and the portable wireless device 35 are specified. Specifically, a plurality of facilities having a light emitting object among facilities included in the facility data, for example, a traffic light, a store having a light emitting signboard, a streetlight, and a railroad crossing are extracted. Here, examples of the facility having a signboard that emits light include a convenience store and a gas station. The facilities extracted from the facility data may be limited to facilities in a predetermined area (for example, the above-described cell) including the host vehicle 31 or the traffic signal 32.

  Further, in step 140, the location of the extracted illuminant (for example, the traffic light 32) is specified based on the facility data, and based on the identification result, for each of the plurality of extracted luminescent materials, A relative positional relationship with the current position of the vehicle 31 (corresponding to an example of a positional relationship between vehicle lights) is calculated. Specifically, the relative positional relationship includes a linear distance (for example, L2) from the own vehicle 31 to each light emitting object, and a direction from the own vehicle 31 to the light emitting object (more precisely, the own vehicle). The deviation of the direction from the own vehicle 31 to the luminescent material with respect to the traveling direction of the vehicle 31;

  Subsequently, in step 150, for each of the extracted luminescent materials, a relative positional relationship between the luminescent material and the pedestrian 33 (corresponding to an example of a positional relationship between steps) is calculated. Specifically, the relative positional relationship is a linear distance (for example, L3) from the light emitting object (for example, the traffic light 32) to the pedestrian 33, and an azimuth from the light emitting object to the pedestrian 33. This positional relationship uses the relative positional relationship from the own vehicle 31 specified in step 120 to the pedestrian 33 and the relative positional relationship from the own vehicle 31 specified in step 140 to each illuminant. Can be calculated by utilizing the fact that the positional relationship between the issue and the relative positional relationship between the issue and the pedestrian 33 constitutes each side of the triangle. Further, in step 150, based on the relative positional relationship between the host vehicle 31 and the light emitting object, the direction from the light emitting object to the pedestrian 33 (for example, east, northwest, etc.) is shifted from the direction of the own vehicle 31 (for example, , Rightward, leftward, near side, far side, etc.). The combination of the conversion result and the distance from the luminescent object to the pedestrian 33 corresponds to an example of the relative positional relationship between the luminescent material and the pedestrian 33 (an example of the positional relationship between the steps) viewed from the host vehicle 31. )

  Subsequently, in step 160, for the issue (specifically, traffic light 32) closest to the pedestrian 33 among the extracted luminescent materials, is the distance L3 from the traffic light 32 to the pedestrian 33 closer than the reference distance R? Determine whether or not. The reference distance may be a predetermined value (for example, 10 meters) stored in advance, or various conditions (for example, time and facility data include data indicating the reach of light from the facility). The value may vary based on the reachable range), or may be a value determined randomly within a certain range. If the distance L3 is less than the reference distance, then step 170 is executed, and if it is greater than the reference distance, then step 180 is executed.

  In step 170, the pedestrian 33 is notified of a warning based on the luminescent material closest to the pedestrian 33 among the extracted luminescent materials. Specifically, information on the relative positional relationship between the luminescent material and the pedestrian 33 as viewed from the host vehicle 31 calculated in step 150 is displayed on the image display device 12 as characters. In addition, the occupant is notified by causing the speaker 14 to output the sound. This information includes information on the name or type of the luminescent material. The information to be notified may be, for example, “There is a pedestrian on the right side of the next traffic light. After step 170, one execution of the program 100 ends.

  In step 180, pedestrian guidance based on the vehicle position is executed. Specifically, the information on the relative positional relationship between the position of the host vehicle 31 and the position of the pedestrian 33 is displayed as characters on the image display device 12 and is also output as sound to the speaker 14 so that the occupant can Notice. For example, there is a pedestrian about XX meters away. Please be careful. It's okay. After step 180, one execution of the program 100 ends.

  By causing the control circuit 19 to execute the program 100 as described above, the vehicle navigation apparatus 1 detects the relative positional relationship of the pedestrian with respect to the host vehicle while the host vehicle is traveling (see step 110) (step 120). reference). If it is determined that it is necessary to warn the occupant of the presence of the pedestrian according to the positional relationship (see step 130), the relative positional relationship of the light emitting object around the pedestrian from the host vehicle. (See step 140), the distance and direction from the light emitting object to the pedestrian as seen from the host vehicle are calculated (see step 150). When the calculated distance is less than the reference distance R (see step 160), the user is notified of information on the distance and direction from the illuminant to the pedestrian as seen from the host vehicle (see step 170). When the calculated distance is equal to or greater than the reference distance R (see step 160), the occupant is notified of information on the distance and direction from the illuminant to the pedestrian as seen from the host vehicle (see step 180).

