JP2015201113A - Pedestrian-driver information sharing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pedestrian-driver information sharing system capable of being easily implemented at low cost without the need to install a special apparatus, a device including an advanced feature, and the like.SOLUTION: A pedestrian portable terminal 2 and a driver portable terminal 5 are set, a pedestrian radio wave beacon generator is provided in the pedestrian portable terminal 2 and a driver radio wave beacon generator is provided in the driver portable terminal 5 so as to share danger information between a pedestrian and a driver. Risk information generators of the respective portable terminals 2 and 5 generate mutual risk information by exchanging a driver radio wave beacon and a pedestrian radio wave beacon, and notify the pedestrian and the driver of the risk information, respectively.

Description

  The present invention relates to an information sharing system between a pedestrian and a driver.

  Conventionally, as an example of an information sharing system between a pedestrian and a driver, there is a technique for connecting a pedestrian and an automobile by wireless communication as disclosed in Patent Document 1. In addition, as disclosed in Patent Document 2, there is a technique for detecting a dangerous moving body with high accuracy and at a fast timing in a safe driving support device for an automobile.

JP2013-171445A WO 2008/126389

However, the above-described Patent Literature 1 and Patent Literature 2 are technologies that are configured assuming that a device having an advanced determination function is separately provided in an automobile. Therefore, it was difficult to realize it easily and at low cost. In particular, in the case of the technology of Patent Document 2, it can be applied to a new vehicle having a safe driving support device, but for a driver having an existing vehicle, mounting the safe driving support device of Patent Document 1 Considering the purchase cost of the device, it was difficult.
The object of the present invention is that it is not necessary to install a special device or a safe driving support device having advanced functions, and the traffic accident between a pedestrian and a car can be avoided easily and inexpensively. The point is to provide an information sharing system.

The present invention
Between a pedestrian and a driver who can share information between the plurality of portable terminals by exchanging information with each other by radio wave beacons between a plurality of portable terminals having a wireless communication function, a calculation function, and a position information detection function. In the information sharing system,
The information exchanged between the pedestrian and the driver uses the data recorded in the IEEE 802.11 header area as vehicle information,
Set up a pedestrian mobile device and a driver mobile device,
The pedestrian side portable terminal is provided with pedestrian side danger information generating means,
The driver side portable terminal is provided with driver side danger information generating means,
The pedestrian-side danger information generating means includes pedestrian-side radio beacon generating means for broadcasting a pedestrian-side radio beacon including type information that is a pedestrian position and the pedestrian position information.
The driver-side danger information generating means has a driver-side radio beacon generating means for broadcasting a driver-side radio beacon including type information that indicates the driver position and the driver position information,
The pedestrian-side danger information generating means and the driver-side danger information generating means generate respective danger information by exchanging the driver-side radio beacon and the pedestrian-side radio beacon,
When the pedestrian-side danger information generation means and the driver-side danger information generation means generate the pedestrian-side danger information and the driver-side danger information, the data recorded in the IEEE802.11 header area is used. It is characterized by. (Claim 1)

That is, for information exchanged between the pedestrian and the driver, data recorded in the IEEE 802.11 header area is used as vehicle information. In this way, by selecting an area that can be added in an existing format, the present invention can be implemented easily and inexpensively.
Moreover, portable terminals, such as a mobile phone and a smart phone which a general person owns, can be used as a terminal which obtains each danger information on the pedestrian side and the driver side. That is, it is not necessary to install special equipment, a beacon facility on the road, a safe driving support device having advanced functions, and the like, which can be performed easily and inexpensively. Furthermore, it can be easily implemented by selecting an area that can be added in an existing format as an area for recording information for ensuring the safety of walking of a pedestrian. (Claim 1)

In the present invention,
The driver-side risk information generation means includes driver-side distance calculation means for calculating the distance between each pedestrian and the vehicle based on the position of the driver-side mobile terminal and the position of each pedestrian-side mobile terminal. And generating the driver-side danger information based on the calculated distance between each pedestrian and the driver,
The pedestrian side danger information generating means includes a pedestrian side distance calculating means for calculating a distance between the pedestrian and the car based on the position of the driver side mobile terminal and the position of the pedestrian side mobile terminal, When the pedestrian side danger information is generated based on the calculated distance between the pedestrian and the car, the following effects can be achieved. (Claim 2)

In the pedestrian mobile terminal possessed by each pedestrian, the distance between each pedestrian and the driver mobile terminal (automobile) is calculated, and the pedestrian side risk information is generated based on the calculated distance. Can improve the accuracy.
Moreover, since the pedestrian side portable terminal which each pedestrian has should just generate | occur | produce only the own danger information as a pedestrian, the response which conveys danger information can be made quick and is practical. (Claim 2)

In the present invention,
A plurality of threshold values are set in advance in the driver-side danger information generating means corresponding to the distance value of the driver-side distance calculating means, and based on the threshold value and the actually calculated driver-side distance. When the driver side danger information determining means for changing the notification content to the driver is provided, the following operation can be achieved. (Claim 3).

