JP7164149B2 - Simulator, Server, Evaluation System, Evaluation Program, and Evaluation Method - Google Patents

Description

The present invention relates to a simulator, a server, an evaluation system, an evaluation program, and an evaluation method for evaluating the risk of mobile objects moving in a shared space.

In Europe (for example, England), as one design approach in urban planning, a design approach called shared space is widespread (see Non-Patent Document 1). Shared spaces aim to produce chaotic and human-like spaces by eliminating visible regulations and guidance such as traffic signals, traffic signs, and destination displays as much as possible. To that end, shared spaces aim to put all traffic participants (pedestrians, cyclists, motorcycles, automobiles, etc.) on equal footing.

In the following, the term "shared space" may be used (1) as the name of a design approach, or (2) as the name of a space designed based on a design approach called shared space. There is also

Department for Transport, Local Transport Note 1/11, "Shared Space", October 2011, [online], [searched May 29, 2018], Internet <https://assets.publishing.service.gov.uk/government /uploads/system/uploads/attachment_data/file/3873/ltn-1-11.pdf>

In a shared space where all traffic participants are on an equal footing, it is believed that a safer traffic environment can be achieved by increasing each traffic participant's sense of risk for accidents. In other words, the idea that the safety of each traffic participant is protected by the attention of each traffic participant is the basis of the design approach of shared space. However, it may be difficult to reach a public consensus on entrusting the safety of each traffic participant solely to the attention of each traffic participant.

Therefore, there is a demand for a technique for evaluating the risk of each traffic participant within a range that does not violate the concept of shared space, that is, within a range that does not impair the scenery of shared space. This is because if the risk of each traffic participant can be evaluated, measures can be taken to avoid accidents based on the evaluation results.

One aspect of the present invention has been made in view of the problems described above, and an object thereof is to provide a technique capable of evaluating the risk of traffic participants in a shared space.

In order to solve the above problems, a simulator according to one aspect of the present invention is a simulator that virtually reproduces a shared space and includes a display device and a server. The server acquires first position information indicating the position of each of a plurality of mobile bodies moving in the shared space from each mobile body via communication, and creates a first information group. and obtaining information on detection of each of the plurality of moving bodies, generating second position information indicating the position of each of the plurality of moving bodies based on the information, and generating a second information group a second creating unit that creates; each moving object whose first information group includes the first position information based on the history of the first information group and the second information group; a display device control unit that controls the display device to display each moving object whose second information group includes the second position information.

In order to solve the above problems, a server according to one aspect of the present invention acquires first position information indicating the position of each of a plurality of mobile bodies moving in a shared space from each mobile body via communication. a first creation unit for creating a first information group; and a first creation unit for acquiring information on detection of each of the plurality of moving bodies, and based on the information, indicating the position of each of the plurality of moving bodies. (A) a group of mobile units included only in the first information group; (B) only in the second information group; and (C) a group of mobile bodies that satisfy a predetermined condition among the mobile bodies included in both the first information group and the second information group. a determination unit that determines each moving object included in the group to be a high-risk moving object.

In order to solve the above problems, an evaluation system according to one aspect of the present invention includes a server according to any one aspect of the present invention, and one or more images of the shared space that are network-connected to the server. and a rating system with a camera of In this evaluation system, the server includes an acquisition unit that acquires the image from the one or a plurality of cameras, and a position that extracts position information indicating the position of each moving body included in the image as the second position information. and an information extractor.

In order to solve the above problems, an evaluation system according to one aspect of the present invention includes a server according to any one aspect of the present invention and a plurality of vehicles each having a proximity sensor, and a plurality of vehicles forming part of a mobile object.

In this evaluation system, each of the plurality of vehicles includes: (1) third position information indicating a third position, which is the position of the vehicle itself; fourth position information indicating a fourth position, which is the position of one or more moving bodies that Generate information and

Further, in this evaluation system, the server further includes an acquisition unit that acquires the third position information and the fourth position information of each vehicle from each of the plurality of vehicles, and the second creation unit includes: The second information group is created by aggregating the third location information and the fourth location information.

In order to solve the above problems, an evaluation method according to one aspect of the present invention is an evaluation method for evaluating the risk of each moving object in a shared space through which a plurality of moving objects pass. In this evaluation method, first position information indicating the position of each of a plurality of mobile bodies moving in the shared space is acquired from each mobile body via communication, and a first information group is created. acquiring information on detection of each of the plurality of moving bodies, generating second position information indicating the position of each of the plurality of moving bodies based on the information, and generating a second information group; and (A) a group of moving bodies included only in the first information group, (B) a group of moving bodies included only in the second information group, and (C) the first Among the mobile bodies included in both the information group and the second information group, the mobile bodies included in at least one of the groups of mobile bodies that satisfy a predetermined specific condition are high-risk mobile bodies. and a determining step of determining that

An evaluation program for causing a computer to function as a server according to any one aspect of the present invention, wherein the evaluation program for causing a computer to function as the acquisition unit, the creation unit, and the determination unit is also an evaluation program of the present invention. included in the category.

ADVANTAGE OF THE INVENTION According to one aspect of the present invention, it is possible to provide a technology capable of evaluating the risk of traffic participants in a shared space.

1 is a schematic diagram showing an evaluation system according to a first embodiment of the present invention; FIG. 2 is a block diagram of a server included in the evaluation system shown in FIG. 1; FIG. (a) is an example of a first information group created by the server shown in FIG. (b), (c), and (d) are examples of the first map, the second map, and the third map, respectively, created by the server shown in FIG. 3 is a flow chart of an evaluation method executed by the server shown in FIG. 2; It is a schematic diagram which shows the simulator based on the 2nd Embodiment of this invention. 1 is a block diagram illustrating the configuration of a computer that can be used as a server according to one embodiment of the present invention; FIG.

[First Embodiment]
An evaluation system 1, which is a first embodiment of the present invention, will be described with reference to FIGS. 1 to 4. FIG. FIG. 1 is a schematic diagram showing an evaluation system 1. As shown in FIG. FIG. 2 is a block diagram showing functional blocks of the server 11. As shown in FIG. (a) of FIG. 3 is an example of the first information group created by the first creating unit 112 provided in the server 11 . (b), (c), and (d) of FIG. 3 are examples of the first map, the second map, and the third map created by the map creation unit 114 provided in the server 11. be. FIG. 4 is a flow chart of the evaluation method M1 executed by the server 11. As shown in FIG.

