JP2016009265A - Abnormal state notification system and abnormal state detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an abnormal state notification system and abnormality detection device capable of minimizing an adverse effect such as discomfort or unrest on the periphery of an abnormal state when the abnormal state such as an accident occurs.SOLUTION: An abnormal state notification system 80 includes abnormal state detectors 11 and 51 that autonomously detect an abnormal state in the periphery of a stationary road machine 50 that is fixed on a road, and notifiers 54 of the stationary road machines 50 which notify emergent notification information based on which invasion to a position at which the abnormal state has occurred is inhibited. The abnormal state detector 11 or 51 is formed with, for example, a processor 11 of an abnormal state detection device 10 incorporated in a vehicle. The abnormal state detection device 10 includes detectors 22 and 21 capable of detecting the abnormal state, a decider 15 that decides whether the abnormal state has occurred, and a transmitter 18 that transmits abnormality detection information, which represents the abnormal state, so that the notifier 54 of the stationary road machine 50 fixed on a road can inhibit invasion to the position at which the abnormal state has occurred.

Description

  The present invention relates to an abnormal state notification device and an abnormal state detection device. The present invention particularly relates to an abnormal state notification device capable of notifying an abnormal state such as an accident that has occurred around a road fixing machine such as a traffic light, and an abnormal state detection device capable of detecting the abnormal state.

  For example, Patent Document 1 discloses an accident notification device provided in a vehicle (also referred to as a following vehicle). According to the description in Patent Document 1, when another vehicle (also referred to as an accident vehicle) preceding the vehicle (following vehicle) has an accident, the accident notification device receives accident information relating to the accident vehicle. In addition, it is provided with an informing means for informing the vicinity of the following vehicle of the presence of the accident vehicle. Here, the notification means of the accident notification device provided in the succeeding vehicle is configured by, for example, a hazard lamp, a horn, etc., and the accident notification device of the subsequent vehicle is another vehicle (also known as a subsequent vehicle) that follows the subsequent vehicle. For example, a hazard lamp of a following vehicle can be recognized.

JP 2005-165971 A

  However, a passenger in a subsequent vehicle cannot directly see the accident vehicle and cannot know the position of the accident vehicle. Therefore, the occupant of the succeeding vehicle decelerates or stops the succeeding vehicle in a state in which it cannot recognize that the hazard lamp of the succeeding vehicle is on the presence of the accident vehicle. In other words, a sense of discomfort remains in the passengers of subsequent vehicles.

  In addition, the accident notification device for the following vehicle causes other passengers, pedestrians, and the like existing around the following vehicle to recognize, for example, a horn sound of the following vehicle. When such a person includes a person who is unrelated to the accident vehicle, the accident notification device for the following vehicle gives anxiety to the person who is unrelated to the accident vehicle.

  One object of the present invention is to provide an abnormal state notification device and an abnormal state detection device capable of reducing the influence of a sense of incongruity and anxiety given to the periphery of an abnormal state when an abnormal state such as an accident occurs. There is to do. Other objects of the present invention will become apparent to those skilled in the art by referring to the aspects and best embodiments exemplified below and the accompanying drawings.

  In the following, in order to easily understand the outline of the present invention, embodiments according to the present invention will be exemplified.

A first aspect according to the present invention comprises:
An abnormal state detection unit that automatically detects an abnormal state around a road fixing machine fixed on the road;
A notification unit of the road fixing machine that notifies emergency notification information that suppresses entry into the position where the abnormal state has occurred;
It is related with the abnormal condition alerting | reporting apparatus provided with.

  For example, when an abnormal condition such as a vehicle accident, automatic braking of the vehicle, a driver's sleep, or a pedestrian rollover occurs around the road fixing machine, the abnormal condition detection unit automatically detects the abnormal condition. To detect. In response to this, the notification unit of the road fixing machine notifies emergency notification information that suppresses entry into the position where the abnormal state has occurred. Here, since the location where the abnormal state has occurred is reflected in the emergency notification information, even if the abnormal state cannot be seen directly, the person who tries to enter the location where the abnormal state has occurred (For example, a driver, a pedestrian, etc.) can easily recognize the position (or a dangerous direction based on the notification unit of the road fixing machine). By doing so, a person who tries to enter the position where the abnormal condition has occurred naturally (or reduced discomfort) to the position where the abnormal condition occurred (recognized position or recognized dangerous direction). Can be suppressed). Thus, the abnormal state notification device can reduce the influence on the periphery of the abnormal state.

  Moreover, the person who does not try to enter the position where the abnormal state has occurred does not recognize the emergency notification information by the notification unit of the road fixing machine. Alternatively, even if the person who does not attempt to enter the location where the abnormal condition occurs recognizes the emergency notification information, the person who does not attempt to enter the position where the abnormal condition occurs will generate an abnormal condition. It is easy to recognize that it is irrelevant to the position (or the dangerous direction based on the notification unit of the road fixing machine). In other words, the notification unit of the road fixing machine is unlikely to give anxiety to a person who is unrelated to the abnormal state. Thus, the abnormal state notification device can reduce the influence on the periphery of the abnormal state.

In a second aspect according to the present invention, in the first aspect,
The road fixing machine may be a traffic light.

  A traffic light can suppress an intrusion to an intersection or a pedestrian crossing on a daily basis. Therefore, even if the traffic light suppresses the entry to the location where the abnormal condition has occurred, as well as the suppression of the entry to the intersection or pedestrian crossing, those who try to enter the location where the abnormal condition has occurred It ’s harder to have a sense of incongruity. As a result, for example, a vehicle driver who tries to enter the position where the abnormal state has occurred can decelerate or stop the vehicle more naturally. On the other hand, for example, a pedestrian who does not attempt to enter a position where an abnormal state has occurred is more difficult to have anxiety even if he / she recognizes emergency notification information by a traffic light.

In a third aspect according to the present invention, in the second aspect,
The urgent notification information may include a prohibition signal that prohibits entry into the position where the abnormal state has occurred.

  Since the notification unit of the traffic light prohibits entry into the position where the abnormal state has occurred, a person who wants to enter the position where the abnormal state has occurred (for example, the driver of the vehicle) must take appropriate action (for example, the brake pedal). Easy to perform).

In a fourth aspect according to the present invention, in the second aspect,
The emergency notification information may be a red signal.

  The red light is a notification that prompts a stop that is used on a daily basis. In other words, since the red signal is also used for normal notification information, a person who tries to enter a position where an abnormal state has occurred feels uncomfortable even if he / she recognizes emergency notification information that is a red signal. There is nothing. Also, emergency notification information that is a red signal can form a prohibition signal that prohibits entry into a position where an abnormal condition has occurred, so that a person who tries to enter the position where an abnormal condition has occurred (for example, a vehicle) The driver) can easily perform an appropriate action (for example, depression of a brake pedal).