  The content of the notification can be changed according to the calculated distance. Then, when the degree of danger is high, a strong warning is given, and when the degree of danger is low, a notice corresponding to the degree of danger can be given. Therefore, practical effects can be enhanced. In other words, based on the distance between the pedestrian and the car that the driver is driving, the degree of danger information can be set according to the distance between the pedestrian and the car. Can give emergency alerts. (Claim 3)

In the present invention,
In the pedestrian side risk information generating means, a plurality of threshold values are set in advance corresponding to the distance value of the pedestrian side distance calculating means, and based on the threshold value and the actually calculated pedestrian side distance, If the pedestrian side danger information determining means for changing the notification content to the pedestrian is provided, the following action can be achieved. (Claim 4)

  The content of the notification can be changed according to the calculated distance. Then, when the degree of danger is high, a strong warning is given, and when the degree of danger is low, a notice corresponding to the degree of danger can be given. Therefore, practical effects can be enhanced. In other words, based on the distance between the pedestrian and the car that the driver is driving, the degree of danger information can be set according to the distance between the pedestrian and the car. Can give emergency alerts. (Claim 4)

In the present invention,
The driver side risk information generating means includes pedestrian position storage means for storing each pedestrian position in the driver side portable terminal,
A pedestrian distance calculating means for calculating a pedestrian distance between each pedestrian;
Pedestrian group generation means for generating a group based on the distance between the pedestrians and a predetermined threshold;
Pedestrian group state calculating means for calculating the state of the generated pedestrian group;
A planned vehicle route prediction means for predicting a planned route with the passage of time of the driver side mobile terminal,
When the driver-side risk information generating unit generates the driver-side risk information based on the generated group, the calculated pedestrian group state, and the predicted planned route, the driver-side risk information generating unit may have the following effects. it can. (Claim 5)

  When pedestrians are moving in groups, that is, in groups, it is possible to grasp the risk level of those groups and generate driver-side risk information corresponding to the risk level. (Claim 5)

In the present invention,
The danger information includes at least one of speed limit information, warning, voice guidance, automatic driving control information for the automatic driving control device,
When a car having a driver-side mobile terminal is equipped with a car navigation device in a car, the speed limit information, the warning, and the voice guidance are transmitted from the driver-side mobile terminal via the car navigation device. When provided to the driver, the following effects can be achieved. (Claim 6)

  The optimum notification form can be selected in accordance with the device of the employed automobile. In addition, information exceeding the processing capability of the driver-side mobile terminal and notification information such as a display form can be provided to the driver via a car navigation device that is frequently viewed during driving. Therefore, the danger information can be transmitted well to the driver. (Claim 6)

In the present invention,
The danger information includes at least one of speed limit information, warning, voice guidance, automatic driving control information for the automatic driving control device,
When the vehicle on which the driver having the driver's mobile terminal is equipped with a windshield display device, if the speed limit information, the warning, and the voice guidance are copied and provided on the windshield display device, the following effects are obtained: Can be played. (Claim 7).

  The optimum notification form can be selected in accordance with the device of the employed automobile. In addition, since the notification information is displayed in the form of characters, images, etc. on the windshield that the driver always sees, the inconvenience of overlooking can be avoided compared to the display screen of the driver's mobile terminal and the method of audio output. . (Claim 7)

According to the present invention,
Providing an information sharing system between pedestrians and drivers that can avoid traffic accidents between pedestrians and cars easily and inexpensively without the need to install special equipment or safe driving support devices with advanced functions. I was able to.

Schematic which shows an example of the utilization form of the information sharing system in 1st Embodiment of this invention. Functional block diagram showing one configuration example of the driver side portable terminal in the first embodiment Functional block diagram showing a configuration example of a pedestrian mobile terminal in the first embodiment (A) is a figure which shows the frame format of IEEE802.11, (b) is a figure which shows the detail of an IEEE802.11 header. The flowchart which shows an example of the main processes which a driver side portable terminal performs The flowchart which shows an example of the main processes which a pedestrian side portable terminal performs Flow chart showing an example of a method for determining the risk level of a pedestrian group Functional block diagram showing an example of risk determination for a pedestrian group The figure which shows an example of the flowchart which processes the process shown in FIG. The figure which illustrates the relationship between the group A, the group B, the group C, and the car on which the driver's mobile terminal rides It is a figure for demonstrating the relationship between the relative speed of a motor vehicle and a pedestrian, and a threshold value, and is a figure which shows the relationship between the angle and distance which a pedestrian and a motor vehicle make It is a figure for demonstrating the relationship between the relative speed of a motor vehicle and a pedestrian, and a threshold value, and is a figure for demonstrating the method of setting a speed limit to an optimal value.