<Evaluation system 1>
The evaluation system 1 includes a server 11, a camera C, a wireless communication network 10, an alarm group 14, and an electromagnetic induction wire 15, as shown in FIG. The annunciator group 14 is composed of n annunciators 141, 142, . . . , 14i, . Here, n is an arbitrary integer and i is an integer of 1 or more and n or less.

The evaluation system 1 configured as follows is an evaluation system for evaluating the risks of a plurality of moving bodies passing through the shared space SS. Also, the server 11 evaluates the risks of a plurality of moving bodies moving in the shared space SS by executing the evaluation method M1 shown in FIG. Each functional block provided in the server 11 will be described later with reference to FIG. Also, the evaluation method M1 will be described later with reference to FIG.

(Wireless communication network 10)
The wireless communication network 10 may be a wireless communication network that covers a wide area such as 4G, or a wireless communication network that covers a local area such as Wi-Fi (registered trademark). In the present embodiment, the smart phone possessed by each pedestrian of the pedestrian group 12 described later is network-connected to the server 11 using a wireless communication network that covers a wide area, and each of the electromagnetically coupled vehicles 13 described later. The vehicle is networked with the server 11 using a wireless communication network covering the local area.

Hereinafter, a wireless communication network covering a wide area and a wireless communication network covering a local area are simply referred to as a wireless communication network 10 without distinguishing between them. Also, the wireless communication network 10 is not limited to 4G and Wi-Fi. Any form of wireless communication network can be used as the wireless communication network 10 .

(moving body)
FIG. 1 also shows a group of pedestrians 12 and an electromagnetically coupled vehicle 13 as examples of traffic participants traveling in and out of the shared space SS. In the shared space shown in FIG. 1, pedestrians 12a to 12m included in the pedestrian group 12 and vehicles 131 to 133 constituting the electromagnetically coupled vehicle 13 are illustrated. Each of the pedestrians 12a to 12m and the vehicles 131 to 133 is one aspect of the moving body described in the claims. In addition to these, bicycles, motorcycles, automobiles, carts, and the like are included in other aspects of the moving object described in the claims. In addition, animals such as dogs and cats are also included in other aspects of the moving object described in the claims. In this embodiment, a person in a wheelchair, such as the pedestrian 12c, is also included in the concept of a pedestrian.

Of the pedestrians 12a to 12m, each of the pedestrians 12a to 12g and 12i to 12l, excluding the pedestrians 12h and 12m who are children, has a GPS (Global Positioning System) function and is connected to the wireless communication network 10. He has a smart phone (not shown in FIG. 1) that is network-connected to the server 11 via the network. Each smartphone generates location information representing its location by receiving and positioning GPS signals from multiple GPS satellites. Also, each smartphone is network-connected to a server 11 via a wireless communication network 10 .

The electromagnetically coupled vehicle 13 is a vehicle group composed of three vehicles 131 to 133 and has an automatic driving function. Each of the vehicles 131 to 133 has a GPS (Global Positioning System) function and a communication interface for network connection with the wireless communication network 10 . Each of the vehicles 131-133 generates position information representing its position by receiving and positioning GPS signals from multiple GPS satellites. Also, each of the vehicles 131 to 133 is network-connected to the server 11 via the wireless communication network 10 .

The electromagnetically coupled vehicle 13 is buried in the ground of the shared space SS and operated by automatic operation according to a radio signal emitted from an electromagnetic induction wire 15 network-connected to the server 11 . The electromagnetically coupled vehicle 13 carries a plurality of pedestrians to their destinations by going around predetermined stops scattered within the shared space SS. The communication medium for network connection between the server 11 and the electromagnetic induction wire 15 may be a communication cable using a LAN cable or an optical cable, or a wireless communication network using 4G or Wi-Fi (for example, FIG. 1 may be the wireless communication network 10) shown in FIG. In this embodiment, as shown in FIG. 1, the server 11 and the electromagnetic induction wire 15 are network-connected using a communication cable. Also, the annunciator group 14 consisting of n annunciators 14i inserted in the middle of the electromagnetic induction wire 15 will be described later.

(Camera C)
The camera C is network-connected to the server 11 and captures an image including the entire area of the shared space SS. The image captured by the camera C may be a still image or a moving image. When the image captured by the camera C is a still image, the camera C is preferably configured to capture the image at predetermined time intervals. In this embodiment, only one camera C is arranged in the shared space SS. However, a plurality of cameras may be arranged in the shared space SS. By arranging multiple cameras in the shared space SS, it is possible to reduce possible blind spots in the image.

The communication medium for network connection between the server 11 and the camera C may be a communication cable using a LAN cable or an optical cable, or a wireless communication network using 4G or Wi-Fi (for example, the network shown in FIG. 1). It may also be the wireless communication network 10) shown. In this embodiment, as shown in FIG. 1, the server 11 and the camera C are network-connected using a communication cable.

<Server 11>
The server 11 includes a bus 911, an arithmetic device 912, a main storage device 913 and an auxiliary storage device 914 which are storage devices, an input/output interface 915, and a communication interface 916, as will be described later with reference to FIG. I have. The input/output interface 915 is connected to an input device 920 (for example, keyboard, mouse, touch pad, etc.) and an output device 930 (liquid crystal display device, speaker, etc.). The communication interface 916 connects the server 11 to the wireless communication network 10, the camera C, the electromagnetic induction wire 15, and the like.

As shown in FIG. 2, the server 11 includes, as functional blocks, an acquisition unit 111, a first creation unit 112, a second creation unit 113, a map creation unit 114, a determination unit 115, and a display control unit 116. , a notification unit 117 and a notification unit 118 .

(Acquisition unit 111)
The acquisition unit 111 acquires position information from each moving object and acquires image information from the camera C via the communication interface 916 .

Specifically, the acquisition unit 111 acquires position information representing the position of each smartphone (that is, the position of each pedestrian) from each smartphone possessed by each of the pedestrians 12a to 12g and 12i to 12l. Obtained via 10. Similarly, the first creating unit 112 acquires position information representing the positions of the vehicles 131 to 133 from the vehicles 131 to 133 via the wireless communication network 10 .

Further, in the present embodiment, the acquisition unit 111 acquires image information representing an image including the entire area of the shared space SS from the camera C via a communication cable.

