JP2016184200A - Pedestrian approach notification device, pedestrian approach notification system, computer program, and pedestrian approach notification method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pedestrian approach notification device, pedestrian approach notification system, computer program, and pedestrian approach notification method that can prevent unnecessary notification.SOLUTION: A pedestrian approach notification device comprises: a boarding determination unit that determines whether or not a passenger is boarding a vehicle if a reception unit receives identification information to identify a person and a vehicle from a plurality of communication devices; and a notification control unit that controls a notification unit not to give notice if the boarding determination unit has determined that a passenger is boarding.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a pedestrian approach notifying device for notifying an approach to a pedestrian, a pedestrian approach notifying system provided with the pedestrian approach notifying device, a computer program for realizing the pedestrian approach notifying device, and a pedestrian approach notifying. Regarding the method.

  Technologies for avoiding a collision between a pedestrian and a vehicle and improving the safety of the pedestrian are being developed. For example, each of the in-vehicle wireless communication device mounted on the vehicle and the portable wireless communication device carried by the pedestrian forms and transmits GPS information including the position, and the own GPS information and the received GPS information A system is disclosed in which the degree of danger is determined based on the situation and the driver or pedestrian is alerted in a situation where there is a possibility of danger (see Patent Document 1).

JP 2004-220143 A

  However, since the system of Patent Literature 1 determines the degree of risk based on the position of the portable wireless communication device carried by the pedestrian, when the person carrying the portable wireless communication device is on the vehicle, the vehicle is Even when approaching the vehicle, a warning will be issued to alert you. However, since a person is on the vehicle, a situation where a pedestrian collides with the own vehicle does not occur. For this reason, there is a problem that an unnecessary alarm is issued.

  The present invention has been made in view of such circumstances, a pedestrian approach notification device capable of preventing unnecessary notification, a pedestrian approach notification system including the pedestrian approach notification device, and the pedestrian approach notification. It is an object to provide a computer program and a pedestrian approach notification method for realizing the device.

  A pedestrian approach notification device according to an embodiment of the present invention is received by receiving information from a communication device that is carried by a person or mounted on a vehicle and transmits information including identification information for identifying the person or the vehicle. A pedestrian approach notification device comprising: a unit and a notification unit for notifying an approach to a pedestrian based on information received by the reception unit; identification information for identifying a person and a vehicle from the plurality of communication devices When received by the receiving unit, a boarding determination unit that determines whether or not the person is on the vehicle, and when the boarding determination unit determines that the person is on board, the notification unit performs notification. A notification control unit that performs control so as not to exist.

  A pedestrian approach notification system according to an embodiment of the present invention identifies a pedestrian approach notification device according to any one of the above-described invention and a person or a vehicle that is carried by a person or mounted on a vehicle. A communication device that transmits information including identification information, and the pedestrian approach notification device receives the information from the communication device.

  A computer program according to an embodiment of the present invention is a computer program that causes a notification unit to notify the approach of a pedestrian to a notification unit. It is made to function as a boarding judgment means for judging whether or not the vehicle is being boarded, and a notice control means for performing control so as not to perform the notice by the notice section when it is judged that the vehicle is being boarded.

  A pedestrian approach notification method according to an embodiment of the present invention is received by receiving information from a communication device that is carried by a person or mounted on a vehicle and transmits information including identification information for identifying the person or the vehicle. A pedestrian approach notification method comprising: a pedestrian approach notification device comprising: a pedestrian approach notification device comprising: a pedestrian approach notification device comprising: a pedestrian approach notification device; When the receiving unit receives the identification information for identifying the vehicle, the step of determining whether or not the person is in the vehicle and the step of determining whether the person is in the vehicle, And a step of controlling the notification control unit so as not to perform the notification.

  According to the present invention, unnecessary notification can be prevented.

It is a block diagram which shows an example of a structure of the pedestrian approach alerting | reporting system of this Embodiment. It is a schematic diagram which shows an example of the mode of the periphery of the own vehicle carrying the pedestrian approach alerting device of this Embodiment. It is a schematic diagram which shows an example of the alerting | reporting level by the pedestrian approach alerting | reporting apparatus of this Embodiment. It is a schematic diagram which shows an example of a mode that the person has boarded the vehicle (other vehicle). It is explanatory drawing which shows an example of boarding determination by the pedestrian approach alerting | reporting apparatus of this Embodiment. It is a schematic diagram which shows an example in case there exists a sidewalk around the own vehicle. It is a schematic diagram which shows the other example in case there exists a sidewalk around the own vehicle. It is a schematic diagram which shows an example in case there is no sidewalk around the own vehicle. It is a flowchart which shows an example of the process sequence of the pedestrian approach alerting | reporting apparatus of this Embodiment. It is a flowchart which shows an example of the process sequence of the pedestrian approach alerting | reporting apparatus of this Embodiment.