In a fifth aspect according to the present invention, in the second aspect,
The emergency notification information may include a red signal and an arrow signal permitting movement to another position different from the position where the abnormal state has occurred.

  The red signal and the arrow signal are notifications for prompting stop that are used on a daily basis and notifications for permitting movement in a specific direction. As a result, a person who tries to enter the position where the abnormal state has occurred does not feel uncomfortable, and can move to another position different from the position where the abnormal state has occurred. As a result, a person who tries to enter the position where the abnormal state has occurred is not restricted from moving in all directions, and is limited only to the minimum limit. Further, emergency notification information including a red signal and an arrow signal can form a prohibition signal that prohibits entry into a position where an abnormal state has occurred in a direction other than a specific direction specified by the arrow signal. . As a result, a person who wants to enter the position where the abnormal state has occurred (for example, a vehicle driver) can easily perform an appropriate action (for example, steering in a specific direction specified by an arrow signal).

In a sixth aspect according to the present invention, in any one of the first to fifth aspects,
When the abnormal state is resolved, the notification unit may notify normal notification information.

  When the abnormal state is resolved, the road fixing device such as a traffic light does not need to suppress the entry to the position where the abnormal state has occurred, so the notification unit of the road fixing device normally notifies the emergency notification information. You can return to information.

In a seventh aspect according to the present invention, in any one of the first to sixth aspects,
The notification unit may stop the notification of the emergency notification information when the abnormal state has moved.

  Since the road fixing machine such as a traffic light does not need to suppress the entry to the position where the abnormal condition has occurred when the one that has caused the abnormal condition (for example, an accident vehicle or a rollover) moves, the road fixing machine The notification unit can stop notification of emergency notification information.

An eighth aspect according to the present invention provides
An abnormal state detection device provided in a vehicle,
A detection unit capable of detecting an abnormal state;
A determination unit for determining whether or not the abnormal state has occurred;
When the determination unit determines that the abnormal state has occurred, the abnormal state so that the notification unit of the road fixing machine fixed on the road suppresses entry to the position where the abnormal state has occurred. A transmission unit that transmits abnormality detection information representing the road fixing machine,
It is related with the abnormal condition detection apparatus characterized by providing.

  When an abnormal condition occurs, the abnormal condition detection device automatically detects the abnormal condition and transmits the detection result (abnormality detection information) to the road fixing machine. Accordingly, the notification unit of the road fixing machine can notify the emergency notification information that suppresses the entry to the position where the abnormal state has occurred. By doing so, a person who tries to enter the position where the abnormal condition has occurred naturally (or reduced discomfort) to the position where the abnormal condition occurred (recognized position or recognized dangerous direction). Can be suppressed). Moreover, the alerting | reporting part of a road fixing machine does not give an uneasy feeling to the person unrelated to an abnormal state. As described above, the abnormal state device can reduce the influence on the periphery of the abnormal state via the notification unit of the road fixing machine.

1A shows a configuration example of an abnormal state notification device according to the present invention, and FIG. 1B and FIG. 1C show the configuration of the abnormal state detection unit and notification unit of FIG. 1A, respectively. An example is shown. It is a block diagram which shows the structural example of the abnormal condition detection apparatus and abnormal condition alerting | reporting apparatus according to 1st Embodiment. It is a flowchart figure which shows the operation example of the abnormal condition detection apparatus according to this invention. It is a flowchart figure which shows the operation example of the traffic light according to this invention. FIG. 5A shows the situation at the moment when the abnormal state occurs, FIG. 5B and FIG. 5D show the situation after the abnormal state occurs, and FIG. Indicates a situation that has been resolved. An explanatory view of a situation at the moment when another abnormal state occurs and an intrusion suppression region is shown. FIG. 6B is an explanatory diagram of another intrusion suppression region different from the intrusion suppression region of FIG. 6A. The situation after the abnormal state of FIG. 6A has occurred is shown. FIG. 6B shows another situation after the abnormal state of FIG. 6A has occurred. It is a block diagram which shows the abnormal condition detection apparatus and abnormal condition alerting | reporting apparatus according to 2nd Embodiment. It is a flowchart figure which shows the operation example of the traffic light according to this invention.

  The best mode described below is used to easily understand the present invention. Accordingly, those skilled in the art should note that the present invention is not unduly limited by the embodiments described below.

  FIG. 1A shows a configuration example of an abnormal state notification device according to the present invention, and the abnormal state notification device 80 includes, for example, an abnormal state detection unit 81 and a notification unit 83. Moreover, the structural example of the abnormal condition detection part 81 and the alerting | reporting part 83 is shown as an example by FIG. 1 (B) and FIG.1 (C). Below, the specific structure of the abnormal condition alerting | reporting apparatus 80 is demonstrated using 1st and 2nd embodiment.

1. First Embodiment FIG. 2 shows an abnormal state detection apparatus 10 that can automatically detect, for example, the operation of an automatic brake of a vehicle as an abnormal state. FIG. 2 also shows, for example, a traffic light 50 that is a road fixing machine that can communicate with an abnormal state detection device 10 provided in a vehicle, for example. The abnormal state notification device 80 (also referred to as an abnormal state notification system) according to the first embodiment can be configured by the abnormal state detection device 10 and the traffic light 50, for example. Below, the structural example of the abnormal condition detection apparatus 10 is demonstrated first. 2 corresponds to the abnormal state detection unit 81 in FIG. 1A or FIG. 1B.

  In FIG. 2, the abnormal state notification device 10 includes a damage reduction brake control operation determination unit 15, for example, and can further include, for example, an obstacle sensor 22 and a road-vehicle communication device 18 as optional components. 2 corresponds to the abnormal state detection unit 81 in FIG. 1A or the determination unit in FIG. 1B, and the obstacle sensor 22 and road-to-vehicle communication in FIG. The devices 18 correspond to the detection unit and the transmission unit in FIG. Here, the obstacle sensor 22 shown in FIG. 2 can detect an abnormal state. Specifically, the obstacle sensor 22 exists, for example, in front of a vehicle (own vehicle) in which the abnormal state detection device 10 is provided. Alternatively, the position of an obstacle such as a preceding vehicle that travels can be detected. Further, the damage reduction brake control operation determination unit 15 determines whether an abnormal state of the host vehicle has occurred. Specifically, the damage reduction brake control operation determination unit 15 determines, for example, an abnormal state of the own vehicle (for example, approach of the own vehicle and the obstacle, collision prediction, etc.) based on the position of the obstacle from the obstacle sensor 22. The presence or absence can be determined.