(First creating unit 112)
The first creation unit 112 converts each of the location information of the smartphones of the pedestrians 12a to 12g and 12i to 12l and the location information of the vehicles 131 to 133 acquired by the acquisition unit 111 into a first location Treat as information. In the present embodiment, the first position information represents the position of each moving object using xy coordinates such as (Px _a , Py _a ). In the following description, the pedestrians 12a-12g, 12i-12l and the vehicles 131-133 are also simply referred to as moving bodies.

As shown in (a) of FIG. 3, the first creation unit 112 creates a first information group by putting together the first position information acquired from each moving body and attaching a time stamp. In other words, the first information group is a table that associates the name of each mobile object with the position of each mobile object. The first creation unit 112 continues to create the first information group at predetermined time intervals.

In addition, the first generation unit 112 generates a first velocity vector, which is a velocity vector of each moving body, obtained from the time change of the first position, which is the position indicated by the above-described first position information, for each moving body. First velocity vector information indicating the vector is created and included in the first information group (see FIG. 3(a)). In this case, the first information group is a table that associates the mobile body name, position, and first velocity vector of each mobile body.

Also, the first creation unit 112 may be configured to create the first speed information of each moving object instead of the first speed vector information of each moving object and include it in the first information group. good. The first velocity information is information indicating the first velocity, which is the velocity of each moving object, obtained from the change in the first position over time. In this case, the first information group is a table that associates the mobile body name, position, and first speed of each mobile body. This embodiment adopts this configuration.

Note that when the determination unit 115 described later is configured to determine whether the risk of each moving object is high without using the first speed vector information or the first speed information, the first generation unit 112 may be configured to create a first set of information containing only the first location information.

(Second creating unit 113)
Second creation unit 113 includes position information extraction unit 1131 . The position information extraction unit 1131 identifies objects that can be regarded as moving objects from the image represented by the image information acquired by the acquisition unit 111, and extracts the position of each object as second position information. The second location information represents the location of each moving object using xy coordinates, like the first location information.

Note that at the stage of the second position information extracted by the position information extraction unit 1131, it is not possible to identify the correspondence relationship with the first position information. Therefore, in the second position information, a temporary name different from the name of the mobile body included in the first position information is associated with the position of each mobile body. Except for this point, the second location information is the same as the first location information.

The second creation unit 113 creates a second information group by putting together the second location information of each moving object extracted by the location information extraction unit 1131 and adding a time stamp. In other words, the second information group is a table that associates a temporary name representing the name of each moving object with the position of each moving object. The second creation unit 113 continues to create the second information group at predetermined time intervals.

Further, similarly to the first creation unit 112, the second creation unit 113 creates second velocity vector information indicating a second velocity vector, which is the velocity vector of each moving body, and includes the second velocity vector information in the second information group. It may be configured as In this case, the second information group is a table that associates the temporary name, position, and second velocity vector of each moving object. This embodiment adopts this configuration.

Also, second speed information indicating a second speed, which is the speed of each moving object, may be created and included in the second information group. In this case, the second information group is a table that associates the temporary name, position, and second speed of each moving object.

(Modified example of second creating unit 113)
A modified example of the second creation unit 113 is to create the second information group using proximity sensors provided in each of the vehicles 131 to 133 instead of creating the second information group from the image of the shared space SS. may be configured to

In this case, the vehicle 131 has a sensor group S consisting of a plurality of proximity sensors S1-S4. Of the proximity sensors S1 to S4 provided in the vehicle 131, FIG. 1 shows only the proximity sensors S1 and S2 arranged in the front, and the proximity sensors S3 and S4 arranged in the rear. are omitted. Vehicles 132 and 133, like vehicle 131, are provided with proximity sensors S1 to S4.

Each of the proximity sensors S1 to S4 is a sensor that detects a moving object existing within a short distance (for example, 10 m or less) from itself. Proximity sensors S1 to S4 may be, for example, a sonar using ultrasonic waves, a camera using visible light, and a radar using radio waves. Proximity sensors S1 to S4 can be appropriately selected from among these modes.

Each of the vehicles 131 to 133 has (1) third position information indicating a third position, which is its own position, and (2) one or more movements existing around itself detected by the proximity sensor. generating fourth position information indicating a fourth position that is a position of the body, the fourth position information indicating a relative position of the fourth position with respect to the third position; The created third location information and fourth location information are provided to the server 11 via the wireless communication network 10 .

Acquisition unit 111 of server 11 acquires the third location information and the fourth location information via the communication interface. After that, the second creation unit 113 creates a second information group by aggregating the third position information and the fourth position information acquired from each of the vehicles 131-133.

In addition, in this modification, it is preferable that the vehicles equipped with the sensor group S are not unevenly distributed in the shared space SS and are present in the shared space SS at an appropriate density. This appropriate density is determined according to the detectable distance at which each of the proximity sensors S1 to S4 can detect a moving object.

This modified example can be used as a substitute for the second creation unit 113 that creates the second information group using the image of the shared space SS, or creates the second information group using the image of the shared space SS. It can also be used together with the second creation unit 113 to create. That is, the second creation unit 113 creates the second information group using the image of the shared space SS, and creates the second information group using the third position information and the fourth position information. It may be configured as

According to this configuration, even if the image of the shared space SS includes some blind area, the third positional information and the fourth positional information are used to determine the presence in the blind area. possible moving objects can be detected.

(Map creating unit 114)
The map creating unit 114 creates a first map (Fig. 3 (b)), and a second position mapping the second position, which is the position of each moving body whose second position information is included in the second information group, on the map of the shared space SS. map (see (c) in FIG. 3).

Pedestrians 12h and 12m among the moving bodies shown in FIG. 1 are not displayed on the first map shown in FIG. 3(b). This is because pedestrians 12h and 12m do not have smartphones.

Pedestrians 12a and 12b among the moving bodies shown in FIG. 1 are not displayed on the second map shown in FIG. 3(c). This is because the pedestrians 12a and 12b are included in the blind spot caused by the tree in the image captured by the camera C.

(Determination unit 115)
The determination unit 115 refers to the first information group and the second information group, and determines each first position information included in the first information group and each second position information included in the second information group. Compare with information. After that, the determination unit 115 determines each moving object (more specifically, each moving object name and temporary name) as (A) a group of moving objects included only in the first information group, (B) only in the second information group and (C) a group of mobile bodies that satisfy a predetermined condition among the mobile bodies included in both the first information group and the second information group. Each moving object included in one group is determined to be a high-risk moving object.

