JP2010211301A - Device and system for prediction/notification of accident, and on-vehicle device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and system for prediction/notification of accident, and an on-vehicle device to cope with, for example, an accident of catching a pedestrian when turning left at an intersection and to project an area where an accident may occur considering the past traffic path histories of pedestrians and vehicles. <P>SOLUTION: When a vehicle entering the intersection reaches a predetermined point A1, the prediction area of accident occurrence is predicted on the basis of pedestrian information near the intersection when the entering vehicle's approaching the predetermined point A1, signal light information of a traffic light 5, and a learned area map stored in a storage part 37 to transmit the area as a prediction area map of accident occurrence to the on-vehicle device 61. The on-vehicle device 61 makes notification to the vehicle 6 having the on-vehicle device 61 by displaying the received prediction area map of accident occurrence on a liquid crystal display panel held by the on-vehicle device 61. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an accident prediction notification device, an accident prediction notification system, and an in-vehicle device.

  The conventional vehicle accident prevention device, the vehicle accident prevention system, and the in-vehicle device are based on the speed of the vehicle traveling on the first point upstream of the intersection of the road, and whether or not this vehicle is a dangerous vehicle that enters the intersection. Further, it is determined whether or not the vehicle is a dangerous vehicle based on the speed and position of the vehicle traveling between the second point downstream of the first point and the intersection. It is known that a collision accident at the intersection can be prevented by notifying a vehicle traveling on an intersection road based on these determination results (for example, Patent Document 1).

JP 2007-128182 A (page 16, FIG. 1)

  In conventional vehicle accident prevention devices, vehicle accident prevention systems, and in-vehicle devices, it is determined whether or not the vehicle entering the intersection is a dangerous vehicle, and the determination result is notified to the traveling vehicle on the intersection side, so that a collision accident at the head of the vehicle is detected. For example, it does not deal with accidents involving passersby (pedestrians and bicycles) when turning left at an intersection. Further, an area where an accident may occur is predicted in consideration of past passers and the vehicle path history, and information on the accident occurrence prediction area is not notified to the traveling vehicle.

  Furthermore, if a communication error occurs when the determination result is notified to the traveling vehicle, an accident cannot be prevented and it cannot be said that convenience is good.

  Therefore, an object of the present invention is to provide a convenient accident prediction notification device, an accident prediction notification system, and an on-vehicle device.

  In order to achieve the above object, the accident prediction notification apparatus according to claim 1 stores the past route history of past vehicles and past passersby in the vicinity of the intersection in association with the signal light information of the traffic lights installed at the intersection. First storage means, arrival determination means for determining whether an approaching vehicle to the intersection has reached a first point that is a predetermined distance away from the intersection, and the approaching vehicle at the first point When reaching, a passer information acquisition means for acquiring passer information including at least a position, a pass speed and a pass direction of the passer-by passing near the intersection, and the approaching vehicle has reached the first point A signal light information acquisition means for acquiring the signal light information of the traffic light at the time, and when the approaching determination means determines that the approaching vehicle has reached the first point, the first The approaching vehicle is based on the passage route history of past passers stored by the storage means, the passer information acquired by the passer information acquisition means, and the signal light information acquired by the signal light information acquisition means. Passer traffic route prediction means for predicting the traffic route of the passer within a predetermined time after reaching the first point, and past vehicle traffic route history stored by the first storage means Vehicle traffic route prediction means for predicting the traffic route of the approaching vehicle based on the signal light information acquired by the signal light information acquisition device, and the pass route of the passerby predicted by the passer traffic route prediction means; Based on the traffic route of the approaching vehicle predicted by the vehicle traffic route prediction means, an accident occurs between the approaching vehicle and the passerby Accident occurrence position prediction means for predicting a possible accident occurrence position, and an accident occurrence position notification for transmitting information of the accident occurrence position predicted by the accident occurrence position prediction means to the vehicle-mounted device mounted on the approaching vehicle And means.