  The obstacle sensor 22 of FIG. 2 is a radar such as a millimeter wave radar, for example. For example, the millimeter wave radar provided on the front grill of the own vehicle is the position (relative position) of the obstacle, that is, the own vehicle and the obstacle. In addition to detecting the distance, it is preferable to detect the speed of the obstacle (relative speed), that is, the speed at which the obstacle approaches the host vehicle. Thereby, the object trajectory calculation unit 13 electrically connected to the obstacle sensor 22 can calculate the trajectory of an object such as an obstacle based on the position and speed of the obstacle from the obstacle sensor 22. The damage reduction brake control operation determination unit 15 that is electrically connected to the object trajectory calculation unit 13 and can grasp the trajectory of the obstacle, for example, compared with the case of grasping only the position of the obstacle, It is possible to more accurately determine the approaching state. Of course, the abnormal state detection apparatus 10 does not have to calculate the trajectory of the object.

  In addition, it is preferable that the abnormal state detection device 10 further includes, for example, a vehicle state sensor 21 and a host vehicle locus calculation unit 12. Note that the vehicle state sensor 21 in FIG. 2 corresponds to the detection unit in FIG. The own vehicle trajectory calculation unit 12 can calculate the trajectory (path) of the own vehicle based on information from the vehicle state sensor 21, for example. The damage reduction brake control operation determination unit 15 that can grasp the trajectory of the host vehicle can more accurately determine, for example, the prediction of a collision between the host vehicle and the obstacle, compared to when only the position of the obstacle is grasped. it can. Here, the vehicle state sensor 21 is, for example, a vehicle speed (vehicle speed) sensor, a yaw rate sensor, or the like. For example, the vehicle state sensor 21 may include a GPS sensor that can detect the position (absolute position) of the host vehicle.

  For example, when the damage reduction brake control operation determination unit 15 determines that an abnormal state of the own vehicle (for example, an approach between the vehicle and an obstacle, a collision prediction, etc.) has occurred, the damage reduction brake control operation determination unit 15 For example, a damage reduction brake operation signal can be generated as an abnormality detection signal representing an abnormal state.

  The abnormality detection signal or the damage reduction brake operation signal is sent from the damage reduction brake control operation determination unit 15 to the road-vehicle communication control unit 17. The road-vehicle communication control unit 17 can generate, for example, damage reduction brake operation information indicating a damage reduction brake operation signal as the abnormality detection information indicating the abnormality detection signal. Here, the abnormality detection information generated by the road-to-vehicle communication control unit 17 not only detects the abnormal state such as the operation of the damage reduction brake, but also the position (absolute position) of the own vehicle, the obstacle, etc. where the abnormal state occurs. ) May also be included. The road-to-vehicle communication device 18 controlled by the road-to-vehicle communication control unit 17 transmits abnormality detection information or damage reduction brake operation information to the traffic light 50. Here, the road-vehicle communication device 18 includes, for example, an oscillator, a modulator, an amplifier, and an antenna.

  Further, the damage reduction brake operation signal is sent from the damage reduction brake control operation determination unit 15 to the vehicle control unit 16. In response to this, the brake actuator 26 controlled by the vehicle control unit 16 can automatically increase the pressure of the brake fluid, for example. The automatic operation of such a brake (damage reduction brake) means an abnormal state of the host vehicle (for example, approach of the host vehicle and an obstacle, collision prediction, etc.).

  For example, when an abnormal state of the host vehicle (for example, approach of the host vehicle and an obstacle, prediction of collision, etc.) occurs, the vehicle control unit 16 controls the brake actuator 26 and controls the warning device 27, for example. The warning device 27 may warn the occupant such as the driver of the own vehicle of the operation of the brake actuator 26 or the operation of the automatic brake. The warning device 27 is, for example, an electric pretensioner. Specifically, for example, when an approach between the host vehicle and an obstacle occurs, the pretensioner pulls the webbing (seat belt) of the driver seat weakly, while, for example, a collision between the host vehicle and the obstacle occurs. In addition, the pretensioner can strongly retract the webbing of the driver seat and the passenger seat. The warning device 27 is a speaker unit (not shown) that outputs a warning sound indicating the occurrence of an abnormal state such as the operation of an automatic brake instead of or in addition to the pretensioner, You may comprise with the display part (not shown) etc. which display the warning display meaning generation | occurrence | production.

  In FIG. 2, for example, a processing unit 11 that is an ECU (Electronic Control Unit) can be configured by a computer (not shown), a storage unit (not shown), an input / output interface (not shown), and the like. The damage reduction brake control operation determination unit 15, the object trajectory calculation unit 13, the own vehicle trajectory calculation unit 12, the road-to-vehicle communication control unit 17, and the vehicle control unit 16 in the unit 11 execute, for example, a program stored in the storage unit. This can be achieved.

  The damage reduction brake control operation determination unit 15 in FIG. 2 determines or determines whether or not an abnormal state of the own vehicle has occurred, but the determination unit in FIG. 1B or the damage reduction brake control operation in FIG. For example, the determination unit 15 or the processing unit 11 may determine or determine whether or not an abnormal state of the driver has occurred. Specifically, for example, in FIG. 2, the damage reduction brake control operation determination unit 15 estimates the driver's dozing based on the vehicle state from the vehicle state sensor 21, for example, and determines whether or not the driver is falling asleep. Good. Here, the abnormal state notification device 10 in FIG. 2 is, for example, a camera (not shown) as the detection unit in FIG. 1B instead of or in addition to the vehicle state sensor 21 and the obstacle sensor 22. The camera (for example, a vehicle interior camera) may be able to detect a driver's doze, for example, by imaging a part of the driver of the host vehicle, such as a face or a pupil. As described above, the damage reduction brake control operation determination unit 15 in FIG. 2 may determine the presence or absence of an abnormal state of the driver based on, for example, a captured image from the vehicle interior camera.

  Further, the determination unit in FIG. 1B or the damage reduction brake control operation determination unit 15 or the processing unit 11 in FIG. 2 determines or determines whether or not another abnormal state such as an abnormal state of a pedestrian has occurred. May be. Specifically, for example, in FIG. 2, the abnormal condition notification device 10 may have a camera, for example, as the detection unit in FIG. 1B or the obstacle sensor 22 in FIG. For example, it may be possible to detect a pedestrian rollover by imaging a pedestrian on a road including a pedestrian crossing. Further, the camera (for example, a camera outside the passenger compartment) can detect an abnormal state such as an accident vehicle around the own vehicle (abnormal state detection device 10), a center line exceeded by the own vehicle, and an opposite lane entering by the own vehicle. May be.