When determining unit 115 compares each piece of first position information and each piece of second position information, in addition to the case where the first position information and the second position information completely match, When the difference between the first position information and the second position information (in other words, the distance between the first position and the second position) is included in a predetermined range, the first position information and the second position information 2 may be configured to be regarded as matching.

Further, when it is assumed that the second location information matches the first location information, the temporary name corresponding to the second location information is assigned to the first location information that matches the second location information. may be rewritten to the name of the mobile object corresponding to the location information.

Further, the determination unit 115 is configured to provide the map generation unit 114 with the result of risk evaluation by grouping. Based on the grouping result, the map creation unit 114 creates a third map (( d) create cf.

In the third map shown in (d) of FIG. 3, the moving bodies of the group (A) are indicated by thick lines, the moving bodies of the group (B) are indicated by black lines, and the moving bodies of the group (C) are indicated by black lines. The moving bodies included in each group are distinguished from other moving bodies by being shown with two lines crossing each other.

In addition, in the present embodiment, the following conditions are adopted as the predetermined conditions that define the group (C). In these cases, the determination unit 115 determines, based on the first position and the first velocity vector, and the second position and the second velocity vector, a position that each moving body is expected to reach after a predetermined time. It is configured to calculate an expected position. The storage device of the server 11 also stores patterns of temporal changes in velocity vectors that are highly likely to lead to accidents.

Condition 1: There are a plurality of moving objects whose distance between the predicted positions is less than a predetermined threshold distance.

Condition 2: Compare the temporal change pattern of the first velocity vector and the temporal change pattern of the second velocity vector with the patterns stored in the storage device that are likely to lead to an accident, The two patterns mentioned above apply.

Condition 3: Temporal change of at least one of the first velocity vector and the second velocity vector is irregular.

Condition 4: The temporal change pattern of at least one of the first velocity vector and the second velocity vector is different from any part of the history of the first velocity vector and the history of the second velocity vector. ing.

According to Condition 1, it is possible to determine that mobile bodies that can be considered to have a high possibility of colliding with each other are high-risk mobile bodies. According to Condition 2, it is possible to determine that a moving object that is likely to cause an accident is a high-risk moving object. According to condition 3, it is possible to determine that a moving object that moves irregularly is a high-risk moving object. According to condition 4, it is possible to determine that a moving object that is moving in an unknown manner that is not included in the history is a high-risk moving object.

In this embodiment, the pedestrians 12f and 12g playing ball are moving objects included in both the first information group and the second information group, and the first velocity vector and the second velocity A moving object whose vector temporally changes is irregular. That is, the pedestrians 12f and 12g are moving objects that satisfy the condition 3. Therefore, the determination unit 115 classifies the pedestrians 12f and 12g into the group (C) and determines that they are high-risk mobile objects.

Note that Condition 2 is a condition for determining that a moving object that is likely to cause an accident is a high-risk moving object. Instead of this condition 2, "Comparing the temporal change pattern of the first velocity vector and the temporal change pattern of the second velocity vector with the pattern with a low possibility of leading to the accident, It is also possible to adopt the condition that "it deviates". When this condition is adopted, it is possible to determine that a mobile body other than a mobile body that is considered to have a low possibility of causing an accident is a high-risk mobile body.

Also, each of the first information group and the second information group includes the first velocity information and the second velocity information instead of the first velocity vector information and the second velocity vector information, respectively. In this case, it is also possible to adopt the condition that "at least one of the first speed and the second speed exceeds a predetermined threshold speed". When this condition is adopted, it is possible to determine that a moving object whose speed exceeds the threshold speed is a high-risk moving object. Even if the first velocity vector information and the second velocity vector information are used instead of the first velocity information and the second velocity information, the same determination is made by calculating the absolute value of each vector. be able to.

(Display control unit 116)
Display control unit 116 causes the screen to display the third map created by map creation unit 114 . The screen on which the display control unit 116 displays the third map may be a screen provided as one aspect of the output device 930 provided in the server, or may be a screen provided in the smartphone possessed by each pedestrian. It may be a screen on which the vehicle 131 to 133 is equipped.

(Notification unit 117)
The notification unit 117 performs at least one of the following processes (1) and (2) via the communication interface.
(1) Of the mobile bodies determined to be at high risk, each mobile body having a receiving unit is notified to that effect.
(2) Among the moving bodies located around the moving bodies determined to have a high risk, there are moving bodies determined to have a high risk around each moving body having a receiving unit. We will notify you that we will.

(Notification unit 118)
The notification unit 118, via the communication interface, one or more alarms 14i arranged around the mobile object determined to be at high risk, or the traveling direction of one or more mobile objects determined to be at high risk. to operate one or a plurality of annunciators 14i.

<Evaluation method M1>
As shown in FIG. 4, the evaluation method M1 executed by the server 11 includes an acquisition step S11, a first creation step S12, a second creation step S13, a map creation step S14, a determination step S15, and a display control step. S16, notification step S17, and notification step S18 are included. The second creating step S13 also includes a position information extracting step S131.

Each of these steps included in the evaluation method M1 corresponds to processing executed by each functional block provided in the server 11 . For example, the acquisition step S11 is a process executed by the acquisition unit 111 . Similarly, each of the first creation step S12 to the notification step S18 is a process executed by the first creation unit 112 to the notification unit 118, respectively. Since each of these processes has already been explained in the section of the server 11, the explanation thereof will be omitted here.

<Effects of Server 11 and Evaluation System 1>
The server 11 acquires first position information indicating the position of each of a plurality of mobile bodies (the pedestrian group 12 and the electromagnetically coupled vehicle 13) moving in the shared space SS from each mobile body via the wireless communication network 10. Then, a first creation unit 112 that creates a first information group and information (in this embodiment, image information representing an image of the shared space SS) obtained by detecting each of a plurality of moving objects are acquired, and the information is a second creation unit 113 for creating a second information group by generating second position information indicating the position of each of a plurality of moving bodies based on the information; (A) included only in the first information group; (B) a group of mobiles included only in the second information group; and (C) a group of mobiles included in both the first information group and the second information group. and a determination unit 115 that determines each moving object included in at least one of the groups of moving objects that satisfy the condition to be a high-risk moving object.

The group (A) is a group of mobile bodies whose positions are specified based on the first position information acquired through communication. In other words, since it is a group of mobile objects whose positions could not be specified from the image captured by the camera C, it is considered that there are many cases where errors are included in the positions.

The group (B) is a group of mobile objects whose positions are specified based on the image captured by the camera C. FIG. In other words, it is a group of mobiles that cannot establish communication with the server 11 even though they are captured in the image, and that cannot negotiate for risk avoidance. be.

