WO2022071323A1 - Program, information processing method, information processing terminal, and map information provision device - Google Patents

Program, information processing method, information processing terminal, and map information provision device Download PDF

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Publication number
WO2022071323A1
WO2022071323A1 PCT/JP2021/035660 JP2021035660W WO2022071323A1 WO 2022071323 A1 WO2022071323 A1 WO 2022071323A1 JP 2021035660 W JP2021035660 W JP 2021035660W WO 2022071323 A1 WO2022071323 A1 WO 2022071323A1
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WIPO (PCT)
Prior art keywords
vehicle
dangerous
region
distance
warning
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PCT/JP2021/035660
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French (fr)
Japanese (ja)
Inventor
和伸 太田
正晃 上坂
Original Assignee
Ａｒｉｔｈｍｅｒ株式会社
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Application filed by Ａｒｉｔｈｍｅｒ株式会社 filed Critical Ａｒｉｔｈｍｅｒ株式会社
Priority to JP2022554016A priority Critical patent/JPWO2022071323A1/ja
Publication of WO2022071323A1 publication Critical patent/WO2022071323A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids

Definitions

  • the present invention relates to a program, an information processing method, an information processing terminal, and a map information providing device.
  • Patent Document 1 discloses a factor analysis device that warns the driver by estimating the cause of a vehicle accident with high accuracy.
  • Patent Document 1 may give an excessive warning to the driver and cause discomfort to the driver.
  • the program according to one aspect of the present invention is the first area set within the first distance from the vehicle and the first from the vehicle based on the map information indicating the dangerous place where the dangerous event is likely to occur and the position information of the vehicle.
  • the computer is made to execute a process of determining whether or not a dangerous place overlaps with a second area set within a second distance shorter than one distance. Then, the program generates the output command of the first warning when it is determined that the dangerous part overlaps in the first area, and deletes the output command of the first warning when it is determined that the dangerous part overlaps in the second area. Let the computer perform the processing to be performed.
  • the first embodiment detects a dangerous event (passerby jumping out, ignoring a signal, etc.) that may occur in the vehicle from an image obtained by capturing the surroundings of the vehicle in which the user is riding, and warns the user, and at the same time, a plurality of vehicles.
  • the present invention relates to a form of warning the user of a dangerous place on a map obtained by analyzing a dangerous event that occurred in.
  • FIG. 1 is an explanatory diagram showing an outline of a pre-hazard warning release system.
  • the system of the present embodiment includes information processing terminals 1, 1, 1, ... And an information processing device 2, and each device transmits / receives information via a network N such as the Internet.
  • the information processing terminal 1 is a terminal device installed in a vehicle that acquires map information, detects a dangerous event in the vehicle, outputs a danger warning, and the like.
  • the information processing terminal 1 is, for example, an information processing device such as a smartphone, a tablet, a navigation device equipped with a car navigation system (Automotive Navigation System), or a personal computer.
  • the information processing terminal 1 is a smartphone or a tablet, it may be placed on a holder or the like installed on the dashboard when the vehicle is driving. In the following, the information processing terminal 1 is read as a vehicle terminal 1.
  • the information processing device 2 is an information processing device that processes, stores, and transmits / receives various information including map information.
  • the information processing device 2 is, for example, a server device, a personal computer, or the like.
  • the information processing device 2 is assumed to be a server device, and is referred to as a server 2 in the following for the sake of brevity.
  • the vehicle terminal 1 captures an image of the surroundings of the vehicle (for example, the front), detects a dangerous event from the image of the surroundings of the vehicle, and outputs a warning (second warning) to the user (see FIG. 5). ).
  • the vehicle terminal 1 transmits the detection information including the detection time and the position information at the time of detection to the server 2 in addition to the image when the dangerous event is detected, and reports the dangerous event. ..
  • the server 2 acquires detection information from the vehicle terminals 1, 1, 1, ... Of each of the plurality of vehicles. Then, the server 2 generates map information indicating a dangerous place (place) on the map where a dangerous event is likely to occur from the detection information of each vehicle. Map information is data in which data indicating points or areas on a map where dangerous events are likely to occur and time points or times when dangerous events are likely to occur are added to the map data displayed by a car navigation system or the like. be. In this embodiment, the map information is also referred to as a hazard map. The server 2 statistically processes information on dangerous events reported from each vehicle terminal 1, generates map information, and distributes it to each vehicle terminal 1.
  • the vehicle terminal 1 receives and displays map information from the server 2 (see FIG. 6). Then, when the vehicle approaches the dangerous place indicated by the map information, the vehicle terminal 1 outputs a warning (first warning) notifying that the vehicle has approached the dangerous place. In this way, the vehicle terminal 1 outputs a first warning when the vehicle approaches a dangerous place on the map, and outputs a second warning when a dangerous event is detected from an image around the vehicle.
  • a warning first warning
  • FIG. 2 is a block diagram showing a configuration example of the vehicle terminal 1.
  • the vehicle terminal 1 includes a control unit 11, a storage unit 12, a communication unit 13, an input unit 14, a display unit 15, a photographing unit 16, an auxiliary storage unit 17, a GPS (Global Positioning System) module 18, and a speaker 19.
  • Each configuration is connected by bus B.
  • the control unit 11 includes an arithmetic processing unit such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), and a GPU (Graphics Processing Unit), and reads and executes the control program 1P stored in the storage unit 12. , Performs various information processing, control processing, etc. related to the vehicle terminal 1.
  • arithmetic processing unit such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), and a GPU (Graphics Processing Unit)
  • CPU Central Processing Unit
  • MPU Micro-Processing Unit
  • GPU Graphics Processing Unit
  • the storage unit 12 includes memory elements such as RAM (RandomAccessMemory) and ROM (ReadOnlyMemory), and stores the control program 1P or data required for the control unit 11 to execute processing. Further, the storage unit 12 temporarily stores data and the like necessary for the control unit 11 to execute arithmetic processing.
  • the communication unit 13 is a communication module for performing processing related to communication, and transmits / receives information to / from the server 2 or the like via the network N.
  • the input unit 14 may be a keyboard, a mouse, or a touch panel integrated with the display unit 15.
  • the display unit 15 is a liquid crystal display, an organic EL (electroluminescence) display, or the like, and displays various information according to the instructions of the control unit 11.
  • the photographing unit 16 is an photographing device such as a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera.
  • the photographing unit 16 may be composed of a plurality of photographing devices.
  • the photographing unit 16 may not be built in the vehicle terminal 1 but may be directly connected to the vehicle terminal 1 externally so as to be capable of photographing.
  • the auxiliary storage unit 17 is a non-volatile storage area such as a large-capacity memory or a hard disk, and includes, for example, a recording medium such as an HDD (Hard disk drive) or SSD (Solid State Drive).
  • the GPS module 18 is a module for acquiring position information of a vehicle using GPS satellites.
  • the speaker 19 is a device that converts an electric signal into sound.
  • FIG. 3 is a block diagram showing a configuration example of the server 2.
  • the server 2 includes a control unit 21, a storage unit 22, a communication unit 23, a reading unit 24, and a large-capacity storage unit 25. Each configuration is connected by bus B.
  • the control unit 21 includes arithmetic processing units such as a CPU, MPU, and GPU, and performs various information processing, control processing, and the like related to the server 2 by reading and executing the control program 2P stored in the storage unit 22. Although the control unit 21 is described as a single processor in FIG. 3, it may be a multiprocessor.
  • the storage unit 22 includes memory elements such as RAM and ROM, and stores the control program 2P or data required for the control unit 21 to execute the process. Further, the storage unit 22 temporarily stores data and the like necessary for the control unit 21 to execute the arithmetic processing.
  • the communication unit 23 is a communication module for performing processing related to communication, and transmits / receives information to / from the vehicle terminal 1 or the like via the network N.
  • the reading unit 24 reads a portable storage medium 2a including a CD (Compact Disc) -ROM or a DVD (Digital Versatile Disc) -ROM.
  • the control unit 21 may read the control program 2P from the portable storage medium 2a via the reading unit 24 and store it in the large-capacity storage unit 25. Further, the control unit 21 may download the control program 2P from another computer via the network N or the like and store it in the large-capacity storage unit 25. Furthermore, the control unit 21 may read the control program 2P from the semiconductor memory 2b.
  • the large-capacity storage unit 25 includes a recording medium such as an HDD or SSD.
  • the large-capacity storage unit 25 includes a map DB (database) 251 and a detection information DB 252.
  • the map DB 251 stores map information indicating a dangerous place where a dangerous event is likely to occur.
  • the map information may be stored in an external dedicated map database.
  • the detection information DB 252 stores the detection information in which a dangerous event of the vehicle is detected.
  • the storage unit 22 and the large-capacity storage unit 25 may be configured as an integrated storage device. Further, the large-capacity storage unit 25 may be composed of a plurality of storage devices. Furthermore, the large-capacity storage unit 25 may be an external storage device connected to the server 2.
  • server 2 is described as one information processing device in the present embodiment, it may be distributed and processed by a plurality of servers, or it may be configured by a virtual machine.
  • FIG. 4 is an explanatory diagram showing an example of the record layout of the detection information DB 252.
  • the detection information DB 252 includes a detection ID row, a vehicle ID row, an image row, a detection time row, a position information row, and a dangerous event row.
  • the detection ID column stores the detection ID for specifying the detection information.
  • the vehicle ID column stores the vehicle ID for identifying the vehicle.
  • the image sequence stores an image when a dangerous event is detected.
  • the detection time sequence stores the time when the dangerous event is detected.
  • the position information string stores the position information (for example, point name, latitude / longitude, etc.) of the place where the dangerous event occurs.
  • the dangerous event sequence stores the contents of the dangerous event (for example, jumping out of a person, involving a person, ignoring a red light, etc.).
  • FIG. 5 is an explanatory diagram for detecting a dangerous event of the vehicle.
  • Dangerous events of a vehicle are external dangerous events such as jumping out of a passerby, getting caught in, approaching another vehicle, and / or internal dangerous events such as ignoring the red light of the own vehicle and ignoring a temporary stop (dangerous driving). including.
  • the vehicle terminal 1 mounted on the vehicle acquires an image of the surroundings of the vehicle. For example, as shown in FIG. 5, the vehicle terminal 1 acquires an image with the front of the vehicle as the imaging range.
  • the image may be captured by the photographing unit 16 of the vehicle terminal 1, or may be captured by an external imaging device. Further, the image may include an image of not only the front of the vehicle but also the rear and side of the vehicle. Alternatively, the vehicle terminal 1 may acquire an image captured in all directions by a 360-degree camera or the like.
  • the vehicle terminal 1 detects a dangerous event of the vehicle in the acquired image. For example, as shown in the figure, when the pedestrian 11a moves from the sidewalk side to the roadway side, the event is detected as a dangerous event.
  • the method of detecting a dangerous event is not particularly limited, but for example, the vehicle terminal 1 performs pattern matching on a specific object (passerby who jumps out on the road, a red light) based on the shape, size, color, etc. of the object in the image. To detect.
  • the vehicle terminal 1 may prepare a trained machine learning model (for example, a neural network) to detect a dangerous event when a captured image is input, and detect the dangerous event.
  • a trained machine learning model for example, a neural network
  • the vehicle terminal 1 may detect a dangerous event from the entire image (entire area), but in the present embodiment, the vehicle terminal 1 may detect a dangerous event from a part of the region of interest 11b (ROI: Region of Interest) in the captured image. Detect dangerous events.
  • the region of interest 11b is a region of interest (image region) corresponding to a region on a travel path within a predetermined distance from the vehicle. In FIG. 5, the region of interest 11b is shown by hatching.
  • the region of interest 11b shown in FIG. 5 is an example.
  • the region of interest 11b may include a sidewalk in addition to the travel path (road), or all the travel paths recognizable from the image may be included in the region of interest.
  • the position, shape, range, etc. of the region of interest 11b in the image are not particularly limited.
  • the vehicle terminal 1 detects a dangerous event by detecting a specific object from a region of interest within a predetermined distance from the vehicle.
  • the vehicle terminal 1 outputs a second warning when it detects a dangerous event of the vehicle.
  • the second warning is a warning to alert the driver when a dangerous event of the vehicle is detected.
  • the vehicle terminal 1 outputs a second warning audio signal such as "a pedestrian jumping forward has been found. Please be careful! Through the speaker 19 a predetermined number of times (for example, three times). You may.
  • the second warning may be output repeatedly without being limited to a predetermined number of times. In this case, for example, the vehicle terminal 1 may erase the second warning after the vehicle reaches the periphery of the place (point) where the dangerous event is detected. Further, at the same time as the output (reproduction) of the second warning, the warning content in text format may be displayed on the screen.
  • the vehicle terminal 1 transmits the detection information of detecting a dangerous event of the vehicle to the server (map information providing device) 2.
  • the detection information includes the vehicle ID, the image at the time of detecting the dangerous event, the detection time, the position information (point name or longitude / latitude, etc.), or the content of the dangerous event (for example, ignoring the red light, jumping out of a person, etc.). ..
  • the server 2 receives the detection information transmitted from the vehicle terminal 1 and stores the received detection information in the detection information DB 252. Specifically, the server 2 allocates a detection ID and stores the vehicle ID, the image, the detection time, the position information, and the contents of the dangerous event as one record in the detection information DB 252.
