JP7363084B2 - control system - Google Patents

Description

The present invention relates to control systems.

Patent Document 1 discloses a traffic signal that includes a communication section, a photoelectric conversion section, and a control section. The control unit determines the presence or absence of a pedestrian based on the image acquired by the photoelectric conversion unit. The control unit performs image processing or image analysis based on the image data acquired by the photoelectric conversion unit, and transmits a message from the communication unit to the communication target vehicle based on the analyzed information.

Patent No. 6451332

When transmitting a message from a traffic light to a vehicle as in Patent Document 1, depending on the communication range of the traffic light, there is a possibility that the message may not reach the vehicle that requires the message. Furthermore, there is a possibility that the message will be delivered to a vehicle that does not need the message.

The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to obtain a control system that can efficiently perform a warning operation on a vehicle according to information detected by a person.

A control system according to the present disclosure includes an image sensor that divides a space into a plurality of detection blocks and detects presence or absence of a person in each of the plurality of detection blocks, and an alarm device that performs a warning operation for a vehicle. , a management device that stores a correspondence relationship between the plurality of detection blocks and the warning device, and causes the warning device to perform the warning operation when the warning device corresponds to a detection block in which the presence of a person is detected; The warning device is arranged so that the warning operation can notify the driver of the vehicle of the presence of a person before the vehicle enters the detection block where the presence of the person is detected. .
A control system according to the present disclosure includes an image sensor that divides a space into a plurality of detection blocks, detects presence or absence of a person in each of the plurality of detection blocks, and a plurality of alarms that perform a warning operation for a vehicle. storing a correspondence relationship between the device, the plurality of detection blocks, and the plurality of alarm devices, and causing the alarm device corresponding to the detection block in which the presence of a person is detected to perform the warning operation among the plurality of alarm devices. a management device, and at least one of the plurality of warning devices includes a second warning device that transmits an automatic driving command to the vehicle as the warning operation.

In the control system according to the present invention, the management device causes the alarm device corresponding to the detection block in which the presence of a person is detected to perform a warning operation. Therefore, the warning operation can be performed at a position where it is preferable to issue a warning, for example, where the position where a person is present becomes a blind spot. Therefore, it is possible to efficiently perform a warning operation on the vehicle according to the information detected by the person.

1 is a diagram showing the configuration of a control system according to Embodiment 1. FIG. FIG. 3 is a diagram illustrating a detection range of the image sensor according to the first embodiment. FIG. 3 is a diagram illustrating numbers assigned to detection blocks according to the first embodiment. 3 is a diagram showing the arrangement of lighting equipment according to Embodiment 1. FIG. FIG. 3 is a diagram illustrating the correspondence between detection blocks and lighting fixtures according to Embodiment 1. FIG. FIG. 3 is a diagram showing the configuration of a control system according to a second embodiment. FIG. 7 is a diagram illustrating a detection range of an image sensor according to a second embodiment. FIG. 3 is a diagram showing the configuration of a control system according to a third embodiment. FIG. 7 is a diagram illustrating a detection range of an image sensor according to Embodiment 3;

A control system according to an embodiment of the present invention will be described with reference to the drawings. Identical or corresponding components may be given the same reference numerals and repeated descriptions may be omitted.

Embodiment 1.
FIG. 1 is a diagram showing the configuration of a control system 100 according to the first embodiment. The control system 100 includes a controller 1 . The controller 1 is installed in a lighting control panel or on the ceiling. The controller 1 collects information from terminal devices in the control system 100 and controls the lighting state of the lighting equipment 2. The controller 1 also transmits information to the higher-level system and executes control commands from the higher-level system.

There are multiple types of terminal equipment. In FIG. 1, as an example, a lighting fixture 2, an illuminance sensor 3, a wall switch 4, and an image sensor 5 are connected to a controller 1. Although only one lighting fixture 2, illuminance sensor 3, wall switch 4, and image sensor 5 are each shown in FIG. 1, a plurality of each terminal device may be connected to the controller 1 and used.

The lighting fixture 2 is connected to the controller 1 through a communication line. The lighting fixture 2 changes the lighting state by receiving control commands from the controller 1. The control commands include, for example, ON, OFF, dimming rate, and color temperature commands. The lighting fixture 2 includes a light source and a power supply device. The power supply device turns on the light source by turning on and off a switching element. The light source is composed of, for example, an LED. The lighting fixture 2 may be equipped with a control unit that converts received communication data and transmits the converted data to the power supply device. Furthermore, in the lighting fixture 2, a control section included in the power supply device may directly transmit and receive communication data. The control section drives the switching element based on communication data received via the control unit or directly.

The illuminance sensor 3 is installed, for example, on the ceiling. The illuminance sensor 3 detects reflected light from the target area using a light receiving section. The target area is, for example, the floor. The illuminance sensor 3 converts the detected amount of light into an electrical signal and measures a relative illuminance value. The illuminance sensor 3 transmits the measured illuminance value data to the controller 1.

The controller 1 compares the illuminance value data with a preset target illuminance. The controller 1 sends a dimming command to the lighting equipment 2 so that the illuminance value data matches the target illuminance. The illuminance sensor function may be installed in the image sensor 5.