[First Embodiment]
Hereinafter, a first embodiment of an information sharing system between a pedestrian and a driver of the present invention will be described based on the drawings.
[Pedestrian mobile terminal and driver mobile terminal]
An information sharing system between a pedestrian and a driver is premised on the presence of a plurality of portable terminals owned by the individuals along with the movement of the individuals. Each portable terminal has a wireless communication function, a calculation function, and a position information detection function. The technology for sharing information among multiple mobile terminals such as smartphones and mobile phones, and identifying the position information of mobile terminals owned by individuals based on information from GPS satellites etc. is well known. The technical contents are not described in this specification.

  In this embodiment, when an information sharing system between a pedestrian and a driver is implemented, for example, the pedestrian side software and the driver side software are installed in a wide area access database environment such as a predetermined Internet (for example, on the Internet). It is installed on a personal portable terminal by downloading from a software providing server. In addition, a portable terminal in which pedestrian software and driver software are installed in advance can be purchased.

  It is up to you to decide whether you want to install either pedestrian software or driver software, or both. That is, if a general person who owns a smartphone cannot think of driving a car at all, only the pedestrian software needs to be downloaded.

  Moreover, what is necessary is just to download driver | operator side software, when the ordinary person who owns portable terminals, such as a smart phone, drives a motor vehicle on a daily basis. Even in this case, it is possible to be recognized as a pedestrian by issuing type information indicating that the user is not a driver but a pedestrian.

  In the present embodiment, it is assumed that an individual who has a mobile terminal individually recognizes that he is a driver who drives a car, or is simply a pedestrian. As shown in FIG. 1, the information sharing system between a pedestrian and a driver includes a pedestrian-side mobile terminal 2 that a pedestrian 1 has and a driver-side mobile terminal 5 that a driver 4 that drives an automobile 3 has. Have.

[Structure of Driver-side Risk Information Generation Unit 6]
As shown in FIG. 2, for example, the driver-side risk information generation unit 6 is formed in software in the driver-side portable terminal 5 by downloading.
The driver side danger information generation unit 6
A driver-side radio beacon generation unit 7 that broadcasts the type information and the driver position information that the driver is a radio beacon;
A pedestrian position storage unit 8 for storing the position of each pedestrian;
A driver position detector 9 for detecting a driver side position;
A driver side distance calculation unit 10 that calculates a distance between each pedestrian and the driver and a distance between a pedestrian group described later;
A threshold setting unit 11 storing at least one threshold set in advance;
A driver-side risk information determination unit 12 is included.

  Information from the driver-side risk information determination unit 12 can be used in cooperation with an external device such as a car navigation device 19 attached to the vehicle, an automatic driving control device 13 mounted on the vehicle, or a windshield display device 14. . The mobile terminals 5 and 2 include a communication device 15, a reception unit 16 and a transmission unit 17, and a notification unit 18 such as a liquid crystal display device or an audio speaker.

[Structure of Pedestrian Side Risk Information Generation Unit 20]
As shown in FIG. 3, the pedestrian side danger information generation part 20 is formed in software in the pedestrian side portable terminal 2 by downloading, for example.
The pedestrian side danger information generation unit 20
A pedestrian-side radio beacon generator 21 that broadcasts type information and pedestrian position information that the person is a pedestrian by radio beacon;
A driver position storage unit 22 for storing the position of the driver;
A pedestrian position detection unit 23 for detecting a pedestrian side position;
A pedestrian side distance calculation unit 24 for calculating a distance between the driver and the pedestrian,
A threshold setting unit 25 storing at least one preset threshold;
A pedestrian side risk information determination unit 26.

[Danger Information and IEEE 802.11 Format]
FIG. 4A is a diagram illustrating an example of a structure of a packet transmitted and received as a pedestrian side radio beacon and a driver side radio beacon between portable terminals.
The wireless LAN frame format is any of IEEE802.11a / b / g,
(1) PLCP preamble (2) PCLP header (3) PSDU
The three regions are formed.
The PLCP preamble and the PCLP header are collectively called a physical header. The IEEE802.11 header, Data, and FCS part are called a MAC frame and constitute a PSDU.

As shown in FIG. 4B, the IEEE802.11 header portion includes a frame control (frame control) that is a frame describing whether or not a packet to be transmitted is a WiFi beacon.
Duration / ID, which is a field used in RTS / CTS, etc., in which information of a scheduled period of using radio waves is recorded,
Address1, Address2, Address3, which are information such as the destination MAC address, the source MAC address, and the MAC address (BSSID) of the access point;
Includes the Sequence Control that is the sequence number of the data to be transmitted, or the Sequence Control that is the fragment number information when fragmented, and the Address 4 that is the information such as the destination MAC address, the source MAC address, and the MAC address (BSSID) of the access point It consists of

  And in this embodiment, it is comprised so that the information area which consists of said Address1, Address2, Address3 may include the positional information of the portable terminal which a pedestrian or a driver | operator owns, and it transmits as a WiFi beacon.