  In addition, the accident prediction notification system according to claim 2 uses the prediction information of the accident occurrence position obtained by predicting the accident occurrence position where an accident may occur between the vehicle approaching the intersection and the passerby passing through the intersection. In an accident prediction notification system having an accident prediction notification device for transmitting to an on-vehicle device mounted on a vehicle, the accident prediction notification device installs a past route history of past vehicles and past passers-by at the intersection. First storage means for storing in association with the signal light information of the traffic signal, and arrival determination means for determining whether an approaching vehicle to the intersection has reached a first point that is a predetermined distance away from the intersection; When the approaching vehicle reaches the first point, the vehicle includes at least the position of the passerby who passes near the intersection, the speed of travel, and the direction of travel. Passer information acquisition means for acquiring traffic information, signal light information acquisition means for acquiring signal light information of the traffic light when the approaching vehicle reaches the first point, and the arrival determination means, When it is determined that the first point has been reached, the pass route history of past passers stored by the first storage means, passer information acquired by the passer information acquisition means, and the signal light information On the basis of the signal light information acquired by the acquisition means, a passer-by-passage prediction means for predicting the passport of the passerby within a predetermined time after the approaching vehicle reaches the first point; and The approaching vehicle based on the past vehicle path history stored by the first storage means and the signal light information acquired by the signal light information acquisition means. Vehicle traffic route prediction means for predicting the traffic route of the vehicle, the traffic route predicted by the passer traffic route prediction means, and the traffic route of the approaching vehicle predicted by the vehicle traffic route prediction means. Accident occurrence position prediction means for predicting the accident occurrence position, and an accident occurrence position notification for transmitting and notifying information on the accident occurrence position predicted by the accident occurrence position prediction means to the vehicle-mounted device mounted on the approaching vehicle And the vehicle-mounted device displays information on the accident occurrence position received by the reception means, receiving means for receiving the information on the accident occurrence position transmitted by the accident occurrence position notification means, and Display notification means for notifying a passenger of the approaching vehicle equipped with the vehicle-mounted device.

  Further, the vehicle-mounted device according to claim 3 is a constant reception means for constantly receiving passer information and vehicle information transmitted from the accident prediction notification device within a communication range including a first point that is a predetermined distance away from the intersection. Receiving means for receiving information on an accident occurrence position transmitted from the accident prediction notification device when a vehicle approaching the intersection reaches the first point, and passer-by information received by the constantly receiving means And a second storage means for storing vehicle information, an unreceivable time measuring means for measuring the unreceivable time when the information on the accident occurrence position cannot be received by the receiving means, and the unreceivable time measurement. The vehicle approaching the intersection and the vicinity of the intersection based on the reception unavailable time measured by the means and the passer information and vehicle information stored by the second storage means Boarding of the approaching vehicle when it is determined by the dangerous position judging means that there is a dangerous position, and a dangerous position judging means for judging whether or not there is a dangerous position where an accident may occur with a passerby Warning means for issuing a warning to a person.

  According to the present invention, it is possible to provide a convenient accident prediction notification device, an accident prediction notification system, and an in-vehicle device.

The schematic diagram which shows the outline | summary of the accident prediction notification system 100 in the intersection which is one embodiment of this invention. The conceptual diagram which shows the learning area map of the vehicle 6. FIG. The conceptual diagram which shows the learning area map of the vehicle 6. FIG. The conceptual diagram which shows the learning area map of the vehicle 6. FIG. The conceptual diagram which shows the learning area map of the vehicle 6. FIG. The conceptual diagram which shows the learning area map of a passerby. The conceptual diagram which shows the learning area map of a passerby. The conceptual diagram which shows the learning area map of a passerby. The conceptual diagram which shows the learning area map of a passerby. The block diagram which shows the structure of the accident prediction notification apparatus 3. FIG. The conceptual diagram which shows a passerby's traffic prediction area map. The conceptual diagram which shows a passerby's traffic prediction area map. The conceptual diagram which shows a passerby's traffic prediction area map. The conceptual diagram which shows a passerby's traffic prediction area map. The conceptual diagram which shows an accident occurrence prediction area map. The conceptual diagram which shows an accident occurrence prediction area map. The conceptual diagram which shows an accident occurrence prediction area map. The conceptual diagram which shows an accident occurrence prediction area map. The block diagram which shows the structure of the onboard equipment 61. FIG. The flowchart of the process which the accident prediction notification apparatus 3 performs. The flowchart of the process which the onboard equipment 61 performs.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram showing an outline of an accident prediction notification system 100 at an intersection C according to an embodiment of the present invention. An accident prediction notification system 100 according to the present invention includes a sensor 1, a video camera 2, an accident prediction notification device 3, and the like.