The wall switch 4 is installed on the wall. The wall switch 4 is installed at a location within reach of general users. The wall switch 4 has a plurality of switches. Each of the plurality of switches is set with an address of the lighting fixture 2, a group number, or pattern control of the dimming rate. When the user presses the switch of the wall switch 4, ON/OFF of the lighting fixture 2 corresponding to the address or group number set in the switch is controlled. Further, by pressing the switch, pattern control set in the switch is executed.

The image sensor 5 is installed, for example, on the ceiling. Image sensor 5 has a camera 5a. A pyroelectric sensor, which is generally used as a human sensor, detects only the movement of a heat source. In contrast, the image sensor 5 of this embodiment acquires image data with the camera 5a and determines whether a person is present within the target area. The image sensor 5 uses a unique detection algorithm to determine the presence or absence of a person. The image sensor 5 compares a base background image and photographed image data. The image sensor 5 identifies entering, moving from, staying in, and passing through the target area based on the comparison results. Furthermore, the image sensor 5 can count the number of people in the target area.

The image sensor 5 transmits only necessary information among the detected information to the controller 1. The controller 1 that has received the information from the image sensor 5 performs dimming control on the lighting fixture 2 associated with the detection block 61 containing the human body detection information. The detection block 61 will be described later.

The setting device 6 is connected to a communication line connecting the controller 1 and the gateway device 7. The setting device 6 is also called a personal computer setting device. Using the setting device 6, lighting control settings for the controller 1 and communication settings for the controller 1 to higher-level equipment are performed. The user sets the address and group number of each terminal device using the setting device 6. Further, the user sets automatic control parameters held by the controller 1 using the setting device 6. The automatic control parameters include target illuminance, upper limit dimming rate, lower limit dimming rate, and assignment setting of the wall switch 4.

The setting device 6 communicates with the terminal device and the controller 1. Communication is performed, for example, by connecting to a communication line between the controller 1 and the gateway device 7. Further, communication may be performed by connecting to BACnet (Building Automation and Control Networking Protocol) to which the gateway device 7 is connected. BACnet is a communication protocol standard for building networks. BACnet is used for communication between the gateway device 7 and the management device 8. Further, the setting device 6 may transmit and receive data to and from the terminal device through wireless communication such as infrared communication or wired communication. The communication protocol of the setting device 6 does not matter.

The gateway device 7 has a gateway function between communication with the controller 1 and BACnet communication. The gateway device 7 converts communication data between communication with the controller 1 and BACnet communication.

The management device 8 communicates with the gateway device 7 through BACnet communication using Ethernet (registered trademark). The management device 8 acquires information from the terminal device or the controller 1 via the gateway device 7 . The management device 8 includes a control section 8a and a storage section 8b. The storage unit 8b stores various data and programs used for control performed by the control unit 8a.

The management device 8 transmits information to the alarm display device 9 corresponding to the detection block 61 in which the image sensor 5 detects the presence or absence of a person. The management device 8 activates the alarm display device 9 while receiving presence information indicating the stay or movement of a person from the image sensor 5. Furthermore, the management device 8 stops the alarm display device 9 during the period when the person's absence information is being received from the image sensor 5.

The warning display device 9 is a first warning device that issues a warning to the vehicle with light or sound as a warning operation. In the alarm display device 9, a rotating light may be activated to perform a warning operation, or an LED illumination may be turned on or blinking to perform a warning operation. Further, the alarm display device 9 may include a speaker. In this case, the warning operation is performed by a warning sound from the speaker. Further, the light warning and the sound warning may be linked. The warning display device 9 is not limited to this as long as it performs a warning operation on the vehicle.

Note that either wired communication or wireless communication may be employed as the above-mentioned data communication means. Further, the type of communication and the number of devices that mediate communication are not limited. Further, the controller 1 is capable of transmitting the presence/absence information of the person detected by the image sensor 5 to the management device 8 and controlling the lighting fixture 2 based on the presence/absence information in parallel.

FIG. 2 is a diagram illustrating a detection range 60 of the image sensor 5 according to the first embodiment. In FIG. 2, the detection range 60 is the range surrounded by a thick frame. FIG. 2 is an example of a detection range 60 when capturing an image in the direction of the floor surface using the camera 5a mounted on the image sensor 5 installed on the ceiling. Here, the image sensor 5 is installed on the ceiling of a large multi-story parking lot attached to a large commercial facility or a covered indoor parking lot.

The image sensor 5 is arranged, for example, at the center of the detection range 60. The detection range 60 of the image sensor 5 of this embodiment is a 7.2 m square area on the floor surface. The area and shape of the detection range 60 are not limited to this. The detection range 60 varies depending on the type, performance, and detection accuracy of the camera 5a used in the image sensor 5.

The image sensor 5 divides a space that is a detection range 60 into a plurality of detection blocks 61, and detects the presence or absence of a person in each of the plurality of detection blocks 61. The image sensor 5 acquires an image for each detection block 61, compares the acquired image with a pre-stored base image, and detects the presence or absence of a person.

One detection block 61 is a 0.9 m square. The detection blocks 61 are arranged in eight rows on one side of the detection range 60. The detection range 60 has 64 detection blocks 61. The area and shape of the detection block 61 and the arrangement of the plurality of detection blocks 61 are not limited to these. Moreover, the number of detection blocks 61 included in one detection range 60 may be plural.

