JP2009116753A - Collision preventive system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To precisely determine the risk of collision in the situation where an tendency of a determination condition of a pedestrian when crossing a road is properly taken into consideration. <P>SOLUTION: This collision preventive system for preventing the pedestrian from colliding with a vehicle includes an evaluation means for evaluating a following state of the vehicle (objective vehicle, hereafter) approaching to the pedestrian to a preceding vehicle therein, as to the objective vehicle, and a determination means for determining the risk of collision of the objective vehicle with the pedestrian, based on an evaluation result from the evaluation means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a collision prevention system for preventing a collision between a pedestrian and a vehicle.

Conventionally, it is determined whether or not there is a person who possesses the portable terminal in a predetermined alarm area based on a reception unit that receives a radio wave emitted by a portable terminal carried by a person and a reception result of the reception unit. An on-vehicle alarm device comprising presence determination means and alarm means for issuing an alarm to a driver of the host vehicle based on a determination result of the presence determination unit, wherein the predetermined alarm area is set to a traveling state of the host vehicle. In addition, an in-vehicle alarm device including an alarm area setting unit that is set based on the movement of a person is known (see, for example, Patent Document 1).
JP 2005-202893 A

  By the way, in the type of collision prevention system described at the beginning, when it is assumed that a pedestrian crosses the road from the viewpoint of preventing a collision between a pedestrian who may cross the road and a vehicle traveling on the road If it can be determined that there is a high risk of collision between the pedestrian (crossing person) and the vehicle, in order to make the pedestrian discourage crossing or to inform the driver of the vehicle in advance It is useful to output a warning to pedestrians and vehicles. However, unnecessary warnings, such as warnings being issued when not trying to cross the road, are bothersome for both pedestrians and drivers, so the risk of collision can be determined with high accuracy. Necessary.

  In this regard, if the risk of a collision is determined without considering the tendency of the pedestrian's determination condition when attempting to cross the road, an unnecessary warning is likely to occur.

  In view of this, an object of the present invention is to provide a collision prevention system that can accurately determine the risk of a collision in an aspect that appropriately considers the tendency of judgment conditions of pedestrians when attempting to cross a road. .

In order to achieve the above object, a first invention is a collision prevention system for preventing a collision between a pedestrian and a vehicle,
With respect to a vehicle that is to approach a pedestrian (hereinafter referred to as a target vehicle), an evaluation unit that evaluates the following mode of the target vehicle with respect to the preceding vehicle
And determining means for determining a risk of collision between the target vehicle and the pedestrian based on an evaluation result of the evaluation means.

2nd invention is the collision prevention system which concerns on 1st invention,
When the target vehicle is following the preceding vehicle in a long distance, the risk of a collision is determined by the determination means compared to the case where the target vehicle is following the preceding vehicle in a short distance. Is judged to be high.

3rd invention is the collision prevention system which concerns on 1st or 2nd invention,
The preceding vehicle is a last preceding vehicle of a preceding vehicle group that travels in a group. Note that the preceding vehicle group refers to a group of vehicles that run ahead by the target vehicle and are connected at approximately equal intervals and approximately equal speeds.

4th invention is the collision prevention system which concerns on 3rd invention,
As the distance between the target vehicles with respect to the last preceding vehicle increases, the risk of a collision determined by the determination unit increases.

  In the collision prevention system according to any one of the first to fourth aspects, parameters other than the evaluation result of the evaluation means may be considered. For example, as in the case of the fifth invention, when the pedestrian is on the opposite lane side of the target vehicle, the determination means causes a collision compared to when the pedestrian is on the lane side of the target vehicle. The risk may be determined to be high. Further, as in the sixth invention, when the opposite lane side of the target vehicle is congested, the determination means determines that the risk of collision is higher than when the opposite lane side is not congested. You may make it do.

A seventh invention is the collision preventing system according to any one of the first to sixth inventions,
According to the collision risk determined by the determination means, the apparatus further comprises an alarm instruction means for instructing an alarm form output from the terminal on the pedestrian side and / or the terminal of the target vehicle.

An eighth invention is the collision prevention system according to any one of the first to sixth inventions,
Warning instruction means for instructing the pedestrian side terminal and / or the target vehicle terminal to output a warning when the value representing the risk of collision determined by the determination means is higher than a predetermined value. Is further provided.