  The sensor 1 is installed on the upstream side in the traffic direction with respect to the intersection C of the road A, and is a point separated by a distance L from the intersection C to the upstream side in the traffic direction (this point is designated as a designated point A1). ) Is detected (arrival determination means), and the detection result is output to the accident prediction notification device 3. The sensor 1 may be an ultrasonic sensor capable of sensing speed, a loop coil sensor, a far infrared sensor, an image sensor, or the like.

  A plurality of video cameras 2 are installed as necessary at a position where the entire intersection including the designated point A1 can be seen, and the entire intersection is imaged, and the captured image is output to the accident prediction notification device 3 at all times. The illustrated example shows a case where the video camera 2 is installed at a position where the road A and the traffic lights 5 (c) and 5 (d) can be imaged.

  The accident prediction notification device 3 analyzes the picked-up image picked up by the video camera 2 to analyze the traffic light 5 (hereinafter, the traffic lights 5 (a), (b), (c) unless it is necessary to distinguish between them. And (d) are collectively referred to as traffic lights 5) (light signal information such as red, yellow, blue and right arrow signals and left arrow signals of traffic lights 5 installed on the opposite side of the vehicle 6), passers-by Information such as vehicle position, speed, direction, etc. (hereinafter collectively referred to as passer information) and information such as vehicle position, speed, direction (hereinafter collectively referred to as vehicle information) (Signal light information acquisition means) (passer information acquisition means).

  The accident prediction notification device 3 performs the process described later on the acquired information, and an area that may cause an accident with a passerby when the vehicle 6 enters and passes through the intersection C (hereinafter referred to as an accident occurrence prediction area). (Accident occurrence position in claims) is transmitted as an accident occurrence prediction area map to the vehicle-mounted device 61 mounted on the vehicle 6.

  In addition, the accident prediction notification device 3 stores a learning area map created based on past passers and vehicle traffic histories and signal light information in a storage unit 37 (see FIG. 10). Here, the learning area map includes a traffic history (corresponding to a traffic history of a past vehicle and a past passer in the claim) having a predetermined frequency or more in a past passer and vehicle travel history. However, it was created in view of the signal light information. A learning area map is created and stored for each road heading for the intersection. FIGS. 2 to 5 are learning area maps for the vehicle 6 therein, and FIGS. 4 to 9 are learning area maps for passersby.

  2 to 5, the hatched portion indicates a position where a traffic history with a predetermined frequency or more of the vehicle 6 has existed in the past and is created in consideration of the signal light information. In addition, in FIG. 4 to FIG. In the past, there is a traffic history with a predetermined frequency or more of passers-by and a position created in view of the signal light information is shown (this hatched portion is taken as a learning area).

  FIG. 2 shows a learning area map of the vehicle 6 when the signal light information of the traffic light 5 (a) for the vehicle 6 is red. That is, when the signal light information of the traffic light 5 (a) for the vehicle 6 is red, the vehicle 6 normally stops at the stop line position of the intersection C, so the learning area map of the vehicle 6 is expressed as shown in FIG. . 3 and 4 show a case where the left turn arrow signal is lit on the vehicle or the right turn arrow signal is lit even if the signal light information of the traffic light 5 (a) is red. Yes.

  That is, even when the signal light information of the traffic light 5 (a) is red, when the left turn arrow signal is lit, the vehicle 6 is usually left-turned, and the learning area map of the vehicle 6 is as shown in FIG. Even when the signal light information of 5 (a) is red, when the right turn arrow signal is lit, the vehicle 6 normally turns right, so the learning area map of the vehicle 6 is as shown in FIG. FIG. 5 shows a case where the signal light information of the traffic light 5 (a) is blue. That is, when the signal light information of the traffic light 5 (a) is blue, the vehicle 6 normally travels all traffic routes such as straight ahead, left turn, and right turn, so the learning area map of the vehicle 6 is as shown in FIG. .

  As in the case of the vehicle learning area map, the passerby learning area map is shown in FIG. 6 when the signal light information of the traffic light 5 (a) is red (the signal light information of the traffic light 5 (c) is red, the traffic light 5 (b) and the traffic light. 5 (d) shows a learning area map of a passerby signal light information in blue). That is, when the signal light information of the traffic light 5 (a) is red, it is considered that a passerby does not enter the pedestrian crossing that crosses the road B. Therefore, a passer's learning area map is expressed as shown in FIG.