[Description of Embodiment of Present Invention]
A pedestrian approach notification device according to an embodiment of the present invention is received by receiving information from a communication device that is carried by a person or mounted on a vehicle and transmits information including identification information for identifying the person or the vehicle. A pedestrian approach notification device comprising: a unit and a notification unit for notifying an approach to a pedestrian based on information received by the reception unit; identification information for identifying a person and a vehicle from the plurality of communication devices When received by the receiving unit, a boarding determination unit that determines whether or not the person is on the vehicle, and when the boarding determination unit determines that the person is on board, the notification unit performs notification. A notification control unit that performs control so as not to exist.

  A computer program according to an embodiment of the present invention is a computer program that causes a notification unit to notify the approach of a pedestrian to a notification unit. It is made to function as a boarding judgment means for judging whether or not the vehicle is being boarded, and a notice control means for performing control so as not to perform the notice by the notice section when it is judged that the vehicle is being boarded.

  A pedestrian approach notification method according to an embodiment of the present invention is received by receiving information from a communication device that is carried by a person or mounted on a vehicle and transmits information including identification information for identifying the person or the vehicle. A pedestrian approach notification method comprising: a pedestrian approach notification device comprising: a pedestrian approach notification device comprising: a pedestrian approach notification device comprising: a pedestrian approach notification device; When the receiving unit receives the identification information for identifying the vehicle, the step of determining whether or not the person is in the vehicle and the step of determining whether the person is in the vehicle, And a step of controlling the notification control unit so as not to perform the notification.

  The pedestrian approach notification device can be mounted on the own vehicle. The boarding determination unit determines whether the person is in the vehicle when receiving the identification information for identifying the person and the vehicle (other vehicle) from the plurality of communication devices. “On board” means that a person is on the vehicle. In addition to the identification information for identifying a person and a vehicle, the communication device can transmit, for example, information regarding a position at a predetermined cycle. The speed and traveling direction can be calculated based on the position for each predetermined period. In addition to the information related to the position, the communication device can transmit information related to the speed and information related to the traveling direction. The determination as to whether or not the user is in the vehicle can be made based on, for example, whether the speed of the communication device carried by the person is faster than the walking speed of the pedestrian. When the speed of the communication device carried by a person is faster than the walking speed, it can be considered that the person gets on the vehicle and moves at the same speed as the vehicle.

  The notification control unit performs control so that the notification by the notification unit is not performed when the boarding determination unit determines that the vehicle is in the boarding state. When a person is on the vehicle and moving, the person is not a pedestrian and there is no possibility of collision between the vehicle and the pedestrian. Can be prevented.

  In the pedestrian approach notification device according to the embodiment of the present invention, the reception unit receives information related to the speed of the communication device, and the boarding determination unit transmits identification information for identifying a person. When the speed difference between the communication apparatuses and the communication apparatuses that transmitted the identification information for identifying the vehicle is smaller than a predetermined speed difference threshold value, it is determined that the vehicle is on board.

  The receiving unit receives information regarding the speed of the communication device. The boarding determination unit determines that the vehicle is in a boarding state when the speed difference between the communication device that transmitted the identification information for identifying the person and the communication device that transmitted the identification information for identifying the vehicle is smaller than a predetermined speed difference threshold. To do. When the speed difference between the speed of the communication device carried by a person and the speed of the communication device mounted on the vehicle is small, it can be considered that the person is on the vehicle and moving at the same speed as the vehicle. Therefore, it can be determined that a person is in the vehicle.

  In the pedestrian approach notification device according to an embodiment of the present invention, the reception unit receives information related to the position of the communication device, and the boarding determination unit transmits identification information for identifying a person. When the positions of the communication devices and the communication devices that have transmitted the identification information for identifying the vehicles are within a predetermined distance, it is determined that the vehicle is on board.

  The receiving unit receives information regarding the position of the communication device. The boarding determination unit determines that the vehicle is in a boarding state when the positions of the communication device that has transmitted identification information for identifying a person and the communication device that has transmitted identification information for identifying a vehicle are within a predetermined distance. If the position of the communication device carried by the person is close to the position of the communication device mounted on the vehicle, it can be considered that the person is in the vehicle, so it is determined that the person is in the vehicle. can do.