The number of digits of the address is limited to store the absolute value of the position information with the required accuracy, so only the lower digits, for example, when the target area is 100 m square, the decimal point of the absolute value of latitude and longitude The third digit and the fourth digit are sufficient, and this is encoded and transmitted.
The destination address is normally a broadcast address (broadcast address) for all recipients, but may be a multicast address whose reception range is limited by position information.
By storing the shared information transmitted by the radio beacon in the IEEE 802.11 header area in this way, it can be operated in an existing system without newly configuring a special format.

[Description of action]
(Pre-processing on the pedestrian side mobile terminal 2 side)
As shown in FIG. 1, when a pedestrian 1 who installs pedestrian software and uses his / her mobile terminal as a pedestrian mobile terminal 2 starts walking in a city where a car accident is expected, The person side software is activated, and the WiFi connection function of the pedestrian side portable terminal 2 is turned on.

(Pre-processing on the driver's mobile terminal 5 side)
As shown in FIG. 1, the driver who installs the driver side software and uses the portable terminal he has as the driver side portable terminal 5 activates the driver side software when getting into the automobile 3, The WiFi connection function of the pedestrian mobile terminal 5 is turned on.

  FIG. 5 is a flowchart showing main processing performed by the driver-side mobile terminal 5. As shown in FIG. 5, in step 101, a radio wave beacon that searches for a WiFi access point from the driver-side portable terminal 5 is broadband-transmitted (broadcast) at a predetermined time interval (for example, 100 msec interval). In step 102, radio beacons from the pedestrian mobile terminal 2 are received at predetermined time intervals. Further, in step 103, the position information of each pedestrian is restored based on the received radio wave beacon from the pedestrian mobile terminal 2.

  In step 104, the relative distance is calculated based on the position of the driver side mobile terminal 5 and the position of the pedestrian side mobile terminal 2. In step 105, the relative distance is compared with a preset threshold value to determine whether the relative distance is equal to or less than the threshold value. If the relative distance is less than or equal to the threshold value, the driver is notified of the danger information corresponding to the threshold level in step 106 by a warning sound or voice in the driver side portable terminal 5. If it is determined in step 105 that the relative distance is not less than or equal to the threshold value, the process returns to step 101.

  FIG. 6 is a flowchart showing main processes performed by the pedestrian mobile terminal 2. As shown in FIG. 6, in step 201, the pedestrian mobile terminal 2 receives a radio beacon from the driver mobile terminal 5. In step 202, the position of the pedestrian mobile terminal 2 is incorporated into a radio beacon and broadcast (broadcast). Further, in step 203, the position of the driver-side portable terminal 5 that is the transmission source, that is, the position of the automobile is restored from the specific frame of the received radio wave beacon.

  In step 204, the relative distance is calculated based on the position of the pedestrian mobile terminal 2 and the position of the driver mobile terminal 5. In step 205, the relative distance is compared with a preset threshold value to determine whether the relative distance is equal to or less than the threshold value. If the relative distance is equal to or smaller than the threshold, in step 206, pedestrian risk information corresponding to the threshold level is generated. In other words, the pedestrian mobile terminal 2 informs the pedestrian that it is dangerous with a warning sound or voice according to the threshold level. If it is determined in step 205 that the relative distance is not less than or equal to the threshold value, the process returns to step 201.

  A schematic operation of the risk information sharing system having the above-described configuration will be described with reference to FIG. In the explanation of this operation, for the sake of simplicity, it is assumed that the pedestrian is alone, and the case of a group described later is not shown.

  From the driver's mobile terminal 5, the type is the driver 4 of the car 3, and the current position (numerical values of north latitude and east longitude) of the car 3 that the driver 4 drives is placed on the WiFi beacon, and the pedestrian It transmits to the side portable terminal 2 (S101 of <1> in FIG. 1).

  The pedestrian mobile terminal 2 that has received the WiFi beacon restores the current position of the automobile 3 (S203 of <2> in FIG. 1). Then, the relative distance is calculated, and danger information corresponding to the threshold level is emitted from the pedestrian mobile terminal 2 to notify the pedestrian (S3 of <3> in FIG. 1). For example, a voice such as “A car is coming!” Is emitted from the pedestrian mobile terminal 2 side.

  The pedestrian side mobile terminal 2 simultaneously transmits the danger information to the pedestrian 1 having the mobile terminal, and the type is the pedestrian 1 and the current position of the pedestrian 1 (north latitude, east longitude) (Numerical value) is placed on the WiFi beacon and transmitted to the driver-side mobile terminal 5 (S202 of <4> in FIG. 1).