  FIG. 7 shows the case where the signal light information of the traffic light 5 (a) is red and the left turn arrow signal is lit (the signal light information of the traffic light 5 (b), the traffic light 5 (c) and the traffic light 5 (d) is red). The learning area map of the passerby is shown. That is, since the signal light information of the traffic light 5 (a) is red and the left turn arrow signal is lit, a pedestrian crosses the road B and the pedestrian crossing on the upstream side of the vehicle 6 in the traffic direction of the road A. Will not enter. Therefore, a passer's learning area map is expressed as shown in FIG.

FIG. 8 shows the case where the signal light information of the traffic light 5 (a) is red and the right turn arrow signal is lit (the signal light information of the traffic light 5 (b), the traffic light 5 (c) and the traffic light 5 (d) is red). The learning area map of the passerby is shown. That is, since the signal light information of the traffic light 5 (a) is red and the right turn arrow signal is lit, a pedestrian crosses the pedestrian crossing crossing the road B and the pedestrian crossing upstream of the traffic direction of the vehicle 6 on the road A. Will not enter. Therefore, a passer's learning area map is expressed as shown in FIG.

  FIG. 9 shows the learning of a passerby when the signal light information of the traffic light 5 (a) is blue (the signal light information of the traffic light 5 (c) is blue and the signal light information of the traffic lights 5 (b) and 5 (d) is red). An area map is shown. That is, since the signal light information of the traffic lights 5 (b) and 5 (d) is red, it is considered that a passerby does not enter the pedestrian crossing that crosses the road A, and therefore, it is expressed as shown in FIG. 9.

  FIG. 10 is a block diagram illustrating a configuration of the accident prediction notification device 3. The accident prediction notification device 3 includes a control unit 31 including a CPU that performs various arithmetic processes. The control unit 31 includes an interface unit 32, an image memory 33, a ROM 34, a RAM 35, an image processing unit 36, a storage unit 37, a radio unit 39, a vehicle traffic prediction unit 40, a passer traffic prediction unit 41, and a determination via an internal bus. The unit 42 and the like are connected.

  Further, the sensor 1 and the video camera 2 are connected via the interface unit 32. The control unit 31 controls operations of these hardware units. The interface unit 32 transfers commands to the sensor 1 and the video camera 2, acquires a captured image obtained by imaging with the sensor 1 and the video camera 2, and the like. The interface unit 32 stores the captured image input from the video camera 2 in the image memory 33 in units of one frame in synchronization with the frame rate of the video camera 2.

  The ROM 34 stores a control program indicating the control procedure of the control unit 31 in advance. When the CPU of the control unit 31 loads the control program stored in the ROM 34 to the RAM 35, the control unit 31 controls the operation of the accident prediction notification device 3 according to the control procedure indicated by the control program.

  The storage unit 37 (first storage unit) stores past vehicles and passers-by histories analyzed by the image processing unit 36, learning area maps created from signal light information, and the like (see FIGS. 2 to 9). To do.

  The image processing unit 36 is configured by an ASIC (Application Specific Integrated Circuit) or the like, reads a captured image in units of one frame from the image memory 33, and based on image processing of the read captured image, The vehicle is specified, and the speed, direction and position of the passer and the vehicle are measured based on the position change and coordinates on the captured image of the specified passer and the vehicle, and passer information and vehicle information are acquired. The image processing unit 36 outputs the acquired passer-by information and vehicle information to the control unit 31.

  The radio unit 39 performs processing such as modulation and demodulation in order to perform radio communication with a vehicle traveling in a predetermined range including the designated point A1 (for example, near the intersection C). Under the control of the control unit 31, the radio unit 39 constantly transmits passer-by information and vehicle information to the vehicle-mounted device 61 (see FIG. 1) mounted on the vehicle 6 within a predetermined range, and the occurrence of the accident described above. The predicted area map is transmitted to the vehicle-mounted device 61 (accident occurrence position notifying means).