  In the pedestrian approach notification device according to an embodiment of the present invention, the reception unit receives information related to a traveling direction of the communication device, and the boarding determination unit transmits identification information for identifying a person. When the traveling direction difference between the communication device and the communication device that transmitted the identification information for identifying the vehicle is within a predetermined range, it is determined that the vehicle is on board.

  The receiving unit receives information related to the traveling direction of the communication device. The boarding determination unit determines that the vehicle is in a boarding state when the traveling direction difference between the communication device that has transmitted identification information for identifying a person and the communication device that has transmitted identification information for identifying a vehicle is within a predetermined range. If the traveling direction of the communication device carried by the person and the traveling direction of the communication device mounted on the vehicle are the same traveling direction, the person gets on the vehicle and moves to the same traveling direction as the vehicle. Therefore, it can be determined that a person is in the vehicle.

  A pedestrian approach notification device according to an embodiment of the present invention includes an azimuth specifying unit that specifies its own traveling azimuth and a sidewalk determination unit that determines whether there is a sidewalk in the vicinity. When the position of the communication device that transmitted the identification information for identifying a person is on the sidewalk determined by the sidewalk determination unit, a difference in direction between the traveling direction of the communication device and the traveling direction specified by the direction specifying unit is predetermined. When it is within the range, control is performed so that notification by the notification unit is not performed.

  The direction specifying unit specifies the traveling direction of the vehicle (own vehicle). For example, an orientation sensor can be used for specifying the orientation. The sidewalk determination unit determines whether or not there is a sidewalk in the vicinity (for example, around the road on which the vehicle travels). The sidewalk determination unit can determine the presence or absence of a sidewalk by, for example, imaging the periphery of the vehicle with an imaging device and processing an image obtained by imaging. The sidewalk determination unit may determine the presence or absence of a sidewalk based on road information acquired from a roadside device or road information stored in advance, for example.

  When the position of the communication device that transmitted the identification information for identifying the person is on the sidewalk determined by the sidewalk determination unit, the notification control unit determines the difference between the traveling direction of the communication device and the traveling direction specified by the direction specifying unit. Is controlled so as not to be notified by the notification unit. For example, it is assumed that there is a sidewalk adjacent to the roadway. If your vehicle is running on a road and people are walking on the sidewalk, if your vehicle and the person are traveling in the same direction, the possibility that your vehicle and pedestrian will collide is extremely low. Do not broadcast. Thereby, unnecessary notification can be prevented.

  A pedestrian approach notification device according to an embodiment of the present invention includes a position specifying unit that specifies its own position, a position of a communication device that has transmitted identification information for identifying a person, and a position specified by the position specifying unit. A risk degree determination unit that determines the degree of danger of approaching a pedestrian according to the distance, and the notification unit sets a notification level according to a determination result in the risk degree determination unit. is there.

  The position specifying unit specifies the position of the vehicle (own vehicle). For example, a GPS system, a vehicle speed sensor, a gyro sensor, or the like can be used for specifying the position. The degree-of-risk determination unit determines the degree of risk of approaching a pedestrian according to the distance d between the position of the communication device that has transmitted identification information for identifying a person and the position specified by the position specifying unit (the position of the host vehicle). Determine. Then, the notification unit sets the notification level according to the determination result in the risk degree determination unit. For example, when the distance d is d ≦ first threshold distance Lth1 (for example, 5 m, etc.), the warning level can be determined as the risk level is high. Further, when the distance d satisfies the first threshold distance Lth1 <d ≦ second threshold distance Lth2 (for example, 20 m), the danger level is slightly large, and the attention level can be set. With the configuration described above, the degree of danger of a collision between a pedestrian and the host vehicle can be evoked step by step, and avoidance behavior can be quickly performed.

  In the pedestrian approach notification device according to an embodiment of the present invention, when the notification unit determines that there is no sidewalk by the sidewalk determination unit, the notification level is set high.

  The notification unit sets a high notification level when the sidewalk determination unit determines that there is no sidewalk. When there is no sidewalk, there is a possibility that a pedestrian is walking on the side of the roadway, so the notification level is increased. For example, by increasing (longening) the second threshold distance Lth2 that is determined to be the attention level, the attention level can be notified before the distance between the vehicle and the pedestrian becomes too short. Further, the first threshold distance Lth1 that is determined to be the warning level may be increased. As a result, the warning level can be notified before the distance between the vehicle and the pedestrian becomes too short.

  In the pedestrian approach notification device according to an embodiment of the present invention, the notification control unit performs notification by the notification unit when the speed of the communication device that has transmitted identification information for identifying a person is faster than a predetermined threshold speed. Control is done so that there is no.