The driver-side portable terminal 5 that has received the WiFi beacon on the pedestrian side drives the vehicle by issuing danger information corresponding to the threshold value from the driver-side portable terminal 5 in consideration of at least the relative distance between the pedestrian 1 and the car 3. (S106 of <5> in FIG. 1). For example, a voice such as “There is a person in the traveling direction!” Is emitted from the driver side portable terminal 5 side.
It is preferable to set multiple thresholds, and the effect of suppressing actual traffic accidents can be enhanced by gradually changing the warning level of danger information from a serious level to a minor level for each level of danger level. .

[Second Embodiment]
Next, 2nd Embodiment of the information sharing system between the pedestrian and driver | operator of this invention is described based on drawing.
(Concept of risk index of pedestrian group)
When there are a plurality of pedestrians, the driver side portable terminal 5 generates danger information for each group. To capture pedestrians as a group, as shown in step 301 of FIG. 7, the driver-side mobile terminal 5 uses the pedestrian-side mobile terminals 2 possessed by a plurality of pedestrians to obtain the position information of each pedestrian. Gather.

Next, in step 302, a distance between the plurality of pedestrians is calculated, and a group is formed based on the distance between the pedestrians and the threshold A. The threshold A is set to 3 m, for example.
Examples of group state grasping parameters for grasping the state of a pedestrian group include the following.
(1. Group size) Determine by the number of pedestrians.
As shown in FIG. 10, the size of the group can be ascertained as group A> group B> group C depending on the number of pedestrians.
(2. Group velocity) The velocity vector of each pedestrian is obtained, and the resultant vector is calculated.
As shown in FIG. 10, the combined vector 28 of group A, the combined vector 29 of group B, and the combined vector 30 of group C are calculated, the direction of the combined vector is taken as the direction of the group, and the size of the combined vector is Understand the speed of each group.
(3. Group variation) The deviation of the direction of the velocity vector of each pedestrian is calculated.
In the case of the group B in FIG. 10, the variation of the group B is grasped by calculating the deviation of the velocity vectors of the four pedestrians.
(4. Distance to group) While calculating the center of each group, the linear distance of the center and the driver | operator side portable terminal 5 is calculated.
In FIG. 10, the linear distance 31 between the center of the group A and the driver-side mobile terminal 5, the linear distance 32 between the center of the group B and the driver-side mobile terminal 5, the center of the group C and the driver-side mobile terminal 5 Is calculated.
(5. Angle between each group and planned vehicle course line 34) Angle formed by planned vehicle course line 34 calculated by the moving direction of driver-side mobile terminal 5 and the straight line distance to each of Group A, Group B, and Group C 35, 36, and 37 are calculated.
(6. Distance between each group and planned vehicle course line 34) Considering the size of each group, distances 49, 50, 51 between each A group, B group, C group and planned vehicle course line 34 are calculated. To do. The size of each group A, group B, and group C is set to a size and shape that includes all pedestrians in each group from the center thereof.
Next, in step 303, the state of the pedestrian group in consideration of the movement of the driver side portable terminal 5 is calculated to grasp the state of each group.

Finally, in step 304, the pedestrian group risk as one of the driver side risk information based on the recognition of each group, the calculated pedestrian group state, and information such as the planned vehicle course 34 of the car. Generate information. Specifically, a risk index of the pedestrian group is calculated, a notification method corresponding to the degree of the risk index is selected, and the notification unit 18 issues the notification method.
In order to use it as an indicator of the risk level of pedestrian groups,
(Distance to group) Threshold values S1, S2, S3,... For the distance to the group are set. For example, it is calculated by setting S1 = 70 m, S2 = 50 m, S3 = 30 m,.
(Number of groups) It is ascertained whether the number of groups is 1 or a plurality of values.
(Number of Group Members) It is determined whether the number of group members is 1 or a plurality of values.
(Position of group with respect to planned vehicle route) It is grasped whether each group is on the right side or the left side of the planned vehicle route 34.
And so on.

As shown in FIG. 8, the driver-side danger information generating unit 6 of the driver-side mobile terminal 5
A pedestrian position storage unit 8-1, ..., 8-n, a distance between pedestrians calculating unit 42 that calculates a distance between pedestrians,
A pedestrian group generation unit 44 that generates a pedestrian group from the pedestrian distance and a predetermined threshold value of the threshold value setting unit 43;
A pedestrian group state calculating unit 45 for calculating the state of the pedestrian group,
A planned vehicle route prediction unit 46 that predicts a planned route with the passage of time of the driver-side mobile terminal 5;
A pedestrian group risk information generation unit 47 that generates pedestrian group risk information as one of the driver side risk information is provided.