  Next, a configuration example of the traffic light 50 in FIG. 2 will be described. A traffic light 50 that is an example of a road fixing machine is a traffic light lighting unit that notifies emergency notification information that suppresses entry into a position where an abnormal state automatically detected by, for example, the damage reduction brake control operation determination unit 15 occurs. 54. 2 corresponds to the notification unit 83 in FIG. 1 (A) or the output unit in FIG. 1 (C). The traffic light 50 or the traffic light lighting part 54 of FIG. 2 can suppress the intrusion to an intersection or a pedestrian crossing on a daily basis. Accordingly, even if the traffic light 50 or the traffic light lighting unit 54 suppresses the entry to the position where the abnormal state has occurred, similarly to the suppression of the entry to the intersection or pedestrian crossing, Those who try to invade are unlikely to feel uncomfortable. As a result, for example, the driver who intends to enter the position where the abnormal state has occurred can naturally decelerate or stop the intruding vehicle which intends to enter the position. On the other hand, for example, a pedestrian who does not attempt to enter the position where the abnormal state has occurred is less likely to have anxiety even if he / she recognizes emergency notification information by the traffic light 50 or the traffic light lighting unit 54.

  2 can include, for example, a road-to-vehicle communication device 55 (a traffic light side road-to-vehicle communication device). Abnormality detection information such as damage reduction brake operation information transmitted from the road-vehicle communication device 18 (vehicle-side road-vehicle communication device) is received by the road-vehicle communication device 55. The road-to-vehicle communication device 55 is controlled by, for example, the emergency lighting control unit 52. For example, when the damage reduction brake operation information is received or input to the traffic light 50, the emergency lighting control unit 52 receives the emergency notification information (for example, red Signal) can be generated (for example, a red signal lighting signal). In response to this, the traffic light 50 or the traffic light lighting unit 54 can forcibly light a red signal, for example. The road-to-vehicle communication device 55 and the emergency lighting control unit 52 in FIG. 2 correspond to the reception unit and the control unit in FIG.

  Here, the red signal is a notification that prompts a stop that is used on a daily basis. In other words, since the red signal is also used for normal notification information, a person who tries to enter a position where an abnormal state has occurred feels uncomfortable even if he / she recognizes emergency notification information that is a red signal. There is nothing. In addition, the emergency notification information that is a red signal can form a prohibition signal that prohibits entry into a position where an abnormal condition has occurred, so that a person who tries to enter the position where an abnormal condition has occurred (for example, intrusion) A driver of the vehicle easily performs an appropriate action (for example, depression of a brake pedal).

  As shown in FIG. 2, the traffic light 50 can further include, for example, a lighting control arbitration unit 53 and a normal lighting control unit 59. Note that the lighting control arbitration unit 53 and the normal lighting control unit 59 in FIG. 2 correspond to the control unit in FIG. The normal lighting control unit 59 can generate a normal notification signal representing normal notification information (for example, any one of a blue signal, a yellow signal, and a red signal) based on predetermined traffic rule information. The lighting control arbitration unit 53 performs arbitration between the normal notification signal and the emergency notification signal, and when the emergency notification signal is not input to the lighting control arbitration unit 53, the traffic light 50 or the traffic signal lighting unit 54 According to the rules, the green, yellow and red lights can be turned on sequentially. Note that the traffic signal lighting unit 54 may be constituted by, for example, a notification unit dedicated to the normal lighting control unit 59 and a notification unit dedicated to the emergency lighting control unit 52, and an abnormal state notification device 80 (abnormal state notification system). The notification unit may have at least a notification unit dedicated to the emergency lighting control unit 52.

  As an example of the operation of the abnormal state detection device according to the present invention, an example of the operation of the abnormal state detection unit 81 in FIG. 1B or the abnormal state detection device 10 in FIG. 2 will be described using the flowchart shown in FIG. To do. In step S101, the determination unit of the abnormal state detection unit 81 in FIG. 1B obtains detection information from the detection unit. In FIG. 2, the processing unit 11 of the abnormal state detection device 10 acquires obstacle detection information from the obstacle sensor 22, for example. Here, the processing unit 11 of the abnormal state detection device 10 can also acquire the vehicle state (own vehicle information) from the vehicle state sensor 21.

  In step S102 in FIG. 3, the determination unit of the abnormal state detection unit 81 in FIG. 1B determines whether an abnormal state has occurred in accordance with the acquisition of the detection information. In FIG. 2, for example, in response to the acquisition of the own vehicle information and the obstacle detection information, the processing unit 11 performs damage reduction brake operation determination. When the execution result of the damage reduction brake operation determination indicates that the damage reduction brake is not operated, the flow of FIG. 3 returns to START. On the other hand, when the execution result of the damage reduction brake operation determination indicates the operation of the damage reduction brake, in step S103, the determination unit of the abnormal state detection unit 81 in FIG. 1B or the processing unit 11 in FIG. Information or damage reduction brake operation information is transmitted to the transmission unit or the road-vehicle communication device 18. Thereafter, the flow returns to START.

  The determination unit of the abnormal state detection unit 81 in FIG. 1B continues the execution of step S102 in FIG. 3, and while the abnormal state is occurring, the determination unit of the abnormal state detection unit 81 Transmission can be continued by the transmitter. Here, the abnormal state includes, for example, an abnormal state of the own vehicle that is the operation of an automatic brake, for example, an abnormal state of the driver that is a driver's doze, for example, an abnormal state of a pedestrian that is a pedestrian rollover, for example, an accident vehicle The abnormal state of the other vehicle that is the presence of the is included. Hereinafter, the operation of the processing unit 11 of FIG. 2 when the abnormal state is, for example, the operation of an automatic brake will be described. In FIG. 2, the processing unit 11 continues to execute step S <b> 102 of FIG. 3, and the processing unit 11 transmits the damage reduction brake operation information while the execution result of the damage reduction brake operation determination indicates the operation of the damage reduction brake. Continue. However, before step S103 is executed, the processing unit 11 may obtain a transmission continuation period during which the transmission of the damage reduction brake operation information is continued. When the transmission continuation period exceeds the predetermined period, the processing unit 11 may stop transmitting the damage reduction brake operation information.

  By the way, when the processing unit 11 performs step S103 after the damage reduction brake is activated, the damage reduction brake control operation determination unit 15 may determine that the abnormal state has been resolved. Specifically, as a result of the automatic operation of the damage reduction brake caused by the occurrence of an abnormal state, the abnormal state is resolved when the stopped vehicle starts traveling again. Since the abnormal state has been resolved, the execution result of the damage reduction brake operation determination indicates that the damage reduction brake is not operated, and the flow proceeds to NO in step S102.