  The notification control unit performs control so that notification by the notification unit is not performed when the speed of the communication device that has transmitted identification information for identifying a person is faster than a predetermined threshold speed. For example, when a person is riding a two-wheeled vehicle (motorcycle or the like), it does not correspond to a pedestrian, so that unnecessary notification can be prevented by not performing notification.

  A pedestrian approach notification system according to an embodiment of the present invention identifies a pedestrian approach notification device according to any one of the above-described invention and a person or a vehicle that is carried by a person or mounted on a vehicle. A communication device that transmits information including identification information, and the pedestrian approach notification device receives the information from the communication device.

  A pedestrian approach notification device, and a communication device that is carried by a person or mounted on a vehicle and transmits information including identification information for identifying the person or the vehicle. Receive information. Thereby, the pedestrian approach alerting | reporting system which can prevent unnecessary alerting | reporting can be provided.

[Details of the embodiment of the present invention]
Hereinafter, a pedestrian approach notification device, a pedestrian approach notification system, and a pedestrian approach notification method according to embodiments of the present invention will be described with reference to the drawings. Note that at least some of the embodiments described below can be arbitrarily combined. FIG. 1 is a block diagram showing an example of the configuration of the pedestrian approach notification system of the present embodiment. The pedestrian approach notification system includes a pedestrian approach notification device 100, a plurality of communication devices 200, and the like. The pedestrian approach notification device 100 can be mounted on a vehicle. In the present embodiment, a vehicle equipped with the pedestrian approach notification device 100 is referred to as a host vehicle (host vehicle). Communication device 200 can be carried by a person or mounted on a vehicle. In the present embodiment, a vehicle equipped with communication device 200 is referred to as another vehicle (another vehicle). Note that the communication device 200 stores identification information for identifying that the person is carrying when carried by a person, and identifies that the person is carried on the vehicle when mounted on the vehicle. The identification information is stored, and the identification information includes information for identifying the type of emergency vehicle, ordinary vehicle, and the like.

  The pedestrian approach notification device 100 includes a control unit 10, a communication unit 11, a positioning unit 12, a notification unit 13, a boarding determination unit 14, a notification control unit 15, a sidewalk determination unit 16, and the like that control the entire apparatus. The communication device 200 also includes a CPU 20, a positioning unit 21, a storage unit 22, a communication unit 23, and the like that control the entire device.

  Each of the communication unit 11 and the communication unit 23 includes, for example, a 700 MHz band communication function of ITS (Intelligent Transport System). When the communication device 200 is configured to be carried by a person, the communication device 200 or a part of the communication unit 23 can be built in, for example, a smartphone, a tablet terminal, or a mobile phone. Thereby, the person can carry the communication apparatus 200 or the communication part 23 which has an ITS radio | wireless function.

  The storage unit 22 stores identification information for identifying a person or a vehicle.

  When the communication device 200 is carried by a person, the positioning unit 21 includes a GPS system, a direction sensor, and the like, receives radio waves from a plurality of GPS satellites by the GPS system, and detects the position of the person at a predetermined cycle. Note that the CPU 20 can calculate the speed and the traveling direction based on the detected position. Note that the positioning unit 21 can also be used as a part built in advance in a smartphone, a tablet terminal, a mobile phone, or the like.

  When the communication device 200 is mounted on a vehicle, the positioning unit 21 includes a GPS system, a vehicle speed sensor, a gyro sensor, an azimuth sensor, etc., receives radio waves from a plurality of GPS satellites by the GPS system, and determines the position of the own vehicle. Detect with period.

  The communication unit 23 transmits identification information for identifying a person or a vehicle and information on the position, speed, and traveling direction of the communication device 200 to the pedestrian approach notification device 100 at a predetermined cycle (for example, 0.5 seconds). To do.

  The communication unit 11 has a function as a reception unit, searches for the presence / absence of the communication device 200 at a predetermined cycle (for example, about 0.5 seconds) under the control of the control unit 10, and the communication device 200 has a communication range. If it exists, information including identification information for identifying the person or the vehicle is received from the communication device 200. In addition to the identification information, the information received by the communication unit 11 includes information on the position of the communication device 200 (for example, an absolute position such as latitude and longitude, or a relative position from a reference point), speed, and traveling direction. Can be included. Note that if the information about the position can be received from the communication device 200 at a predetermined cycle, the speed and the traveling direction of the communication device 200 can be calculated without receiving the information about the speed and the traveling direction from the communication device 200. it can.

  The positioning unit 12 includes a GPS system, a vehicle speed sensor, a gyro sensor, an orientation sensor, and the like, receives radio waves from a plurality of GPS satellites by the GPS system, and detects the position of the own vehicle at a predetermined cycle.