  • the server 2 generates map information indicating a dangerous place on a map where a dangerous event is likely to occur, based on the detection information in each vehicle stored in the detection information DB 252.
  • the map information is data in which data indicating a point or area on a map where a dangerous event is likely to occur and a time or time zone where a dangerous event is likely to occur are added to the map data.
  • the map information includes the longitude / latitude of the dangerous place, the occurrence rate of the dangerous event for each dangerous place (for example, 25%), the danger level set according to the occurrence rate of the dangerous event, and the time zone in which the dangerous event is likely to occur.
  • the server 2 Based on the detection information received from each vehicle terminal 1, the server 2 aggregates the number of occurrences, frequency of occurrence, occurrence rate, etc. of dangerous events at each point or area on the map by time or time zone, and calculates the occurrence rate, etc. Generates map information showing danger points where the danger level determined accordingly is above a certain level.
  • the server 2 statistically processes the detection information in real time or at regular intervals (for example, one week, one month, etc.) every time the detection information is received from the vehicle terminal 1, and updates the map information.
  • the server 2 transmits the map information updated according to the detection information to the vehicle terminal 1 mounted on each vehicle.
  • Each vehicle terminal 1 receives the map information transmitted from the server 2 and displays it on the screen.
  • FIG. 6 is an explanatory diagram showing an example of a screen for displaying map information.
  • the screen includes a map display field 12a, a danger location display field 12b, and a danger event icon 12c.
  • the map display field 12a is a display field for displaying a map.
  • the dangerous place display column 12b is a display field for displaying a mark indicating a dangerous place (area).
  • the dangerous event icon 12c is an icon for indicating a dangerous event.
  • the server 2 acquires the map (hazard map) information from the map DB 251.
  • the server 2 transmits the acquired map information to the vehicle terminal 1.
  • the vehicle terminal 1 displays a hazard map on the screen based on the map information transmitted from the server 2.
  • a mark indicating a dangerous place where a dangerous event of a vehicle is likely to occur in the past, an occurrence rate of a dangerous event for each dangerous place (for example, 25%), and a time zone when a dangerous event is likely to occur for example, 7 o'clock.
  • ⁇ 8 o'clock and icons set according to the content of the dangerous event (for example, pop-out icon, entrainment icon, etc.) are superimposed and described on the hazard map.
  • the vehicle terminal 1 displays the map data included in the received map information in the map display field 12a, displays a mark indicating a dangerous place in the dangerous place display field 12b, and displays an icon indicating a dangerous event. Is displayed on the dangerous event icon 12c.
  • FIG. 7 is an explanatory diagram showing the relationship between the vehicle and various areas.
  • FIG. 8 is an explanatory diagram regarding the first warning based on the dangerous place.
  • the vehicle terminal 1 when the vehicle approaches the dangerous place, the vehicle terminal 1 outputs a first warning to the effect that the vehicle has approached the dangerous place, in addition to the second warning described above.
  • the vehicle terminal 1 processes as follows so that the first warning is not excessively output.
  • the vehicle terminal 1 acquires the current position information of the vehicle via the GPS module 18. Next, the vehicle terminal 1 determines whether or not the vehicle is approaching the dangerous place based on the acquired current position information and the position information of the dangerous place indicated by the map information. Specifically, the vehicle terminal 1 determines whether or not the dangerous portion overlaps with the first region shown in FIG. 7A.
  • the first region is a fan-shaped region set within the first distance forward from the vehicle with the vehicle position as the center of concentric circles.
  • the first region is not limited to the fan-shaped region, and may be, for example, an annular fan-shaped region set between the first distance and the second distance described later with the vehicle as the center of concentric circles.
  • the first region may be a rectangular region or the like.
  • the first region may be any region set within the first distance from the vehicle, and its shape, position (distance), range, and the like are not particularly limited.
  • the vehicle terminal 1 determines whether or not the danger point overlaps with the second region set within the second distance, which is shorter than the first distance. Then, when the vehicle terminal 1 determines that the dangerous portion overlaps with the second region, the vehicle terminal 1 deletes the output command of the first warning.
  • the second region is a fan-shaped region set in front of the vehicle with the vehicle position as the center of a circle, as shown by a white area surrounded by a broken line in FIG. 7B, and is a region constituting a part of the first region. be.
  • the second region may be set as an annular fan-shaped region, a rectangular region, or the like, and may be a region within the second distance shorter than the first distance.
  • FIG. 8 illustrates how the vehicle gradually approaches the dangerous place.
  • the dangerous place when the dangerous place is set as a certain area on the map (an elliptical area in FIG. 8), the first area overlaps with the area corresponding to the dangerous place (FIG. 8).
  • the vehicle terminal 1 generates an output command for the first warning and outputs the first warning.
  • the first warning is a warning to alert the driver based on the distance from the vehicle to the dangerous place.
  • the vehicle terminal 1 outputs a voice signal of the first warning such as "I will soon enter a dangerous area where an accident is likely to occur. Please be careful!" Through the speaker 19 a predetermined number of times (for example, three times). May be.
  • the number of times the first warning is output is not limited to a predetermined number of times.
  • the vehicle terminal 1 starts outputting the first warning when the first region overlaps the dangerous place, and continuously outputs the first warning thereafter.
  • the vehicle terminal 1 determines whether or not the dangerous portion overlaps with the second region. When it is determined that the second region overlaps (the third state from the top of FIG. 8), the vehicle terminal 1 deletes the output command of the first warning being output.
  • the vehicle terminal 1 generates a first warning output command when a dangerous place overlaps the first area set within the first distance from the vehicle, and within the second distance shorter than the first distance.
  • the output command of the first warning is deleted.
  • the vehicle terminal 1 may continue to output the first warning as it is, or may end the output of the first warning after a certain period of time has elapsed after the dangerous portion deviates from the first region.
  • the exception handling when the dangerous portion does not overlap with the second region is not particularly limited.
  • the second region has been described above as a part of the first region, the first region and the second region do not overlap each other (for example, the first region has a circular fan shape from the first distance to the second distance).
  • the region and the second region may be a fan-shaped region on the vehicle side of the first region), or the first region and the second region may be partially overlapped.
  • the vehicle terminal 1 changes the processing content of the dangerous event detection so that the dangerous event can be detected with high sensitivity when the dangerous part overlaps with the second region.
  • the vehicle terminal 1 expands the region of interest 11b exemplified in FIG. 5 when the second region overlaps the dangerous portion.
  • the vehicle terminal 1 extends the distance from the vehicle to the tip of the region of interest 11b (the upper side of the region of interest 11b on the upper side of FIG. 5) to expand the area on the travel path to be detected.
  • the detection sensitivity can be increased when the dangerous portion overlaps with the second region, that is, when the vehicle enters a place where a dangerous event is likely to occur, and the dangerous event can be suitably avoided.
  • the vehicle terminal 1 may change a parameter (threshold value) as a reference when detecting a dangerous event from an image.
  • a parameter for example, when a dangerous event is detected using a machine learning model of an object detection system, the output value from the learning model (for example, the probability that the object recognized from the image is a specific object such as a passerby or a red light). ) And lower the threshold. Even in this case, the detection sensitivity of the dangerous event can be increased in the same manner as described above.
  • the process of expanding the area of interest or changing the threshold value is mentioned, but the present embodiment is not limited to this.
  • the threshold value may be changed. That is, the second area for erasing the output command of the first warning and the third area for performing the process of expanding the area of interest or changing the threshold value may be set separately.
  • the second region and the third region are treated as the same region as shown in FIG. 7B.
  • FIG. 9 is a flowchart showing a dangerous event detection processing procedure.
  • the vehicle terminal 1 that has detected a dangerous event is represented by reference numeral 1a
  • the other vehicle terminals 1 are represented by reference numeral 1b.
  • the control unit 11 of the vehicle terminal 1a acquires map information indicating a dangerous place where a dangerous event is likely to occur from the map DB 251 of the server 2 via the communication unit 13 and displays it on the display unit 15 (step S01).
  • the control unit 11 acquires an image of the surroundings of the vehicle via the communication unit 13 or the photographing unit 16 (step S02). For example, the control unit 11 acquires an image with the front of the vehicle as the imaging range.
  • the control unit 11 detects a dangerous event of the vehicle from the region of interest in the acquired image by using pattern matching, a machine learning model, or the like (step S03).
  • the control unit 11 determines whether or not a dangerous event of the vehicle has occurred based on the detection result of the dangerous event (step S04).
  • control unit 11 determines that no dangerous event of the vehicle has occurred (NO in step S04)
  • the control unit 11 returns to the process of step S02.
  • the control unit 11 determines that a dangerous event of the vehicle has occurred (YES in step S04)
  • the control unit 11 outputs a second warning via the speaker 19 (step S05).
  • the control unit 11 transmits the detection information including the vehicle ID, the image at the time of detecting the dangerous event, the detection time, the position information, and the content of the dangerous event to the server 2 by the communication unit 13 (step S06).
  • the control unit 21 of the server 2 receives the detection information transmitted from the vehicle terminal 1a by the communication unit 23 and stores it in the detection information DB 252 (step S07).
  • the control unit 21 analyzes the detection information from each vehicle terminal 1a stored in the detection information DB 252 (step S08). For example, the control unit 21 sets the number of occurrences, frequency of occurrence, probability of occurrence, etc. of dangerous events at each point or area on the map based on the detection time, position information, etc. of the dangerous event indicated by the detection information from each vehicle terminal 1a. Or calculate by time zone.
  • the control unit 21 generates map information indicating a dangerous place on a map where a dangerous event is likely to occur based on the analysis result of step S08, and updates the map DB 251 based on the generated map information (step S09). For example, the control unit 21 compares the number of occurrences of dangerous events at each time or time zone with a predetermined threshold value, determines the danger level of each point or area on the map, and determines the point or area where the danger level is above a certain level. Generate map information as a dangerous place. The control unit 21 transmits the updated map information to each vehicle terminal 1 by the communication unit 23 (step S10).
  • steps S07 to S09 may be executed every time the detection information is received (step S06), or may be executed at regular intervals.
  • the control unit 11 of the vehicle terminal 1a receives the updated map information transmitted from the server 2 by the communication unit 13 (step S11).
  • the control unit 11 displays the received map information on the display unit 15 (step S12), and ends the process.
  • the control unit 11 of the vehicle terminal 1b receives the updated map information transmitted from the server 2 by the communication unit 13 (step S13).
  • the control unit 11 displays the received map information on the display unit 15 (step S14), and ends the process.
  • FIG. 10 is a flowchart showing a warning processing procedure for a dangerous place.
  • the vehicle terminal 1 executes the following processing in parallel with the dangerous event detection processing described with reference to FIG.
  • the control unit 11 of the vehicle terminal 1 acquires map information indicating a dangerous place where a dangerous event is likely to occur from the map DB 251 of the server 2 via the communication unit 13 (step S101).
  • the control unit 11 acquires the current position information via the GPS module 18 (step S102).
  • the control unit 11 determines whether or not the dangerous place overlaps the first area set within the first distance from the vehicle based on the current position information and the position information of the dangerous place indicated by the map information (step). S103). When the control unit 11 determines that the danger points do not overlap with the first region (NO in step S103), the control unit 11 returns to the process of step S102. When the control unit 11 determines that the dangerous portion overlaps with the first region (YES in step S103), the control unit 11 generates an output command for the first warning and outputs the first warning via the speaker 19 (step S104).
  • the control unit 11 determines whether or not the dangerous place overlaps the second area set within the second distance shorter than the first area based on the current position information and the position information of the dangerous place indicated by the map information. (Step S105). When the control unit 11 determines that the danger points do not overlap with the second region (NO in step S105), the control unit 11 returns to the process of step S105. When the control unit 11 determines that the dangerous portion overlaps with the second region (YES in step S105), the control unit 11 deletes the output command of the first warning being output (step S106). The control unit 11 expands the region of interest of the captured image to be detected as a dangerous event (step S107).
  • the control unit 11 determines whether or not the dangerous place is out of the second area based on the current position information and the position information of the dangerous place indicated by the map information (step S108). When the control unit 11 determines that the dangerous portion is out of the second region (YES in step S108), the control unit 11 returns the region of interest of the enlarged captured image to the region of interest before expansion (step S109), and returns to the process of step S101. .. When the control unit 11 determines that the dangerous portion has not deviated from the second region (NO in step S108), the control unit 11 returns to the process of step S108.
  • the present embodiment when a dangerous place overlaps with the second region, it is possible to increase the detection sensitivity of the dangerous event of the vehicle by changing the threshold value when detecting the dangerous event.
  • the map information generated based on the detection information from the vehicle has been described as an example, but the map information according to the present embodiment is not limited to this.
  • the map information may reflect traffic information or the like based on disaster information delivered in real time.
  • the second embodiment relates to a mode in which the first region is expanded according to the traveling speed of the vehicle.
  • the description of the contents overlapping with the first embodiment will be omitted.
  • the traveling speed of the vehicle affects the time it takes for the vehicle to reach the dangerous spot.
  • the traveling speed becomes high, the time for the vehicle to reach the dangerous place becomes short, so that the timing of outputting the danger warning to the user may be missed.
  • the danger warning can be output to the user at an early stage by expanding the first region.
  • FIG. 11 is a flowchart showing a processing procedure when expanding the first region according to the traveling speed of the vehicle.