  As an example of the operation of the traffic light according to the present invention, an example of the operation of the notification unit 83 in FIG. 1C or the traffic signal 50 in FIG. 2 will be described using the flowchart shown in FIG. In step S201, the control part of the alerting | reporting part 83 of FIG.1 (C) acquires the road-to-vehicle communication information from a receiving part. In FIG. 2, the processing unit 51 of the traffic light 50 causes the road-to-vehicle communication device 55 to receive road-to-vehicle communication information representing communication between the abnormal state detection device 10 and the traffic signal 50 and acquires road-to-vehicle communication information. In step S202 of FIG. 4, whether the control unit of the notification unit 83 of FIG. 1C or the processing unit 51 of FIG. 2 includes abnormality detection information or damage reduction brake operation information in the road-to-vehicle communication information. Determine whether. In other words, the control unit of the notification unit 83 in FIG. 1C or the processing unit 51 in FIG. 2 generates an abnormal state around the road fixing machine or the traffic signal 50 based on the abnormality detection information or the damage reduction brake operation information. Determine whether or not. Hereinafter, the operation of the processing unit 11 of FIG. 2 when the abnormal state is, for example, the operation of an automatic brake will be described. For example, when abnormality detection information such as damage reduction brake operation information has not been received, the processing unit 51 of FIG. 2 can execute normal lighting control in step S203 of FIG. On the other hand, for example, when the damage mitigation brake operation information is received, in step S204, the processing unit 51 can execute emergency lighting control. The flow in FIG. 4 returns to START, and the processing unit 51 executes emergency lighting control while continuing to receive damage mitigation brake operation information, for example.

  The processing unit 51 in FIG. 2 may receive damage reduction brake non-operation information or damage reduction brake release information indicating that the damage reduction brake is not operated. When receiving the abnormality elimination information such as damage reduction brake non-operation information and damage reduction brake release information, that is, emergency lighting control end information, the processing unit 51 stops the execution of step S204 and executes step S203. Can do. When the road-to-vehicle communication information includes emergency lighting control end information, in other words, when the abnormal state notification device 10 generates and transmits emergency lighting control end information, the traffic light 50 ends the emergency lighting control. It is possible to more accurately determine the timing to be performed.

  In addition, the processing unit 51 in FIG. 2 may receive abnormality occurrence position information indicating a position where an abnormal state has occurred. When the road-to-vehicle communication information includes abnormality occurrence position information, in other words, when the abnormal condition notification device 10 generates and transmits abnormality occurrence position information, the traffic light 50 detects the intrusion to the position where the abnormal condition has occurred. The emergency notification information (for example, red signal) to be suppressed can be notified more accurately.

  An example of a technique for notifying emergency notification information that suppresses entry into a position where an abnormal state has occurred will be described with reference to FIG. For example, FIG. 5A shows a road formed with one lane on one side (a road having a total of two lanes), for example, and the road also has a pedestrian crossing, for example. Further, for example, four traffic lights 50A, 50B, 50C, and 50D exist in the range shown in FIG. Each of the traffic lights 50A and 50B uses, for example, signals of three colors including a blue signal, a yellow signal, and a red signal to notify permission, caution, or prohibition of passing a vehicle traveling on the roadway. Each of the traffic lights 50C and 50D notifies permission or prohibition of crossing of a pedestrian crossing by a pedestrian using, for example, two-color signals including a blue signal and a red signal.

  In FIG. 5A, the automatic brake of the host vehicle 100 is activated when the host vehicle 100 having the abnormal state detection device 10 of FIG. 2 approaches the front vehicle 101 that exists in front of the host vehicle 100 or travels. The situation at the moment was shown. For example, the host vehicle 100 can transmit abnormality detection information (damage reduction brake operation information) indicating an abnormal state of the host vehicle 100 to the vicinity of the host vehicle 100 (transmission area of the road-to-vehicle communication device 18). When the own vehicle 100 exists in the vicinity of each traffic signal 50A, 50B, 50C, 50D (reception area of the road-to-vehicle communication device 55), in other words, the transmission area of the road-to-vehicle communication device 18 is received by the road-to-vehicle communication device 55. When the communication between the own vehicle 100 and each of the traffic lights 50A, 50B, 50C, and 50D is established by overlapping the area, each of the traffic lights 50A, 50B, 50C, and 50D includes a road that includes abnormality detection information from the own vehicle 100. Inter-vehicle communication information can be received.

  FIG. 5B shows a situation in which the damage reduction brake of the host vehicle 100 (following vehicle) that has been following the forward vehicle 101 in FIG. In such a situation, there may be another vehicle (also referred to as a succeeding vehicle) that follows the host vehicle 100. A driver of a succeeding vehicle (not shown) may not be aware of an abnormal state (automatic brake operation) of the succeeding vehicle (own vehicle 100). In particular, when the subsequent vehicle does not have an automatic brake, a collision accident between the host vehicle 100 and the subsequent vehicle may occur. In addition, a certain amount of time may be required until the driver of the host vehicle 100 resumes normal driving, and the possibility of a collision accident between the host vehicle 100 and a subsequent vehicle increases.

  Therefore, as shown in FIG. 5 (B), the traffic light 50A displays a green signal in red according to the damage reduction brake operation information from the own vehicle 100 so that the subsequent vehicle does not enter the position where the abnormal state has occurred. Force change to signal. When recognizing the red signal of the traffic light 50A, the driver of the subsequent vehicle can naturally decelerate or stop the subsequent vehicle. In other words, the emergency notification information of the traffic signal 50A that is notified to a predetermined direction, for example, ahead of the traffic signal 50A reflects the lane of the host vehicle 100 in which the abnormal state has occurred, and therefore an abnormal state occurs. A person who tries to enter the position (for example, a driver of a subsequent vehicle) can easily recognize the position (or a dangerous direction based on the red signal of the traffic light 50A). Moreover, the red signal of the traffic light 50A does not give anxiety to vehicles and pedestrians that do not travel in the lane of the host vehicle 100 in which an abnormal state has occurred. That is, for example, a pedestrian who does not attempt to enter the position where the abnormal state has occurred is less likely to have anxiety even if he / she recognizes emergency notification information by the traffic light 50A.

  By the way, the detection unit of the abnormal state detection unit 81 in FIG. 1B may be able to automatically detect the position of the abnormal state, and the determination unit of the abnormal state detection unit 81 It is possible to automatically acquire or determine the position where the abnormal state has occurred when it is determined that the occurrence of the error has occurred. Specifically, the host vehicle 100 in FIG. 5B can include a GPS sensor capable of detecting the position (absolute position) of the host vehicle 100, for example, as the vehicle state sensor 21 in FIG. Accordingly, the host vehicle 100 can transmit, for example, the position information of the host vehicle 100 as the abnormality occurrence position information indicating the position where the abnormal state has occurred. Each of the traffic lights 50A, 50B, 50C and 50D can also receive the position information of the host vehicle 100 as the position where the abnormal state has occurred when receiving the damage reduction brake operation information. For example, the traffic light 50A is provided with an intrusion suppression area 58A corresponding to the lane ahead (front side) of the traffic light 50A, and the traffic light 50A has the position of the host vehicle 100 transmitting the damage reduction brake operation information in the intrusion suppression area 58A. Whether it belongs or not can be determined. When the position of the host vehicle 100 belongs to the intrusion suppression region 58A, the traffic light 50A can immediately change the green light to the red light.