Group (C) is a group of moving objects that satisfy a predetermined condition (such as abnormally high speed).

As described above, groups (A), (B), and (C) are groups of mobile objects with high risk. Therefore, the server 11 configured in this way can evaluate the risk of moving bodies (in other words, traffic participants) in the shared space.

Further, in the server 11, the first information group is a first speed indicating a first speed, which is the speed of each moving object, obtained from the time change of the first position, which is the position indicated by the first position information. The second group of information includes a second velocity, which is the velocity of each moving body, obtained from the time change of the second position, which is the position indicated by the second position information. Including the speed information, the determination unit 115 determines that a mobile body in which at least one of the first speed and the second speed exceeds a predetermined threshold speed is a high-risk mobile body. is preferred.

The server 11 configured in this manner can determine that a moving object whose speed exceeds the threshold speed is a high-risk moving object.

Also, in the server 11, the first information group includes first velocity vector information indicating a first velocity vector, which is a velocity vector of each moving body, obtained from the change in the first position over time; The second information group includes second velocity vector information indicating the second velocity vector, which is the velocity vector of each moving body, obtained from the change in the second position over time. A predicted position, which is a position expected to be reached by each moving body after a predetermined time, is calculated from the position and the first velocity vector, and the second position and the second velocity vector, and the predicted positions are calculated. It is preferable to determine that moving bodies whose distance is less than a predetermined threshold distance are high-risk moving bodies.

According to this configuration, it is possible to determine that mobile bodies that can be considered to have a high possibility of colliding with each other are high-risk mobile bodies.

Further, in the server 11, the determination unit 115 determines that a moving object in which at least one of the first velocity vector and the second velocity vector has an irregular temporal change is a high-risk moving object. preferably.

The server 11 configured in this manner can determine that a mobile body that moves irregularly is a high-risk mobile body.

In addition, the server 11 further includes a storage device that stores temporal change patterns of velocity vectors that are highly likely to lead to an accident, and the first information group is obtained from the temporal change of the first position, First velocity vector information indicating a first velocity vector, which is the velocity vector of each moving body, is included, and the second information group is the velocity vector of each moving body obtained from the change in the second position over time. It includes second velocity vector information indicating a certain second velocity vector, and the determination unit 115 determines the temporal change pattern of the first velocity vector and the temporal change pattern of the second velocity vector as described above. It is preferable to compare the pattern with the above patterns that have a high possibility of causing an accident and determine that the corresponding moving body is a high-risk moving body.

The server 11 configured in this manner can determine that a mobile object that is likely to cause an accident is a high-risk mobile object.

In addition, the server 11 further includes a storage device that stores temporal change patterns of velocity vectors that are unlikely to lead to an accident, and the first information group is obtained from the temporal change of the first position, First velocity vector information indicating a first velocity vector, which is the velocity vector of each moving body, is included, and the second information group is the velocity vector of each moving body obtained from the change in the second position over time. It includes second speed vector information indicating a certain second speed vector, and determination unit 115 determines the temporal change pattern of the first speed vector and the temporal change pattern of the second speed vector to determine whether the accident occurred. It is preferable to determine that a deviating mobile body is a high-risk mobile body by comparing with the above pattern that is less likely to lead to.

The server 11 configured in this manner can determine that a mobile object other than a mobile object that is considered to have a low possibility of causing an accident is a high-risk mobile object.

In the server 11, the storage device stores the history of the first velocity vector, which is the velocity vector of each moving object obtained from the temporal change of the first position, and the history of the first velocity vector obtained from the temporal change of the second position. , the history of the second velocity vector, which is the velocity vector of each moving object, and the history of the second velocity vector, and the determination unit 115 determines the temporal change of at least one of the first velocity vector and the second velocity vector. It is preferable to determine a moving object whose pattern is different from any part of the history of the first velocity vector and the history of the second velocity vector as a high-risk moving object.

The server 11 configured in this manner can determine that a moving object that is making an unknown movement that is not included in the history is a high-risk moving object.

The server 11 also provides a first map obtained by mapping the first position, which is the position of each mobile body whose first information group includes the first position information, on the map of the shared space SS; A second map obtained by mapping the second position, which is the position of each mobile object whose second position information is included in the second information group, on the map of the shared space SS, and the determination unit 115 a map creation unit 114 for creating a third map in which the moving object determined to be an object is mapped on the map of the shared space while distinguishing it from other moving objects; and displaying the third map on the screen. It is preferable to further include a display control unit 116 that causes the display to be displayed.

The server 11 configured in this way can display the third map on the screen. Therefore, a user (in other words, a traffic participant) viewing the third map can easily identify a moving object determined to have a high risk.

In addition, the evaluation system 1 preferably includes a server 11 and one or more cameras C that are network-connected to the server 11 and capture images of the shared space SS. In this evaluation system 1, the server 11 includes an acquisition unit 111 that acquires an image from the one or more cameras C, and a position information that extracts position information indicating the position of each moving body included in the image as second position information. It is preferable to further include an information extraction unit 1131 .

The evaluation system 1 configured in this manner can create the second position information of each moving object from the image of the shared space SS captured by the camera C. FIG.

The evaluation system 1 also includes a server 11, and a plurality of vehicles 131 to 133 each having a proximity sensor and forming a part of a plurality of moving bodies. may In this case, each of the vehicles 131 to 133 has (1) third position information indicating a third position, which is its own position, and (2) 1 or generating fourth position information indicating a fourth position that is the position of a plurality of mobile bodies, the fourth position information indicating a relative position of the fourth position with respect to the third position; . In addition, the server 11 further includes an acquisition unit 111 that acquires the third location information and the fourth location information of each of the vehicles 131-133 from each of the plurality of vehicles 131-133. Here, it is preferable that the second creation unit 113 creates the second information group by aggregating the third position information and the fourth position information.

According to this configuration, the second position information of each moving body can be created from the third position information and the fourth position information acquired from each of the vehicles 131-133.

In addition, the evaluation system 1 notifies each mobile body having a receiving unit of at least one or more mobile bodies that the server 11 has determined to have a high risk to that effect, or Among the mobile bodies located around one or more mobile bodies determined to have a high risk, there are mobile bodies determined to have a high risk around each mobile body having a receiving unit. It is preferable to further include a notification unit 117 for notifying that.