A ninth invention is the collision prevention system according to the seventh or eighth invention,
An external server and a pedestrian side terminal capable of wireless communication with the external server and the terminal of the target vehicle,
The evaluation unit, the determination unit, and the alarm instruction unit are realized by the external server,
The evaluation means receives position information of the pedestrian and the target vehicle from the pedestrian side terminal and the terminal of the target vehicle, respectively, and performs the evaluation based on the reception result,
The terminal on the pedestrian side and / or the terminal of the target vehicle are configured to output an alarm in response to an instruction from the alarm instruction means.

  ADVANTAGE OF THE INVENTION According to this invention, the collision prevention system which can determine the danger of a collision accurately in the aspect which considered appropriately the tendency of the judgment condition of a pedestrian when trying to cross a road is obtained.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an embodiment of a collision prevention system 1 according to the present invention. The collision prevention system 1 includes a traffic safety server 10, a terminal 20 possessed by a pedestrian (referred to as “pedestrian terminal 20”), and an in-vehicle device 30 mounted on the vehicle. In FIG. 1, the traffic safety server 10, the pedestrian terminal 20, and the vehicle-mounted device 30 are shown one by one as representatives. There are a plurality of users according to the number of users.

  The traffic safety server 10 is connected to the pedestrian terminal 20 and the vehicle-mounted device 30 so as to be capable of wireless communication in both directions. The traffic safety server 10 may be arranged in one place in the whole country or may be installed for each predetermined area. The traffic safety server 10, as described in detail below, based on information from the pedestrian terminal 20 and the vehicle-mounted device 30, may cause a collision with a user (pedestrian) of the pedestrian terminal 20 and a vehicle equipped with the vehicle-mounted device 30. The sexuality is appropriately determined, and an alarm is output to the pedestrian and the driver via the pedestrian terminal 20 and the vehicle-mounted device 30 according to the determination result.

  The pedestrian terminal 20 mainly includes a controller 22, a GPS receiver 24, a mobile phone 26, and an information output device 28. The pedestrian terminal 20 may be an integrated terminal having a mobile phone function and a GPS function, or may be a terminal that is separate from the mobile phone 26 but can be connected to the mobile phone 26. The controller 22 acquires information on the terminal position (pedestrian position) by the GPS receiver 24 by, for example, Bluetooth (registered trademark) communication, and periodically transmits the terminal position information to the traffic safety server 10 by the mobile phone 26. In addition, when the controller 22 receives a warning instruction to be described later from the traffic safety server 10 via the mobile phone 26, the controller 22 outputs a warning to the owner of the pedestrian terminal 20 (that is, a pedestrian) via the information output device 28. . The information output device 28 may be a device that outputs an alarm via sound and / or video, or may be a device that outputs an alarm by stimulation such as vibration. Further, the information output device 28 may be realized by the mobile phone 26.

  The vehicle-mounted device 30 mainly includes a controller 32, a GPS receiver 34, a mobile phone 36, and an information output device 38. The mobile phone 36 may be a terminal that is fixedly mounted on the vehicle, or may be a terminal that can be carried outside the vehicle. In the latter case, the mobile phone 36 is And wirelessly communicate with the controller 32 by, for example, Bluetooth (registered trademark). The controller 32 acquires information related to the vehicle position by the GPS receiver 34, and periodically transmits the vehicle position information to the traffic safety server 10 by the mobile phone 36. The controller 32 outputs a warning to the driver via the information output device 38 when the mobile phone 36 receives a warning instruction to be described later from the traffic safety server 10. The information output device 38 may be a device that outputs an alarm via sound and / or video, or may be a device that outputs an alarm by stimulation such as vibration. Further, the information output device 38 may be realized by the mobile phone 36 or may be realized by a display of a navigation device or an in-vehicle speaker, for example.

  FIG. 2 is a flowchart showing a flow of main processing executed by the traffic safety server 10. This main processing is executed at a predetermined calculation cycle. At this time, the traffic safety server 10 receives the latest terminal position information and the own information from the pedestrian terminals 20 and the vehicle-mounted devices 30 as described above. Car position information is supplied periodically. Here, the main processing of FIG. 2 will be described assuming a scene as shown in FIG. In the scene shown in FIG. 3, a total of nine vehicles are traveling in the left lane, and the vehicle position information is periodically supplied to the traffic safety server 10 from each of these vehicles. Further, a pedestrian A waiting to cross the road is present beside the left lane (for example, a sidewalk), and terminal position information from the pedestrian A is periodically supplied to the traffic safety server 10.