  Thus, the vehicle navigation device 1 identifies the pedestrian position and the position of the light emitting object, and notifies the occupant of the host vehicle of the relative positional relationship between the identified pedestrian position and the light emitting body position. Thus, even at night, the occupant can grasp the position of the pedestrian more sensuously by using the visible light emitting object as a clue.

  Further, the vehicle navigation device 1 identifies the own vehicle position, compares the distance between two points from the pedestrian position to the light emitter position, and the reference distance, and based on the comparison result, the distance between the two points is a reference. When the distance is smaller than the distance, information on the positional relationship between the steps is notified to the occupant, and when the distance between the two points is larger than the reference distance, information on the relative positional relationship between the specified vehicle position and the pedestrian position is displayed. To be notified. By doing so, it is possible to reduce the risk of notifying the relative positional relationship between the light emitting object and the pedestrian, even for the light emitting object that is difficult to help sense the position of the pedestrian. it can.

  In addition, the vehicle navigation apparatus 1 determines any one (for example, the nearest one) of a store having a traffic light, a railroad crossing, a streetlight, and a light emitting sign among a plurality of facilities from the facility data in the map data. Extraction is performed, and the position information of the extracted object is specified as the position of the light emitter. By doing in this way, a light emitter position can be specified more reliably.

  In addition, the vehicle navigation device 1 specifies the relative positional relationship between the host vehicle and the pedestrian (hereinafter referred to as the inter-vehicle position relationship), and further the relative positional relationship between the host vehicle and the light emitting object (hereinafter referred to as the vehicle). The positional relationship between lights) may be specified. At this time, the pedestrian information notification device, based on the identified inter-vehicle positional relationship and inter-vehicle positional relationship, as the inter-step positional relationship, the pedestrian position and the light emitter position as viewed from the own vehicle The relative positional relationship between the two may be calculated.

  In the above embodiment, the vehicle navigation device 1 corresponds to an example of a pedestrian information notification device. Further, the control circuit 19 of the vehicle navigation device 1 functions as an example of a pedestrian position specifying unit by executing step 120 of the program 100, and functions as an example of a light emitter position specifying unit by executing step 140. By executing step 150, it functions as an example of calculation means, by executing step 160, functions as an example of comparison means, and by executing steps 170 and 180, it functions as an example of notification means, Executing the position specifying process 50 functions as an example of a vehicle position specifying unit.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, in the above embodiment, the pedestrian 33 is detected based on communication with the portable wireless device of the pedestrian 33. However, this is not necessarily the case, and any detection method may be used as long as the pedestrian 33 can be detected. For example, the vehicle navigation apparatus 1 may include an infrared sensor in front of the host vehicle 31 and detect a pedestrian based on the detection result of the infrared sensor.

  The control circuit 19 may execute the program 100 only when the current time is a predetermined night time zone (for example, 18:00 to 4 o'clock). By doing in this way, it can suppress that a useless notification process is performed in the time slot | zone when a light-emitting body is not conspicuous.

  Further, the control circuit 19 may switch the facility type of the luminescent material extracted from the facility data based on time (for example, whether it is evening or midnight). For example, in the evening, which is the first time zone, only the traffic light is extracted, and in the second time zone (for example, 20:00 to 3 o'clock) closer to the midnight than the first time zone, the traffic light and the light are emitted. You may make it extract the store which has the advertisement to perform. With such a configuration, it is possible to realize an operation corresponding to a situation in which a light-emitting body that is easily noticeable changes depending on a time zone.

  In addition, the facility data in the map data includes information such as whether each facility is a light emitter, which time zone emits light, in which direction, and how far it can be illuminated. You may have. In this case, the control circuit 19 estimates whether or not the illuminant illuminates the pedestrian 33 based on the information and the position of the pedestrian 33, and uses only the presumed illuminant as the illuminant. It may be extracted.

  Moreover, the control circuit 19 does not perform warning notification of the pedestrian 33 based on the luminescent material closest to the pedestrian 33 among the extracted luminescent materials in step 170, for example, the traffic light from other types of luminescent materials. May be preferentially selected, and warning notification of the pedestrian 33 based on the selected luminescent material may be performed.

  Further, the reference distance R to be compared in step 160 may be the distance between the host vehicle 31 and the traffic light 32. For example, the vehicle navigation device 1 includes a vehicle position specifying unit that specifies a vehicle position, a first distance from the vehicle position specified by the vehicle position specifying unit to the pedestrian position, and the walking from the light emitter position. Comparison means for comparing the second distance to the person's position may be provided. Furthermore, the vehicle navigation device 1 notifies the occupant of the information on the relative positional relationship when the first distance is larger than the second distance based on the comparison result of the comparison means, and When the two distances are larger than the first distance, the occupant may be notified of information on the relative positional relationship between the vehicle position and the pedestrian.