  • the contents overlapping with FIG. 10 are designated by the same reference numerals and the description thereof will be omitted.
  • the control unit 11 of the vehicle terminal 1 acquires the traveling speed of the vehicle from, for example, a speed measurement sensor mounted on the vehicle (step S111).
  • the control unit 11 determines whether or not the acquired traveling speed is equal to or higher than a predetermined reference speed (step S112).
  • the control unit 11 determines that the acquired traveling speed is equal to or higher than the reference speed (YES in step S112), the control unit 11 expands the first region (step S113) and executes the process of step S103. For example, the control unit 11 expands the radius of a large circle in the first region set in a fan shape according to the magnitude of the traveling speed. For example, when the acquired traveling speed is 1.2 times the reference speed, the radius of the concentric circles is expanded 1.2 times in the first region. When the control unit 11 determines that the acquired traveling speed is less than the reference speed (NO in step S112), the control unit 11 transitions to the process of step S103.
  • the third embodiment relates to a mode in which the distance from the vehicle to the third region is changed according to the attribute of the user (driver) who drives the vehicle.
  • the above-mentioned second region and the third region are distinguished. The description of the contents overlapping with the first and second embodiments will be omitted.
  • User attributes include user age, etc.
  • an elderly driver may have a high incidence of traffic accidents due to problems such as traveling at a speed lower than the legal speed, delay in applying the brakes, or slow response.
  • the third distance from the vehicle is lengthened according to a predetermined rule.
  • the third distance from the vehicle may be increased by 1.5 times for an elderly driver in his 70s.
  • the user's attributes may include driving skills, years of driving experience, and the like.
  • FIG. 12 is a block diagram showing a configuration example of the server 2 of the second embodiment.
  • the contents overlapping with FIG. 3 are designated by the same reference numerals and the description thereof will be omitted.
  • the user DB 253 is stored in the large-capacity storage unit 25.
  • the user DB 253 stores user information including user attributes.
  • FIG. 13 is an explanatory diagram showing an example of the record layout of the user DB 253.
  • the user DB 253 includes a user ID column, a gender column, and an age column.
  • the user ID column stores the ID of a uniquely identified user in order to identify each user.
  • the gender column remembers the gender of the user.
  • the age column remembers the age of the user.
  • FIG. 14 is a flowchart showing a processing procedure when changing the third distance according to the age of the user.
  • the control unit 11 of the vehicle terminal 1 acquires the age of the user from the user DB 253 of the server 2 based on the user ID (step S121).
  • the control unit 11 determines whether or not the user is an elderly driver based on the acquired age of the user (step S122). For example, when the user's age is 70 years or older, the control unit 11 may determine that the user is an elderly driver.
  • control unit 11 sets the third distance from the vehicle longer than in the case of non-elderly drivers (step S123), and ends the process. For example, the third distance from the vehicle is increased 1.2 times.
  • control unit 11 determines that the user is not an elderly driver (NO in step S122)
  • the control unit 11 ends the process.
  • the present invention is not limited to this.
  • the third distance may be changed in consideration of, for example, the user's driving skill or years of driving experience.
  • the present embodiment by changing the third area distance from the vehicle according to the attribute of the user, it is possible to output a danger warning to the user in advance at an appropriate timing.
  • the second region and the third region are distinguished in the present embodiment, the second region and the third region may be the same region.
  • the third distance may be changed, but also the first distance may be changed.
  • the first distance may be changed.
  • the elderly driver by lengthening the first distance, the elderly driver can recognize the detection of the dangerous place earlier. This makes it possible to avoid a situation in which an elderly driver responds in a hurry to a dangerous event when the hazard map is updated in real time.
  • Control unit 11 Control unit 12 Storage unit 13 Communication unit 14 Input unit 15 Display unit 16 Imaging unit 17 Auxiliary storage unit 18 GPS module 19 Speaker 1P control program 2 Information processing device (server / map information providing device) 21 Control unit 22 Storage unit 23 Communication unit 24 Reading unit 25 Large-capacity storage unit 251 Map DB 252 Detection information DB 253 User DB 2a Portable storage medium 2b Semiconductor memory 2P control program

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Abstract

[Problem] To provide a program to output, to a driver, an appropriate danger warning in advance, and the like. [Solution] This program causes a computer to execute processing for determining, on the basis of map information indicating a dangerous spot at which a dangerous event tends to occur, and positional information of a vehicle, whether or not the dangerous spot overlaps with a first region set within a first distance from the vehicle and a second region set within a second distance shorter than the first distance from the vehicle. The program causes the computer to execute processing for generating a first warning output command if the dangerous spot is determined to overlap with the first region, and deleting the first warning output command if the dangerous spot is determined to overlap with the second region.

Description

プログラム、情報処理方法、情報処理端末及び地図情報提供装置Programs, information processing methods, information processing terminals and map information providing devices
　本発明は、プログラム、情報処理方法、情報処理端末及び地図情報提供装置に関する。 The present invention relates to a program, an information processing method, an information processing terminal, and a map information providing device.
　特許文献１には、車両の事故発生要因を高精度に推定することで、運転者への警告等を行う要因分析装置が開示されている。 Patent Document 1 discloses a factor analysis device that warns the driver by estimating the cause of a vehicle accident with high accuracy.
特許第６５４５９４０号公報Japanese Patent No. 6545940
　しかしながら、特許文献１に係る発明は、運転者への警告を過度に行い、運転者に対して不快感を与えることがある。 However, the invention according to Patent Document 1 may give an excessive warning to the driver and cause discomfort to the driver.
　本発明の一つの側面に係るプログラムは、危険事象が発生しやすい危険箇所を示す地図情報と、車両の位置情報とに基づき、車両から第１距離以内に設定される第１領域及び車両から第１距離より短い第２距離以内に設定される第２領域に危険箇所が重なったか否かを判定する処理をコンピュータに実行させる。そして、当該プログラムは、第１領域に危険箇所が重なったと判定した場合に第１警告の出力命令を生成し、第２領域に危険箇所が重なったと判定した場合、第１警告の出力命令を消去する処理をコンピュータに実行させる。 The program according to one aspect of the present invention is the first area set within the first distance from the vehicle and the first from the vehicle based on the map information indicating the dangerous place where the dangerous event is likely to occur and the position information of the vehicle. The computer is made to execute a process of determining whether or not a dangerous place overlaps with a second area set within a second distance shorter than one distance. Then, the program generates the output command of the first warning when it is determined that the dangerous part overlaps in the first area, and deletes the output command of the first warning when it is determined that the dangerous part overlaps in the second area. Let the computer perform the processing to be performed.
　本発明の一つの側面では、運転者に対して事前に適切な危険警告を出力することが可能となる。 In one aspect of the present invention, it is possible to output an appropriate danger warning to the driver in advance.
事前危険警告放出システムの概要を示す説明図である。It is explanatory drawing which shows the outline of the advance danger warning release system. 車両端末の構成例を示すブロック図である。It is a block diagram which shows the configuration example of a vehicle terminal. サーバの構成例を示すブロック図である。It is a block diagram which shows the configuration example of a server. 検知情報ＤＢのレコードレイアウトの一例を示す説明図である。It is explanatory drawing which shows an example of the record layout of the detection information DB. 車両の危険事象を検知する説明図である。It is explanatory drawing which detects the dangerous event of a vehicle. 地図情報を表示する画面の一例を示す説明図である。It is explanatory drawing which shows an example of the screen which displays the map information. 車両と各種領域との関係を示す説明図である。It is explanatory drawing which shows the relationship between a vehicle and various areas. 危険箇所に基づく第１警告に関する説明図である。It is explanatory drawing about the 1st warning based on a dangerous place. 危険事象の検知処理手順を示すフローチャートである。It is a flowchart which shows the detection processing procedure of a dangerous event. 危険箇所の警告処理手順を示すフローチャートである。It is a flowchart which shows the warning processing procedure of a dangerous place. 車両の走行速度に応じて第１領域を拡大する際の処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure at the time of expanding the 1st region according to the traveling speed of a vehicle. 実施形態２のサーバの構成例を示すブロック図である。It is a block diagram which shows the configuration example of the server of Embodiment 2. ユーザＤＢのレコードレイアウトの一例を示す説明図である。It is explanatory drawing which shows an example of the record layout of a user DB. ユーザの年齢に応じて第３距離を変更する際の処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure at the time of changing the 3rd distance according to the age of a user.
　以下、本発明をその実施形態を示す図面に基づいて詳述する。 Hereinafter, the present invention will be described in detail with reference to the drawings showing the embodiments thereof.
　（実施形態１）
　実施形態１は、ユーザが乗車している車両の周囲を撮像した画像から当該車両に発生し得る危険事象（通行人の飛び出し、信号無視など）を検知してユーザに警告すると共に、複数の車両で発生した危険事象を解析して得た地図上の危険箇所をユーザに警告する形態に関する。図１は、事前危険警告放出システムの概要を示す説明図である。本実施形態のシステムは、情報処理端末１、１、１…及び情報処理装置２を含み、各装置はインターネット等のネットワークＮを介して情報の送受信を行う。 (Embodiment 1)
The first embodiment detects a dangerous event (passerby jumping out, ignoring a signal, etc.) that may occur in the vehicle from an image obtained by capturing the surroundings of the vehicle in which the user is riding, and warns the user, and at the same time, a plurality of vehicles. The present invention relates to a form of warning the user of a dangerous place on a map obtained by analyzing a dangerous event that occurred in. FIG. 1 is an explanatory diagram showing an outline of a pre-hazard warning release system. The system of the present embodiment includes information processing terminals 1, 1, 1, ... And an information processing device 2, and each device transmits / receives information via a network N such as the Internet.
　情報処理端末１は、車両に設置され、地図情報の取得、車両の危険事象の検知または危険警告の出力等を行う端末装置である。情報処理端末１は、例えばスマートフォン、タブレット、カーナビゲーションシステム（Automotive Navigation System）が搭載されたナビゲーション装置またはパーソナルコンピュータ等の情報処理機器である。情報処理端末１がスマートフォンまたはタブレットである場合、車両の運転時においてダッシュボードに設置されたホルダ等に載置されても良い。以下では、情報処理端末１を車両端末１と読み替える。 The information processing terminal 1 is a terminal device installed in a vehicle that acquires map information, detects a dangerous event in the vehicle, outputs a danger warning, and the like. The information processing terminal 1 is, for example, an information processing device such as a smartphone, a tablet, a navigation device equipped with a car navigation system (Automotive Navigation System), or a personal computer. When the information processing terminal 1 is a smartphone or a tablet, it may be placed on a holder or the like installed on the dashboard when the vehicle is driving. In the following, the information processing terminal 1 is read as a vehicle terminal 1.
　情報処理装置２は、地図情報を含む種々の情報に対する処理、記憶及び送受信を行う情報処理装置である。情報処理装置２は、例えばサーバ装置またはパーソナルコンピュータ等である。本実施形態において、情報処理装置２はサーバ装置であるものとし、以下では簡潔のためサーバ２と読み替える。 The information processing device 2 is an information processing device that processes, stores, and transmits / receives various information including map information. The information processing device 2 is, for example, a server device, a personal computer, or the like. In the present embodiment, the information processing device 2 is assumed to be a server device, and is referred to as a server 2 in the following for the sake of brevity.
　本実施形態に係る車両端末１は、車両の周囲（例えば前方）を撮像しており、車両周囲の画像から危険事象を検知して、ユーザに対する警告（第２警告）を出力する（図５参照）。また、危険事象を検知した場合、車両端末１は、危険事象を検知した際の画像のほか、検知時刻、及び検知時の位置情報を含む検知情報をサーバ２に送信し、危険事象を報告する。 The vehicle terminal 1 according to the present embodiment captures an image of the surroundings of the vehicle (for example, the front), detects a dangerous event from the image of the surroundings of the vehicle, and outputs a warning (second warning) to the user (see FIG. 5). ). When a dangerous event is detected, the vehicle terminal 1 transmits the detection information including the detection time and the position information at the time of detection to the server 2 in addition to the image when the dangerous event is detected, and reports the dangerous event. ..
　サーバ２は、複数の車両それぞれの車両端末１、１、１…から検知情報を取得する。そしてサーバ２は、各車両での検知情報から、危険事象が発生しやすい地図上の危険箇所（場所）を示す地図情報を生成する。地図情報は、カーナビゲーションシステム等で表示する地図データに対し、危険事象が発生しやすい地図上の地点又はエリアと、危険事象が発生しやすい時点又は時間帯とを示すデータが付されたデータである。なお、本実施形態では、地図情報をハザードマップとも呼ぶ。サーバ２は、各車両端末１から報告される危険事象の情報を統計処理し、地図情報を生成して各車両端末１に配信する。 The server 2 acquires detection information from the vehicle terminals 1, 1, 1, ... Of each of the plurality of vehicles. Then, the server 2 generates map information indicating a dangerous place (place) on the map where a dangerous event is likely to occur from the detection information of each vehicle. Map information is data in which data indicating points or areas on a map where dangerous events are likely to occur and time points or times when dangerous events are likely to occur are added to the map data displayed by a car navigation system or the like. be. In this embodiment, the map information is also referred to as a hazard map. The server 2 statistically processes information on dangerous events reported from each vehicle terminal 1, generates map information, and distributes it to each vehicle terminal 1.