  Of course, the host vehicle 100 may not detect a position where an abnormal state such as the position of the host vehicle 100 has occurred. Specifically, for example, the reception area of the traffic light 50A may be set or adjusted in advance in the intrusion suppression area 58A, and thereby the host vehicle 100 performs, for example, a damage reduction brake operation in the reception area of the traffic light 50A or the intrusion suppression area 58A. When the information 50A is transmitted and received by the traffic light 50A, the traffic light 50A may immediately change the green light to the red light.

  FIG. 5C shows a situation in which the abnormal state of the host vehicle 100 in FIG. Specifically, the damage reduction brake of the host vehicle 100 in FIG. 5A is released, the driver of the host vehicle 100 resumes normal driving, and the host vehicle 100 has passed the traffic signal 50A. In such a situation of FIG. 5C, the traffic light 50A no longer receives the abnormality detection information, so the traffic light 50A can return the red signal (emergency notification information) to the blue signal (normal notification information). .

  FIG. 5D shows a situation where a collision accident between the host vehicle 100 and the preceding vehicle 101 has occurred. In the situation shown in FIG. 5D, when the own vehicle 100 collides with the preceding vehicle 101, the preceding vehicle 101 is on the left lane and stops on the pedestrian crossing, while the own vehicle 100 is on the pedestrian crossing. It protrudes into the right lane (opposite lane).

  The road-to-vehicle communication control unit 17 of the abnormal state notification device 10 provided in the host vehicle 100 of FIG. 5D provides abnormality detection information regarding the host vehicle 100 to each of the traffic lights 50A, 50B, 50C, and 50D. You can keep sending. Specifically, for example, when the damage reduction brake control operation determination unit 15 of FIG. 2 determines the occurrence of a collision prediction between the host vehicle 100 and the preceding vehicle 101, road-to-vehicle communication control is performed even after the host vehicle 100 stops. The unit 17 can continue to transmit the collision accident occurrence information or the damage reduction brake operation information to the road-vehicle communication control unit 17. After the own vehicle 100 stops and until the driver of the own vehicle 100 resumes normal driving, the own vehicle 100 transmits abnormality detection information such as collision accident occurrence information and damage reduction brake operation information. You can continue. When the position of the host vehicle 100 belongs to the intrusion suppression areas 58A and 58B, each of the traffic lights 50A and 50B can forcibly change the green signal to a red signal (see FIG. 5D).

  For example, the traffic light 50B is provided with an intrusion suppression area 58B corresponding to the lane behind the traffic light 50B (back side), and the traffic light 50B transmits abnormality detection information using, for example, the position information of the host vehicle 100. It can be determined whether or not the position of the host vehicle 100 belongs to the intrusion suppression region 58B. In addition, the traffic lights 50C and 50D are respectively provided with intrusion suppression areas 58C and 58D corresponding to the pedestrian crossing.

  When the host vehicle 100 in FIG. 5D includes a camera (for example, a camera outside the passenger compartment), the camera outside the passenger compartment of the subject vehicle 100 images the front vehicle 101 on the pedestrian crossing and detects an accident in the front vehicle 101. Further, for example, the relative position of the front vehicle 101 with respect to the host vehicle 100 may also be detectable. When, for example, the camera of the host vehicle 100 detects an abnormal state (specifically, for example, the occurrence of an accident in the front vehicle 101) belonging to the intrusion suppression region 58C (intrusion suppression region 58D), And the position information of the front vehicle 101 can be transmitted. In response to this, each of the traffic lights 50C and 50D can continue to notify the emergency notification information that is a red signal. Thereafter, after the front vehicle 101 and the host vehicle 100 are moved by, for example, a tow truck, each of the traffic lights 50A, 50B, 50C, and 50D can notify normal notification information.

  When the host vehicle 100 does not include the damage reduction brake control operation determination unit 15 of FIG. 2, the host vehicle 100 uses, for example, a camera outside the vehicle, causes an accident in the front vehicle 101, exceeds the center line of the host vehicle 100, and is a pedestrian. An abnormal state such as a rollover of a pedestrian or a pedestrian entering the pedestrian crossing when the traffic lights 50C and 50D are in a red signal may be automatically detected, and abnormality detection information may be transmitted.

  FIG. 6A shows the situation at the moment when another abnormal condition occurs, and when the own vehicle 100 having the abnormal condition detection device 10 of FIG. 2 passes the traffic light 50E, the automatic brake of the own vehicle 100 is activated. Has started. FIG. 6A shows two intersections, for example, and there are eight traffic lights 50A, 50B, 50C, 50D, 50E, 50F, 50G, and 50H in the range shown in FIG. 6A. Each of the eight traffic lights 50A, 50B, 50C, 50D, 50E, 50F, 50G, and 50H includes, for example, three color signals including a blue signal, a yellow signal, and a red signal, and 3 that includes a left turn permission, a straight turn permission, and a right turn permission. Two arrow signals are used to notify permission, caution, or prohibition of passing the vehicle traveling on the roadway.

  In addition, FIG. 6A also shows intrusion suppression regions 58A, 58B, 58E, and 58F that correspond to, for example, four traffic lights 50A, 50B, 50E, and 50F, respectively. Here, the intrusion suppression area 58A corresponds not only to the front (front side) lane, for example, of the traffic light 50A, but also to the rear (back side) and side (side surface) lanes of the traffic signal 50A, for example. Similarly, for example, the intrusion suppression region 58B corresponds to, for example, the front (front side), rear (back side), and side (side surface) lanes of the traffic light 50B. Here, the portion corresponding to, for example, the front lane of the traffic light 50A in the intrusion suppression area 58A corresponds to only a part of the lane in front of the traffic light 50A, but the traffic light 50B in the intrusion suppression area 58B. For example, it may correspond to all of the lanes between two intersections, as in the portion corresponding to the rear lane.

  Next, FIG. 6B shows the same situation as that of FIG. 6A, and also shows intrusion suppression areas 58C, 58D, 58G and 58H corresponding to, for example, four traffic lights 50C, 50D, 50G and 50H, respectively. For example, the intrusion suppression region 58C corresponds to, for example, the front (front side), rear (back side), and side (side surface) lanes of the traffic signal 50C.