According to this configuration, at least one of the moving body determined to be at high risk and each traffic participant located around the moving body determined to be at high risk indicates that the risk of the moving body is high. can let you know.

In addition, it is preferable that the evaluation system 1 further includes an annunciator group 14 consisting of a plurality of annunciators 14i arranged in the shared space SS. In this case, the server 11 uses one or a plurality of annunciators 14i arranged around one or a plurality of mobile bodies determined to have a high risk, or the traveling direction of one or a plurality of mobile bodies determined to have a high risk. It is preferable to further include a notification unit 118 that operates one or a plurality of notification devices 14i arranged in the .

According to this configuration, it is possible to inform each traffic participant located around a mobile body determined to have a high risk that the risk of the mobile body is high. Therefore, each traffic participant can be urged to act to avoid risks.

The evaluation method M1 shown in FIG. 4, which corresponds to the server 11 shown in FIG.

[Second embodiment]
A simulator 2 according to a second embodiment of the present invention will be described with reference to FIG. FIG. 5 is a schematic diagram showing the simulator 2. As shown in FIG.

For convenience of description, members having the same functions as those of the members described in the above embodiments are denoted by the same reference numerals, and description thereof will not be repeated.

<Simulator 2>
(Overview)
A simulator according to an embodiment of the present invention virtually reproduces the scenery of a shared space SS and a moving object moving within the shared space SS. This simulator has a display device and a server.

The server acquires first position information indicating the position of each of a plurality of mobile bodies moving in the shared space from each mobile body via communication, and creates a first information group. acquiring information on detection of each of the plurality of moving bodies, generating second position information indicating the position of each of the plurality of moving bodies based on the information, and creating a second information group and a second creation unit, each moving body whose first information group includes the first position information based on the history of the first information group and the second information group, and the second a display device control unit for controlling the display device to display each moving object whose information group includes the second position information.

Below, as shown in FIG. 5, a space corresponding to the shared space includes a screen 22 surrounding at least the sides of the space corresponding to the shared space, which is a display device, and a group of projectors P for projecting images onto the screen 22. A large-scale immersive simulator 2 that allows the subject SUB to enter the simulator 2 and experience it with a higher sense of realism will be described.

Note that the simulator according to one embodiment of the present invention is not limited to the immersive simulator 2, and may be a simulator having a head-mounted display as a display device, or a driving simulator or flight simulator. Alternatively, the simulator may include a plurality of display panels (for example, liquid crystal panels) arranged to surround the subject as a display device.

(Constitution)
As shown in FIG. 5, the simulator 2 of this embodiment includes a server 21, a screen 22, and a projector group P consisting of four projectors P1 to P4. The simulator 2 further includes eyeglasses for realizing binocular parallax stereoscopic vision, which are used by the subject SUB who enters the space surrounded by the screen 22 . This spectacle is not shown in FIG.

The server 21 is obtained by adding a display device control section 211 to the server 11 shown in FIG. That is, the server 21 has a storage device like the server 11 does. Note that FIG. 5 shows only the first creation unit 112, the second creation unit 113, and the display device control unit 211 among the functional blocks provided in the server 21. As shown in FIG.

In this embodiment, the storage device stores the history of the first information group and the history of the second information group.

For a detailed description of the display device that can be used as the screen 22 and the projector group P, see "Development of Large-Scale Immersive Display Large Space", Hikaru Takatori, Yuki Maruzaki, Hiroaki Yano, Hiroo Iwata, TVRSJ, Vol. 21, No.3, pp.493-502, 2016.

(Screen 22)
The screen 22 is composed of four sub-screens 221-224. Each of the sub-screens 221 to 224 is arranged so as to surround the side of the space in which the shared space SS is to be virtually reproduced, so that the shape of the floor surface of the space is rectangular.

In addition to the four sub-screens 221 to 224, the screen 22 further includes a sub-screen covering the floor of the space and a sub-screen covering the ceiling of the space (not shown in FIG. 5). good too.

The size of the space that the screen 22 surrounds is not particularly limited as long as the image projected by the group of projectors P can be projected. However, in the case of an immersive simulator, the screen 22 is preferably large enough to accommodate the subject SUB. Further, when analyzing the interaction between the moving body reproduced by the simulator 2 and the subject SUB in a vehicle, the screen 22 is preferably large enough to accommodate the vehicle.

In this embodiment, the screen 22 is arranged so as to surround the sides of a space having a width of 25 m, a depth of 15 m, and a height of 8 m. According to this configuration, the subject SUB can walk in the space surrounded by the screen 22, and can also move in the space while riding in the vehicle.

(Projector group P)
The projector group P is composed of four projectors P1 to P4. In this embodiment, the projector P<b>1 is arranged near the midpoint of the upper edge of the sub-screen 221 and projects an image onto the sub-screen 223 facing the sub-screen 221 .

Similarly, each of the projectors P2 to P4 is arranged near the midpoint of the upper edge of each sub-screen 222, 223, 224, and each sub-screen 224, 224, 224 221 and 222.

As described above, in this embodiment, the front projection type projector group P and the screen 22 are employed. However, the projector group P and the screen 22 can adopt a rear projection system instead of a front projection system. Which method to use can be appropriately selected according to the size of the space surrounding the screen 22 and the space existing around the screen 22, the material of the screen 22, and the like.

(Display device control unit 211)
Based on the history of the first information group and the second information group described in the first embodiment, which is stored in the storage device, the display device control unit 211 displays the first information group as the first information group. The projector group P is controlled so as to project on the screen 22 each mobile body whose position information is included in one and each mobile body whose second position information is included in the second information group.

In addition, the display device control unit 211 determines that the image information to be supplied to each of the projectors P1 to P4 is image information that realizes binocular parallax stereoscopic vision of each moving object projected onto the screen 22 by each of the projectors P1 to P4. preferable. Typical methods for realizing binocular parallax stereoscopic vision include a polarizing glasses method and an active shutter glasses method, but other methods can also be adopted.

<Effect of simulator 2>
The simulator 2 is a simulator that includes a display device (projectors P and screen 22) and a server 21 that virtually reproduces the shared space SS.

The server 21 acquires first position information indicating the position of each of a plurality of mobile bodies moving in the shared space SS from each mobile body via communication, and creates a first information group. A unit 112 acquires information on detection of each of the plurality of moving bodies, generates second position information indicating the position of each of the plurality of moving bodies based on the information, and generates a second information group. , each moving object whose first information group includes the first position information based on the history of the first information group and the second information group, and the second information and a display device control unit 211 that controls the display device to display each moving object whose group includes the second position information.