　車両端末１は、サーバ２から地図情報を受信して表示する（図６参照）。そして車両端末１は、地図情報が示す危険箇所に車両が接近した場合、危険箇所に接近したことを報知する警告（第１警告）を出力する。このように、車両端末１は、地図上の危険箇所に車両が接近した場合に第１警告を、車両周囲の画像から危険事象を検知した場合に第２警告をそれぞれ出力する。 The vehicle terminal 1 receives and displays map information from the server 2 (see FIG. 6). Then, when the vehicle approaches the dangerous place indicated by the map information, the vehicle terminal 1 outputs a warning (first warning) notifying that the vehicle has approached the dangerous place. In this way, the vehicle terminal 1 outputs a first warning when the vehicle approaches a dangerous place on the map, and outputs a second warning when a dangerous event is detected from an image around the vehicle.
　図２は、車両端末１の構成例を示すブロック図である。車両端末１は、制御部１１、記憶部１２、通信部１３、入力部１４、表示部１５、撮影部１６、補助記憶部１７、ＧＰＳ（Global Positioning System）モジュール１８及びスピーカ１９を含む。各構成はバスＢで接続されている。 FIG. 2 is a block diagram showing a configuration example of the vehicle terminal 1. The vehicle terminal 1 includes a control unit 11, a storage unit 12, a communication unit 13, an input unit 14, a display unit 15, a photographing unit 16, an auxiliary storage unit 17, a GPS (Global Positioning System) module 18, and a speaker 19. Each configuration is connected by bus B.
　制御部１１はＣＰＵ（Central Processing Unit）、ＭＰＵ（Micro-Processing Unit）、ＧＰＵ（Graphics Processing Unit）等の演算処理装置を含み、記憶部１２に記憶された制御プログラム１Ｐを読み出して実行することにより、車両端末１に係る種々の情報処理、制御処理等を行う。なお、図２では制御部１１を単一のプロセッサであるものとして説明するが、マルチプロセッサであっても良い。 The control unit 11 includes an arithmetic processing unit such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), and a GPU (Graphics Processing Unit), and reads and executes the control program 1P stored in the storage unit 12. , Performs various information processing, control processing, etc. related to the vehicle terminal 1. Although the control unit 11 is described as a single processor in FIG. 2, it may be a multiprocessor.
　記憶部１２はＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）等のメモリ素子を含み、制御部１１が処理を実行するために必要な制御プログラム１Ｐ又はデータ等を記憶している。また、記憶部１２は、制御部１１が演算処理を実行するために必要なデータ等を一時的に記憶する。通信部１３は通信に関する処理を行うための通信モジュールであり、ネットワークＮを介して、サーバ２等との間で情報の送受信を行う。 The storage unit 12 includes memory elements such as RAM (RandomAccessMemory) and ROM (ReadOnlyMemory), and stores the control program 1P or data required for the control unit 11 to execute processing. Further, the storage unit 12 temporarily stores data and the like necessary for the control unit 11 to execute arithmetic processing. The communication unit 13 is a communication module for performing processing related to communication, and transmits / receives information to / from the server 2 or the like via the network N.
　入力部１４は、キーボード、マウスまたは表示部１５と一体化したタッチパネルでも良い。表示部１５は、液晶ディスプレイ又は有機ＥＬ（electroluminescence）ディスプレイ等であり、制御部１１の指示に従い各種情報を表示する。 The input unit 14 may be a keyboard, a mouse, or a touch panel integrated with the display unit 15. The display unit 15 is a liquid crystal display, an organic EL (electroluminescence) display, or the like, and displays various information according to the instructions of the control unit 11.
　撮影部１６は、例えばＣＣＤ(Charge Coupled Device)カメラ、ＣＭＯＳ（Complementary Metal Oxide Semiconductor）カメラ等の撮影装置である。なお、撮影部１６は、複数の撮影装置により構成されても良い。なお、撮影部１６は車両端末１の中に内蔵せず、外部で直接に車両端末１と接続し、撮影可能な構成としても良い。補助記憶部１７は、大容量メモリ、ハードディスク等の不揮発性記憶領域であり、例えばＨＤＤ（Hard disk drive）、ＳＳＤ(Solid State Drive)等の記録媒体を備える。ＧＰＳモジュール１８は、ＧＰＳ衛星を利用して車両の位置情報を取得するためのモジュールである。スピーカ１９は、電気信号を音に変換する装置である。 The photographing unit 16 is an photographing device such as a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera. The photographing unit 16 may be composed of a plurality of photographing devices. The photographing unit 16 may not be built in the vehicle terminal 1 but may be directly connected to the vehicle terminal 1 externally so as to be capable of photographing. The auxiliary storage unit 17 is a non-volatile storage area such as a large-capacity memory or a hard disk, and includes, for example, a recording medium such as an HDD (Hard disk drive) or SSD (Solid State Drive). The GPS module 18 is a module for acquiring position information of a vehicle using GPS satellites. The speaker 19 is a device that converts an electric signal into sound.
　図３は、サーバ２の構成例を示すブロック図である。サーバ２は、制御部２１、記憶部２２、通信部２３、読取部２４及び大容量記憶部２５を含む。各構成はバスＢで接続されている。 FIG. 3 is a block diagram showing a configuration example of the server 2. The server 2 includes a control unit 21, a storage unit 22, a communication unit 23, a reading unit 24, and a large-capacity storage unit 25. Each configuration is connected by bus B.
　制御部２１はＣＰＵ、ＭＰＵ、ＧＰＵ等の演算処理装置を含み、記憶部２２に記憶された制御プログラム２Ｐを読み出して実行することにより、サーバ２に係る種々の情報処理、制御処理等を行う。なお、図３では制御部２１を単一のプロセッサであるものとして説明するが、マルチプロセッサであっても良い。 The control unit 21 includes arithmetic processing units such as a CPU, MPU, and GPU, and performs various information processing, control processing, and the like related to the server 2 by reading and executing the control program 2P stored in the storage unit 22. Although the control unit 21 is described as a single processor in FIG. 3, it may be a multiprocessor.
　記憶部２２はＲＡＭ、ＲＯＭ等のメモリ素子を含み、制御部２１が処理を実行するために必要な制御プログラム２Ｐ又はデータ等を記憶している。また、記憶部２２は、制御部２１が演算処理を実行するために必要なデータ等を一時的に記憶する。通信部２３は通信に関する処理を行うための通信モジュールであり、ネットワークＮを介して、車両端末１等との間で情報の送受信を行う。 The storage unit 22 includes memory elements such as RAM and ROM, and stores the control program 2P or data required for the control unit 21 to execute the process. Further, the storage unit 22 temporarily stores data and the like necessary for the control unit 21 to execute the arithmetic processing. The communication unit 23 is a communication module for performing processing related to communication, and transmits / receives information to / from the vehicle terminal 1 or the like via the network N.
　読取部２４は、ＣＤ（Compact Disc）－ＲＯＭ又はＤＶＤ（Digital Versatile Disc）－ＲＯＭを含む可搬型記憶媒体２ａを読み取る。制御部２１が読取部２４を介して、制御プログラム２Ｐを可搬型記憶媒体２ａより読み取り、大容量記憶部２５に記憶しても良い。また、ネットワークＮ等を介して他のコンピュータから制御部２１が制御プログラム２Ｐをダウンロードし、大容量記憶部２５に記憶しても良い。さらにまた、半導体メモリ２ｂから、制御部２１が制御プログラム２Ｐを読み込んでも良い。 The reading unit 24 reads a portable storage medium 2a including a CD (Compact Disc) -ROM or a DVD (Digital Versatile Disc) -ROM. The control unit 21 may read the control program 2P from the portable storage medium 2a via the reading unit 24 and store it in the large-capacity storage unit 25. Further, the control unit 21 may download the control program 2P from another computer via the network N or the like and store it in the large-capacity storage unit 25. Furthermore, the control unit 21 may read the control program 2P from the semiconductor memory 2b.
　大容量記憶部２５は、例えばＨＤＤ、ＳＳＤ等の記録媒体を備える。大容量記憶部２５は、地図ＤＢ（database）２５１及び検知情報ＤＢ２５２を含む。地図ＤＢ２５１は、危険事象が発生しやすい危険箇所を示す地図情報を記憶している。なお、地図情報は外部の専用の地図データベースに記憶されても良い。検知情報ＤＢ２５２は、車両の危険事象を検知した検知情報を記憶している。 The large-capacity storage unit 25 includes a recording medium such as an HDD or SSD. The large-capacity storage unit 25 includes a map DB (database) 251 and a detection information DB 252. The map DB 251 stores map information indicating a dangerous place where a dangerous event is likely to occur. The map information may be stored in an external dedicated map database. The detection information DB 252 stores the detection information in which a dangerous event of the vehicle is detected.
　なお、本実施形態において記憶部２２及び大容量記憶部２５は一体の記憶装置として構成されていても良い。また、大容量記憶部２５は複数の記憶装置により構成されていても良い。更にまた、大容量記憶部２５はサーバ２に接続された外部記憶装置であっても良い。 In the present embodiment, the storage unit 22 and the large-capacity storage unit 25 may be configured as an integrated storage device. Further, the large-capacity storage unit 25 may be composed of a plurality of storage devices. Furthermore, the large-capacity storage unit 25 may be an external storage device connected to the server 2.
　なお、本実施形態では、サーバ２は一台の情報処理装置であるものとして説明するが、複数台により分散して処理させても良く、または仮想マシンにより構成されていても良い。 Although the server 2 is described as one information processing device in the present embodiment, it may be distributed and processed by a plurality of servers, or it may be configured by a virtual machine.
　図４は、検知情報ＤＢ２５２のレコードレイアウトの一例を示す説明図である。
　検知情報ＤＢ２５２は、検知ＩＤ列、車両ＩＤ列、画像列、検知時刻列、位置情報列及び危険事象列を含む。検知ＩＤ列は、検知情報を特定するための検知ＩＤを記憶している。車両ＩＤ列は、車両を特定するための車両ＩＤを記憶している。画像列は、危険事象を検知した際の画像を記憶している。検知時刻列は、危険事象を検知した時刻を記憶している。位置情報列は、危険事象が発生した箇所の位置情報（例えば、地点名、緯度・経度等）を記憶している。危険事象列は、危険事象の内容（例えば、人の飛び出し、人の巻き込みまたは赤信号無視等）を記憶している。 FIG. 4 is an explanatory diagram showing an example of the record layout of the detection information DB 252.
The detection information DB 252 includes a detection ID row, a vehicle ID row, an image row, a detection time row, a position information row, and a dangerous event row. The detection ID column stores the detection ID for specifying the detection information. The vehicle ID column stores the vehicle ID for identifying the vehicle. The image sequence stores an image when a dangerous event is detected. The detection time sequence stores the time when the dangerous event is detected. The position information string stores the position information (for example, point name, latitude / longitude, etc.) of the place where the dangerous event occurs. The dangerous event sequence stores the contents of the dangerous event (for example, jumping out of a person, involving a person, ignoring a red light, etc.).
　図５は、車両の危険事象を検知する説明図である。車両の危険事象は、通行人の飛び出し、巻き込み、他の車両の接近等の外的な危険事象、及び／又は自車両の赤信号無視、一時停止無視等の内的な危険事象（危険運転）を含む。 FIG. 5 is an explanatory diagram for detecting a dangerous event of the vehicle. Dangerous events of a vehicle are external dangerous events such as jumping out of a passerby, getting caught in, approaching another vehicle, and / or internal dangerous events such as ignoring the red light of the own vehicle and ignoring a temporary stop (dangerous driving). including.
　車両に搭載された車両端末１は、車両の周囲を撮像した画像を取得する。例えば車両端末１は、図５に示すように、車両前方を撮像範囲とした画像を取得する。該画像は、車両端末１の撮影部１６により撮像されても良く、または外部の撮像装置により撮像されても良い。また、画像は車両前方だけでなく、車両の後方、側方を撮像した画像を含んでも良い。あるいは車両端末１は、３６０度カメラ等によって全方位を撮像した画像を取得しても良い。 The vehicle terminal 1 mounted on the vehicle acquires an image of the surroundings of the vehicle. For example, as shown in FIG. 5, the vehicle terminal 1 acquires an image with the front of the vehicle as the imaging range. The image may be captured by the photographing unit 16 of the vehicle terminal 1, or may be captured by an external imaging device. Further, the image may include an image of not only the front of the vehicle but also the rear and side of the vehicle. Alternatively, the vehicle terminal 1 may acquire an image captured in all directions by a 360-degree camera or the like.
　車両端末１は、取得した画像内の車両の危険事象を検知する。例えば図示のように、歩行者１１ａが歩道側から車道側へ移動すると、当該事象を危険事象として検知する。危険事象の検知方法は特に限定されないが、例えば車両端末１は、画像内の物体の形状、大きさ、色等から特定の事物（走行路に飛び出した通行人、赤信号）などをパターンマッチングで検出する。あるいは車両端末１は、撮像画像を入力した場合に危険事象を検知するよう学習済みの機械学習モデル（例えばニューラルネットワーク）を用意して危険事象を検知するなどしても良い。 The vehicle terminal 1 detects a dangerous event of the vehicle in the acquired image. For example, as shown in the figure, when the pedestrian 11a moves from the sidewalk side to the roadway side, the event is detected as a dangerous event. The method of detecting a dangerous event is not particularly limited, but for example, the vehicle terminal 1 performs pattern matching on a specific object (passerby who jumps out on the road, a red light) based on the shape, size, color, etc. of the object in the image. To detect. Alternatively, the vehicle terminal 1 may prepare a trained machine learning model (for example, a neural network) to detect a dangerous event when a captured image is input, and detect the dangerous event.