  FIG. 6C shows a situation where the damage reduction brake of the host vehicle 100 (following vehicle) that has been following the forward vehicle 101 in FIG. 6A has been automatically operated. Since the position of the host vehicle 100 in FIG. 6C belongs to the intrusion suppression areas 58E, 58G, and 58H in FIGS. 6A and 6B, each of the traffic lights 50E, 50G, and 50H in FIG. 6C reports emergency notification information. be able to. Here, the traffic light 50E of FIG. 6C can forcibly change the blue signal to a combination of a red signal and an arrow signal, and can permit only a right / left turn, for example. Of course, the traffic light 50E in FIG. 6C only needs to suppress entry into the position of the host vehicle 100. Therefore, the traffic light 50E in FIG. 6C may forcibly change the blue signal to, for example, only the red signal.

  For example, the traffic light 50F in FIG. 6C can notify normal notification information, and the traffic light 50F in FIG. 6C indicates a blue light. Thereafter, when the traffic light 50F indicates only a red signal, for example, according to a predetermined traffic rule, the traffic light 50G in FIG. 6C changes the red signal only to a combination of a red signal and an arrow signal (for example, only allowed to turn left and go straight). Also good. This is because the traffic light 50G in FIG. 6C needs to notify the emergency notification information, and therefore the traffic light 50G in FIG. 6C only needs to suppress intrusion (at least a right turn) into the position of the host vehicle 100. Similarly, since the traffic light 50H of FIG. 6C needs to notify emergency notification information, the traffic light 50H does not change from a red signal to, for example, a green signal according to a predetermined traffic rule, but after an abnormal state occurs. The traffic light 50H should just suppress the penetration | invasion (at least left turn) to the position of the own vehicle 100, for example, may continue a red signal.

  FIG. 6D shows a situation where a collision accident has occurred between the host vehicle 100 and the preceding vehicle 101. In the situation shown in FIG. 6D, the front vehicle 101 that collided with the host vehicle 100 is stopped in the left lane between two intersections, while the host vehicle 100 is in the right lane between the two intersections ( It is in the opposite lane). Since the position of the host vehicle 100 in FIG. 6D belongs to the intrusion suppression areas 58B, 58C, and 58D in FIGS. 6A and 6B, each of the traffic lights 50B, 50C, and 50D in FIG. 6D reports emergency notification information. be able to. Here, FIG. 6D represents a situation immediately after the traffic light 50B forcibly changes the blue signal to a combination of a red signal and an arrow signal (for example, only right and left turns are permitted). In FIG. 6D, for example, when the traffic light 50A indicates a green light, for example, the traffic light 50C indicates a red light. Thereafter, the traffic light 50C that needs to notify the emergency notification information does not change from a red signal to, for example, a green signal according to a predetermined traffic rule, and may suppress the entry into the position of the own vehicle 100. The signal may continue.

  In addition, since the position of the front vehicle 101 in FIG. 6D belongs to the intrusion suppression areas 58E, 58G, and 58H in FIGS. 6A and 6B, each of the traffic lights 50E, 50G, and 50H in FIG. Can be notified. Here, for example, the traffic light 50E in FIG. 6D only needs to suppress entry (at least straight ahead) into the position of the forward vehicle 101. Therefore, the traffic light 50E in FIG. 6D uses a combination of a red signal and an arrow signal (for example, left and right signals). Forcibly change only). Thus, for example, the traffic light 50E of FIG. 6D only restricts the vehicle to the minimum limit.

  For example, in FIG. 6C or FIG. 6D, each of the eight traffic lights 50A, 50B, 50C, 50D, 50E, 50F, 50G, and 50H (for example, the emergency lighting control unit 52) responds to abnormality detection information from the host vehicle 100, for example. Thus, it is determined whether or not to generate an emergency notification signal, but a plurality of traffic lights that are all or part of the eight traffic lights 50A, 50B, 50C, 50D, 50E, 50F, 50G, and 50H It may be controlled. In other words, for example, the emergency lighting control unit 52 of FIG. 2 may be shared by a plurality of traffic lights, and the emergency lighting control unit 52 may generate a plurality of emergency notification signals for the plurality of traffic lights. .

  For example, the emergency lighting control unit 52 shared by a plurality of traffic lights is electrically connected to the plurality of road-to-vehicle communication devices 55, and the abnormal state detection device 10 is based on the reception strength of each road-to-vehicle communication device 55. You may estimate the position (for example, the relative position of each of the eight traffic lights 50A, 50B, 50C, 50D, 50E, 50F, 50G and 50H and the host vehicle 100) of the host vehicle 100 provided. In other words, when the host vehicle 100 cannot transmit the position (absolute position) of the host vehicle 100 as road-to-vehicle communication information, the plurality of traffic lights are signals of damage reduction brake operation information other than the position (absolute position) of the host vehicle 100. Based on the intensity, the position (relative position) where the abnormal state has occurred may be estimated. That is, the control unit of the notification unit 83 in FIG. 1C may automatically estimate or determine the position where the abnormal state has occurred when the abnormality detection information is received.

2. Second Embodiment FIG. 7 shows an abnormal state notification device 80 composed of an abnormal state detection device 10 and a traffic light 50. The second embodiment is different from the first embodiment only in that the traffic light 50 of FIG. 7 includes the surrounding vehicle monitoring sensor 56, whereas the traffic light 50 of FIG. 2 does not include the surrounding vehicle monitoring sensor 56. Hereinafter, in the configuration of the second embodiment, the description of portions common to the first embodiment will be omitted. The surrounding vehicle monitoring sensor 56 in FIG. 7 is configured by, for example, a camera, a radar, a sonar, and the like. When the surrounding vehicle monitoring sensor 56 is a camera, for example, the surrounding vehicle monitoring sensor 56 images the periphery of the traffic light 50. Here, when the traffic light 50 is applied to the traffic light 50A of FIG. 5D, for example, the surrounding vehicle monitoring sensor 56 captures, for example, the intrusion suppression area 58A. Is provided. Alternatively, when the surrounding vehicle monitoring sensor 56 is shared by the traffic lights 50A, 50B, 50C, and 50D of FIG. Can be imaged. Note that the notification unit 83 in FIG. 1C can include a detection unit corresponding to the surrounding vehicle monitoring sensor 56 in FIG. 7.

  The emergency lighting control unit 52 in FIG. 7 performs image processing on an image (captured image) input from the surrounding vehicle monitoring sensor 56, for example, and exists around the traffic signal 50 (for example, the traffic signal 50A in FIG. 5D). For example, it is possible to detect an abnormal state of the vehicle (for example, the forward vehicle 101 and the host vehicle 100 which are the accident vehicles in FIG. 5D). Of course, it is preferable that the emergency lighting control unit 52 also detects, for example, an abnormal state of a pedestrian existing around the traffic signal 50 (for example, the traffic signal 50A in FIG. 5D).