  The positioning unit 12 has a function as a position specifying unit that specifies the position of the own vehicle (self). In addition, the positioning unit 12 has a function as an orientation specifying unit that specifies the traveling direction of the host vehicle.

  The control unit 10 determines the distance between the vehicle and the communication device 200 (for example, another vehicle or a person) based on the identification information and the position information received by the communication unit 11 and the position of the vehicle specified by the positioning unit 12. calculate.

  FIG. 2 is a schematic diagram showing an example of the state of the vicinity of the own vehicle equipped with the pedestrian approach notification device 100 of the present embodiment. As shown in FIG. 2, there are two other vehicles and two people around the own vehicle. The pedestrian approach notification device 100 mounted on the host vehicle receives the identification information and information on the position, speed, and traveling direction from the communication device 200 carried by a person and the communication device 200 mounted on another vehicle. The distances d1 and d2 between the vehicle and the other vehicle, the distances d3 and d4 between the host vehicle and the person, and the speed and traveling direction of the other vehicle and the person can be specified.

  The alerting | reporting part 13 alert | reports to arouse the approach of a pedestrian with a predetermined alerting | reporting level according to the distance of the own vehicle and a person. The alerting | reporting part 13 is provided with the display panel etc. for outputting the application (it also calls an application) which alert | reports the approach of a pedestrian, an alerting | reporting content with a sound, an image, etc.

  FIG. 3 is a schematic diagram showing an example of a notification level by the pedestrian approach notification device 100 of the present embodiment. The control unit 10 has a function as a risk degree determination unit, and according to the distance d between the position of the communication device 200 that has transmitted identification information for identifying a person and the position of the host vehicle specified by the positioning unit 12, Determine the degree of danger of approaching pedestrians.

  The notification unit 13 sets the notification level according to the determination result in the control unit 10. As shown in FIG. 3, for example, when the distance d is d ≦ first threshold distance Lth1 (for example, 5 m, etc.), the warning level can be set as a high degree of danger. Further, when the distance d satisfies the first threshold distance Lth1 <d ≦ second threshold distance Lth2 (for example, 20 m), the danger level is slightly large, and the attention level can be set.

  The caution level may be, for example, “Pedestrians are approaching from the direction of OO. Be careful.” In the case of alerting by voice. Moreover, when displaying with an image etc., the display part (for example, LED etc.) which shows a pedestrian can be made to light yellow. The warning level may be, for example, “Pedestrians are at OO. Avoid avoiding collisions”, for example, when reporting by voice. Moreover, when displaying with an image etc., the display part which shows a pedestrian can be lit red or blinked. With the configuration described above, the degree of danger of a collision between a pedestrian and the host vehicle can be evoked step by step, and avoidance behavior can be quickly performed.

  The boarding determination unit 14 determines whether or not a person is on the vehicle when the communication unit 11 receives identification information for identifying a person and a vehicle (another vehicle) from the plurality of communication devices 200. The term “on board” means a state where a person is on the vehicle.

  FIG. 4 is a schematic diagram illustrating an example of a state where a person is on a vehicle (another vehicle). In the case as shown in FIG. 4, the pedestrian approach notification device 100 receives identification information for identifying a person from one communication device 200 and receives identification information for identifying a vehicle from another communication device 200. Become. The determination as to whether or not a person is in the vehicle can be made, for example, based on whether or not the speed of the communication device 200 carried by the person is faster than the walking speed of the pedestrian. When the speed of the communication device 200 carried by a person is faster than the walking speed, it can be considered that the person gets on the vehicle and moves at the same speed as the vehicle.

  The notification control unit 15 performs control so that the notification by the notification unit 13 is not performed when the boarding determination unit 14 determines that a person is in the vehicle. That is, the notification control unit 15 does not activate the application of the notification unit 13. When a person is on the vehicle and moving, the person is not a pedestrian, and there is no possibility that the own vehicle and the pedestrian collide. Therefore, unnecessary notification can be prevented by not performing notification by the notification unit 13. Further, by not starting the application, it is possible to prevent performing unnecessary processing.

  Next, conditions for determining that a person is in a vehicle (another vehicle) will be described in detail. FIG. 5 is an explanatory diagram showing an example of boarding determination by the pedestrian approach notification device 100 of the present embodiment. As the first condition for boarding determination, the boarding determination unit 14 determines that the speed difference between the speeds of the communication device 200 that transmits identification information for identifying a person and the communication device 200 that transmits identification information for identifying a vehicle is a predetermined speed difference. When it is smaller than a threshold value (for example, an allowable error of speed measurement), it is determined that the user is on board.