By having the subject SUB experience the virtual shared space SS reproduced by the simulator 2 configured in this way, the subject SUB can experience a moving body based on the past history. As a result, when the moving object reproduced by the simulator 2 approaches the subject SUB, for example, the subject SUB reacts in the same way as when moving in the real shared space SS. Therefore, the risk of the moving object can be evaluated by analyzing the interaction between the moving object reproduced by the simulator 2 and the subject SUB (for example, the reaction of the subject SUB and the result after the reaction).

Further, in the simulator 2, the image information that the display device control unit 211 supplies to the display device is preferably image information that realizes binocular parallax stereoscopic vision of each moving object displayed by the display device control unit 211. FIG.

Since the simulator 2 configured in this manner can display a moving object that appears three-dimensional when viewed by the subject SUB, it is possible to further enhance the sense of realism experienced by the subject SUB.

In the simulator 2, the display device preferably includes a screen 22 surrounding at least the sides of the space corresponding to the shared space SS, and a plurality of projectors P1 to P4 for projecting images onto the screen 22.

The simulator 2 configured in this way functions as an immersive simulator when the subject SUB enters the space surrounded by the screen 22 . Therefore, this simulator 2 can further enhance the sense of realism experienced by the subject SUB.

[Example of realization by software]
Each block of the server 11 provided in the evaluation system 1 and the server 21 provided in the simulator 2 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be implemented by a CPU ( It may be realized by software using a Central Processing Unit). In the latter case, the servers 11 and 21 can be configured using computers (electronic computers) as shown in FIG.

FIG. 6 is a block diagram illustrating the configuration of a computer 910 that can be used as servers 11 and 21. As shown in FIG. A computer 910 includes an arithmetic device 912 , a main memory device 913 , an auxiliary memory device 914 , and an input/output interface 915 which are connected to each other via a bus 911 . The arithmetic device 912, the main memory device 913, and the auxiliary memory device 914 may be, for example, a CPU, a random access memory (RAM), and a hard disk drive, respectively. The input/output interface 915 is connected to an input device 920 for the user to input various information to the computer 910 and an output device 930 for the computer 910 to output various information to the user. The input device 920 and the output device 930 may be built in the computer 910 or may be connected (externally attached) to the computer 910 . For example, input device 920 may be a keyboard, mouse, touch sensor, etc., and output device 930 may be a display, printer, speaker, or the like. Also, a device having both functions of the input device 920 and the output device 930, such as a touch panel in which a touch sensor and a display are integrated, may be applied. A communication interface 916 is an interface for the computer 910 to communicate with an external device.

Various programs for operating the computer 910 as the servers 11 and 21 are stored in the auxiliary storage device 914 . Then, the computing device 912 develops the above programs stored in the auxiliary storage device 914 on the main storage device 913 and executes the instructions included in the programs, whereby the computer 910 is provided by the servers 11 and 21. Function as each part. The recording medium used by the auxiliary storage device 914 to record information such as programs may be a computer-readable "non-temporary tangible medium", such as a tape, disk, card, semiconductor memory, programmable logic circuit, etc. and so on.

In addition, a configuration is adopted in which the computer 910 functions using a program recorded in a recording medium external to the computer 910 or a program supplied to the computer 910 via any transmission medium (communication network, broadcast wave, etc.). You may The present invention can also be implemented in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, but can be modified in various ways within the scope of the claims, and can be obtained by appropriately combining technical means disclosed in different embodiments. is also included in the technical scope of the present invention.

SS shared space 1 evaluation system C camera 10 wireless communication network 11 server 111 acquisition unit 112 first creation unit 113 second creation unit 1131 position information extraction unit 114 map creation unit 115 determination unit 116 display control unit 117 notification unit 118 notification unit 12 Pedestrian group 12a-12m Pedestrian 13 Electromagnetic coupling vehicle 131-133 Vehicle 14 Alarm group 141, 142,..., 14i,..., 14n Alarm 2 Simulator 21 Server 211 Display device control unit 22 Screen P Projector group P1-P4 projector

Claims (17)