  Further, each means of the present invention is not realized by the control circuit 19 that realizes software, but by hardware having a physical circuit configuration corresponding to each means (for example, an FPGA with programmable circuit configuration). It may be realized.

  Moreover, the pedestrian information notification device according to the present invention is not necessarily the vehicle navigation device 1. A pedestrian information notification device mounted on a vehicle identifies a pedestrian position, identifies a position of an object that emits light in the vicinity of the pedestrian (hereinafter referred to as a light emitter position), and identifies the identified pedestrian position It is sufficient if the relative positional relationship with the light emitter position is calculated and information on the calculated positional relationship is notified to the vehicle occupant.

It is a hardware block diagram of the navigation apparatus 1 for vehicles as described in embodiment of this invention. 3 is a flowchart of a program 100 executed by a control circuit 19; It is a figure which shows the positional relationship of the own vehicle 31, the traffic signal 32, and the pedestrian 33. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle navigation apparatus, 11 ... Position detector, 12 ... Image display apparatus,
13 ... Operation switch group, 14 ... Speaker, 15 ... Wireless communication unit, 16 ... RAM,
17 ... ROM, 18 ... map data acquisition unit, 19 ... control circuit, 31 ... own vehicle,
32 ... Traffic light, 33 ... Pedestrian, 35 ... Portable wireless device, 50 ... Current position specifying process,
100 ... Program.

Claims (7)

A pedestrian information notification device mounted on a vehicle,
Pedestrian position specifying means for specifying a pedestrian position (hereinafter referred to as a pedestrian position);
A light emitter position specifying means for specifying a position of an object that emits light in the vicinity of the pedestrian (hereinafter referred to as a light emitter position);
Calculation means for calculating a relative positional relationship between the pedestrian position specified by the pedestrian position specifying means and the light emitter position specified by the light emitter position specifying means (hereinafter referred to as inter-step light positional relation). When,
A pedestrian information notifying device comprising: notifying means for notifying an occupant of the vehicle of information on the positional relationship between the steps calculated by the calculating means. Vehicle position specifying means for specifying the position of the vehicle (hereinafter referred to as vehicle position);
Comparing means for comparing a distance between two points from the pedestrian position to the light emitter position and a reference distance;
When the distance between the two points is smaller than the reference distance, the notifying unit notifies the occupant of the information on the positional relationship between the steps, and the distance between the two points is based on the comparison result of the comparing unit. 2. The walking according to claim 1, wherein when the distance is larger than the reference distance, information on a relative positional relationship between the vehicle position specified by the vehicle position specifying means and the pedestrian position is notified to the occupant. Person information notification device. The light emitter position specifying means is a storage medium that stores road position information and position information of a plurality of facilities in the vicinity of the road, and among the plurality of facilities, a traffic light, a crossing, and a store provided with a signboard that emits light 3. The pedestrian information notification device according to claim 1, wherein any one of the pedestrian information is extracted and position information of the extracted one is specified as the light emitter position. The pedestrian position specifying means specifies a relative positional relationship between the vehicle and the pedestrian (hereinafter referred to as a positional relationship between vehicles),
The light emitter position specifying means specifies a relative positional relationship between the vehicle and the object (hereinafter, referred to as a positional relationship between vehicle lights),
The calculating means is based on the positional relationship between the steps identified by the pedestrian position identifying unit and the positional relationship between the steps of the vehicle specified by the light emitter position identifying unit, as the positional relationship between the steps. The pedestrian information notification device according to any one of claims 1 to 3, wherein a relative positional relationship between the pedestrian position and the light emitter position as viewed from the vehicle is calculated. 2. The notification means notifies the vehicle occupant of the information on the positional relationship between the steps calculated by the calculation means based on the current time being a night time zone. The pedestrian information notification device according to any one of 4. The pedestrian information notification device according to any one of claims 1 to 5, wherein the light emitter position specifying unit switches a type of a target used as the light emitting object based on a current time. A program used for a pedestrian information notification device mounted on a vehicle,
Pedestrian position specifying means for specifying the position of the pedestrian (hereinafter referred to as pedestrian position),
A light emitter position specifying means for specifying a position of an object that emits light in the vicinity of the pedestrian (hereinafter referred to as a light emitter position);
Calculating means for calculating a positional relationship between the steps between the pedestrian position specified by the pedestrian position specifying means and the light emitter position specified by the light emitter position specifying means; and
A program that causes a computer to function as notifying means for notifying an occupant of the vehicle of information on the positional relationship between the steps calculated by the calculating means.

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