The imaging range of the camera 5a mounted on the image sensor 5 is wide-angle. Detection may be masked at the outer periphery of the imaging range of the image sensor 5. In other words, the camera 5a may be used with the detection range arbitrarily narrowed down. Furthermore, a higher performance image sensor 5 may be used. For example, the detection range 60 of 7.2 m square may be divided into 256 blocks with 16 columns on each side for detection.

The detection range 60 includes the curved road 20. In FIG. 2, a road 20 is a passage in a parking lot through which vehicles 11 and pedestrians 12 pass. A pedestrian 12 exists at the end of a bend in the direction in which the vehicle 11 is traveling.

The control system 100 includes a plurality of alarm display devices 9. The plurality of alarm display devices 9 include alarm display devices 9a and 9b. The warning display device 9 is provided at each corner of the road 20. Here, the road 20 has an L-shaped bend. The road 20 is not limited to this, as long as it is curved, and may be curved. Further, the warning display device 9 may be provided at a curved portion of the road 20, near the curved portion, or in front of the curved portion. Moreover, some of the plurality of warning display devices 9 may be provided at the corner.

The image sensor 5 detects the presence of a person in the detection range 60 and notifies the management device 8 regardless of the operating state of intrusion, movement, or stay.

Further, the non-detection area 13 is an area outside the detection target of the image sensor 5 in the detection range 60. The non-detection area 13 is, for example, an area other than the road 20 that is made up of walls or the like. The non-detection area 13 may be a vehicle-only area where pedestrians 12 do not pass or a pedestrian-only area where vehicles 11 do not pass. The non-detection area 13 may be an area separated from the road by a wall or a fence. The non-detection area 13 is set by mask processing settings which are a function of the image sensor 5.

The image sensor 5 detects the presence of the pedestrian 12 in the human body detection area 14 within the detection range 60 . The image sensor 5 transmits detected information to the management device 8 via the controller 1 and the gateway device 7. The information transmitted from the image sensor 5 to the management device 8 includes information on the detection block 61 in which a person has been detected.

A database is set in advance in the management device 8 to link the plurality of detection blocks 61 and the plurality of alarm display devices 9a and 9b. The management device 8 stores the correspondence between the plurality of detection blocks 61 and the plurality of alarm display devices 9a and 9b in the storage section 8b. Here, it is assumed that the detection block 61 corresponding to the human body detection area 14 corresponds to the alarm display device 9a. The management device 8 refers to the database and causes the alarm display device 9a corresponding to the detection block 61 in which the presence of a person is detected to perform a warning operation among the plurality of alarm display devices 9a and 9b. The management device 8 issues an activation command to the alarm display device 9a. As a result, a warning operation is performed from the warning display device 9a to the vehicle 11 with light or sound.

Furthermore, the management device 8 does not cause the alarm display devices 9b other than the alarm display device 9a corresponding to the detection block 61 in which the presence of a person is detected to perform a warning operation.

The human body detection area 14 is a blind spot for the vehicle 11. According to this embodiment, the presence of the pedestrian 12 can be notified to the driver of the vehicle 11 by the warning operation of the warning display device 9a before the vehicle 11 approaches or enters the human body detection area 14. By visually observing the warning display device 9a, the driver can recognize the presence of a person nearby or in a blind spot. Thereby, the driver can be prompted to decelerate or stop the vehicle 11, and the safety of the pedestrians 12 can be ensured.

Further, after operating the alarm display device 9a, if the absence of a person is detected in the human body detection area 14, the management device 8 stops the alarm display device 9a.

FIG. 3 is a diagram illustrating numbers assigned to detection blocks 61 according to the first embodiment. Identification numbers 1 to 64 are assigned to the plurality of detection blocks 61 for management purposes. The identification number is, for example, a serial number. The controller 1 or the management device 8 has a function of arbitrarily setting the number of detection blocks 61. Thereby, even if the number of detection blocks 61 changes due to camera performance or the like, the identification number can be automatically changed.

The identification numbers of the detection blocks 61 are grouped. Further, each of the plurality of alarm display devices 9 is set with an address that allows mutual identification. The group of identification numbers is assigned to the address of the alarm display device 9. Thereby, the image sensor 5 and the alarm display device 9 can be linked.

The human body detection area 14 shown in FIG. 2 is an example of a group of detection blocks 61. In FIG. 2, six blocks with identification numbers 3, 4, 5, 11, 12, and 13 are grouped. For example, assume that the address of the alarm display device 9a is 1. The human body detection area 14 is linked to the address 1. Thereby, when the pedestrian 12 is detected by any of the detection blocks 61 with identification numbers 3, 4, 5, 11, 12, and 13, the warning display device 9a can be operated.

Such a correspondence relationship can be set from the management device 8 or the lower setting device 6. Further, multiple correspondence relationships such as those described above can be set. That is, it is possible to create a plurality of groups of detection blocks 61 and associate the plurality of groups with the plurality of alarm display devices 9, respectively. Such a correspondence relationship is stored in the storage unit 8b of the management device 8 as a table, for example.