A simulator equipped with a display device and a server that virtually reproduces a predetermined fixed space through which a plurality of moving bodies pass ,
The above server
a first creation unit that acquires, via communication, first position information indicating the position of each of a plurality of moving bodies moving in the fixed space from each of the moving bodies, and creates a first information group; , a first creation unit that creates a plurality of first information groups at predetermined time intervals ;
an acquisition unit that acquires image information representing an image that includes the entire area of the fixed space and includes the plurality of moving objects and that is captured at predetermined time intervals;
a second creation unit that acquires the image information, creates second position information indicating the position of each of the plurality of moving objects based on the image information, and creates a second information group; , a second creation unit that creates a plurality of second information groups at predetermined time intervals ;
a display device control unit for controlling the display device to display each moving object passing through the fixed space in a virtual fixed space, wherein the first position information is included in each of the first information groups; each mobile object included in the second information group is displayed according to the first position information, and each mobile object whose second position information is included in each of the second information groups is displayed according to the second position information ; a display device controller for controlling the display device to display
A simulator characterized by: The image information that the display device control unit supplies to the display device is image information that realizes binocular parallax stereoscopic vision of each of the moving objects displayed by the display device.
The simulator according to claim 1, characterized by: The display device includes a screen that surrounds at least the sides of the fixed space, and a plurality of projectors that project images onto the screen.
The simulator according to claim 1, characterized by: First position information indicating the position of each of a plurality of mobile bodies moving in a predetermined fixed space through which the plurality of mobile bodies pass is acquired from each mobile body via communication to create a first information group. a first creation unit that creates a plurality of first information groups at predetermined time intervals ;
an acquisition unit that acquires image information representing an image that includes the entire area of the fixed space and includes the plurality of moving objects and that is captured at predetermined time intervals;
a second creation unit that acquires the image information, creates second position information indicating the position of each of the plurality of moving objects based on the image information, and creates a second information group; , a second creation unit that creates a plurality of second information groups at predetermined time intervals ;
(A) a group of mobiles included only in the first information group, (B) a group of mobiles included only in the second information group, and (C) the first information group and the second information group a determining unit that determines each moving body included in at least one of groups of moving bodies that satisfy a predetermined condition among the moving bodies included in both of the moving bodies to be a high-risk moving body; equipped with
A server characterized by: The first information group includes first speed information indicating a first speed, which is the speed of each moving body, obtained from a change in time of the first position, which is the position indicated by the first position information. including
The second information group includes second speed information indicating a second speed, which is the speed of each moving object, obtained from a change in time of the second position, which is the position indicated by the second position information. including
The determination unit determines that a mobile body in which at least one of the first speed and the second speed exceeds a predetermined threshold speed is a high-risk mobile body.
5. The server according to claim 4, characterized by: The first information group is a first velocity indicating a first velocity vector, which is a velocity vector of each mobile body, obtained from a change in time of the first position, which is the position indicated by the first position information. containing vector information,
The second information group is a second velocity indicating a second velocity vector which is a velocity vector of each mobile body obtained from a time change of the second position, which is the position indicated by the second position information. containing vector information,
The determination unit determines, from the first position and the first velocity vector, and the second position and the second velocity vector, a position that each moving object is expected to reach after a predetermined time. calculating a certain predicted position, and determining that mobile bodies whose distance between the predicted positions is less than a predetermined threshold distance are high-risk mobile bodies;
6. The server according to claim 4 or 5, characterized by: The determination unit determines that a mobile body in which at least one of the first velocity vector and the second velocity vector has an irregular temporal change is a high-risk mobile body.
7. The server according to claim 6, characterized by: further comprising a storage device that stores temporal change patterns of velocity vectors that are highly likely to lead to accidents;
The first information group is a first velocity indicating a first velocity vector, which is a velocity vector of each mobile body, obtained from a change in time of the first position, which is the position indicated by the first position information. containing vector information,
The second information group is a second velocity indicating a second velocity vector which is a velocity vector of each mobile body obtained from a time change of the second position, which is the position indicated by the second position information. containing vector information,
The determination unit compares the temporal change pattern of the first speed vector and the temporal change pattern of the second speed vector with the pattern that is highly likely to lead to the accident, determine that the moving object that is moving is a high-risk moving object,
6. The server according to claim 4 or 5, characterized by: further comprising a storage device that stores a temporal change pattern of velocity vectors that are unlikely to lead to an accident;
The first information group is a first velocity indicating a first velocity vector, which is a velocity vector of each mobile body, obtained from a change in time of the first position, which is the position indicated by the first position information. containing vector information,
The second information group is a second velocity indicating a second velocity vector which is a velocity vector of each mobile body obtained from a time change of the second position, which is the position indicated by the second position information. containing vector information,
The determination unit compares the temporal change pattern of the first speed vector and the temporal change pattern of the second speed vector with the pattern with a low possibility of leading to an accident, and deviates. determine that the moving object that is moving is a high-risk moving object,
6. The server according to claim 4 or 5, characterized by: The storage device stores a history of a first velocity vector, which is a velocity vector of each moving body, obtained from the temporal change of the first position, and each movement obtained from the temporal change of the second position. further storing a history of a second velocity vector, which is the velocity vector of the body;
The determination unit determines that the temporal change pattern of at least one of the first velocity vector and the second velocity vector is determined by the history of the first velocity vector and the history of the second velocity vector. Determining a moving object that is different from any part of as a high-risk moving object,
10. The server according to claim 8 or 9, characterized by: a first map obtained by mapping a first position, which is a position of each moving object whose first position information is included in the first information group, onto a map of the fixed space ; and the second information group. A second map obtained by mapping the second position, which is the position of each moving body whose second position information is included in the above, on the map of the fixed space ; a map creation unit that creates a third map in which the determined moving object is mapped on the map of the fixed space while distinguishing it from other moving objects;
a display control unit for displaying the third map on the screen,
The server according to any one of claims 4 to 10, characterized in that: a server according to any one of claims 4 to 11;
an evaluation system that is networked with the server and includes one or more cameras that capture images of the fixed space ,
The above server
an acquisition unit that acquires the image from the one or more cameras;
a position information extraction unit that extracts position information indicating the position of each moving object included in the image as the second position information,
An evaluation system characterized by: a server according to any one of claims 4 to 11;
An evaluation system comprising: a plurality of vehicles each having a proximity sensor, the plurality of vehicles forming part of the plurality of moving bodies,
Each of the plurality of vehicles has (1) third position information indicating a third position, which is the position of the vehicle itself, and (2) one or more vehicles existing around the vehicle detected by the proximity sensor. generating fourth position information indicating a fourth position that is the position of the moving body, the fourth position information indicating a relative position of the fourth position with respect to the third position; ,
The server further comprises an acquisition unit that acquires the third position information and the fourth position information of each vehicle from each of the plurality of vehicles,
The second creation unit creates the second information group by aggregating the third location information and the fourth location information.
An evaluation system characterized by: The server notifies at least each mobile body having a receiving unit among the one or more mobile bodies determined to have a high risk, or the one or more mobile bodies determined to have a high risk. A notification unit that notifies each moving object having a receiving unit among the moving objects positioned around a plurality of moving objects that there is a moving object that is determined to be at high risk in its surroundings. further comprising
14. The evaluation system according to claim 12 or 13, characterized in that: Further comprising a plurality of alarms arranged in a fixed space ,
The server has one or more alarms placed around one or more moving bodies determined to be at high risk, or placed in the traveling direction of one or more moving bodies determined to be at higher risk Further comprising an annunciator that operates one or more annunciators,
The evaluation system according to any one of claims 12 to 14, characterized in that: 5. An evaluation program for causing a computer to function as the server according to claim 4, the evaluation program for causing the computer to function as the first creation unit, the acquisition unit, the second creation unit, and the determination unit. An evaluation method for evaluating the risk of each moving object in a predetermined fixed space through which a plurality of moving objects pass,
a first creating step of creating a first information group by acquiring first position information indicating the position of each of a plurality of mobile bodies moving in the fixed space from each mobile body via communication; , a first creating step of creating a plurality of first information groups at predetermined time intervals ;
an acquisition step of acquiring image information representing an image including the entire area of the fixed space and including the plurality of moving objects, the image being captured at predetermined time intervals;
a second creating step of acquiring the image information, generating second position information indicating the position of each of the plurality of moving objects based on the image information, and creating a second information group; , a second creating step of creating a plurality of second information groups at predetermined time intervals ;
(A) a group of mobiles included only in the first information group, (B) a group of mobiles included only in the second information group, and (C) the first information group and the second information group a determination step of determining a mobile object included in at least one of a group of mobile objects that satisfy a predetermined specific condition among the mobile objects included in both groups as a high-risk mobile object; including,
An evaluation method characterized by

Images