  In step 100, based on the terminal position information from the pedestrian terminal 20 of the pedestrian A and the own vehicle position information from the vehicle-mounted device 30 of each vehicle, the side of the pedestrian A is displayed between the previous cycle and the current cycle. It is determined whether or not the vehicle has passed. If the vehicle has passed by pedestrian A, the process proceeds to step 102, and if the vehicle has not passed by pedestrian A, the process proceeds to step 104.

In step 102, the risk level R, which is an index for determining whether or not an alarm is required, is updated as follows.
R (n + 1) = R (n) -x
Here, R (n + 1) represents the risk level R of the current cycle, R (n) represents the risk level R of the previous cycle, and x is a risk level subtraction constant per calculation cycle.

In step 104, the danger level R is updated as follows.
R (n + 1) = R (n) + y
Here, y is a danger level addition constant per calculation cycle. The danger level addition constant y may be the same value as the danger level subtraction constant x described above, or may be a different appropriate value.

  In step 106, whether or not an alarm is necessary is determined according to the danger level R (n + 1) of the current cycle calculated in step 102 or 104. At this time, the greater the risk level R (n + 1) of the current cycle, the easier it is to determine that an alarm is necessary. For example, when the danger level R (n + 1) of the current cycle exceeds a predetermined threshold level (see the level upper limit value in FIG. 4), the traffic safety server 10 needs an alarm on the premise that other conditions are satisfied. The alarm instruction may be transmitted to the pedestrian terminal 20 of the pedestrian A. For example, when the danger level R (n + 1) of the current cycle exceeds a predetermined threshold level (refer to the level upper limit value in FIG. 4), the vehicle speed V0 at which the vehicle X1 is higher than the predetermined vehicle speed with respect to the pedestrian A When it is close to within the predetermined distance L, an alarm instruction is transmitted to the pedestrian terminal 20 of the pedestrian A. At this time, an alarm instruction may be transmitted to the vehicle-mounted device 30 of the vehicle (vehicle X1 in the example of FIG. 3) that may collide with the pedestrian A. Thereby, a warning is output from the pedestrian terminal 20 of the pedestrian A and the vehicle-mounted device 30, respectively, and a pedestrian and a driver are alerted. The predetermined distance L may be determined in consideration of the walking speed of the pedestrian A, the width of the lane, and the vehicle speed V0. For example, the predetermined distance L may be a distance such that the vehicle X1 with the vehicle speed V0 passes by the side of the pedestrian A within the time required for the pedestrian A to cross the lane of the vehicle X1. At this time, the vehicle speed V0 may be calculated based on the history of the vehicle position information of the vehicle X1, or vehicle speed information transmitted together with the vehicle position information from the vehicle X1 (for example, information from a wheel speed sensor). May be calculated based on

  Thus, in this embodiment, the danger level R decreases when the vehicle passes by the side of the pedestrian A continuously (when each vehicle travels following the preceding vehicle). When the vehicle no longer passes by the side of the pedestrian A (when the distance between the vehicles is open), the vehicle increases. This is because pedestrians do not want to cross the road in a situation where each vehicle runs continuously in a short distance, but tend to try to cross the road when there is a space between the cars. Because. Therefore, a vehicle (for example, the vehicle X2 in FIG. 3) that follows the preceding vehicle in a short distance from the preceding vehicle (for example, a vehicle X2 in FIG. When the vehicle X1) in FIG. 3 is traveling in front of the pedestrian A1, there is a higher possibility that the pedestrian A1 will attempt to cross, and therefore the danger level R becomes higher. That is, in the example shown in FIG. 3, when the vehicle X2 is running in front of the pedestrian A1 in a state before the state shown in FIG. 3, the preceding vehicle of the vehicle X2 is a pedestrian. Since the side of A1 is continuously passed, the danger level R is low. On the other hand, there is no vehicle passing beside the pedestrian A1 until the vehicle X1 passes the side of the pedestrian A1 from the state shown in FIG. Therefore, before the vehicle X1 passes the side of the pedestrian A1, the danger level R becomes high.