  When the speed difference between the speed of the communication device 200 carried by a person and the speed of the communication device 200 mounted on the vehicle is small, it is assumed that the person gets on the vehicle and moves at the same speed as the vehicle. Therefore, it can be determined that a person is in the vehicle.

  As a second condition for boarding determination, the boarding determination unit 14 determines that the positions of the communication device 200 that has transmitted identification information for identifying a person and the communication device 200 that has transmitted identification information for identifying a vehicle are a predetermined distance (for example, 2 m It is determined that the vehicle is on the board. When the position of the communication device 200 carried by a person is close to the position of the communication device 200 mounted on the vehicle, it can be considered that the person is in the vehicle, so the person is in the vehicle. Can be determined. In addition, instead of the distance between each communication device 200, it gets on when the difference between the distance between the communication device 200 carried by a person and the own vehicle, and the distance between the communication device 200 mounted on the vehicle and the own vehicle is small. It can also be determined that it is in the middle.

  As a third condition for boarding determination, the boarding determination unit 14 determines that the traveling azimuth difference between the communication device 200 that transmits identification information for identifying a person and the communication device 200 that transmits identification information for identifying a vehicle is within a predetermined range (predetermined). Is within the threshold value, for example, within the tolerance of azimuth measurement), it is determined that the user is on board. When the traveling direction of the communication device 200 carried by a person is the same as the traveling direction of the communication device 200 mounted on the vehicle, the person gets on the vehicle and has the same traveling direction as the vehicle. Since it can be considered that it is moving, it can be determined that a person is in the vehicle.

  If only the first condition is satisfied, it may be determined whether the person is in the vehicle, or if the first condition and the second condition are satisfied, it may be determined whether the person is in the vehicle. Alternatively, it may be determined that the vehicle is on board when all of the first condition, the second condition, and the third condition are satisfied. By increasing the conditions in addition to the first condition, it is possible to increase the accuracy of the determination as to whether or not the vehicle is on board.

  The sidewalk determination unit 16 determines whether there is a sidewalk in the vicinity (for example, around the road on which the vehicle is traveling). The sidewalk determination unit 16 can determine the presence or absence of a sidewalk, for example, by imaging the periphery of the vehicle with an imaging device (not shown) and processing the image obtained by imaging. Further, for example, the sidewalk determination unit 16 may determine the presence or absence of a sidewalk based on road information acquired from a roadside device (not shown) or road information stored in advance.

  FIG. 6 is a schematic diagram showing an example when there is a sidewalk around the vehicle. When the position of the communication device 200 that transmitted identification information for identifying a person is on the sidewalk determined by the sidewalk determination unit 16, the notification control unit 15 and the direction of travel specified by the positioning unit 12 are determined. Is controlled so that the notification by the notification unit 13 is not performed.

  For example, as shown in FIG. 6, it is assumed that there is a sidewalk adjacent to the roadway. When the vehicle is traveling on a road and a person is walking on the sidewalk, if the traveling direction of the vehicle and the person is almost parallel (for example, the absolute value of the heading difference is 20 ° or less), walking with the vehicle Since the possibility of collision with the person is extremely low, no notification is given. Thereby, unnecessary notification can be prevented.

  FIG. 7 is a schematic diagram showing another example when there is a sidewalk around the own vehicle. Assume that there is a sidewalk adjacent to the roadway as shown in FIG. Even when the vehicle is traveling on the road and a person is walking on the sidewalk, the difference in direction between the traveling direction of the vehicle and the traveling direction of the person exceeds a predetermined threshold (for example, 20 °). Since the vehicle may collide with a pedestrian if the vehicle does not turn along the road and goes straight, a notification is given.

  In the example of FIG. 7, when a guardrail is installed between the roadway and the sidewalk, the safety of the pedestrian is ensured by the guardrail or the like, so the notification may not be performed. Alternatively, the notification level can be lowered.

  FIG. 8 is a schematic diagram showing an example when there is no sidewalk around the host vehicle. When the sidewalk determination unit 16 determines that there is no sidewalk, the notification unit 13 sets the notification level high. When there is no sidewalk, there is a possibility that a pedestrian is walking on the side of the roadway, so the notification level is increased. For example, by increasing (longening) the second threshold distance Lth2 that is determined to be the attention level, the attention level can be notified before the distance between the vehicle and the pedestrian becomes too short. Further, the first threshold distance Lth1 that is determined to be the warning level may be increased. As a result, the warning level can be notified before the distance between the vehicle and the pedestrian becomes too short.

  When the speed of the communication device 200 that has transmitted identification information for identifying a person is higher than a predetermined threshold speed (for example, 40 km / hour), the notification control unit 15 performs control so that the notification by the notification unit 13 is not performed. For example, when a person is riding a two-wheeled vehicle (motorcycle or the like), it does not correspond to a pedestrian, so that unnecessary notification can be prevented by not performing notification.

  As described above, the pedestrian approach notification device 100 and the communication device 200 that is carried by a person or mounted on a vehicle and transmits information including identification information for identifying the person or the vehicle, the pedestrian approach notification By configuring the apparatus 100 to receive the information from the communication apparatus 200, the apparatus 100 can provide a pedestrian approach notification system that can prevent unnecessary notification.

  Next, operation | movement of the pedestrian approach alerting | reporting apparatus 100 of this Embodiment is demonstrated. 9 and 10 are flowcharts showing an example of a processing procedure of the pedestrian approach notification device 100 according to the present embodiment. In the following, the processing subject will be described as the control unit 10 for convenience. The control unit 10 searches the communication device 200 at a predetermined cycle (for example, 0.5 seconds) (S11), and determines predetermined information (for example, identification information, position) from one or a plurality of communication devices 200 in the communicable area. , Information on speed, traveling direction) is received (S12).

  The control unit 10 determines whether or not the distance between the vehicle and the communication device 200 is equal to or less than a predetermined distance (for example, 100 m) (S13). NO), the application is not activated (S14). The control unit 10 performs a process of step S27 described later.

  When the distance between the vehicle and the communication device 200 is equal to or smaller than the predetermined distance (YES in S13), the control unit 10 determines whether there is identification information for identifying a person (whether it has been received) (S15). ) If there is no identification information (NO in S15), the process of step S14 is performed. When there is identification information for identifying a person (YES in S15), the control unit 10 determines whether there is identification information for identifying the vehicle (whether it has been received) (S16).

  When there is identification information for identifying the vehicle (YES in S16), the control unit 10 determines whether a person is in the vehicle (S17). If a person is in the vehicle (YES in S17), the control unit 10 performs the process of step S14.

  When there is no identification information for identifying the vehicle (NO in S16), the control unit 10 performs the process of step S18 described later without performing the process of step S17. If a person is not in the vehicle (NO in S17), the control unit 10 determines whether or not there is a sidewalk around the vehicle (S18). If there is a sidewalk (YES in S18), the person carries it. It is determined whether or not the position of the communication device 200 to be on is on the sidewalk (S19).

  When there is no sidewalk around the vehicle (NO in S18), or when the position of the communication device 200 carried by a person is not on the sidewalk (NO in S19), the control unit 10 increases the notification level (S20). ), The process of step S21 described later is performed. When the position of the communication device 200 carried by the person is on the sidewalk (YES in S19), the control unit 10 determines that the azimuth difference between the traveling direction of the own vehicle and the traveling direction of the communication device 200 carried by the person is a predetermined value. It is determined whether it is below a threshold value (for example, 20 degrees) (S21).

  When the heading difference is equal to or smaller than the predetermined threshold (YES in S21), the control unit 10 performs the process of step S14. When the heading difference is not equal to or smaller than the predetermined threshold (NO in S21), the control unit 10 determines whether or not the speed of the communication device 200 carried by the person is faster than a predetermined threshold speed (for example, 40 km / hour). (S22).

  When the speed of communication device 200 carried by a person is faster than a predetermined threshold speed (YES in S22), control unit 10 performs the process of step S14. When the speed of the communication device 200 carried by the person is not faster than the predetermined threshold speed (NO in S22), the control unit 10 determines that the distance d between the vehicle and the communication device 200 carried by the person is the first threshold distance Lth1 ( For example, it is determined whether it is 5 m or less (S23).

  When the distance d is equal to or less than the first threshold distance Lth1 (YES in S23), the control unit 10 notifies the warning level (S24), and performs the process of step S27 described later. When the distance d is not equal to or less than the first threshold distance Lth1 (NO in S23), the control unit 10 determines that the distance d between the vehicle and the communication device 200 carried by a person is equal to or less than the second threshold distance Lth2 (for example, 20 m). It is determined whether or not there is (S25).

  When the distance d is equal to or less than the second threshold distance Lth2 (YES in S25), the control unit 10 notifies the attention level (S26), and performs the process of step S27 described later. When the distance d is not less than or equal to the second threshold distance Lth2 (NO in S25), the control unit 10 performs the process of step S14. The control unit 10 determines whether or not to end the process (S27). If the process is not ended (NO in S27), the process after step S11 is repeated. When the process is terminated (YES in S27), the process is terminated.

  The pedestrian approach notification device 100 according to the present embodiment can also be realized using a general-purpose computer including a CPU (processor), a RAM, and the like. That is, as shown in FIGS. 9 and 10, a computer program that defines the procedure of each process is loaded into a RAM provided in the computer, and the computer program is executed by a CPU (processor), so that a pedestrian on the computer. The approach notification device 100 can be realized.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 100 Pedestrian approach notification apparatus 10 Control part 11 Communication part 12 Positioning part 13 Notification part 14 Boarding determination part 15 Notification control part 16 Sidewalk determination part 200 Communication apparatus 20 CPU
21 Positioning unit 22 Storage unit 23 Communication unit

Claims (11)

A receiver that receives the information from a communication device that transmits information including identification information that identifies the person or the vehicle and is carried by a person or mounted on a vehicle, and a pedestrian based on the information received by the receiver A pedestrian approach notifying device comprising a notifying unit for notifying the approach with
A boarding determination unit that determines whether or not the person is on the vehicle, when the reception unit receives identification information for identifying a person and a vehicle from a plurality of the communication devices;
A pedestrian approach notification device comprising: a notification control unit that performs control so as not to perform notification by the notification unit when the boarding determination unit determines that the vehicle is on board. The receiving unit is configured to receive information on the speed of the communication device;
The boarding determination unit
When the speed difference between the communication device that has transmitted identification information for identifying a person and the communication device that has transmitted identification information for identifying a vehicle is smaller than a predetermined speed difference threshold value, it is determined that the vehicle is on board. The pedestrian approach notification device according to claim 1. The receiving unit is configured to receive information related to a position of the communication device;
The boarding determination unit
The communication device that transmits identification information for identifying a person and the communication device that transmits identification information for identifying a vehicle are determined to be in a boarding state when the positions of the communication device are within a predetermined distance. The pedestrian approach notification device described. The receiving unit is configured to receive information related to a traveling direction of the communication device,
The boarding determination unit
The communication device that has transmitted identification information for identifying a person and the communication device that has transmitted identification information for identifying a vehicle are determined to be in a boarding state when the traveling direction difference is within a predetermined range. The pedestrian approach notification device according to 3. An azimuth identifying unit that identifies its own traveling azimuth;
And a sidewalk determination unit that determines whether there is a sidewalk in the vicinity,
The notification control unit
When the position of the communication device that transmitted the identification information for identifying the person is on the sidewalk determined by the sidewalk determination unit, the azimuth difference between the travel direction of the communication device and the travel direction specified by the direction specification unit is predetermined. The pedestrian approach notification device according to claim 3 or 4, wherein control is performed so that notification by the notification unit is not performed when the value is within a range. A position specifying part for specifying its own position;
A degree-of-risk determination unit that determines the degree of risk of approaching a pedestrian according to the distance between the position of the communication device that transmitted identification information for identifying a person and the position specified by the position specifying unit;
The notification unit
The pedestrian approach notification device according to claim 5, wherein a notification level is set according to a determination result in the risk degree determination unit. The notification unit
The pedestrian approach notification device according to claim 6, wherein when the sidewalk determination unit determines that there is no sidewalk, the notification level is set high. The notification control unit
8. The system according to claim 2, wherein when the speed of the communication device that has transmitted identification information for identifying a person is higher than a predetermined threshold speed, control is performed so that notification by the notification unit is not performed. The pedestrian approach notification device according to claim. The communication which transmits the information containing the identification information which identifies the pedestrian approach alerting device of any one of Claim 1 to Claim 8, and a person carried or mounted in a vehicle, and distinguishing a person or a vehicle. With the device,
The pedestrian approach notification device is a pedestrian approach notification system configured to receive the information from the communication device. A computer program for causing a notification unit to notify the approach of a pedestrian to a notification unit,
Computer
Boarding determination means for determining whether or not the person is in the vehicle based on identification information for identifying the person and the vehicle;
A computer program that functions as a notification control unit that performs control so that notification by the notification unit is not performed when it is determined that the vehicle is on board. A receiver that receives the information from a communication device that transmits information including identification information that identifies the person or the vehicle and is carried by a person or mounted on a vehicle, and a pedestrian based on the information received by the receiver A pedestrian approach notification method by a pedestrian approach notification device comprising a notification unit for notifying the approach with
A step of determining whether or not the person is in the vehicle when the reception unit receives identification information for identifying a person and a vehicle from a plurality of the communication devices; and
A pedestrian approach notification method including a step of a notification control unit controlling so that notification by the notification unit is not performed when it is determined that the vehicle is on board.

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