The correspondence relationship between the plurality of detection blocks 61 and the plurality of alarm display devices 9 is not limited to this. For example, individual detection blocks 61 and alarm display devices 9 may be linked.

Further, the control system 100 may include a plurality of image sensors 5. In this case, the detection blocks 61 may be grouped across the detection ranges 60 of the plurality of image sensors 5. Furthermore, the management device 8 may cause the alarm display device 9 corresponding to the detection block 61 in which a person is detected to perform a warning operation based on the detection information of the plurality of image sensors 5.

The correspondence between the plurality of detection blocks 61 and the plurality of alarm display devices 9 can be easily set or changed from the management device 8. The management device 8 is, for example, a personal computer. The administrator of the control system 100 can input the correspondence by operating the input section of the management device 8. The input unit is, for example, a keyboard, a mouse, or the like. The management device 8 may have a touch panel, and the correspondence relationship may be input from the touch panel.

FIG. 4 is a diagram showing the arrangement of the lighting fixture 2 according to the first embodiment. In this embodiment, six lighting fixtures 2 are installed on the ceiling of the detection range 60. In the control system 100, the lighting equipment 2 can be individually controlled by transmitting a control command from the controller 1 to the address held by the lighting equipment 2.

The controller 1 may allocate a short address to the unique address held by the lighting fixture 2. Short addresses are managed for each controller. This makes it easier to manage the addresses of the lighting fixtures 2. Further, the controller 1 may group the short addresses of the plurality of lighting fixtures 2 and control each group. In the example of FIG. 4, serial numbers 1 to 6 are assigned to a plurality of lighting fixtures 2 as short addresses.

FIG. 5 is a diagram illustrating the correspondence between the detection block 61 and the lighting fixture 2 according to the first embodiment. In the database of FIG. 5, the identification number of the detection block 61 and the short address of the lighting fixture 2 are associated. In this embodiment, the short address of each lighting fixture 2 and a plurality of detection blocks 61 around the lighting fixture 2 are linked.

Further, the lighting fixture 2 and the detection block 61 are grouped. In this embodiment, a common group number is set for the grouped lighting fixtures 2 and detection blocks 61. Thereby, the lighting fixture 2 and the detection block 61 can be associated with each other.

From the above, the image sensor 5 and the lighting fixture 2 can be operated in conjunction with each other. The correspondence between the plurality of detection blocks 61 and the plurality of lighting fixtures 2 as shown in FIG. 5 is stored in the storage unit 8b of the management device 8. The management device 8 controls the lighting states of the plurality of lighting fixtures 2 via the controller 1 based on information detected by the image sensor 5 .

The management device 8 controls the lighting state of the lighting fixture 2 corresponding to the detection block 61 in which the presence or absence of a person is detected. For example, the management device 8 lights up the lighting fixture 2 corresponding to the detection block 61 in which the presence of a person is detected. Moreover, the management device 8 may turn off the lighting fixture 2 corresponding to the detection block 61 in which the absence of a person is detected. The management device 8 controls the lighting fixture 2 by causing the controller 1 to transmit a control command.

Further, the correspondence between the plurality of detection blocks 61 and the plurality of lighting fixtures 2 may be stored in the controller 1. The controller 1 may transmit a control command to the lighting fixture 2 corresponding to the detection block 61 in which the presence or absence of a person is detected, and control the lighting state.

Further, the group of the lighting fixture 2 and the detection block 61 may include the wall switch 4 or the illuminance sensor 3. Thereby, by operating the wall switch 4, for example, devices within the group can be controlled to be turned on or off all at once. Further, the lighting fixtures 2 in the group can be collectively feedback-controlled according to the brightness detected by the illuminance sensor 3.

Next, the effects of this embodiment will be explained. When issuing a warning to a vehicle in response to information detected by a person, the warning may not reach the vehicle unless the warning is issued from an appropriate position. Further, there is a possibility that a warning will be given to a vehicle that does not require a warning. A vehicle that does not require a warning is, for example, a vehicle that moves away from the location where a person was detected.

In contrast, in the present embodiment, the management device 8 causes the alarm display device 9 corresponding to the detection block 61 in which the presence of a person is detected to perform a warning operation. The management device 8 stores in advance the correspondence between the detected position of a person and the alarm display device 9 placed at a position where a warning action should be performed with respect to the detected position of the person. Therefore, a warning operation can be performed from the warning display device 9 provided at a position where it is preferable to give a warning at a position where a person is detected. The position where it is preferable to issue a warning is, for example, a position where the position where a person is detected is a blind spot. Therefore, it is possible to suppress the possibility that a warning will not reach a vehicle that requires a warning. Further, it is possible to prevent a warning operation from being performed at a position where a warning is not necessary. Therefore, it is possible to efficiently issue a warning to the vehicle according to the information detected by the person. Note that the number of alarm display devices 9 provided in the detection range 60 may be one or more.

Further, in this embodiment, communication occurs only when the image sensor 5 detects the presence or absence of a person. Therefore, the frequency of data transmission can be reduced compared to a case where image data from an image sensor is always transmitted to a higher-level device or a vehicle, regardless of human detection information, for example.

Furthermore, when detecting pedestrians with a camera mounted on a vehicle, pedestrians in blind spots cannot generally be detected. In this embodiment, the image sensor 5 can reliably detect the presence of a person in an area that is a blind spot, and can ensure the safety of pedestrians.