  In this embodiment, when the danger level R evaluated as described above exceeds a predetermined threshold level (see the level upper limit value in FIG. 4), a pedestrian and a vehicle driver who are in danger of collision are notified. Since an alarm is output, unnecessary alarms can be eliminated and necessary alarms can be output to prevent collisions.

  FIG. 4 is a diagram illustrating an example of a time-series change mode of the risk level R. As illustrated in FIG. For example, from the time t0 when the vehicle X3 in FIG. 3 passes, the vehicle passes through the side of the pedestrian A continuously from the vehicle X3 to the vehicle X2, so the danger level R gradually decreases. The danger level R may have a level lower limit value as shown in FIG. 4, and the level lower limit value may be used as an initial value. Next, after time t1 when the vehicle X2 passes by the side of the pedestrian A, there is a space between the vehicles and the vehicle does not pass by the side of the pedestrian A, so the danger level R gradually increases. The danger level R may have a level upper limit value as shown in FIG. 4, and this level upper limit value may be a threshold level used in step 106 of FIG. Here, at time t2 in FIG. 4, the danger level R exceeds the level upper limit value, and a warning is output to the pedestrian A and the driver of the vehicle X1. Therefore, a warning is output to the pedestrian A and the driver of the vehicle X1 by time t3 when the vehicle X1 passes by the side of the pedestrian A, thereby preventing a collision. For example, the pedestrian A stops crossing by the warning, and the driver of the vehicle X1 operates the brake or the steering wheel by the warning to avoid the danger, thereby preventing the collision.

  In the present embodiment, whether or not an alarm instruction is required from the traffic safety server 10 to the pedestrian terminal 20 and the vehicle-mounted device 30 is determined by comprehensively determining other factors than the risk level R (n + 1). Also good. For example, the intention of crossing a pedestrian may be estimated, and when it is estimated that the pedestrian has the intention of crossing, it may be easily determined that an alarm is necessary. The pedestrian's intention to cross is based on the history of the map information (position information of the pedestrian crossing) and the terminal position information. It may be estimated that there is. Or, based on the history of the terminal position information of the pedestrian terminal 20, when the pedestrian is walking in the direction along the lane along the sidewalk along the lane, it is estimated that the pedestrian has no intention of crossing, and the pedestrian It may be difficult to determine that an alarm related to the is necessary. Contrary to the above, when the pedestrian stands at a position without a pedestrian crossing, the pedestrian is at a position with a pedestrian crossing, considering that it is difficult for the driver to anticipate the pedestrian crossing. It may be easier to determine that an alarm is necessary than when standing.

  Further, as shown in FIG. 5A, when the pedestrian A is on the opposite lane (opposite lane) side of the vehicle X1, the pedestrian A is on the lane side of the vehicle X1 compared to the pedestrian. You may make it easy to determine that the warning in relation to A and the vehicle X1 is required. This is because when the pedestrian is on the opposite side of the road, there is a high possibility that the driver of the vehicle X1 will be late to notice the pedestrian. Further, as shown in FIG. 5B, when the opposite lane side of the vehicle X1 is congested, an alarm in the relationship between the pedestrian A and the vehicle X1 is compared to the case where the opposite lane side is not congested. May be determined to be necessary. This is because when the oncoming lane is congested, it is often the case that a pedestrian determines that the oncoming lane can be crossed and asks for an opportunity to cross the entire road while passing between congested vehicles. Note that these other condition factors may be incorporated into the risk level R. For example, the danger level R is determined when the intention of crossing a pedestrian is estimated, in addition to the vehicle follow-up mode described above, when the pedestrian is in the opposite lane, or when the opposite lane is congested. You may calculate so that it may become a big value.