　車両端末１は、画像全体（全領域）から危険事象を検知するようにしても良いが、本実施の形態では、撮像画像内の一部の関心領域１１ｂ（ＲＯＩ：Region of Interest）から車両の危険事象を検知する。例えば関心領域１１ｂは、車両から所定距離内の走行路上の領域に対応する関心領域（画像領域）である。図５では、関心領域１１ｂをハッチングで図示している。なお、図５に示す関心領域１１ｂは一例であって、例えば関心領域１１ｂには走行路（道路）以外に歩道も含まれるようにしても良く、あるいは画像から認識可能な走行路全てを関心領域としても良く、関心領域１１ｂの画像内の位置、形状、範囲等は特に限定されない。車両端末１は、車両からの所定距離内の関心領域から特定の事物を検知することで、危険事象を検知する。 The vehicle terminal 1 may detect a dangerous event from the entire image (entire area), but in the present embodiment, the vehicle terminal 1 may detect a dangerous event from a part of the region of interest 11b (ROI: Region of Interest) in the captured image. Detect dangerous events. For example, the region of interest 11b is a region of interest (image region) corresponding to a region on a travel path within a predetermined distance from the vehicle. In FIG. 5, the region of interest 11b is shown by hatching. The region of interest 11b shown in FIG. 5 is an example. For example, the region of interest 11b may include a sidewalk in addition to the travel path (road), or all the travel paths recognizable from the image may be included in the region of interest. However, the position, shape, range, etc. of the region of interest 11b in the image are not particularly limited. The vehicle terminal 1 detects a dangerous event by detecting a specific object from a region of interest within a predetermined distance from the vehicle.
　車両端末１は、車両の危険事象を検知した場合、第２警告を出力する。第２警告は、車両の危険事象を検知した際に運転者への注意喚起の警告である。例えば、車両端末１はスピーカ１９を介して、「前方に飛び出してきた歩行者が発見しました。ご注意ください！」等の第２警告の音声信号を所定の回数（例えば、３回）により出力しても良い。なお、第２警告は、所定の回数に限定せずに繰り返して出力されても良い。この場合、例えば車両が、該危険事象を検知した場所（地点）の周囲に到達した後に、車両端末１は第２警告を消去しても良い。また、第２警告の出力（再生）と同時に、テキスト形式の警告内容が画面に表示されても良い。 The vehicle terminal 1 outputs a second warning when it detects a dangerous event of the vehicle. The second warning is a warning to alert the driver when a dangerous event of the vehicle is detected. For example, the vehicle terminal 1 outputs a second warning audio signal such as "a pedestrian jumping forward has been found. Please be careful!" Through the speaker 19 a predetermined number of times (for example, three times). You may. The second warning may be output repeatedly without being limited to a predetermined number of times. In this case, for example, the vehicle terminal 1 may erase the second warning after the vehicle reaches the periphery of the place (point) where the dangerous event is detected. Further, at the same time as the output (reproduction) of the second warning, the warning content in text format may be displayed on the screen.
　車両端末１は、車両の危険事象を検知した検知情報をサーバ（地図情報提供装置）２に送信する。検知情報は、車両ＩＤ、危険事象を検知時の画像、検知時刻、位置情報（地点名または経度・緯度等）、または危険事象の内容（例えば、赤信号無視、人の飛び出し等）等を含む。サーバ２は、車両端末１から送信された検知情報を受信し、受信した検知情報を検知情報ＤＢ２５２に記憶する。具体的には、サーバ２は検知ＩＤを割り振って、車両ＩＤ、画像、検知時刻、位置情報及び危険事象の内容を一つのレコードとして検知情報ＤＢ２５２に記憶する。 The vehicle terminal 1 transmits the detection information of detecting a dangerous event of the vehicle to the server (map information providing device) 2. The detection information includes the vehicle ID, the image at the time of detecting the dangerous event, the detection time, the position information (point name or longitude / latitude, etc.), or the content of the dangerous event (for example, ignoring the red light, jumping out of a person, etc.). .. The server 2 receives the detection information transmitted from the vehicle terminal 1 and stores the received detection information in the detection information DB 252. Specifically, the server 2 allocates a detection ID and stores the vehicle ID, the image, the detection time, the position information, and the contents of the dangerous event as one record in the detection information DB 252.
　サーバ２は、検知情報ＤＢ２５２に記憶された各車両での検知情報に基づき、危険事象が発生しやすい地図上の危険箇所を示す地図情報を生成する。地図情報は、地図データに、危険事象が発生しやすい地図上の地点又はエリアと、危険事象が発生しやすい時点又は時間帯とを示すデータが付されたデータである。例えば地図情報は、危険箇所の経度・緯度、危険箇所ごとの危険事象の発生率（例えば、２５％）、危険事象の発生率に応じて設定された危険レベル、危険事象が発生しやすい時間帯（例えば、７時～８時）、または危険事象を検知時の危険事象の内容（例えば、赤信号無視、人の飛び出し等）を示す情報等を含む。サーバ２は、各車両端末１から受信した検知情報を元に、地図上の各地点又はエリアにおける危険事象の発生回数、発生頻度、発生率等を時刻又は時間帯別に集計し、発生率等に応じて定められる危険レベルが一定以上の危険箇所を示す地図情報を生成する。 The server 2 generates map information indicating a dangerous place on a map where a dangerous event is likely to occur, based on the detection information in each vehicle stored in the detection information DB 252. The map information is data in which data indicating a point or area on a map where a dangerous event is likely to occur and a time or time zone where a dangerous event is likely to occur are added to the map data. For example, the map information includes the longitude / latitude of the dangerous place, the occurrence rate of the dangerous event for each dangerous place (for example, 25%), the danger level set according to the occurrence rate of the dangerous event, and the time zone in which the dangerous event is likely to occur. (For example, from 7:00 to 8:00), or information indicating the content of the dangerous event at the time of detecting the dangerous event (for example, ignoring the red light, popping out of a person, etc.) is included. Based on the detection information received from each vehicle terminal 1, the server 2 aggregates the number of occurrences, frequency of occurrence, occurrence rate, etc. of dangerous events at each point or area on the map by time or time zone, and calculates the occurrence rate, etc. Generates map information showing danger points where the danger level determined accordingly is above a certain level.
　サーバ２は、車両端末１から検知情報を受信する度にリアルタイムで、あるいは一定期間（例えば一週間、一ヶ月等）毎に検知情報を統計処理し、地図情報を更新する。サーバ２は、それぞれの車両に搭載された車両端末１に、検知情報に応じて更新した地図情報を送信する。それぞれの車両端末１は、サーバ２から送信された地図情報を受信して画面に表示する。 The server 2 statistically processes the detection information in real time or at regular intervals (for example, one week, one month, etc.) every time the detection information is received from the vehicle terminal 1, and updates the map information. The server 2 transmits the map information updated according to the detection information to the vehicle terminal 1 mounted on each vehicle. Each vehicle terminal 1 receives the map information transmitted from the server 2 and displays it on the screen.
　図６は、地図情報を表示する画面の一例を示す説明図である。該画面は、地図表示欄１２ａ、危険箇所表示欄１２ｂ及び危険事象アイコン１２ｃを含む。地図表示欄１２ａは、地図を表示するための表示欄である。危険箇所表示欄１２ｂは、危険箇所（エリア）を表すマークを表示するための表示欄である。危険事象アイコン１２ｃは、危険事象を示すためのアイコンである。 FIG. 6 is an explanatory diagram showing an example of a screen for displaying map information. The screen includes a map display field 12a, a danger location display field 12b, and a danger event icon 12c. The map display field 12a is a display field for displaying a map. The dangerous place display column 12b is a display field for displaying a mark indicating a dangerous place (area). The dangerous event icon 12c is an icon for indicating a dangerous event.
　サーバ２は、地図ＤＢ２５１から地図（ハザードマップ）情報を取得する。サーバ２は、取得した地図情報を車両端末１に送信する。車両端末１は、サーバ２から送信された地図情報に基づいてハザードマップを画面に表示する。図示のように、過去に車両の危険事象が発生しやすい危険箇所を表すマーク、危険箇所ごとの危険事象の発生率（例えば、２５％）、危険事象が発生しやすい時間帯（例えば、７時～８時）、及び危険事象の内容に応じて設定されたアイコン（例えば、飛び出しアイコン、巻き込みアイコン等）がハザードマップに重畳して記述される。 The server 2 acquires the map (hazard map) information from the map DB 251. The server 2 transmits the acquired map information to the vehicle terminal 1. The vehicle terminal 1 displays a hazard map on the screen based on the map information transmitted from the server 2. As shown in the figure, a mark indicating a dangerous place where a dangerous event of a vehicle is likely to occur in the past, an occurrence rate of a dangerous event for each dangerous place (for example, 25%), and a time zone when a dangerous event is likely to occur (for example, 7 o'clock). ~ 8 o'clock) and icons set according to the content of the dangerous event (for example, pop-out icon, entrainment icon, etc.) are superimposed and described on the hazard map.
　具体的には、車両端末１は、受信した地図情報に含まれている地図データを地図表示欄１２ａに表示し、危険箇所を表すマークを危険箇所表示欄１２ｂに表示し、危険事象を示すアイコンを危険事象アイコン１２ｃに表示する。 Specifically, the vehicle terminal 1 displays the map data included in the received map information in the map display field 12a, displays a mark indicating a dangerous place in the dangerous place display field 12b, and displays an icon indicating a dangerous event. Is displayed on the dangerous event icon 12c.
　図７は、車両と各種領域との関係を示す説明図である。図８は、危険箇所に基づく第１警告に関する説明図である。本実施形態において車両端末１は、車両が危険箇所に接近した場合、上記の第２警告とは別に、危険箇所に接近した旨の第１警告を出力する。ここで車両端末１は、第１警告が過度に出力されないように、以下のように処理する。 FIG. 7 is an explanatory diagram showing the relationship between the vehicle and various areas. FIG. 8 is an explanatory diagram regarding the first warning based on the dangerous place. In the present embodiment, when the vehicle approaches the dangerous place, the vehicle terminal 1 outputs a first warning to the effect that the vehicle has approached the dangerous place, in addition to the second warning described above. Here, the vehicle terminal 1 processes as follows so that the first warning is not excessively output.
　まず車両端末１は、ＧＰＳモジュール１８を介して、車両の現在の位置情報を取得する。次に車両端末１は、取得した現在の位置情報と、地図情報が示す危険箇所の位置情報とに基づいて、車両が危険箇所に接近しているか否かを判定する。具体的には、車両端末１は、図７Ａに示す第１領域に危険箇所が重なったか否かを判定する。 First, the vehicle terminal 1 acquires the current position information of the vehicle via the GPS module 18. Next, the vehicle terminal 1 determines whether or not the vehicle is approaching the dangerous place based on the acquired current position information and the position information of the dangerous place indicated by the map information. Specifically, the vehicle terminal 1 determines whether or not the dangerous portion overlaps with the first region shown in FIG. 7A.
　例えば第１領域は、図７Ａに示すように、車両位置を同心円の中心として、車両から前方に第１距離以内に設定される扇形領域である。なお、第１領域は扇形の領域に限定されず、例えば車両を同心円の中心として第１距離から後述の第２距離までの間に設定される環状扇形領域であっても良い。あるいは第１領域は、矩形状の領域などであっても良い。このように、第１領域は車両から第１距離以内に設定される領域であれば良く、その形状、位置（距離）、範囲等は特に限定されない。 For example, as shown in FIG. 7A, the first region is a fan-shaped region set within the first distance forward from the vehicle with the vehicle position as the center of concentric circles. The first region is not limited to the fan-shaped region, and may be, for example, an annular fan-shaped region set between the first distance and the second distance described later with the vehicle as the center of concentric circles. Alternatively, the first region may be a rectangular region or the like. As described above, the first region may be any region set within the first distance from the vehicle, and its shape, position (distance), range, and the like are not particularly limited.
　その後、車両端末１は、第１距離よりも短い第２距離以内に設定される第２領域に危険箇所が重なったか否かを判定する。そして車両端末１は、第２領域に危険箇所が重なったと判定した場合、第１警告の出力命令を消去する。第２領域は、例えば図７Ｂに破線で囲んだ白抜き領域で示すように、車両位置を円の中心として車両前方に設定された扇形領域であり、第１領域の一部を構成する領域である。なお、第２領域も第１領域と同様に、環状扇形や矩形状等の領域として設定されても良く、第１距離よりも短い第２距離内の領域であれば良い。 After that, the vehicle terminal 1 determines whether or not the danger point overlaps with the second region set within the second distance, which is shorter than the first distance. Then, when the vehicle terminal 1 determines that the dangerous portion overlaps with the second region, the vehicle terminal 1 deletes the output command of the first warning. The second region is a fan-shaped region set in front of the vehicle with the vehicle position as the center of a circle, as shown by a white area surrounded by a broken line in FIG. 7B, and is a region constituting a part of the first region. be. As with the first region, the second region may be set as an annular fan-shaped region, a rectangular region, or the like, and may be a region within the second distance shorter than the first distance.
　図８では、車両が徐々に危険箇所に近づく様子を図示している。例えば図８に示すように、危険箇所が地図上の一定の領域（図８では楕円状の領域）として設定されている場合において、危険箇所に対応する領域に第１領域が重なった場合（図８の上から２番目の状態）、車両端末１は第１警告の出力命令を生成して、第１警告を出力する。第１警告は、車両から危険箇所までの距離に基づく運転者への注意喚起の警告である。例えば、車両端末１はスピーカ１９を介して、「間もなく事故が起こりやすい危険エリアに入ります。ご注意ください！」等の第１警告の音声信号を所定の回数（例えば、３回）により出力しても良い。なお、第１警告の出力回数は所定の回数に限定されない。例えば車両端末１は、第１領域が危険箇所に重なった場合に第１警告の出力を開始し、以降は第１警告を継続して出力する。 FIG. 8 illustrates how the vehicle gradually approaches the dangerous place. For example, as shown in FIG. 8, when the dangerous place is set as a certain area on the map (an elliptical area in FIG. 8), the first area overlaps with the area corresponding to the dangerous place (FIG. 8). (Second state from the top of 8), the vehicle terminal 1 generates an output command for the first warning and outputs the first warning. The first warning is a warning to alert the driver based on the distance from the vehicle to the dangerous place. For example, the vehicle terminal 1 outputs a voice signal of the first warning such as "I will soon enter a dangerous area where an accident is likely to occur. Please be careful!" Through the speaker 19 a predetermined number of times (for example, three times). May be. The number of times the first warning is output is not limited to a predetermined number of times. For example, the vehicle terminal 1 starts outputting the first warning when the first region overlaps the dangerous place, and continuously outputs the first warning thereafter.
　その後、車両端末１は、危険箇所が第２領域に重なったか否かを判定する。第２領域に重なったと判定した場合（図８の上から３番目の状態）、車両端末１は、出力中の第１警告の出力命令を消去する。 After that, the vehicle terminal 1 determines whether or not the dangerous portion overlaps with the second region. When it is determined that the second region overlaps (the third state from the top of FIG. 8), the vehicle terminal 1 deletes the output command of the first warning being output.
　このように、車両端末１は、車両から第１距離以内に設定される第１領域に危険箇所が重なった場合に第１警告の出力命令を生成し、第１距離より短い第２距離以内に設定される第２領域に危険箇所が重なった場合に第１警告の出力命令を消去する。これにより、危険箇所に近づいた場合には第１警告による事前警告を行いつつ、さらに危険箇所に近づいた場合には第２警告の出力のみを行うように制御することで、第１警告の過度な出力を抑制しつつ、危険事象を好適に回避することができる。 In this way, the vehicle terminal 1 generates a first warning output command when a dangerous place overlaps the first area set within the first distance from the vehicle, and within the second distance shorter than the first distance. When a dangerous place overlaps with the set second area, the output command of the first warning is deleted. As a result, when a dangerous place is approached, a first warning is given in advance, and when the dangerous place is further approached, only a second warning is output, so that the first warning is excessive. Dangerous events can be suitably avoided while suppressing the output.
　なお、上記では、車両が危険箇所に向かって直進することで、第１領域に重なった後で第２領域に重なることを前提に説明したが、例えば車両が右折又は左折する等の理由で、
危険箇所が第１領域に重なるものの、第２領域に重ならずに第１領域から外れる場合も想定される。この場合、車両端末１はそのまま第１警告の出力を継続してもよく、あるいは危険箇所が第１領域から外れてから一定時間経過後に第１警告の出力を終了するようにしてもよい。このように、危険箇所が第２領域に重ならない場合の例外処理は特に限定されない。 In the above description, it is assumed that the vehicle goes straight toward the dangerous place and then overlaps with the first area and then overlaps with the second area. However, for example, the vehicle makes a right turn or a left turn.
Although the dangerous place overlaps with the first area, it may be out of the first area without overlapping with the second area. In this case, the vehicle terminal 1 may continue to output the first warning as it is, or may end the output of the first warning after a certain period of time has elapsed after the dangerous portion deviates from the first region. As described above, the exception handling when the dangerous portion does not overlap with the second region is not particularly limited.
　また、上記では第２領域が第１領域の一部であるものとして説明したが、第１領域及び第２領域は互いに重複しない（例えば第１領域は第１距離から第２距離までの環状扇形領域、第２領域は第１領域よりも車両側の扇形領域）ものであってもよく、あるいは第１領域及び第２領域は一部のみ重複するものであってもよい。 Further, although the second region has been described above as a part of the first region, the first region and the second region do not overlap each other (for example, the first region has a circular fan shape from the first distance to the second distance). The region and the second region may be a fan-shaped region on the vehicle side of the first region), or the first region and the second region may be partially overlapped.
　さらに車両端末１は、第２領域に危険箇所が重なった場合、危険事象を感度良く検出できるようにするため、危険事象検知の処理内容を変更すると好適である。具体的には、車両端末１は、第２領域が危険箇所に重なった場合、図５で例示した関心領域１１ｂを拡大する。例えば車両端末１は、車両から関心領域１１ｂの先端（図５上側の関心領域１１ｂの上辺）までの距離を延ばし、検知対象とする走行路上の面積を拡大する。これにより、第２領域に危険箇所が重なった場合、すなわち危険事象が発生しやすい場所に車両が進入した場合に検知感度を高めることができ、危険事象を好適に回避することができる。 Further, it is preferable that the vehicle terminal 1 changes the processing content of the dangerous event detection so that the dangerous event can be detected with high sensitivity when the dangerous part overlaps with the second region. Specifically, the vehicle terminal 1 expands the region of interest 11b exemplified in FIG. 5 when the second region overlaps the dangerous portion. For example, the vehicle terminal 1 extends the distance from the vehicle to the tip of the region of interest 11b (the upper side of the region of interest 11b on the upper side of FIG. 5) to expand the area on the travel path to be detected. As a result, the detection sensitivity can be increased when the dangerous portion overlaps with the second region, that is, when the vehicle enters a place where a dangerous event is likely to occur, and the dangerous event can be suitably avoided.
　なお、上記では第２領域に危険箇所が重なった場合の処理例として関心領域の拡大を挙げたが、本実施形態はこれに限定されるものではない。例えば車両端末１は、画像から危険事象を検知する際に基準とするパラメータ（閾値）を変更しても良い。例えば、物体検出系の機械学習モデルを用いて危険事象を検知するものとした場合に、学習モデルからの出力値（例えば画像から認識した物体が通行人、赤信号等の特定の事物である確率）と比較する閾値を引き下げる。この場合でも上記と同様に、危険事象の検知感度を高めることができる。 In the above, the expansion of the region of interest is mentioned as a processing example when the dangerous portion overlaps with the second region, but the present embodiment is not limited to this. For example, the vehicle terminal 1 may change a parameter (threshold value) as a reference when detecting a dangerous event from an image. For example, when a dangerous event is detected using a machine learning model of an object detection system, the output value from the learning model (for example, the probability that the object recognized from the image is a specific object such as a passerby or a red light). ) And lower the threshold. Even in this case, the detection sensitivity of the dangerous event can be increased in the same manner as described above.
　また、上記では第２領域に危険箇所が重なった場合に、関心領域の拡大または閾値の変更を行う処理を挙げたが、本実施形態はこれに限定されるものではない。例えば図７Ｃに示すように、車両から第１距離より短い第３距離以内の第３領域を設定し、第３領域に危険箇所が重なった場合に、上述した処理と同様に、関心領域の拡大または閾値の変更処理を行っても良い。すなわち、第１警告の出力命令を消去するための第２領域と、関心領域の拡大または閾値の変更処理を行うための第３領域とを別に設定してもよい。ただし、以下では、別途説明しない限り、便宜上、図７Ｂに示すように第２領域と第３領域とを同一領域として扱う。 Further, in the above, when the dangerous part overlaps with the second area, the process of expanding the area of interest or changing the threshold value is mentioned, but the present embodiment is not limited to this. For example, as shown in FIG. 7C, when a third region within a third distance shorter than the first distance from the vehicle is set and a dangerous portion overlaps with the third region, the region of interest is expanded in the same manner as the above-mentioned processing. Alternatively, the threshold value may be changed. That is, the second area for erasing the output command of the first warning and the third area for performing the process of expanding the area of interest or changing the threshold value may be set separately. However, in the following, unless otherwise described, for convenience, the second region and the third region are treated as the same region as shown in FIG. 7B.
　図９は、危険事象の検知処理手順を示すフローチャートである。なお、図９のフローチャートでは説明の便宜上、危険事象を検知した車両端末１を符号１ａで表し、その他の車両端末１を符号１ｂで表す。 FIG. 9 is a flowchart showing a dangerous event detection processing procedure. In the flowchart of FIG. 9, for convenience of explanation, the vehicle terminal 1 that has detected a dangerous event is represented by reference numeral 1a, and the other vehicle terminals 1 are represented by reference numeral 1b.
　車両端末１ａの制御部１１は通信部１３を介して、危険事象が発生しやすい危険箇所を示す地図情報をサーバ２の地図ＤＢ２５１から取得し、表示部１５に表示する（ステップＳ０１）。制御部１１は通信部１３または撮影部１６を介して、車両の周囲を撮像した画像を取得する（ステップＳ０２）。例えば制御部１１は、車両前方を撮像範囲とした画像を取得する。制御部１１は、パターンマッチング、または機械学習モデル等を利用し、取得した画像内の関心領域から車両の危険事象を検知する（ステップＳ０３）。制御部１１は、危険事象の検知結果に基づいて、車両の危険事象が発生したか否かを判定する（ステップＳ０４）。 The control unit 11 of the vehicle terminal 1a acquires map information indicating a dangerous place where a dangerous event is likely to occur from the map DB 251 of the server 2 via the communication unit 13 and displays it on the display unit 15 (step S01). The control unit 11 acquires an image of the surroundings of the vehicle via the communication unit 13 or the photographing unit 16 (step S02). For example, the control unit 11 acquires an image with the front of the vehicle as the imaging range. The control unit 11 detects a dangerous event of the vehicle from the region of interest in the acquired image by using pattern matching, a machine learning model, or the like (step S03). The control unit 11 determines whether or not a dangerous event of the vehicle has occurred based on the detection result of the dangerous event (step S04).
　制御部１１は、車両の危険事象が発生していないと判定した場合（ステップＳ０４でＮＯ）、ステップＳ０２の処理に戻る。制御部１１は、車両の危険事象が発生したと判定した場合（ステップＳ０４でＹＥＳ）、スピーカ１９を介して第２警告を出力する（ステップＳ０５）。制御部１１は、車両ＩＤ、危険事象を検知時の画像、検知時刻、位置情報及び危険事象の内容を含む検知情報を通信部１３によりサーバ２に送信する（ステップＳ０６）。 When the control unit 11 determines that no dangerous event of the vehicle has occurred (NO in step S04), the control unit 11 returns to the process of step S02. When the control unit 11 determines that a dangerous event of the vehicle has occurred (YES in step S04), the control unit 11 outputs a second warning via the speaker 19 (step S05). The control unit 11 transmits the detection information including the vehicle ID, the image at the time of detecting the dangerous event, the detection time, the position information, and the content of the dangerous event to the server 2 by the communication unit 13 (step S06).
　サーバ２の制御部２１は、車両端末１ａから送信された検知情報を通信部２３により受信し、検知情報ＤＢ２５２に記憶する（ステップＳ０７）。制御部２１は、検知情報ＤＢ２５２に記憶されている各車両端末１ａからの検知情報を解析する（ステップＳ０８）。例えば制御部２１は、各車両端末１ａからの検知情報が示す危険事象の検知時刻、位置情報等に基づき、地図上の各地点又はエリアにおける危険事象の発生回数、発生頻度、発生確率等を時刻又は時間帯別に算出する。 The control unit 21 of the server 2 receives the detection information transmitted from the vehicle terminal 1a by the communication unit 23 and stores it in the detection information DB 252 (step S07). The control unit 21 analyzes the detection information from each vehicle terminal 1a stored in the detection information DB 252 (step S08). For example, the control unit 21 sets the number of occurrences, frequency of occurrence, probability of occurrence, etc. of dangerous events at each point or area on the map based on the detection time, position information, etc. of the dangerous event indicated by the detection information from each vehicle terminal 1a. Or calculate by time zone.
　制御部２１は、ステップＳ０８の解析結果に基づき、危険事象が発生しやすい地図上の危険箇所を示す地図情報を生成し、生成した地図情報を基に地図ＤＢ２５１を更新する（ステップＳ０９）。例えば制御部２１は、各時刻又は時間帯における危険事象の発生回数等を所定の閾値と比較して地図上の各地点又はエリアの危険レベルを判定し、危険レベルが一定以上の地点又はエリアを危険箇所として地図情報を生成する。制御部２１は、更新後の地図情報を通信部２３によりそれぞれの車両端末１に送信する（ステップＳ１０）。 The control unit 21 generates map information indicating a dangerous place on a map where a dangerous event is likely to occur based on the analysis result of step S08, and updates the map DB 251 based on the generated map information (step S09). For example, the control unit 21 compares the number of occurrences of dangerous events at each time or time zone with a predetermined threshold value, determines the danger level of each point or area on the map, and determines the point or area where the danger level is above a certain level. Generate map information as a dangerous place. The control unit 21 transmits the updated map information to each vehicle terminal 1 by the communication unit 23 (step S10).
　なお、ステップＳ０７～Ｓ０９の処理は検知情報を受信（ステップＳ０６）する度に実行しても良く、又は一定期間毎に実行するようにしても良い。 Note that the processes of steps S07 to S09 may be executed every time the detection information is received (step S06), or may be executed at regular intervals.
　車両端末１ａの制御部１１は、サーバ２から送信された更新後の地図情報を通信部１３により受信する（ステップＳ１１）。制御部１１は、受信した地図情報を表示部１５により表示し（ステップＳ１２）、処理を終了する。車両端末１ｂの制御部１１は、サーバ２から送信された更新後の地図情報を通信部１３により受信する（ステップＳ１３）。制御部１１は、受信した地図情報を表示部１５により表示し（ステップＳ１４）、処理を終了する。 The control unit 11 of the vehicle terminal 1a receives the updated map information transmitted from the server 2 by the communication unit 13 (step S11). The control unit 11 displays the received map information on the display unit 15 (step S12), and ends the process. The control unit 11 of the vehicle terminal 1b receives the updated map information transmitted from the server 2 by the communication unit 13 (step S13). The control unit 11 displays the received map information on the display unit 15 (step S14), and ends the process.
　図１０は、危険箇所の警告処理手順を示すフローチャートである。例えば車両端末１は、図９で説明した危険事象の検知処理と並行して以下の処理を実行する。 FIG. 10 is a flowchart showing a warning processing procedure for a dangerous place. For example, the vehicle terminal 1 executes the following processing in parallel with the dangerous event detection processing described with reference to FIG.
　車両端末１の制御部１１は通信部１３を介して、危険事象が発生しやすい危険箇所を示す地図情報をサーバ２の地図ＤＢ２５１から取得する（ステップＳ１０１）。制御部１１は、ＧＰＳモジュール１８を介して、現在の位置情報を取得する（ステップＳ１０２）。 The control unit 11 of the vehicle terminal 1 acquires map information indicating a dangerous place where a dangerous event is likely to occur from the map DB 251 of the server 2 via the communication unit 13 (step S101). The control unit 11 acquires the current position information via the GPS module 18 (step S102).
　制御部１１は、現在の位置情報と地図情報が示す危険箇所の位置情報とに基づいて、車両から第１距離以内に設定される第１領域に危険箇所が重なったか否かを判定する（ステップＳ１０３）。制御部１１は、第１領域に危険箇所が重なっていないと判定した場合（ステップＳ１０３でＮＯ）、ステップＳ１０２の処理に戻る。制御部１１は、第１領域に危険箇所が重なったと判定した場合（ステップＳ１０３でＹＥＳ）、第１警告の出力命令を生成し、スピーカ１９を介して第１警告を出力する（ステップＳ１０４）。 The control unit 11 determines whether or not the dangerous place overlaps the first area set within the first distance from the vehicle based on the current position information and the position information of the dangerous place indicated by the map information (step). S103). When the control unit 11 determines that the danger points do not overlap with the first region (NO in step S103), the control unit 11 returns to the process of step S102. When the control unit 11 determines that the dangerous portion overlaps with the first region (YES in step S103), the control unit 11 generates an output command for the first warning and outputs the first warning via the speaker 19 (step S104).
　制御部１１は、現在の位置情報と地図情報が示す危険箇所の位置情報とに基づいて、第１領域より短い第２距離以内に設定される第２領域に危険箇所が重なったか否かを判定する（ステップＳ１０５）。制御部１１は、第２領域に危険箇所が重なっていないと判定した場合（ステップＳ１０５でＮＯ）、ステップＳ１０５の処理に戻る。制御部１１は、第２領域に危険箇所が重なったと判定した場合（ステップＳ１０５でＹＥＳ）、出力中の第１警告の出力命令を消去する（ステップＳ１０６）。制御部１１は、危険事象の検知対象とする撮像画像の関心領域を拡大する（ステップＳ１０７）。 The control unit 11 determines whether or not the dangerous place overlaps the second area set within the second distance shorter than the first area based on the current position information and the position information of the dangerous place indicated by the map information. (Step S105). When the control unit 11 determines that the danger points do not overlap with the second region (NO in step S105), the control unit 11 returns to the process of step S105. When the control unit 11 determines that the dangerous portion overlaps with the second region (YES in step S105), the control unit 11 deletes the output command of the first warning being output (step S106). The control unit 11 expands the region of interest of the captured image to be detected as a dangerous event (step S107).
　制御部１１は、現在の位置情報と地図情報が示す危険箇所の位置情報とに基づいて、第２領域から危険箇所が外れたか否かを判定する（ステップＳ１０８）。制御部１１は、第２領域から危険箇所が外れたと判定した場合（ステップＳ１０８でＹＥＳ）、拡大した撮像画像の関心領域を拡大前の関心領域に戻し（ステップＳ１０９）、ステップＳ１０１の処理に戻る。制御部１１は、第２領域から危険箇所が外れていないと判定した場合（ステップＳ１０８でＮＯ）、ステップＳ１０８の処理に戻る。 The control unit 11 determines whether or not the dangerous place is out of the second area based on the current position information and the position information of the dangerous place indicated by the map information (step S108). When the control unit 11 determines that the dangerous portion is out of the second region (YES in step S108), the control unit 11 returns the region of interest of the enlarged captured image to the region of interest before expansion (step S109), and returns to the process of step S101. .. When the control unit 11 determines that the dangerous portion has not deviated from the second region (NO in step S108), the control unit 11 returns to the process of step S108.
　本実施形態によると、車両の危険事象または危険事象が発生しやすい危険箇所に基づいて危険警告を出力することにより、事故の事前防止を実現することが可能となる。 According to this embodiment, it is possible to prevent accidents in advance by outputting a danger warning based on a dangerous event of the vehicle or a dangerous place where a dangerous event is likely to occur.
　本実施形態によると、第２領域に危険箇所が重なった場合に、危険事象の検知対象とする撮像画像の関心領域を拡大することが可能となる。 According to this embodiment, when a dangerous place overlaps with the second area, it is possible to expand the area of interest of the captured image to be detected of the dangerous event.
　本実施形態によると、第２領域に危険箇所が重なった場合に、危険事象を検知する際の閾値を変更することにより、車両の危険事象の検知感度を上げることが可能となる。 According to the present embodiment, when a dangerous place overlaps with the second region, it is possible to increase the detection sensitivity of the dangerous event of the vehicle by changing the threshold value when detecting the dangerous event.
　本実施形態によると、危険箇所と危険事象との両方を地図上に表示することにより、事故発生に関わる情報を総合的に確認することが可能となる。 According to this embodiment, by displaying both the dangerous place and the dangerous event on the map, it is possible to comprehensively confirm the information related to the occurrence of the accident.
　なお、本実施形態では、便宜上、車両からの検知情報に基づいて生成される地図情報を一例として説明したが、本実施形態に係る地図情報はこれに限定されるものではない。例えば、地図情報は、リアルタイムで配信される災害情報に基づく交通情報等が反映されたものであってもよい。 In the present embodiment, for convenience, the map information generated based on the detection information from the vehicle has been described as an example, but the map information according to the present embodiment is not limited to this. For example, the map information may reflect traffic information or the like based on disaster information delivered in real time.
　（実施形態２）
　実施形態２は、車両の走行速度に応じて第１領域を拡大する形態に関する。なお、実施形態１と重複する内容については説明を省略する。 (Embodiment 2)
The second embodiment relates to a mode in which the first region is expanded according to the traveling speed of the vehicle. The description of the contents overlapping with the first embodiment will be omitted.
　車両の走行速度は、該車両が危険箇所に到達する時間に影響を与える。走行速度が早くなると、該車両が危険箇所に到達する時間は短くなるため、ユーザに危険警告を出力するタイミングを逃がしてしまう恐れがある。このような事情を考慮して、走行速度が早い場合、第１領域を拡大することにより、ユーザに対して早めに危険警告を出力することができる。 The traveling speed of the vehicle affects the time it takes for the vehicle to reach the dangerous spot. When the traveling speed becomes high, the time for the vehicle to reach the dangerous place becomes short, so that the timing of outputting the danger warning to the user may be missed. In consideration of such a situation, when the traveling speed is high, the danger warning can be output to the user at an early stage by expanding the first region.
　図１１は、車両の走行速度に応じて第１領域を拡大する際の処理手順を示すフローチャートである。なお、図１０と重複する内容については同一の符号を付して説明を省略する。車両端末１の制御部１１は、ステップＳ１０２の処理を実行した後に、車両の走行速度を、例えば該車両に搭載された速度計測センサから取得する（ステップＳ１１１）。制御部１１は、取得した走行速度が所定の基準速度以上であるか否かを判定する（ステップＳ１１２）。 FIG. 11 is a flowchart showing a processing procedure when expanding the first region according to the traveling speed of the vehicle. The contents overlapping with FIG. 10 are designated by the same reference numerals and the description thereof will be omitted. After executing the process of step S102, the control unit 11 of the vehicle terminal 1 acquires the traveling speed of the vehicle from, for example, a speed measurement sensor mounted on the vehicle (step S111). The control unit 11 determines whether or not the acquired traveling speed is equal to or higher than a predetermined reference speed (step S112).
　制御部１１は、取得した走行速度が基準速度以上であると判定した場合（ステップＳ１１２でＹＥＳ）、第１領域を拡大し（ステップＳ１１３）、ステップＳ１０３の処理を実行する。例えば制御部１１は、扇形に設定される第１領域の大きい円の半径を走行速度の大小に応じて拡大する。例えば、取得した走行速度が基準速度の１．２倍である場合、同心円の半径を、第１領域を１．２倍に拡大する。制御部１１は、取得した走行速度が基準速度未満であると判定した場合（ステップＳ１１２でＮＯ）、ステップＳ１０３の処理に遷移する。 When the control unit 11 determines that the acquired traveling speed is equal to or higher than the reference speed (YES in step S112), the control unit 11 expands the first region (step S113) and executes the process of step S103. For example, the control unit 11 expands the radius of a large circle in the first region set in a fan shape according to the magnitude of the traveling speed. For example, when the acquired traveling speed is 1.2 times the reference speed, the radius of the concentric circles is expanded 1.2 times in the first region. When the control unit 11 determines that the acquired traveling speed is less than the reference speed (NO in step S112), the control unit 11 transitions to the process of step S103.
　本実施形態によると、車両の走行速度に応じて第１領域を拡大することにより、適切なタイミングでユーザに危険警告を出力することが可能となる。 According to this embodiment, by expanding the first area according to the traveling speed of the vehicle, it is possible to output a danger warning to the user at an appropriate timing.
　（実施形態３）
　実施形態３は、車両を運転するユーザ（運転者）の属性に応じて、該車両からの第３領域までの距離を変更する形態に関する。実施形態３では、上述した第２領域と第３領域とを区別する。なお、実施形態１～２と重複する内容については説明を省略する。 (Embodiment 3)
The third embodiment relates to a mode in which the distance from the vehicle to the third region is changed according to the attribute of the user (driver) who drives the vehicle. In the third embodiment, the above-mentioned second region and the third region are distinguished. The description of the contents overlapping with the first and second embodiments will be omitted.
　ユーザの属性は、ユーザの年齢等を含む。例えば高齢運転者は、法定速度以下の速度で走行、ブレーキを踏むのが遅れ、または反応が遅い等問題によって、交通事故の発生率が高い恐れがある。以上のような事情を考慮して、ユーザの年齢に応じて車両からの第３距離を変更することが必要である。高齢運転者に対して、車両から第３距離を所定ルールにより長くする。例えば、７０代の高齢運転者に対して、車両からの第３距離を１．５倍に長くしても良い。なお、ユーザの属性に運転スキルまたは運転経験年数等が含まれても良い。 User attributes include user age, etc. For example, an elderly driver may have a high incidence of traffic accidents due to problems such as traveling at a speed lower than the legal speed, delay in applying the brakes, or slow response. In consideration of the above circumstances, it is necessary to change the third distance from the vehicle according to the age of the user. For elderly drivers, the third distance from the vehicle is lengthened according to a predetermined rule. For example, the third distance from the vehicle may be increased by 1.5 times for an elderly driver in his 70s. The user's attributes may include driving skills, years of driving experience, and the like.
　図１２は、実施形態２のサーバ２の構成例を示すブロック図である。なお、図３と重複する内容については同一の符号を付して説明を省略する。大容量記憶部２５には、ユーザＤＢ２５３が記憶されている。ユーザＤＢ２５３は、ユーザの属性を含むユーザ情報を記憶している。 FIG. 12 is a block diagram showing a configuration example of the server 2 of the second embodiment. The contents overlapping with FIG. 3 are designated by the same reference numerals and the description thereof will be omitted. The user DB 253 is stored in the large-capacity storage unit 25. The user DB 253 stores user information including user attributes.
　図１３は、ユーザＤＢ２５３のレコードレイアウトの一例を示す説明図である。ユーザＤＢ２５３は、ユーザＩＤ列、性別列及び年齢列を含む。ユーザＩＤ列は、各ユーザを識別するために、一意に特定されるユーザのＩＤを記憶している。性別列は、ユーザの性別を記憶している。年齢列は、ユーザの年齢を記憶している。 FIG. 13 is an explanatory diagram showing an example of the record layout of the user DB 253. The user DB 253 includes a user ID column, a gender column, and an age column. The user ID column stores the ID of a uniquely identified user in order to identify each user. The gender column remembers the gender of the user. The age column remembers the age of the user.
　図１４は、ユーザの年齢に応じて第３距離を変更する際の処理手順を示すフローチャートである。車両端末１の制御部１１は、ユーザＩＤに基づいて、ユーザの年齢をサーバ２のユーザＤＢ２５３から取得する（ステップＳ１２１）。制御部１１は、取得したユーザの年齢に基づいて、該ユーザが高齢運転者であるか否かを判定する（ステップＳ１２２）。例えば制御部１１は、ユーザの年齢が７０歳以上である場合、該ユーザが高齢運転者であると判定しても良い。 FIG. 14 is a flowchart showing a processing procedure when changing the third distance according to the age of the user. The control unit 11 of the vehicle terminal 1 acquires the age of the user from the user DB 253 of the server 2 based on the user ID (step S121). The control unit 11 determines whether or not the user is an elderly driver based on the acquired age of the user (step S122). For example, when the user's age is 70 years or older, the control unit 11 may determine that the user is an elderly driver.
　制御部１１は、該ユーザが高齢運転者と判定した場合（ステップＳ１２２でＹＥＳ）、車両からの第３距離を高齢者以外の場合よりも長く設定し（ステップＳ１２３）、処理を終了する。例えば、車両からの第３距離を１．２倍に長くする。制御部１１は、該ユーザが高齢運転者でないと判定した場合（ステップＳ１２２でＮＯ）、処理を終了する。 When the user determines that the user is an elderly driver (YES in step S122), the control unit 11 sets the third distance from the vehicle longer than in the case of non-elderly drivers (step S123), and ends the process. For example, the third distance from the vehicle is increased 1.2 times. When the control unit 11 determines that the user is not an elderly driver (NO in step S122), the control unit 11 ends the process.
　なお、上述した処理でユーザの年齢に基づいて第３距離を変更した例を説明したが、これに限るものではない。ユーザの年齢のほか、例えばユーザの運転スキルまたは運転経験年数等を考慮して第３距離を変更しても良い。 Although the example of changing the third distance based on the age of the user in the above-mentioned process has been described, the present invention is not limited to this. In addition to the user's age, the third distance may be changed in consideration of, for example, the user's driving skill or years of driving experience.
　本実施形態によると、ユーザの属性に応じて該車両からの第３領域距離を変更することにより、ユーザに対して適切なタイミングで事前に危険警告を出力することが可能となる。
　なお、本実施形態において、第２領域と第３領域とを区別したが、第２領域と第３領域は同一領域であってもよい。 According to the present embodiment, by changing the third area distance from the vehicle according to the attribute of the user, it is possible to output a danger warning to the user in advance at an appropriate timing.
Although the second region and the third region are distinguished in the present embodiment, the second region and the third region may be the same region.
　また、本実施形態において、第３距離を変更するだけでなく、第１距離を変更してもよい。例えば、高齢運転者の場合に第１距離を長くすることで、高齢運転者が危険箇所の検知をより早く認識することが可能となる。これにより、ハザードマップがリアルタイムで更新されている場合に、高齢運転者が危険事象に対して慌てて対応する状況を回避できる。 Further, in the present embodiment, not only the third distance may be changed, but also the first distance may be changed. For example, in the case of an elderly driver, by lengthening the first distance, the elderly driver can recognize the detection of the dangerous place earlier. This makes it possible to avoid a situation in which an elderly driver responds in a hurry to a dangerous event when the hazard map is updated in real time.
　今回開示された実施形態はすべての点で例示であって、制限的なものではないと考えられるべきである。本発明の範囲は、上記した意味ではなく、特許請求の範囲によって示され、特許請求の範囲と均等の意味及び範囲内でのすべての変更が含まれることが意図される。 The embodiments disclosed this time should be considered to be exemplary in all respects and not restrictive. The scope of the present invention is indicated by the scope of claims, not the above-mentioned meaning, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.
　１　　　　情報処理端末（車両端末）
　１１　　　制御部
　１２　　　記憶部
　１３　　　通信部
　１４　　　入力部
　１５　　　表示部
　１６　　　撮影部
　１７　　　補助記憶部
　１８　　　ＧＰＳモジュール
　１９　　　スピーカ
　１Ｐ　　　制御プログラム
　２　　　　情報処理装置（サーバ・地図情報提供装置）
　２１　　　制御部
　２２　　　記憶部
　２３　　　通信部
　２４　　　読取部
　２５　　　大容量記憶部
　２５１　　地図ＤＢ
　２５２　　検知情報ＤＢ
　２５３　　ユーザＤＢ
　２ａ　　　可搬型記憶媒体
　２ｂ　　　半導体メモリ
　２Ｐ　　　制御プログラム 1 Information processing terminal (vehicle terminal)
11 Control unit 12 Storage unit 13 Communication unit 14 Input unit 15 Display unit 16 Imaging unit 17 Auxiliary storage unit 18 GPS module 19 Speaker 1P control program 2 Information processing device (server / map information providing device)
21 Control unit 22 Storage unit 23 Communication unit 24 Reading unit 25 Large-capacity storage unit 251 Map DB
252 Detection information DB
253 User DB
2a Portable storage medium 2b Semiconductor memory 2P control program

Claims (11)

  1. 　危険事象が発生しやすい危険箇所を示す地図情報と、車両の位置情報とに基づき、前記車両から第１距離以内に設定される第１領域及び前記車両から前記第１距離より短い第２距離以内に設定される第２領域に前記危険箇所が重なったか否かを判定し、
    　前記第１領域に前記危険箇所が重なったと判定した場合に第１警告の出力命令を生成し、
    　前記第２領域に前記危険箇所が重なったと判定した場合、前記第１警告の出力命令を消去する
    　処理をコンピュータに実行させるプログラム。     Based on the map information indicating the dangerous place where a dangerous event is likely to occur and the position information of the vehicle, the first area set within the first distance from the vehicle and the second distance shorter than the first distance from the vehicle. It is determined whether or not the danger point overlaps with the second area set in.
    When it is determined that the dangerous part overlaps with the first area, the output command of the first warning is generated.
    A program that causes a computer to execute a process of erasing the output command of the first warning when it is determined that the dangerous part overlaps with the second area.
  2. 　前記車両の周囲を撮像した画像を取得し、
    　前記画像から前記車両の危険事象を検知し、
    　前記危険事象を検知した場合に第２警告を出力する
    　処理を実行させる請求項１に記載のプログラム。     An image of the surroundings of the vehicle is acquired, and the image is taken.
    The dangerous event of the vehicle is detected from the image,
    The program according to claim 1, wherein a process for outputting a second warning when the dangerous event is detected is executed.
  3. 　前記画像内の一定の関心領域から前記危険事象を検知し、
    　前記車両から前記第１距離より短い第３距離以内に設定される第３領域に前記危険箇所が重なったと判定した場合、前記関心領域を拡大する
    　処理を実行させる請求項２に記載のプログラム。     The dangerous event is detected from a certain region of interest in the image, and the dangerous event is detected.
    The program according to claim 2, wherein when it is determined that the danger point overlaps with a third area set within a third distance shorter than the first distance from the vehicle, a process of expanding the area of interest is executed.
  4. 　前記第３領域に前記危険箇所が重なったと判定した場合、前記画像から前記危険事象を検知する際の基準とする閾値を変更する
    　処理を実行させる請求項３に記載のプログラム。     The program according to claim 3, wherein when it is determined that the dangerous portion overlaps with the third region, a process of changing a threshold value as a reference when detecting the dangerous event from the image is executed.
  5. 　前記車両を運転するユーザの属性に応じて、前記車両からの前記第３距離を変更する
    　処理を実行させる請求項３又は４に記載のプログラム。     The program according to claim 3 or 4, wherein the process of changing the third distance from the vehicle is executed according to the attribute of the user who drives the vehicle.
  6. 　前記車両の走行速度に応じて、前記第１領域を拡大する
    　処理を実行させる請求項１から５のいずれか一つに記載のプログラム。     The program according to any one of claims 1 to 5, wherein the process of expanding the first region is executed according to the traveling speed of the vehicle.
  7. 　前記車両の危険事象を検知した場合に、検知時刻及び位置情報を含む検知情報を、前記地図情報を提供する地図情報提供装置に送信し、
    　前記検知情報に応じて更新された前記地図情報を前記地図情報提供装置から取得する
    　処理を実行させる請求項１から６のいずれか一つに記載のプログラム。     When the dangerous event of the vehicle is detected, the detection information including the detection time and the position information is transmitted to the map information providing device that provides the map information.
    The program according to any one of claims 1 to 6, which executes a process of acquiring the map information updated according to the detection information from the map information providing device.
  8. 　　危険事象が発生しやすい危険箇所を示す地図情報と、車両の位置情報とに基づき、前記車両から第１距離以内に設定される第１領域及び前記車両から前記第１距離より短い第２距離以内に設定される第２領域に前記危険箇所が重なったか否かを判定し、
    　前記第１領域に前記危険箇所が重なったと判定した場合に第１警告の出力命令を生成し、
    　前記第２領域に前記危険箇所が重なったと判定した場合、前記第１警告の出力命令を消去する
    　処理をコンピュータに実行させる情報処理方法。     Based on the map information indicating the dangerous place where a dangerous event is likely to occur and the position information of the vehicle, the first area set within the first distance from the vehicle and the second distance shorter than the first distance from the vehicle. It is determined whether or not the danger point overlaps with the second area set in.
    When it is determined that the dangerous part overlaps with the first area, the output command of the first warning is generated.
    An information processing method for causing a computer to execute a process of erasing the output command of the first warning when it is determined that the dangerous portion overlaps with the second area.
  9. 　危険事象が発生しやすい危険箇所を示す地図情報地図情報と、車両の位置情報とに基づき、前記車両から第１距離以内に設定される第１領域及び前記車両から前記第１距離より短い第２距離以内に設定される第２領域に前記危険箇所が重なったか否かを判定する判定部と、
    　前記第１領域に前記危険箇所が重なったと判定した場合に第１警告の出力命令を生成す
    る生成部と、
    　前記第２領域に前記危険箇所が重なったと判定した場合、前記第１警告の出力命令を消去する制御部と
    　を備えることを特徴とする情報処理端末。     Map information indicating a dangerous place where a dangerous event is likely to occur Based on the map information and the position information of the vehicle, the first region set within the first distance from the vehicle and the second region shorter than the first distance from the vehicle. A determination unit that determines whether or not the dangerous location overlaps the second region set within a distance, and a determination unit.
    A generation unit that generates a first warning output command when it is determined that the danger points overlap with the first area.
    An information processing terminal including a control unit for erasing the output command of the first warning when it is determined that the dangerous portion overlaps with the second region.
  10. 　危険事象が発生しやすい危険箇所を示す地図情報を取得する第１取得部と、
    　車両の位置情報を取得する第２取得部と、
    　前記地図情報と、前記車両の位置情報とに基づき、車両から第１距離以内に設定される第１領域に前記危険箇所が重なったか否かを判定する判定部と、
    　前記車両の周囲を撮像した画像を取得する第３取得部と、
    　取得した前記画像から前記車両の危険事象を検知する検知部と、
    　前記第１領域に前記危険箇所が重なったと判定した場合に第１警告を、前記車両の危険事象を検知した場合に第２警告をそれぞれ出力する出力部と
    　を備えることを特徴とする情報処理端末。     The first acquisition unit that acquires map information indicating dangerous locations where dangerous events are likely to occur, and
    The second acquisition unit that acquires the location information of the vehicle,
    Based on the map information and the position information of the vehicle, a determination unit for determining whether or not the dangerous portion overlaps the first region set within the first distance from the vehicle, and a determination unit.
    A third acquisition unit that acquires an image of the surroundings of the vehicle, and
    A detection unit that detects a dangerous event of the vehicle from the acquired image,
    An information processing terminal including an output unit that outputs a first warning when it is determined that the dangerous portion overlaps with the first region and a second warning when a dangerous event of the vehicle is detected. ..
  11. 　請求項９又は１０に記載の情報処理端末と通信可能な地図情報提供装置であって、
    　危険事象が発生しやすい危険箇所を示す地図情報を前記情報処理端末に提供する提供部と、
    　前記情報処理端末から、前記車両が危険事象を検知した検知時刻及び位置情報を含む検知情報を受信する受信部と、
    　前記検知情報に応じて、前記地図情報を更新する更新部と、
    を備える地図情報提供装置。     A map information providing device capable of communicating with the information processing terminal according to claim 9 or 10.
    A provider that provides map information indicating dangerous locations where dangerous events are likely to occur to the information processing terminal,
    A receiving unit that receives detection information including detection time and position information when the vehicle detects a dangerous event from the information processing terminal.
    An update unit that updates the map information according to the detection information,
    A map information providing device equipped with.
PCT/JP2021/035660 2020-09-29 2021-09-28 Program, information processing method, information processing terminal, and map information provision device WO2022071323A1 (en)

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