  The vehicle traffic prediction unit 40 determines the traffic prediction area map of the vehicle 6 based on the learning area map of the vehicle 6 and the signal light information of the traffic light 5 shown in FIGS. The traffic prediction area map is determined based on the signal light information of the traffic light 5 (a) when the vehicle 6 reaches the designated point A1. Specifically, when the traffic light information of the traffic light 5 (a) when the vehicle 6 reaches the designated point A1 is red, the learning area map FIG. 2 is selected, and this learning area map FIG. 2 is determined as the traffic prediction area map. To do. Similarly, when the left turn arrow signal is lit even if the signal light information of the traffic light 5 (a) is red, the learning area map FIG. 3 is selected, and this learning area map FIG. 3 is determined as the traffic prediction area map. If the right turn arrow signal is lit even if the signal light information of the traffic light 5 (a) is red, the learning area map FIG. 4 is selected and the learning area map FIG. 4 is determined as the traffic prediction area map. When the signal light information of the traffic light 5 (a) is blue, the learning area map FIG. 5 is selected, and this learning area map FIG. 5 is determined as the traffic prediction area map. (Vehicle traffic route prediction means). The turn signal information of the vehicle 6 instead of the signal light information may be acquired from the image processing unit 36 and used. Further, the hatched portion on the vehicle traffic prediction area map is referred to as a vehicle traffic prediction area.

  The passer-by prediction unit 41 designates the vehicle 6 based on the passer-by learning information stored in the storage unit 37 shown in FIGS. 6 to 9 and the passer-by information and signal light information acquired from the image processing unit 36. Within a predetermined time after the arrival of the point A1 (here, the predetermined time is reached from the vehicle speed at the specified point A1 measured by the sensor 1 and the distance L from the specified point A to the intersection C. A traffic prediction area map (refer to FIG. 11 to FIG. 14) showing the prediction of the traffic route of the passer at the time when the vehicle 6 reaches the intersection C may be created (passer traffic route prediction means). . The shaded portion on this passer's traffic prediction area map is called a passer's traffic prediction area.

  FIG. 11 to FIG. 14 are diagrams showing an example of a passer-by traffic prediction area map. 11 to 14, for example, the illustrated arrow X1 indicates the pass direction of the passer, and the arc Y1 indicates the maximum range (hereinafter referred to as a passable area) that the passer can pass within a predetermined time. Here, when it is necessary to distinguish between the passers-by, it is assumed that they are passers-by (A), passers-by (B), passers-by (C), passers-by (D), and passers-by (E).

  The passer-by-passage prediction area map is created by the passer-passage prediction unit 41 based on the hatched portion, the passable area, and the signal light information on the passer-by learning area map shown in FIGS. The traffic prediction area map is determined based on the signal light information of the traffic light 5 (a) when the vehicle 6 reaches the designated point A1. Specifically, when the traffic light information of the traffic light 5 (a) when the vehicle 6 reaches the designated point A1 is red, the learning area map FIG. 6 is selected, and the hatched portion on the learning area map FIG. A passer-by-passage prediction area map is created from the possible areas (FIG. 11).

  Similarly, if the left turn arrow signal is lit even if the signal light information of the traffic light 5 (a) is red, the learning area map FIG. 7 is selected, and traffic is made from the shaded area and the accessible area in FIG. If the right turn arrow signal is lit even if the traffic light information of the traffic light 5 (a) is red, the learning area map FIG. 8 is selected and the upper part of FIG. A traffic predicted area map of the passer-by is created from the hatched portion and the passable area (FIG. 13). If the signal light information of the traffic light 5 (a) is blue, the learning area map FIG. 9 is selected, and a traffic predicted area map for the passer-by is created from the hatched portion and the passable area in FIG. 9 (FIG. 14). ) (Vehicle traffic route prediction means).

  FIG. 11 shows a case where the signal lamp information of the traffic lights 5 (a) and 5 (c) is red. That is, the passerby (A) and the passerby (C) can pass to the pedestrian crossing when judged from the passable area, but the traffic light (C) and the signal light information of the traffic light 5 (c) are red. The passerby (C) is predicted to stop in front of the pedestrian crossing without entering the pedestrian crossing. On the other hand, the passerby (B) and the passerby (D) are predicted to enter the pedestrian crossing because the traffic lights 5 (b) and 5 (d) are blue. As shown in FIG. In the following, the description is omitted because it is the same description, but in FIGS. 12 and 13, the signal lamp information of the traffic lights 5 (a) to 5 (d) is red, and the left turn arrow signal of the traffic light 5 (a) is lit. The case where the right turn arrow signal of the traffic light 5 (a) is lit (FIG. 13) is shown. Moreover, FIG. 14 has shown the case where the signal light information of the traffic light 5 (a) and the traffic light 5 (c) is blue.