As a modification of this embodiment, the image sensor 5 may detect the direction of movement of the person. Here, as an example, it is assumed that the alarm display devices 9a and 9b shown in FIG. 2 are linked to the human body detection area 14. Further, it is assumed that the pedestrian 12 is moving toward the warning display device 9a in FIG. 2. In the modified example, the management device 8 selects an alarm display provided in the direction of movement of the person with respect to the human body detection area 14, among the plurality of alarm display devices 9a, 9b corresponding to the human body detection area 14 in which the presence of a person is detected. The device 9a is operated. Furthermore, the management device 8 does not operate the alarm display device 9b provided in a direction different from or opposite to the direction of movement of the person with respect to the human body detection area 14.

According to this modification, the alarm display device 9 to be operated can be set more appropriately. Therefore, the warning operation can be performed more efficiently.

Further, in this embodiment, the detection range 60 is a space with a ceiling, such as an indoor parking lot. The detection range 60 is not limited to this, and may be outdoors. In this case, the image sensor 5 is provided, for example, on the side of a building, on the roof, or on a utility pole. Furthermore, the image sensor 5 images the ground instead of the floor. Moreover, when the detection range 60 is outdoors, the lighting fixture 2 may be a street light.

Further, the image sensor 5 may detect the presence of a person at a crosswalk or a road where the roadway and sidewalk are not separated. On these roads, pedestrians and vehicles may pass through the same area. Therefore, it is conceivable that a warning operation will be especially necessary.

Furthermore, the control system 100 may be used not only on roads but also in parking spaces. In this case, the image sensor 5 detects the presence of a person in the parking space. Further, the warning display device 9 is provided in the parking space or around the parking space. Thereby, when reversing the vehicle 11 for parking, it is possible to warn the driver if there is a person in the parking space. Therefore, pedestrian safety can be maintained.

These modifications can be applied as appropriate to the control system according to the embodiments below. Note that the control system according to the following embodiment has many points in common with Embodiment 1, so the explanation will focus on the differences from Embodiment 1.

Embodiment 2.
FIG. 6 is a diagram showing the configuration of a control system 200 according to the second embodiment. The control system 200 of this embodiment includes a transmitting device 16 that is a second warning device instead of the warning display device 9. The transmitting device 16 transmits an automatic driving command to the vehicle 11 as a warning operation. The automatic operation command is, for example, a stop command.

The control system 200 also includes a vehicle control device 15 . One or more vehicle control devices 15 are connected to the management device 8 . The vehicle control device 15 is installed in each arbitrary section. A compartment is, for example, a floor or a building. A plurality of transmitting devices 16 are connected to one vehicle control device 15 . The vehicle control device 15 and the transmitting device 16 are each managed using addresses.

The management device 8 transmits an automatic driving command including information from the transmitting device 16 to the vehicle control device 15. The management device 8 attaches the combination of addresses of the vehicle control device 15 and the transmitting device 16 to the transmission data, and transmits the automatic driving command. When the image sensor 5 detects a pedestrian 12, the automatic driving command is a stop command. Further, when the image sensor 5 detects that the pedestrian 12 has disappeared, the automatic driving command is a stop cancellation command.

The vehicle control device 15 transmits the automatic driving command received from the management device 8 to the address of the transmitting device 16 included in the data received from the management device 8. The transmitting device 16 transmits the automatic driving command received from the vehicle control device 15 using wireless communication means.

As the wireless communication means of the transmitting device 16, wireless LAN (Local Area Network) such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), infrared communication, etc. can be used. The wireless communication standard does not matter. In a communication method with a relatively long wireless reach, the communication distance may be shortened by suppressing the output.

The transmitting device 16 transmits the automatic driving command received from the vehicle control device 15 to the vehicle 11. The transmitting device 16 can arbitrarily change the wireless output level. In other words, the range that the automatic driving command reaches is set by the transmitting device 16. The wireless output level is adjusted depending on the installation position of the transmitting device 16 and the range to which the automatic driving command is to be transmitted. The range that the automatic operation command reaches may be set from the setting device 6 or the management device 8.

The vehicle 11 also includes a receiving device 18 . Receiving device 18 is a wireless receiver. The receiving device 18 is installed at the center of the vehicle 11 or at the leading end in the traveling direction. The receiving device 18 is equipped with, for example, an antenna that receives wireless signals.

A case will be described in which the wireless output level is set so that the signal reaches a radius of 3 m from the transmitting device 16. In this case, when the vehicle 11 enters within a radius of 3 m of the transmitting device 16, the receiving device 18 mounted on the vehicle 11 receives the automatic driving command. When the automatic driving command is a stop command, the stop command is transmitted from the receiving device 18 to the automatic control system of the vehicle 11. As a result, the automatic brake function is activated in the vehicle 11, and the vehicle 11 stops. Further, when the automatic driving command is a stop cancellation command, the cancellation command is transmitted to the automatic control system of the vehicle 11. As a result, the automatic brake function is canceled and the vehicle is ready to start driving.