  In the present embodiment, the alarm may be output in an output mode according to the danger level R. For example, when the danger level R is high, a voice alert with a high volume or strong colloquial tone may be output in a form in which the degree of alerting is high, and / or an image with a large display or color emphasis May be output. When the danger level R is high, the alarm frequency may be increased.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the vehicle follow-up mode (risk level R) is evaluated based on the presence / absence of a vehicle passing by the side of the pedestrian, but there are various methods for evaluating the vehicle follow-up mode. . For example, an inter-vehicle distance (inter-vehicle time or inter-vehicle distance) with respect to a preceding vehicle may be calculated for a certain vehicle, and the danger level R may be evaluated higher as the inter-vehicle distance increases. When the preceding vehicle is the last preceding vehicle in the vehicle group (see the preceding vehicle X2 in FIG. 3), the danger level R is increased as the vehicle group becomes longer (or the number of vehicles in the vehicle group increases). You may appreciate it. This is because the longer the vehicle group, the longer the waiting time for pedestrians to cross, and there is a risk of forcibly crossing even between short vehicles if the vehicle group passes. In addition, the danger level R may be highly evaluated for the following vehicle that is following at a speed higher than the speed of the last preceding vehicle (or the average speed of the vehicle group). The risk level R may be evaluated low for the following vehicle that is traveling at a speed lower than the speed of the last preceding vehicle in the group. This is because a pedestrian who has passed through a vehicle group may evaluate the speed of the following vehicle by extending the flow of the vehicle group. This is because there is a possibility that the possibility of crossing may be determined by estimation.

  In the above-described embodiment, the risk of collision with a pedestrian who can cross the road is evaluated. However, a pedestrian who can cross the road does not intend to cross the road, but seems to protrude into the road. Includes pedestrians.

1 is a system configuration diagram showing an embodiment of a collision prevention system 1 according to the present invention. 4 is a flowchart showing a flow of main processing executed by the traffic safety server 10. It is a figure which shows an example of the typical application scene of the collision prevention system. It is a figure which shows an example of the change mode of the time series of the danger level. It is a figure which shows an example of the parameter which may be considered in calculation of the danger level R.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Collision prevention system 10 Traffic safety server 20 Pedestrian terminal 22 Controller 24 GPS receiver 26 Mobile phone 28 Information output device 30 Onboard equipment 32 Controller 34 GPS receiver 36 Mobile phone 38 Information output device

Claims (9)

A collision prevention system for preventing a collision between a pedestrian and a vehicle,
With respect to a vehicle that is to approach a pedestrian (hereinafter referred to as a target vehicle), an evaluation unit that evaluates a tracking mode of the target vehicle with respect to the preceding vehicle;
A collision prevention system comprising: a determination unit that determines a risk of a collision between the target vehicle and the pedestrian based on an evaluation result of the evaluation unit.   When the target vehicle is following the preceding vehicle in a long distance, the risk of a collision is determined by the determination means compared to the case where the target vehicle is following the preceding vehicle in a short distance. The collision prevention system according to claim 1, wherein is determined to be high.   The collision prevention system according to claim 1 or 2, wherein the preceding vehicle is a last preceding vehicle of a preceding vehicle group that travels in a group.   The collision prevention system according to claim 3, wherein a risk of a collision is determined to be higher by the determination unit as a distance between the target vehicles with respect to the last preceding vehicle becomes longer.   When the pedestrian is on the opposite lane side of the target vehicle, the risk of collision is determined to be higher by the determination unit than when the pedestrian is on the lane side of the target vehicle. The collision prevention system of any one of 1-4.   The collision risk is determined to be higher by the determination unit when the opposite lane side of the target vehicle is congested than when the opposite lane side is not congested. The collision prevention system of any one of Claims.   The apparatus further comprises alarm instruction means for instructing an alarm form output at the terminal on the pedestrian side and / or the terminal of the target vehicle according to the risk of collision determined by the determination means. The collision prevention system of any one of these.   Warning instruction means for instructing the pedestrian side terminal and / or the target vehicle terminal to output a warning when the value representing the risk of collision determined by the determination means is higher than a predetermined value. The collision prevention system according to any one of claims 1 to 6, further comprising: An external server and a pedestrian side terminal capable of wireless communication with the external server and the terminal of the target vehicle,
The evaluation means, the determination means, and the warning instruction means are realized by the external server,
The evaluation means receives position information of the pedestrian and the target vehicle from the pedestrian side terminal and the terminal of the target vehicle, respectively, and performs the evaluation based on the reception result,
The collision prevention system according to claim 7 or 8, wherein the pedestrian side terminal and / or the terminal of the target vehicle are configured to output an alarm in response to an instruction from the alarm instruction means.

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