  That is, the passerby is predicted to be present in the hatched portion on the passerby prediction area map within a predetermined time after reaching the designated point A of the vehicle 6.

  The determination unit 42 is a predetermined after the arrival of the designated point A of the vehicle 6 created by the vehicle traffic prediction area and the passer-by traffic prediction unit 41 indicating the predicted traffic route of the vehicle 6 created by the vehicle traffic prediction unit 40. An accident occurrence prediction area map (see FIG. 15 to FIG. 18) is created based on an area (accident occurrence prediction area) overlapping with a passerby prediction area of a passerby that a passerby is expected to exist within the time. Further, it is determined whether or not an accident occurrence prediction area (shaded portion in FIGS. 15 to 18) exists (accident occurrence position prediction means).

  15 to 18 are diagrams illustrating an example of an accident occurrence prediction area map. 15 is an accident occurrence prediction area map created from the overlapping area of the hatched portion in FIGS. 2 and 11. FIG. 16 is an accident occurrence prediction area map created from the overlapping area of the hatched portion in FIGS. FIG. 18 is an accident occurrence prediction area map created from the overlapping area of the hatched portion in FIGS. 4 and 13, and FIG. 18 is an accident occurrence prediction area map created from the overlapping area of the hatched portion in FIGS.

  FIG. 19 is a block diagram illustrating a configuration of the vehicle-mounted device 61. The vehicle-mounted device 61 is mounted on the vehicle 6 and includes a control unit 62 composed of a CPU that performs various arithmetic processes. A storage unit 63, ROM 64, RAM 65, radio unit 66, danger prediction unit 67, warning unit 68, and the like are connected to the control unit 62 via an internal bus. The storage unit 63 (second storage unit) stores passer-by information and vehicle information transmitted from the accident prediction notification device 3.

  The ROM 34 stores a control program indicating the control procedure of the control unit 31 in advance. When the CPU of the control unit 31 loads the control program stored in the ROM 34 to the RAM 35, the control unit 31 controls the operation of the vehicle-mounted device 61 according to the control procedure indicated by the control program.

  The radio unit 66 includes an accident occurrence prediction area map transmitted from the accident prediction notification device 3 and passer information constantly transmitted from the accident prediction notification device 3 to the vehicle-mounted device 61 mounted on the vehicle 6 within a predetermined range, Receive vehicle information (receiving means) (always receiving means).

  The danger prediction unit 41 detects the accident between the vehicle and the passer-by based on the passer information and the vehicle information stored in the storage unit 63 when the wireless communication with the accident prediction notification device 3 is interrupted due to a communication error or the like. Predict the danger. Specifically, the communication interruption time is measured (hereinafter referred to as communication error time), and based on the passer information immediately before the communication error stored in the storage unit 63, vehicle information, and the communication error time, Predict the range in which the passer-by and the vehicle can move when the communication is interrupted, and a position where an accident can occur depending on whether the distance between the vehicle and the passer-by is greater than a certain distance (for example, within 10 m) (in claims) It is determined whether or not (dangerous position) exists (unreceivable time measuring means) (dangerous position determining means).

  The warning unit 68 issues a warning by using, for example, a speaker when the risk prediction unit 41 determines that the risk prediction position exists (warning means). The display unit 69 is a liquid crystal display or the like, and displays and notifies the above-described accident occurrence prediction area map to the passenger of the vehicle 6 (display notification means).

  FIG. 20 is a flowchart of processing performed by the accident prediction notification device 3. The image processing unit 36 acquires vehicle information, passer-by information, and signal light information from the image captured by the video camera 2 (S1) (passer-by information acquisition means) (signal light information acquisition means). Subsequently, it is detected by the sensor 1 that the vehicle 6 has reached the designated point A1 (S2) (arrival determining means). When it is detected that the vehicle 6 has reached the designated point A1 in S2, the traffic predicting unit 40 of the vehicle based on the signal light information acquired in S2 and the learning area map of the vehicle stored in the storage unit 37 A prediction area map is determined (S3) (vehicle traffic route prediction means).

  After S3, the passer-by traffic predictor 41 based on the passer-by information acquired by the image processor 36 in S1 and signal light information and the passer-by-passenger learning area map stored in the storage unit 37 Is created (S4) (passenger traffic route prediction means). The determination unit 42 creates an accident occurrence prediction area map based on the vehicle traffic prediction area map created in S3 and the passer's traffic prediction area map created in S4 (S5) (accident occurrence position prediction means).