FIG. 7 is a diagram illustrating a detection range 60 of the image sensor 5 according to the second embodiment. Control system 200 includes a plurality of transmitting devices 16 . The plurality of transmitting devices 16 include transmitting devices 16a and 16b. In the example shown in FIG. 7, there are two roads 20 where the human body detection area 14 is a blind spot. For this reason, two transmitting devices 16a and 16b corresponding to the human body detection area 14 are installed. The number of transmitting devices 16 corresponding to one human body detection area 14 may be one or more.

Alternatively, the human body detection area 14 may be divided into two adjacent detection areas, and one transmitting device 16 may be associated with each human body detection area 14.

The image sensor 5 detects that a pedestrian 12 is moving or staying in the human body detection area 14 . The image sensor 5 transmits detected information to the management device 8 via the controller 1 and the gateway device 7. The information transmitted from the image sensor 5 to the management device 8 includes information about the detection block 61 in which a person has been detected.

The management device 8 refers to the database and transmits an automatic driving command to the transmitting devices 16a and 16b corresponding to the human body detection area 14 among the plurality of transmitting devices 16 via the vehicle control device 15. This automatic operation command is a stop command.

The transmitting device 16 outputs an automatic driving command as a wireless signal according to a preset wireless output level. In the example of FIG. 7, the wireless output level is set to a radius of 2 m. In FIG. 7, the range that the wireless signal from the transmitting device 16 reaches is illustrated as a wireless reachable range 17.

The vehicle 11a traveling on the road 20 receives a stop command when the receiving device 18 enters the wireless range 17. Thereby, the receiving device 18 transmits a stop command to the automatic control system of the vehicle 11a. Therefore, the vehicle 11a stops. Further, the automatic driving command may be a command to drive slowly or decelerate. In this case, the vehicle 11a slows down or decelerates according to the automatic driving command.

Furthermore, the vehicle 11b traveling outside the radio range 17 does not receive the stop command. Therefore, the vehicle 11b continues traveling.

Furthermore, after the transmitting device 16 transmits the automatic driving command to the vehicle 11, when the absence of a person is detected in the human body detection area 14, the management device 8 causes the transmitting device 16 to transmit a stop cancellation command. That is, the management device 8 causes the transmitting device 16 to cancel the automatic driving command.

As a result, the stopped vehicle 11a within the radio coverage area 17 receives the stop cancellation command via the receiving device 18. Therefore, the automatic stop state of the vehicle 11a is released, and the vehicle 11a can be driven according to the driver's intention.

Here, the management device 8 may cause the transmitting device 16 to cancel the automatic driving command after a predetermined holding time has elapsed after the detection block 61 detects the absence of a person. Thereby, even when the pedestrian 12 moves from the human body detection area 14 to the area in the advancing direction of the vehicle 11, the safety of the pedestrian can be ensured.

The holding time is set depending on the shape of the road 20, the width of the radio range 17, the installation position of the transmitting device 16, and the like. If the holding time is set longer, the safety of the pedestrian 12 can be improved, but the stopping time of the vehicle 11 becomes longer. For this reason, there is a risk that traffic congestion will occur and driver stress will increase. Taking these into consideration, the holding time can be changed depending on the road congestion, brightness depending on the time of day, or visibility.

In this embodiment, if there is a pedestrian 12 at the end of a bend in the direction of travel, the danger can be detected in advance and the vehicle 11 can be automatically stopped. Furthermore, in the human body detection area 14 of FIG. 7, there is a possibility that the vehicle 11 approaches from multiple directions. Even in such a location, by using a plurality of transmitting devices 16, automatic driving control of the vehicle 11 can be performed using a plurality of positions as starting points. The transmitting device 16 may be provided at an intersection or the like.

Furthermore, in the present embodiment, the installation position and wireless output level of the transmitting device 16 are set in advance so that the safety of the pedestrian 12 is ensured by assuming a blind spot in advance. The management device 8 transmits an automatic driving command from the transmitting device 16 corresponding to the detection block 61 in which the presence of a person is detected. Thereby, the automatic driving command can be reliably transmitted to the vehicle 11 in the vicinity of the detection block 61 that is a blind spot.

Moreover, it is possible to prevent the vehicle 11b, which does not need to stop, from receiving an automatic driving command and being forced to stop. Therefore, it is possible to efficiently perform a warning operation on the vehicle according to the information detected by the person.

Moreover, as another method of warning the driver of the presence of a person, it is possible to give a warning by sound from the speaker of the vehicle 11, for example. However, at intersections with heavy traffic, the sound may not be audible due to the sounds of other vehicles, horns, or music coming from the own vehicle's speakers. Furthermore, even when a warning is issued by stopping music played from a speaker, the music stops each time a warning operation occurs, and there is a risk that the speaker may not be able to function as a music player.

In contrast, in this embodiment, the vehicle 11 automatically stops due to the automatic driving function and the control system 200 interlocking. Therefore, the vehicle 11 can be reliably stopped in response to the detection of a person. Additionally, the functionality of the speaker can be maintained.

Another method for warning the driver of the presence of a person is to display image data captured by an imaging device on a display device of the vehicle. In this case, it is necessary for the driver to visually check the display device while driving, which may pose a danger. Furthermore, communication of image data occurs even when there is no other vehicle or person to be alerted to. Therefore, there is a possibility that a lot of unnecessary communication will occur.

In contrast, in this embodiment, there is no need for the driver to visually check the display device while driving. Therefore, the driver can safely concentrate on driving. Further, in this embodiment, a warning operation is performed only when a person is detected. Therefore, unnecessary communication can be suppressed.

The warning operation performed by the transmitting device 16 is not limited to transmitting an automatic driving command. As a modification of this embodiment, the transmitting device 16 may transmit a warning message to notify the vehicle 11 of the presence of a person using a wireless signal. The warning message is notified to the driver by voice from the navigation system of the vehicle 11, for example. In this case as well, the transmitting device 16 can issue a warning to the vehicle 11 traveling within the specified range.

Embodiment 3.
FIG. 8 is a diagram showing the configuration of a control system 300 according to the third embodiment. The control system 300 includes a plurality of alarm display devices 9 , a vehicle control device 15 , and a plurality of transmitting devices 16 . The management device 8 of this embodiment performs a warning operation on the vehicle 11 controlled by the automatic control system based on the automatic driving command from the transmitting device 16. Furthermore, the management device 8 performs a warning operation for a vehicle 10 not equipped with an automatic control system by activating the warning display device 9.

An example of the operation of the control system 300 will be described. FIG. 9 is a diagram illustrating the detection range of the image sensor 5 according to the third embodiment. It is assumed that the human body detection area 14 is associated with alarm display devices 9a, 9b and transmitting devices 16a, 16b.

When the image sensor 5 detects the presence of a pedestrian 12 in the human body detection area 14, the management device 8 transmits a vehicle confirmation signal to the transmitting devices 16a and 16b corresponding to the human body detection area 14 via the vehicle control device 15. do. When the transmitting devices 16a and 16b receive the vehicle confirmation signal, they transmit the vehicle confirmation signal to the vehicle 11 within the wireless coverage area 17.

When the vehicle 11 receives the vehicle confirmation signal, it responds to the transmitting device 16 with a vehicle confirmation response signal. The receiving device 18 mounted on the vehicle 11 also has the function of transmitting a vehicle confirmation response signal. Similarly, the transmitting device 16 also has the function of receiving a vehicle confirmation response signal. That is, it is assumed that the transmitting device 16 and the receiving device 18 can transmit and receive wireless signals.

In the example of FIG. 9, the transmitting device 16a among the plurality of transmitting devices 16a and 16b receives the vehicle confirmation response signal from the vehicle 11. On the other hand, since the vehicle 10 that has entered the wireless range 17 of the transmitting device 16b is not equipped with an automatic control system, it does not transmit the vehicle confirmation response signal. Therefore, the transmitting device 16b does not receive the vehicle acknowledgment signal.

The vehicle confirmation response signal is transmitted from the transmitting device 16a to the management device 8 via the vehicle control device 15. The management device 8 that has received the vehicle confirmation response signal from the transmitting device 16a recognizes that the vehicle 11 that can receive the automatic driving command has entered the wireless range 17 of the transmitting device 16a. When the management device 8 receives the vehicle confirmation response signal, it causes the transmission device 16a that received the vehicle confirmation response signal to transmit an automatic driving command. As a result, the vehicle 11 automatically stops.

In this way, when the detection block 61 detects the presence of a person, the management device 8 transmits a vehicle confirmation signal to the vehicle 11 via the transmitting devices 16a, 16b corresponding to the detection block 61. When the management device 8 receives a vehicle confirmation response signal in response to the vehicle confirmation signal from the vehicle 11 via the transmitter 16a, it causes the transmitter 16a that received the vehicle confirmation response signal to transmit an automatic driving command.

Furthermore, the management device 8 does not receive the vehicle confirmation response signal from the transmitting device 16b. In this case, the management device 8 activates the alarm display device 9b provided at a position corresponding to the transmitting device 16b. Thereby, the driver can recognize the presence of the pedestrian 12 by the light or sound from the warning display device 9b. In this manner, when the management device 8 does not receive a vehicle confirmation response signal from the vehicle 11 via the transmitting device 16b, the management device 8 operates the alarm display device 9b.

The transmitting device 16a and the alarm display device 9a and the transmitting device 16b and the alarm display device 9b are provided at the same position or adjacent to each other. When a person is detected in the human body detection area 14, if an automatic driving command is not transmitted from the transmitting device 16a, the alarm display device 9a is activated. Similarly, when the automatic driving command is not transmitted from the transmitting device 16b, the alarm display device 9b is operated.

In the present embodiment, unnecessary wireless communication is stopped in the transmitting device 16b where there is no vehicle 11 equipped with an automatic driving command receiving function within the wireless reach range 17. Furthermore, if the vehicle 11 that has entered the wireless range 17 can be controlled by an automatic driving command, unnecessary warning displays are not displayed. With this function, it is possible to suppress the transmission of unnecessary wireless signals and reduce the number of times the alarm display device 9 is activated. Therefore, the load and power consumption of the devices that make up the control system 300 can be reduced.

Further, the management device 8 may periodically transmit a vehicle confirmation signal from the transmitting device 16 while the pedestrian 12 is present in the human body detection area 14 . Thereby, the vehicle 11 that has entered the wireless range 17 can be immediately detected, and an automatic driving command can be promptly transmitted.

Moreover, the management device 8 may first activate the warning display devices 9a and 9b when the pedestrian 12 is detected. When the management device 8 subsequently detects the entry of the vehicle 11 based on the vehicle confirmation signal, it switches the warning operation by the warning display device 9a to the automatic driving command from the transmitting device 16a. That is, when transmitting an automatic driving command from the transmitting device 16a in a state where the alarm display device 9a is activated, the management device 8 may switch the alarm display device 9a from the activated state to the stopped state.

Moreover, the management device 8 may operate both the warning display device 9a and the transmitting device 16a in response to the detection of the pedestrian 12.

Further, in this embodiment, a plurality of transmitting devices 16a, 16b and a plurality of alarm display devices 9a, 9b are linked to one human body detection area 14. The management device 8 identifies which transmitter 16 received the vehicle confirmation response signal, and transmits an automatic driving command from the transmitter 16 that received the vehicle confirmation response signal among the plurality of transmitters 16. .

However, the present invention is not limited to this, and the management device 8 does not need to identify which transmitter 16 receives the vehicle confirmation response signal. In this case, when a vehicle confirmation response signal is received from any one of the transmitting devices 16, an automatic driving command is transmitted from all the transmitting devices 16a and 16b associated with the human body detection area 14.

The technical features described in each embodiment may be used in combination as appropriate.

1 controller, 2 lighting equipment, 3 illuminance sensor, 4 wall switch, 5 image sensor, 5a camera, 6 setting device, 7 gateway device, 8 management device, 8a control unit, 8b storage unit, 9, 9a, 9b alarm display device , 10, 11, 11a, 11b vehicle, 12 pedestrian, 13 non-detection area, 14 human body detection area, 15 vehicle control device, 16, 16a, 16b transmitting device, 17 radio range, 18 receiving device, 20 road, 60 Detection range, 61 Detection block, 100, 200, 300 Control system

Claims (14)

an image sensor that divides a space into a plurality of detection blocks and detects the presence or absence of a person in each of the plurality of detection blocks;
an alarm device that performs a warning operation on the vehicle;
a management device that stores a correspondence relationship between the plurality of detection blocks and the warning device, and causes the warning device to perform the warning operation when the warning device corresponds to a detection block in which the presence of a person is detected;
Equipped with
The warning device is arranged so that the warning operation can notify the driver of the vehicle of the presence of a person before the vehicle enters the detection block where the presence of the person is detected. control system. comprising a plurality of the alarm devices,
The control system according to claim 1, wherein the management device causes a warning device corresponding to the detection block in which the presence of a person is detected to perform the warning operation among the plurality of warning devices. The image sensor detects the direction of movement of the person,
The management device operates an alarm device provided in the moving direction with respect to the detection block among a plurality of alarm devices corresponding to the detection block in which the presence of a person is detected, and 3. The control system according to claim 2, wherein an alarm device provided in a direction different from the movement direction is not operated. 4. The control system according to claim 2, wherein at least one of the plurality of warning devices includes a first warning device that issues a light or sound warning to the vehicle as the warning operation. The control system according to claim 4, wherein the management device operates the first alarm device and then stops the first alarm device when the detection block detects the absence of a person. . an image sensor that divides a space into a plurality of detection blocks and detects the presence or absence of a person in each of the plurality of detection blocks;
A plurality of warning devices that perform warning operations on the vehicle;
a management device that stores a correspondence relationship between the plurality of detection blocks and the plurality of alarm devices, and causes an alarm device corresponding to a detection block in which the presence of a person is detected to perform the warning operation among the plurality of alarm devices; ,
Equipped with
A control system characterized in that at least one of the plurality of warning devices includes a second warning device that transmits an automatic driving command to the vehicle as the warning operation. 7. The control system according to claim 6, wherein the automatic operation command is a stop command. The management device may cause the second alarm device to cancel the automatic operation command when the detection block detects the absence of a person after the second alarm device transmits the automatic operation command. The control system according to claim 6 or 7. 9. The management device causes the second alarm device to cancel the automatic driving command after a predetermined holding time has elapsed after the detection block detects the absence of a person. Control system described in. The control system according to any one of claims 6 to 9, wherein the range to which the automatic driving command reaches is set from the second alarm device. 11. At least one of the plurality of warning devices includes a first warning device that issues a light or sound warning to the vehicle as the warning operation. control system. When the presence of a person is detected in the detection block, the management device transmits a confirmation signal to the vehicle via the second alarm device corresponding to the detection block, and causes the second alarm device to be activated from the vehicle. When a response signal to the confirmation signal is received through the vehicle, the second alarm device is caused to transmit the automatic driving command, and when the response signal is not received from the vehicle via the second alarm device, the first alarm device 12. The control system according to claim 11, wherein the control system operates: 13. The control system according to claim 2, wherein the space includes a curved road, and at least one of the plurality of warning devices is provided at a curved portion of the road. comprising a lighting fixture provided in the space,
From claim 1, wherein the management device stores a correspondence relationship between the plurality of detection blocks and the lighting equipment, and controls the lighting state of the lighting equipment based on information detected by the image sensor. 14. The control system according to any one of Item 13.

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