  Specifically, the abnormal state determination unit 52 in FIG. 7 inputs, for example, an image of the periphery of the traffic signal 50 that is a road-fixing device that is imaged by the surrounding vehicle monitoring sensor 56 at predetermined time intervals. Here, the abnormal state determination unit 52 determines the presence or absence of an obstacle such as a vehicle or a pedestrian present in the captured image from the surrounding vehicle monitoring sensor 56, preferably the locus of the obstacle. For example, the abnormal state determination unit 52 determines that an abnormal state has occurred when it is determined that the trajectory of the vehicle present in the captured image is not a standard trajectory. The non-standard trajectory means, for example, that the traveling speed of the vehicle existing in the captured image is remarkably reduced, or that one vehicle existing in the captured image collides with another vehicle.

  As an example of the operation of the traffic light according to the present invention, an example of the operation of the notification unit 83 in FIG. 1C or the traffic signal 50 in FIG. 7 will be described using the flowchart shown in FIG. The abnormal state detection apparatus 10 of FIG. 7 operates as shown in the flowchart of FIG. Hereinafter, in the flowchart shown in FIG. 8, the description of the portions (step S301 to step S303) common to steps S201 to S203 in the flowchart of FIG. 4 is omitted.

  In step S304 of FIG. 8, in response to the reception of the abnormality detection information or the damage reduction brake operation information, the control unit of the notification unit 83 of FIG. 1C or the processing unit 51 of the traffic light 50 of FIG. Detection information that is, for example, surrounding vehicle information from a detection unit such as 56 is acquired. In step S305, in response to the acquisition of the detection information, the control unit of the notification unit 83 in FIG. 1C determines whether or not the one that has generated the abnormal state has moved. In FIG. 7, in response to the acquisition of surrounding vehicle information from the surrounding vehicle monitoring sensor 56, the processing unit 51 performs stop vehicle determination. As shown in step S305 of FIG. 8, when a stopped vehicle, for example, that has generated an abnormal state does not move and continues to exist as it is, in step S306, the control unit or diagram of the notification unit 83 of FIG. 7 processing part 51 can perform emergency lighting control. On the other hand, when the stopped vehicle that caused the abnormal state moves and no stopped vehicle exists, the flow proceeds to step S303.

  Thus, in the flowchart shown in FIG. 8, for example, the processing unit 51 of the traffic light 50 in FIG. 7 does not determine whether or not an abnormal state has occurred based only on the damage reduction brake operation information, but for example, the damage reduction brake operation. The presence of occurrence of an abnormal condition can be determined from the reception of information and the presence of a stopped vehicle, for example. Furthermore, the processing unit 51 of the traffic light 50 in FIG. 7 does not wait for the reception of the damage reduction brake operation information to stop, but only by the absence of the stopped vehicle (movement of the stopped vehicle), the absence of occurrence of an abnormal state ( Can be determined).

  Specifically, when the traffic light 50 of FIG. 7 is applied to, for example, the traffic light 50E of FIG. 6D, the surrounding vehicle monitoring sensor 56 can detect, for example, the forward vehicle 101 that stops in the intrusion suppression region 58E. Here, even if the host vehicle 100 is not equipped with, for example, a GPS sensor, a camera outside the vehicle compartment, etc., the traffic light 50E in FIG. 6D is based on the image (captured image) input from the surrounding vehicle monitoring sensor 56. It can be determined whether or not the position belongs to the intrusion suppression region 58E.

  Thereafter, the traffic light 50E in FIG. 6D preferably determines whether the host vehicle 101 that has been stopped, for example, moves again. Therefore, in step S306 in FIG. 7, for example, the front vehicle 101 in FIG. 6D has stopped. It is preferable that, for example, the traffic light 50E continues to execute emergency lighting control until after the front vehicle 101 is moved out of the intrusion suppression area 58E. On the other hand, for example, when the preceding vehicle 101 that has caused an abnormal state has moved out of the intrusion suppression area 58E, in step S303 in FIG. 7, for example, the traffic light 50E stops the emergency lighting control, and then lights in the normal time. It is preferable to return to control.

Modified Example In FIG. 7, the abnormal state notification device 80 includes an abnormal state detection device 10 and a traffic light 50. However, the abnormal condition notifying device 80 in FIG. 1A may be configured only by a road fixing device such as the traffic light 50. Specifically, for example, the surrounding vehicle monitoring sensor 56, the emergency lighting control unit 52 (or the processing unit 51), and the traffic light lighting unit 54 in FIG. 7 include the detection unit and determination of the abnormal state detection unit 81 in FIG. And the control unit and the output unit of the notification unit 84 in FIG.

  The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art will be able to easily modify the above-described exemplary embodiments to the extent included in the claims. .

  DESCRIPTION OF SYMBOLS 10 ... Abnormal state detection apparatus, 11 ... Processing part, 12 ... Own vehicle locus | trajectory calculation part, 13 ... Object locus | trajectory calculation part, 15 ... Damage reduction brake control operation determination part, 16 ... · Vehicle control unit, 17 ··· Road-to-vehicle communication control unit, 18 · · · Road-to-vehicle communication device, 21 ··· Vehicle state sensor, 22 · · · obstacle sensor, 26 · · · brake actuator, Warning device, 50 ... traffic light, 51 ... processing unit, 52 ... emergency lighting control unit, 53 ... lighting control arbitration unit, 54 ... traffic light lighting unit, 55 ... road-to-vehicle distance Communication device 56... Surrounding vehicle monitoring sensor 59. Normal lighting control unit 80. Abnormal state notification device 81. Abnormal state detection unit 83.

Claims (8)

An abnormal state detection unit that automatically detects an abnormal state around a road fixing machine fixed on the road;
A notification unit of the road fixing machine that notifies emergency notification information that suppresses entry into the position where the abnormal state has occurred;
An abnormal state notification device comprising:   The abnormal condition notification device according to claim 1, wherein the road fixing device is a traffic light.   The abnormal state notification device according to claim 2, wherein the emergency notification information includes a prohibition signal for prohibiting entry into a position where the abnormal state has occurred.   The abnormal state notification device according to claim 2, wherein the emergency notification information is a red signal.   3. The abnormality according to claim 2, wherein the emergency notification information includes a red signal and an arrow signal that permits movement to another position different from the position where the abnormal state has occurred. Status notification device.   The abnormal condition notifying apparatus according to any one of claims 1 to 5, wherein when the abnormal condition is resolved, the notification unit notifies normal notification information.   The abnormal state notification according to any one of claims 1 to 6, wherein the notification unit stops the notification of the emergency notification information when the one that has generated the abnormal state moves. apparatus. An abnormal state detection device provided in a vehicle,
A detection unit capable of detecting an abnormal state;
A determination unit for determining whether or not the abnormal state has occurred;
When the determination unit determines that the abnormal state has occurred, the abnormal state so that the notification unit of the road fixing machine fixed on the road suppresses entry to the position where the abnormal state has occurred. A transmission unit that transmits abnormality detection information representing the road fixing machine,
An abnormal state detection device comprising:

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