  Moreover, it is determined by the determination part 42 whether the accident occurrence prediction area exists on the accident occurrence prediction area map produced in S5 (S6) (accident occurrence position prediction means). When it is determined in S6 that an accident occurrence prediction area exists (Yes in S6), an accident occurrence prediction area map is transmitted to the vehicle-mounted device 61 (S7) (accident occurrence position notifying means).

  On the other hand, when it is determined that there is no accident occurrence prediction area as a result of the determination in S6 (No in S6), the process is terminated.

  FIG. 21 is a flowchart of processing performed by the vehicle-mounted device 61. The vehicle-mounted device 61 stores in the storage unit 63 passer information and vehicle information that are constantly transmitted from the accident prediction notification device 3 to the vehicle 6 within a predetermined range (S8) (second storage means).

  Moreover, it is determined whether the accident occurrence prediction area map transmitted from the accident prediction notification device 3 has been normally received (S9). As a result of the determination in S9, when it is not determined that the accident occurrence prediction area map has been normally received (Yes in S9), the communication error time is measured (S10) (unreceivable time measuring means). After measuring the communication error time in S10, it is determined whether or not the danger prediction position exists based on the passer-by information and vehicle information immediately before the communication error stored in the storage unit 63 and the measured communication error time ( S11) (Dangerous position determination means).

  As a result of the determination in S11, when it is determined that the danger predicted position exists (Yes in S11), the warning unit 68 issues a warning to the passenger of the vehicle 6 (S11) (warning means). On the other hand, as a result of the determination in S11, when it is determined that there is no danger predicted position (No in S11), the process ends. Further, when it is determined that the accident occurrence prediction area map has been normally received (Yes in S9), the accident occurrence prediction area map is displayed on the display unit 69 (S13) (display notification means).

  As described above, the accident prediction notification device 3 makes a determination based on the passerby and vehicle learning area map stored in the storage unit 37, the traffic light information of the traffic light 5 acquired by the image processing unit 36, and the passerby information near the intersection. The unit 42 creates an accident occurrence prediction area map, and transmits the created accident occurrence prediction area map to the vehicle-mounted device 61 by the wireless unit 39. The vehicle-mounted device 61 notifies the passenger by displaying the accident occurrence prediction area map received by the wireless unit 66 on a liquid crystal display panel or the like which is the display unit 69.

  In addition, when the vehicle-mounted device 61 cannot receive the accident occurrence prediction area map transmitted from the accident prediction notification device 3 due to a communication error, the vehicle-mounted device 61 stores the vehicle information immediately before the communication error stored in the storage unit 63 and the traffic. Based on the person information and the communication error time measured by the danger prediction unit 67, it is determined whether or not the danger prediction position exists. As a result of this determination, when it is determined that a dangerous position exists, the vehicle-mounted device 61 issues a warning to the passenger by the warning unit 68.

  The passenger of the vehicle 6 equipped with the vehicle-mounted device 61 can know the accident occurrence prediction area from the received accident occurrence prediction area map. Further, even when an accident occurrence prediction area map cannot be received due to a communication error, the danger prediction unit 67 can determine the presence / absence of the danger prediction position, and can issue a warning to the passenger when the danger prediction position exists. .

  Moreover, although the above-mentioned embodiment is expressed as an accident prediction notification device, an accident prediction notification system, and an in-vehicle device that predict the occurrence of an accident at an intersection, the present invention stores the traffic history of the vehicle and passers-by, The present invention can be applied to an accident prediction notification device, an accident prediction notification system, and a vehicle-mounted device in general that notify an accident occurrence prediction area to a vehicle occupant based on the obtained traffic history, acquired passer information, and signal light information.

DESCRIPTION OF SYMBOLS 1 Sensor 2 Video camera 3 Accident prediction notification apparatus 5 Traffic light 6 Vehicle 31 Control part 32 Interface part 33 Image memory 34 ROM
35 RAM
36 Image processing unit 37 Storage unit 39 Wireless unit 61 On-vehicle device 62 Control unit 63 Storage unit 64 ROM
65 RAM
66 Radio section 67 Risk prediction section 68 Warning section

Claims (3)