  FIG. 9 is a diagram illustrating an example of a flowchart for specifically processing the process illustrated in FIG. 7. As shown in FIG. 9, in step 401, it is determined whether or not the number of groups is one. If it is determined in step 401 that the number of groups is 1, it is determined in step 402 whether or not the number of pedestrians 1 constituting the group is 1. If it is determined that the number of pedestrians 1 in the group is 1, the distance L between the recognized group and the driver-side mobile terminal 5 in steps 403 to 406 is set to B = 70 m, C set in advance. It is determined which threshold value is within 50 m and D = 30 m.

And the notification information based on the danger information shown in step 407 to step 410 to the driver side portable terminal 5 according to the magnitude L of the distance L actually grasped and the threshold values B = 70 m, C = 50 m, and D = 30 m, respectively. To emit. As described above, the notification information includes a text display and a warning sound such as “Please be careful about pedestrians”.
When it is determined that the distance L is the distance from step 404 to step 406, it is determined that the degree of danger is large, and the display screen of the driver-side portable terminal 5 or the associated car navigation is determined according to each degree of danger. It is displayed on the windshield display screen of the device or car.

More specifically, if the calculated distance L is larger than the set threshold value B = 70 m in step 403, it is determined that there is little possibility that the pedestrian and the car will collide with each other. Is sent out and control is returned to step 401.
Further, as described in step 404, when threshold C <distance L <threshold B, notification information “pedestrian, attention” is issued in step 408, and notification information is set to “speed limit 40 km” in step 412. Is displayed.
As described above, this notification information is displayed not only on the display screen of the driver-side portable terminal 5, the car navigation device 19 that cooperates with the windshield display device 14 of the automobile 3, but also on the driver-side portable terminal 5. When the car on board has the automatic driving control device 13, the driving speed of the car 3 can be controlled to a speed limit value of 40 km / h.
Hereinafter, based on the discrimination processing in step 405 and step 406, notification of notification information in step 409 and step 410, display of speed limit 25 km / h in step 413, display of speed limit 15 km / h in step 414, or The speed limit control is performed.

On the other hand, if it is determined in step 401 that the number of groups is not 1 (NO in step 401), the process proceeds to determination in step 415 to determine whether the pedestrian group is located on the left side of the course.
If it is determined in step 415 that the group is not on the left side of the course (the group is on the right side of the course), the discrimination processing in steps 403 to 406 described above is performed.
On the other hand, if it is determined in step 415 that the group is on the left side of the course, the process proceeds to determination processing in steps 416 to 419.

  More specifically, if it is determined in step 416 that the distance L is greater than the threshold B = 70 m, the pedestrian group is located on the left side when viewed from the automobile, and there are a plurality of groups to grasp. In this situation, there are many pedestrians in the direction of travel. Accordingly, it is automatically determined that the situation should be noted, and notification information “pedestrian, many, attention” is transmitted in step 420, and “speed limit 50 km / h” is displayed or speed limit control is performed in step 411. To do.

  This concept is the same in steps 417 to 419. Since the risk increases in the order of step 417, step 418, and step 419, “speed limit 40 km / h” in step 412, “speed limit 25 km / h” in step 413, and step 414 depending on the risk of accidents. In “”, “speed limit 15 km / h” is displayed or speed limit control is performed.

  Moreover, after performing the process of step 411-step 414, it returns to step 401 and repeats the recognition process of a pedestrian and a group. This iterative process is performed at a time interval at which the group of pedestrians can be recognized effectively. The specific display contents of the danger information displayed on the driver-side portable terminal 5 are not limited to the example shown in FIG.

An example of the operation according to the present embodiment will be described with reference to FIG.
FIG. 10 shows the relationship between the group A, the group B, and the group C with the car 3 that carries the driver-side mobile terminal 5 and predicts the direction in which the car 3 travels according to the path of the past predetermined time. It is a figure for demonstrating the grasping | ascertaining condition of the group A, the group B, and the group C with respect to the vehicle planned course line 34 to perform.
As shown in FIGS. 7 and 8, for groups A, B, and C, the linear distance between each group and the driver-side mobile terminal 5, the combined vector (ie, the center of each group and the entire group) The pedestrian group risk information generation unit 47 of the driver side risk information generation unit 6 takes the pedestrian into consideration in consideration of the direction in which the group is moving, the size of each group, the group variation, etc. Comprehensively determine the level of group risk. For example, in FIG. 10, since the distance between the group C and the automobile 3 is the shortest, the speed limit to be displayed or controlled is set to 15 km / h as in step 414 in FIG.

Further, when the composite vector 28 indicating the group A including a large number of pedestrians intersects the planned vehicle course line 34, it is assumed that a large number of pedestrians exist in the traveling direction of the automobile, as shown in step 420 of FIG. It is set to display the notification information “pedestrian, many, attention”.
In this way, the group distance calculated for each group and the pedestrian risk level of each group are individually calculated based on the threshold values set as B = 70 m, C = 50 m, and D = 30 m. By grasping the information, the driver can know in advance the danger information to be encountered in the future regarding the driving of the automobile, and can avoid the occurrence of a traffic accident.

  Further, even if a pedestrian who does not have the pedestrian mobile terminal 2 is walking in a group having a certain size, the driver side mobile terminal 5 will be careful as a pedestrian in the group as a result. You will be prompted.

(Relationship between relative speed of car and pedestrian and threshold)
Hereinafter, an idea of how to set the threshold value according to the relative speed between the automobile 3 and the pedestrian 1 considered in Steps 411 to 414 in FIG. 9 will be described.
As shown in FIG. 11, the relative speed of the pedestrian and the automobile 3 considered in the case of one person rather than a group is represented by Vv · cos θ + Vp · cos φ. Vv represents the speed vector of the automobile 3, and Vp represents the speed vector of the pedestrian 1. Θ is the angle formed by the speed vector Vv of the car 3 and the shortest distance direction between the car 3 and the pedestrian 1, and φ is the angle formed by the speed vector Vp of the pedestrian and the shortest distance direction between the car 3 and the pedestrian 1. Show. To be exact, it must be considered based on the above Vv · cos θ + Vp · cos φ. However, in the main situation where the danger information is meaningful, it is a case where the pedestrian is far away from the car. Therefore, for simplification, θ can be set to 0 ° and the relative speed can be represented by Vv + Vp.

  On the other hand, the relationship shown in Table 1 is known as the relationship between the stopping distance of the automobile and the vehicle speed.

表１の「速度」と「停止距離」の関係を、本実施形態における「相対速度」を同じように当てはめて停止距離を考え、その数値を参考にそれぞれの閾値を決定する。表１は緊急の高い場合の認知時間を０．７５ｓｅｃとしており、本実施形態のような緊急性の低い情報の場合には、認知時間を３ｓｅｃで見積もった場合の停止距離は長くなる。

The relationship between “speed” and “stop distance” in Table 1 is applied in the same manner as the “relative speed” in the present embodiment, considering the stop distance, and the respective threshold values are determined with reference to the numerical values. In Table 1, the recognition time when the emergency is high is set to 0.75 sec. In the case of information with low urgency as in the present embodiment, the stop distance is long when the recognition time is estimated at 3 seconds.

  In order to avoid confusion, the stop distance when calculated with the recognition time in the case of low urgency is referred to as “margin distance” in this specification, and the relationship between the margin distance and the relative distance is shown in the graph of FIG. It is shown. In FIG. 12, the horizontal axis represents the relative speed [km / h] between the automobile and the pedestrian, and the vertical axis represents the distance [m] between the automobile and the pedestrian. Reference numeral 39 indicates a curve indicating the relationship between the speed and the stop distance based on Table 1, and reference numeral 40 indicates a curve indicating the relationship between the speed and the margin distance.

  As shown in FIG. 12, from the marginal distance curve 40, for example, when traveling at a speed of 50 km / h, when braking with less urgent information, it is understood that a distance of about 62 m to 63 m is required from FIG. . In other words, if the speed of the automobile is limited to 50 km / h, a traffic accident will not occur even if braking is performed based on less urgent information as long as the distance is at least 62 m to 63 m.

Using this logic, the distance threshold for speed limitation was set to 3 points (70 m, 50 m, 30 m), and the speed limit was determined under the following conditions.
<1> Speed limit = 50 km / h when the linear distance between the car and pedestrian is 70 m or more.
<2> Speed limit = 40 km / h when the linear distance between the car and the pedestrian is 50 m or more and less than 70 m.
<3> Speed limit = 25 km / h when the linear distance between the car and the pedestrian is 30 m or more and less than 50 m.
<4> Speed limit = 15 km / h when the linear distance between the car and pedestrian is less than 30 m.

  As a configuration for making the driver aware of the value of the speed limit, for example, in addition to the voice “Please set the speed limit to about 40 km / h to prevent accidents”, an automatic driving control device 13 is provided. In this case, the maximum speed of the automobile 3 can be controlled within the range. As described above, a margin time is provided by securing several seconds (for example, 3 seconds) until the distance between the speed limit and the distance becomes zero. Thus, it is possible to secure a time during which the speed can be lowered to the predetermined speed limit, and thereafter to perform control based on the operation within the speed limit.

2 Pedestrian side portable terminal 3 Car 5 Driver side portable terminal 6 Driver side danger information generation part (driver side dangerous information generation means)
7 Driver-side radio beacon generator (driver-side radio beacon generator)
8-1,..., 8-n Pedestrian position storage unit (pedestrian position storage means)
10 Driver side distance calculation part (Driver side distance calculation means)
12 Driver-side risk information determination unit (driver-side risk information determination means)
13 automatic operation control device 14 windshield display device 19 car navigation device 20 pedestrian side danger information generation part (pedestrian side danger information generation means)
21 Pedestrian-side radio beacon generator (pedestrian-side radio beacon generator)
24 Pedestrian distance calculation unit (pedestrian distance calculation means)
26 Pedestrian side risk information determination unit (pedestrian side risk information determination means)
42 Pedestrian distance calculator (Pedestrian distance calculator)
44 Pedestrian group generation unit (pedestrian group generation means)
45 Pedestrian group state calculation unit (pedestrian group state calculation means)
46 Planned automobile route forecast section (planned vehicle forecast route means)

Claims (7)

Between a pedestrian and a driver who can share information between the plurality of portable terminals by exchanging information with each other by radio wave beacons between a plurality of portable terminals having a wireless communication function, a calculation function, and a position information detection function. In the information sharing system,
The information exchanged between the pedestrian and the driver uses the data recorded in the IEEE 802.11 header area as vehicle information,
Set up a pedestrian mobile device and a driver mobile device,
The pedestrian side portable terminal is provided with pedestrian side danger information generating means,
The driver side portable terminal is provided with driver side danger information generating means,
The pedestrian-side danger information generating means includes pedestrian-side radio beacon generating means for broadcasting a pedestrian-side radio beacon including type information that is a pedestrian position and the pedestrian position information.
The driver-side danger information generating means has a driver-side radio beacon generating means for broadcasting a driver-side radio beacon including type information that indicates the driver position and the driver position information,
The pedestrian-side danger information generating means and the driver-side danger information generating means generate respective danger information by exchanging the driver-side radio beacon and the pedestrian-side radio beacon,
When the pedestrian-side danger information generation means and the driver-side danger information generation means generate the pedestrian-side danger information and the driver-side danger information, the data recorded in the IEEE802.11 header area is used. An information sharing system between pedestrians and drivers. The driver-side risk information generation means includes driver-side distance calculation means for calculating the distance between each pedestrian and the vehicle based on the position of the driver-side mobile terminal and the position of each pedestrian-side mobile terminal. And generating the driver-side danger information based on the calculated distance between each pedestrian and the driver,
The pedestrian side danger information generating means includes a pedestrian side distance calculating means for calculating a distance between the pedestrian and the car based on the position of the driver side mobile terminal and the position of the pedestrian side mobile terminal, The information sharing system between the pedestrian and the driver according to claim 1, wherein the pedestrian side risk information is generated based on a calculated distance between the pedestrian and the automobile.   A plurality of threshold values are set in advance in the driver-side danger information generating means corresponding to the distance value of the driver-side distance calculating means, and based on the threshold value and the actually calculated driver-side distance. The information sharing system between the pedestrian and the driver according to claim 2, further comprising a driver-side risk information determination unit that changes notification contents to the driver.   In the pedestrian side risk information generating means, a plurality of threshold values are set in advance corresponding to the distance value of the pedestrian side distance calculating means, and based on the threshold value and the actually calculated pedestrian side distance, The information sharing system between the pedestrian and the driver according to claim 2 or 3, further comprising a pedestrian-side risk information determining means for changing notification contents to the pedestrian. The driver side risk information generating means includes pedestrian position storage means for storing each pedestrian position in the driver side portable terminal,
A pedestrian distance calculating means for calculating a pedestrian distance between each pedestrian;
Pedestrian group generation means for generating a group based on the distance between the pedestrians and a predetermined threshold;
Pedestrian group state calculating means for calculating the state of the generated pedestrian group;
A planned vehicle route prediction means for predicting a planned route with the passage of time of the driver side mobile terminal,
The driver-side risk information generating means generates the driver-side risk information based on the generated group, the calculated pedestrian group state, and the predicted planned route. An information sharing system between a pedestrian and a driver according to any one of the above. The danger information includes at least one of speed limit information, warning, voice guidance, automatic driving control information for the automatic driving control device,
When a car having a driver-side mobile terminal is equipped with a car navigation device in a car, the speed limit information, the warning, and the voice guidance are transmitted from the driver-side mobile terminal via the car navigation device. The information sharing system between a pedestrian and a driver according to any one of claims 1 to 5, which is provided to a driver. The danger information includes at least one of speed limit information, warning, voice guidance, automatic driving control information for the automatic driving control device,
When the vehicle on which the driver having the driver-side mobile terminal rides has a windshield display device, the speed limit information, the warning, and the voice guidance are provided on the windshield display device by copying. The information sharing system between a pedestrian and a driver according to any one of claims 5.

Images