A first storage means for storing past vehicle and past traffic route histories in the vicinity of the intersection in association with signal light information of traffic lights installed at the intersection;
Arrival determination means for determining whether an approaching vehicle to the intersection has reached a first point that is a predetermined distance away from the intersection;
When the approaching vehicle reaches the first point, passer information acquisition means for acquiring passer information including at least the position, pass speed, and pass direction of the passerby passing near the intersection;
Signal light information acquisition means for acquiring signal light information of the traffic light when the approaching vehicle reaches the first point;
When it is determined by the arrival determination means that the approaching vehicle has reached the first point, the passer history of past passers stored by the first storage means, acquired by the passer information acquisition means Based on the information of the passerby and the signal light information acquired by the signal light information acquisition means, the passage route of the passer-by within the predetermined time after the approaching vehicle reaches the first point is predicted. Means for predicting the traffic route of the passerby
Vehicle passage route prediction means for predicting the passage route of the approaching vehicle based on the past passage history of the vehicle stored by the first storage means and the signal light information acquired by the signal light information acquisition means;
Based on the passage route of the passerby predicted by the passerby route prediction unit and the pass route of the approaching vehicle predicted by the vehicle route prediction unit, between the approaching vehicle and the passerby An accident occurrence position prediction means for predicting an accident occurrence position where an accident may occur;
Accident occurrence position notifying means for transmitting and notifying information on the accident occurrence position predicted by the accident occurrence position prediction means to the vehicle-mounted device mounted on the approaching vehicle;
An accident prediction and notification device characterized by comprising: Accident prediction notification that transmits prediction information of the accident occurrence position, which predicts an accident occurrence position where an accident may occur between the vehicle approaching the intersection and the passerby passing through the intersection, to the vehicle-mounted device mounted on the approaching vehicle In an accident prediction notification system having a device,
The accident prediction notification device includes:
First storage means for storing a past vehicle and a past passerby history in the vicinity of the intersection in association with signal light information of a traffic light installed at the intersection;
Arrival determination means for determining whether an approaching vehicle to the intersection has reached a first point that is a predetermined distance away from the intersection;
When the approaching vehicle reaches the first point, a passer information acquisition unit that acquires passer information including at least a position, a pass speed, and a pass direction of the passer who passes near the intersection;
Signal light information acquisition means for acquiring signal light information of the traffic light when the approaching vehicle reaches the first point;
When it is determined by the arrival determination means that the approaching vehicle has reached the first point, the passer history of past passers stored by the first storage means, acquired by the passer information acquisition means Based on the information of the passerby and the signal light information acquired by the signal light information acquisition means, the passage route of the passer-by within the predetermined time after the approaching vehicle reaches the first point is predicted. Means for predicting the traffic route of the passerby
Vehicle passage route prediction means for predicting the passage route of the approaching vehicle based on the past passage history of the vehicle stored by the first storage means and the signal light information acquired by the signal light information acquisition means;
Accident occurrence position prediction means for predicting the accident occurrence position based on the passage path of the passerby predicted by the passerby path prediction means and the passage path of the approaching vehicle predicted by the vehicle traffic path prediction means. When,
Accident occurrence position notifying means for transmitting and notifying information on the accident occurrence position predicted by the accident occurrence position prediction means to the vehicle-mounted device mounted on the approaching vehicle,
The in-vehicle device is
Receiving means for receiving information on an accident occurrence position transmitted by the accident occurrence position notifying means;
Display notification means for displaying information of the accident occurrence position received by the receiving means and notifying a passenger of the approaching vehicle equipped with the vehicle-mounted device;
An accident prediction notification system characterized by comprising: Constantly receiving means for constantly receiving the passerby information and vehicle information transmitted from the accident prediction notification device within a communication range including a first point away from the intersection by a predetermined distance;
Receiving means for receiving information on an accident occurrence position transmitted from the accident prediction notification device when an approaching vehicle to the intersection reaches the first point;
Second storage means for storing passer-by information and vehicle information received by the constant receiving means;
When the information on the accident occurrence position cannot be received by the receiving means, the reception unavailable time measuring means for measuring the reception unavailable time;
Passers who pass the approaching vehicle and the vicinity of the intersection based on the non-receivable time measured by the non-receivable time measuring unit and the passer-by information and vehicle information stored by the second storage unit. A dangerous position determination means for determining whether there is a dangerous position where an accident can occur between
Warning means for issuing a warning to a passenger of the approaching vehicle when the dangerous position is determined by the dangerous position determination means;
A vehicle-mounted device characterized by comprising: