JP7616003B2 - Control device, system, and pedestrian assistance method - Google Patents

Description

This disclosure relates to a control device, a system, and a pedestrian assistance method.

Patent document 1 discloses a device that transmits a stop request signal to vehicles approaching a road section that corresponds to a potential crossing area that includes a point where it has been determined that a pedestrian may cross the road.

JP 2014-225151 A

Some pedestrians have visual impairments. Pedestrians with visual impairments may not be able to properly judge whether vehicles have stopped and whether it is safe for them to cross the road.

The purpose of this disclosure is to improve safety for visually impaired pedestrians when crossing roads.

The control device according to the present disclosure includes:
The vehicle is equipped with a control unit that detects a pedestrian crossing a road and drives one or more tactile presentation devices that correspond to the position of the detected pedestrian, out of a plurality of tactile presentation devices installed from a first side to a second side of the road, to present the pedestrian with a tactile sensation that is different from that of the road surface.

The pedestrian assistance method according to the present disclosure includes:
Detecting pedestrians crossing a road;
The method includes activating one or more tactile presentation devices, among a plurality of tactile presentation devices installed from a first side to a second side of the road, that correspond to the detected position of a pedestrian, to present a tactile sensation to the pedestrian that is different from that of the road surface.

This disclosure improves safety for visually impaired pedestrians when crossing roads.

FIG. 1 is a diagram illustrating a configuration of a system according to an embodiment of the present disclosure. FIG. 13 is a diagram showing an example of a tactile sensation presented when a pedestrian is about to cross a road. FIG. 13 is a diagram showing an example of tactile sensation presentation when a pedestrian is crossing a road. FIG. 13 is a diagram showing an example of tactile sensation presentation for guiding a pedestrian from a sidewalk to a crosswalk. 1 is a flowchart illustrating an operation of a system according to an embodiment of the present disclosure. FIG. 13 is a diagram showing an example of a tactile sensation provided to instruct a pedestrian to stop. FIG. 13 is a diagram showing an example of tactile sensation presentation for instructing a pedestrian to proceed. 13 is a flowchart illustrating a modified example of the operation of the system according to an embodiment of the present disclosure.

Several embodiments of the present disclosure are described below with reference to the figures.

In each figure, identical or corresponding parts are given the same reference numerals. In the description of each embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate.

One embodiment of the present disclosure will be described.

The configuration of the system 10 according to this embodiment will be described with reference to Figures 1 to 4.

As shown in FIG. 1, the system 10 according to this embodiment includes a plurality of tactile sensation presentation devices 11, a plurality of tactile sensation presentation devices 12, an imaging device 13, and a control device 20. The control device 20 can communicate with the plurality of tactile sensation presentation devices 11, the plurality of tactile sensation presentation devices 12, and the imaging device 13 via a network such as a LAN or the Internet, or a dedicated line, or wirelessly. "LAN" is an abbreviation for local area network.

The multiple tactile sensation presentation devices 11 are installed on a road 30 as shown in Figures 2 to 4. The multiple tactile sensation presentation devices 11 may be attached to the road surface of the road 30, but in this embodiment, they are embedded in the road 30 so that they can be freely switched between a protruding state and a non-protruding state relative to the road surface. Specifically, the multiple tactile sensation presentation devices 11 are one or more types of road studs.

In this embodiment, multiple small areas are set in the area 33 extending from the first side 31 to the second side 32 of the road 30, aligned along the width direction of the road 30. For example, as shown in FIG. 2 and FIG. 3, if four rectangular areas are set as the multiple small areas, multiple tactile presentation devices 11 are distributed and installed in these four rectangular areas. Road studs are placed in each rectangular area as the tactile presentation devices 11. The number of small areas is not limited to four and may be changed as appropriate. The shape of each small area is not limited to a rectangle and may be changed as appropriate. As a modified example of this embodiment, multiple small areas may not be set in the area 33, and multiple tactile presentation devices 11 may be installed in only one location or the entire area 33.

The multiple tactile presentation devices 12 are installed on a pair of sidewalks 50 as shown in FIG. 4. One sidewalk 50 is adjacent to a first side 31 of a road 30. The other sidewalk 50 is adjacent to a second side 32 of the road 30. The multiple tactile presentation devices 12 may be attached to the road surface of the sidewalk 50, but in this embodiment, they are embedded in the sidewalk 50 so as to be switchable between a protruding state and a non-protruding state relative to the road surface. Specifically, the multiple tactile presentation devices 12 are one or more types of road studs.

In this embodiment, a plurality of areas are set on the road surface of the sidewalk 50 along the length of the sidewalk 50. For example, as shown in FIG. 4, if 10 or more rectangular areas are set for each sidewalk 50 as the plurality of areas, the plurality of tactile presentation devices 12 are distributed and installed in these 10 or more rectangular areas. Road studs are placed in each rectangular area as the tactile presentation devices 12. The number of areas may be changed as appropriate. The shape of each area is not limited to a rectangle and may be changed as appropriate. As a modified example of this embodiment, a plurality of tactile presentation devices 12 may be installed only at one location on the road surface or over the entire road surface without setting a plurality of areas on the road surface of the sidewalk 50. Alternatively, a single tactile presentation device 12 may be installed instead of the plurality of tactile presentation devices 12.

The imaging device 13 is installed around the road 30. The imaging device 13 is, for example, a camera, a radar, or a LiDAR. "LiDAR" is an abbreviation for light detection and ranging.

The control device 20 may be installed on the road 30, in the vicinity of the road 30, or in a remote location.

The control device 20 detects a pedestrian 14 crossing the road 30. The control device 20 drives one or more tactile sensation presentation devices 11 that correspond to the position of the detected pedestrian 14, among the multiple tactile sensation presentation devices 11 installed from the first side 31 to the second side 32 of the road 30, to present the pedestrian 14 with a tactile sensation Tx that is different from the road surface of the road 30.

According to this embodiment, the crosswalk 40 can be marked to the pedestrian 14 by presenting a tactile sensation. Therefore, the safety of the pedestrian 14 when crossing the road 30 is improved, particularly when the pedestrian 14 is visually impaired.

In this embodiment, the control device 20 presents a tactile sensation Tx to the pedestrian 14 by protruding one or more tactile sensation presentation devices 11 from the road surface.

As a first example, assume that a pedestrian 14 is about to cross the road 30 from the first side 31 to the second side 32 as shown in FIG. 2. The control device 20 specifies, as the area 33, a rectangular area of a certain width with a center line being a straight line drawn from the point where the pedestrian 14 is located along the width direction of the road 30 to the second side 32. The control device 20 presents the tactile sensation Tx to the pedestrian 14 at the start of the crosswalk 40 by protruding the tactile sensation providing device 11 arranged in the small area closest to the first side 31 out of the four small areas set in the area 33 toward the road surface. As a result, the pedestrian 14 can recognize the start of the crosswalk 40 and start crossing the road 30. After that, the control device 20 presents the tactile sensation Tx to the pedestrian 14 at the middle part of the crosswalk 40 by protruding the tactile sensation providing device 11 arranged in the small areas second and third closest to the first side 31 out of the four small areas set in the area 33 toward the road surface in order as shown in FIG. As a result, the pedestrian 14 can recognize the middle part of the crosswalk 40 and continue crossing the road 30. The control device 20 then presents the tactile sensation Tx to the pedestrian 14 at the end of the crosswalk 40 by protruding the tactile sensation presentation device 11, which is arranged in the fourth small area closest to the first side 31 out of the four small areas set in the area 33, toward the road surface. As a result, the pedestrian 14 can recognize the end of the crosswalk 40 and finish crossing the road 30.

The control device 20 may return the tactile sensation presentation device 11 arranged in a certain small area from the protruding state to the non-protruding state when a certain time has elapsed since the control device 20 protruded the tactile sensation presentation device 11 arranged in that small area. Alternatively, the control device 20 may return the tactile sensation presentation device 11 arranged in that small area from the protruding state to the non-protruding state when the control device 20 protrudes the tactile sensation presentation device 11 arranged in another small area and then protrudes the tactile sensation presentation device 11 arranged in that small area. Alternatively, the control device 20 may return the tactile sensation presentation device 11 arranged in that small area from the protruding state to the non-protruding state when the pedestrian 14 passes through the small area after protruding the tactile sensation presentation device 11 arranged in that small area.

In this embodiment, the control device 20 detects the pedestrian 14 not only when the pedestrian 14 crosses the road 30, but also when the pedestrian 14 walks on the sidewalk 50. The control device 20 drives one or more tactile sensation presentation devices 12 that correspond to the position of the pedestrian 14, out of the multiple tactile sensation presentation devices 12 installed on the sidewalk 50, to present the pedestrian 14 with a tactile sensation Ty that is different from the road surface of the sidewalk 50. Specifically, the control device 20 presents the tactile sensation Ty to the pedestrian 14 by protruding one or more tactile sensation presentation devices 12 from the road surface.

As a second example, as shown in FIG. 4, assume that a pedestrian 14 is walking on a sidewalk 50 adjacent to a first side 31 of a road 30. The control device 20 sequentially projects each tactile sensation presentation device 12 from the 10 or more areas set on the sidewalk 50, starting with the tactile sensation presentation device 12 arranged in the area where the pedestrian 14 is located, to the tactile sensation presentation device 12 arranged in the area of the road 30 closest to the area 33 that will become the crosswalk 40, to sequentially present a tactile sensation Ty to the pedestrian 14 in the direction approaching the crosswalk 40. As a result, the pedestrian 14 can recognize the route from the sidewalk 50 to the crosswalk 40, and can walk along the sidewalk 50 to reach the crosswalk 40.

As shown in FIG. 1, the control device 20 includes a control unit 21, a memory unit 22, and a communication unit 23.

The control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination of these. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. An example of the programmable circuit is an FPGA. "FPGA" is an abbreviation for field-programmable gate array. An example of the dedicated circuit is an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 21 executes processes related to the operation of the control unit 20 while controlling each part of the control unit 20.

The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM or a ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. The RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. The ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The storage unit 22 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores data used in the operation of the control device 20 and data obtained by the operation of the control device 20.

The communication unit 23 includes at least one communication interface. The communication interface is, for example, a LAN interface, an interface compatible with a mobile communication standard such as LTE, the 4G standard, or the 5G standard, or an interface compatible with a short-range wireless communication standard such as Bluetooth (registered trademark). "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The communication unit 23 receives data used in the operation of the control device 20, and transmits data obtained by the operation of the control device 20.

The functions of the control device 20 are realized by executing a program according to this embodiment on a processor serving as the control unit 21. That is, the functions of the control device 20 are realized by software. The program causes a computer to execute the operations of the control device 20, thereby causing the computer to function as the control device 20. That is, the computer functions as the control device 20 by executing the operations of the control device 20 in accordance with the program.

The program may be stored in a non-transitory computer-readable medium. Examples of the non-transitory computer-readable medium include flash memory, a magnetic recording device, an optical disk, a magneto-optical recording medium, or a ROM. The program may be distributed, for example, by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs on which the program is stored. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program may be distributed by storing the program in the storage of a server and transferring the program from the server to another computer. The program may be provided as a program product.

For example, a computer temporarily stores a program stored in a portable medium or a program transferred from a server in a main storage device. The computer then reads the program stored in the main storage device with a processor and executes processing according to the read program with the processor. The computer may read the program directly from the portable medium and execute processing according to the program. The computer may execute processing according to the received program each time a program is transferred from the server to the computer. Processing may be executed by a so-called ASP-type service that does not transfer a program from the server to the computer and achieves functions only by issuing execution instructions and obtaining results. "ASP" is an abbreviation for application service provider. A program is information used for processing by a computer and includes those equivalent to a program. For example, data that is not a direct command to a computer but has properties that define computer processing falls under "those equivalent to a program."

Some or all of the functions of the control device 20 may be realized by a programmable circuit or a dedicated circuit as the control unit 21. In other words, some or all of the functions of the control device 20 may be realized by hardware.

The operation of the system 10 according to this embodiment will be described with reference to FIG. 5. This operation corresponds to the pedestrian assistance method according to this embodiment. The operation of the control device 20 included in this operation corresponds to the control method according to this embodiment.

In step S101, the control unit 21 of the control device 20 detects a pedestrian 14 crossing the road 30. Specifically, this process is performed in the following procedure.

The imaging device 13 captures an image of at least the first side 31 of the road 30. The communication unit 23 of the control device 20 receives the image captured by the imaging device 13. The control unit 21 of the control device 20 acquires the image received by the communication unit 23. The control unit 21 analyzes the acquired image to determine whether the pedestrian 14 is on the sidewalk 50 adjacent to the first side 31 of the road 30 and whether the pedestrian 14 is about to cross the road 30 from the first side 31 to the second side 32. A known method can be used as a method of image analysis. Machine learning such as deep learning may also be used. Specifically, the control unit 21 determines that the pedestrian 14 is about to cross the road 30 from the first side 31 to the second side 32 when the pedestrian 14 has not moved for a certain period of time while facing the road 30 on the first side 31. Alternatively, the control unit 21 determines that the pedestrian 14 is about to cross the road 30 from the first side 31 to the second side 32 when the pedestrian 14 on the first side 31 raises his/her hand or makes a signal such as knocking on the ground with a white cane or foot.

Alternatively, the process of step S101 may be performed as follows:

The multiple tactile presentation devices 12 installed on the sidewalk 50 adjacent to the first side 31 of the road 30 are assumed to have built-in sensors such as load sensors. When the tactile presentation device 12 arranged in an area where a pedestrian 14 is present detects a signal such as the pedestrian 14 knocking on the ground with a white cane or foot using the sensor, the tactile presentation device 12 transmits notification data Di to the control device 20. The notification data Di is data notifying the pedestrian 14 that he or she is crossing the road 30. The communication unit 23 of the control device 20 receives the notification data Di from the tactile presentation device 12. The control unit 21 of the control device 20 acquires the notification data Di received by the communication unit 23. The control unit 21 refers to the acquired notification data Di and determines that the pedestrian 14 is about to cross the road 30. A device that has a built-in sensor such as a load sensor may be installed on the sidewalk 50 separately from the multiple tactile presentation devices 12. When the device detects a signal, it may transmit the notification data Di to the control device 20.

Alternatively, the process of step S101 may be performed as follows:

When the terminal device carried by the pedestrian 14 receives a user operation to indicate the pedestrian 14's intention to cross the road 30, it transmits notification data Dj to the control device 20. The terminal device is, for example, a mobile device such as a mobile phone, smartphone, tablet, or smart white cane. A smart white cane is a white cane with a built-in wireless device. The notification data Dj is data that notifies the pedestrian 14 that he or she will cross the road 30. The communication unit 23 of the control device 20 receives the notification data Dj from the terminal device. The control unit 21 of the control device 20 acquires the notification data Dj received by the communication unit 23. The control unit 21 refers to the acquired notification data Dj and determines that the pedestrian 14 is about to cross the road 30.

If it is determined that the pedestrian 14 is not on the first side 31 of the road 30 or that the pedestrian 14 is not attempting to cross the road 30 from the first side 31 to the second side 32, i.e., if a pedestrian attempting to cross the road 30 from the first side 31 to the second side 32 is not detected, the process of step S101 is executed again. If it is determined that the pedestrian 14 is attempting to cross the road 30 from the first side 31 to the second side 32, i.e., if a pedestrian attempting to cross the road 30 from the first side 31 to the second side 32 is detected, the process of step S102 is executed.

In step S102, the control unit 21 of the control device 20 drives one or more tactile sensation presentation devices 11 that correspond to the position of the pedestrian 14 detected in step S101, among the multiple tactile sensation presentation devices 11 installed from the first side 31 to the second side 32 of the road 30, to present the pedestrian 14 with a tactile sensation Tx that is different from the road surface of the road 30. Specifically, this process is executed in the following procedure.

The imaging device 13 captures an image of at least the crosswalk 40 on the road 30. The communication unit 23 of the control device 20 receives the image captured by the imaging device 13. The control unit 21 of the control device 20 acquires the image received by the communication unit 23. The control unit 21 analyzes the acquired image to identify one or more tactile presentation devices 11 corresponding to the position of the pedestrian 14, the tactile presentation devices 11 being located in the small area into which the pedestrian 14 has entered, or in the small area into which the pedestrian 14 will next enter. The control unit 21 presents a tactile sensation Tx to the pedestrian 14 by protruding the identified tactile presentation device 11 from the road surface.

Alternatively, the process of step S102 may be performed as follows:

The haptic presentation devices 11 are assumed to have built-in sensors such as load sensors. When the pedestrian 14 is crossing the road 30, the haptic presentation device 11 arranged in the small area into which the pedestrian 14 has entered detects the pedestrian 14 using the sensor and transmits position data Dq to the control device 20. The position data Dq is data indicating the position of the pedestrian 14. The communication unit 23 of the control device 20 receives the position data Dq from the haptic presentation device 12. The control unit 21 of the control device 20 acquires the position data Dq received by the communication unit 23. The control unit 21 refers to the acquired position data Dq and identifies the haptic presentation device 11 arranged in the small area into which the pedestrian 14 has entered or the small area into which the pedestrian 14 will next enter as one or more haptic presentation devices 11 corresponding to the position of the pedestrian 14. The control unit 21 presents the haptic sensation Tx to the pedestrian 14 by projecting the identified haptic presentation device 11 from the road surface.

Alternatively, the process of step S102 may be performed as follows:

The terminal device carried by the pedestrian 14 uses a GNSS receiver to measure the position of the pedestrian 14 and transmits the measurement result to the control device 20 as position data Dp. The terminal device is, for example, a mobile device such as a mobile phone, a smartphone, a tablet, or a smart white cane. "GNSS" is an abbreviation for global navigation satellite system. GNSS is, for example, GPS, QZSS, BDS, GLONASS, or Galileo. "GPS" is an abbreviation for Global Positioning System. "QZSS" is an abbreviation for Quasi-Zenith Satellite System. QZSS satellites are called quasi-zenith satellites. "BDS" is an abbreviation for BeiDou Navigation Satellite System. "GLONASS" is an abbreviation for Global Navigation Satellite System. The communication unit 23 of the control device 20 receives the position data Dp from the terminal device. The control unit 21 of the control device 20 acquires the position data Dp received by the communication unit 23. The control unit 21 refers to the acquired position data Dp and identifies one or more tactile sensation presentation devices 11 that correspond to the position of the pedestrian 14, the tactile sensation presentation devices 11 that are located in the small area into which the pedestrian 14 has entered or in the small area into which the pedestrian 14 will enter next. The control unit 21 presents a tactile sensation Tx to the pedestrian 14 by protruding the identified tactile sensation presentation device 11 from the road surface.

In step S103, the control unit 21 of the control device 20 determines whether the pedestrian 14 has finished crossing the road 30. Specifically, this process is performed in the following manner.

The imaging device 13 captures an image of at least the second side 32 of the road 30. The communication unit 23 of the control device 20 receives the image captured by the imaging device 13. The control unit 21 of the control device 20 acquires the image received by the communication unit 23. The control unit 21 analyzes the acquired image to determine whether the pedestrian 14 is on the sidewalk 50 adjacent to the second side 32 of the road 30, i.e., whether the pedestrian 14 has left the road 30. If the pedestrian 14 has left the road 30, the control unit 21 determines that the pedestrian 14 has finished crossing the road 30.

Alternatively, the process of step S103 may be performed as follows:

When the pedestrian 14 is crossing the road 30, the tactile sensation presentation device 11 arranged in the small area into which the pedestrian 14 has entered uses a sensor to detect the pedestrian 14 and transmits position data Dq to the control device 20. In this case, the control unit 21 of the control device 20 determines that the pedestrian 14 has finished crossing the road 30 if the communication unit 23 does not receive position data from any of the tactile sensation presentation devices 11 even after a certain period of time has passed.

Alternatively, the process of step S103 may be performed as follows:

The terminal device carried by the pedestrian 14 uses a GNSS receiver to measure the position of the pedestrian 14 and transmits the obtained measurement result as position data Dp to the control device 20. The communication unit 23 of the control device 20 receives the position data Dp from the terminal device. The control unit 21 of the control device 20 acquires the position data Dp received by the communication unit 23. The control unit 21 refers to the acquired position data Dp and determines whether the pedestrian 14 is on the sidewalk 50 adjacent to the second side 32 of the road 30, i.e., whether the pedestrian 14 has left the road 30. If the pedestrian 14 has left the road 30, the control unit 21 determines that the pedestrian 14 has finished crossing the road 30.

If it is determined that the pedestrian 14 has finished crossing the road 30, the system 10 ends its operation. On the other hand, if it is determined that the pedestrian 14 is still crossing the road 30, the process of step S102 is executed again.

As described above, in this embodiment, the control unit 21 of the control device 20 controls multiple tactile sensation presentation devices 11 arranged side by side on the road surface. When the control unit 21 detects a visually impaired person crossing the roadway, it drives one or more tactile sensation presentation devices 11 selected according to the position of the visually impaired person to indicate the crosswalk 40 to the visually impaired person through tactile sensation presentation. This embodiment improves safety when a visually impaired person attempts to cross the roadway.

As a modification of this embodiment, the control unit 21 of the control device 20 may not only mark the crosswalk 40 by tactile presentation, but also visually mark the crosswalk 40. In such a modification, a light source is installed from the first side 31 to the second side 32 of the road 30. The light source may be embedded in the road 30 so as not to protrude from the road surface, may be embedded in the road 30 so as to protrude from the road surface, or may be attached on the road surface. The light source includes at least one light-emitting element. The light-emitting element is, for example, an LED or a laser diode. "LED" is an abbreviation for light emitting diode. The control unit 21 causes the light source to emit light to display the crosswalk 40 in the area 33 where the pedestrian 14 crosses.

As a variation of this embodiment, instead of being able to switch between a protruding state and a non-protruding state relative to the surface of the road 30, the multiple tactile sensation presentation devices 11 may be able to switch between a vibrating state and a non-vibrating state. In that case, in step S102, the control unit 21 of the control device 20 vibrates one or more tactile sensation presentation devices 11 corresponding to the position of the pedestrian 14 detected in step S101, thereby presenting the tactile sensation Tx to the pedestrian 14. In this variation, the multiple tactile sensation presentation devices 11 are specifically multiple vibrators capable of vibrating with a certain vibration pattern and a certain vibration intensity.

As a variation of this embodiment, the multiple tactile sensation presentation devices 12 may also be switchable between a vibration state and a non-vibration state, instead of being switchable between a protruding state and a non-protruding state relative to the road surface of the sidewalk 50. In that case, instead of presenting the tactile sensation Ty to the pedestrian 14 by protruding one or more tactile sensation presentation devices 12 relative to the road surface as in the second example, the control unit 21 of the control device 20 presents the tactile sensation Ty to the pedestrian 14 by vibrating one or more tactile sensation presentation devices 12. In this variation, the multiple tactile sensation presentation devices 12 are specifically multiple vibrators capable of vibrating with a certain vibration pattern and a certain vibration intensity.

As a modification of this embodiment, the multiple tactile presentation devices 11 may be two or more types of road studs with different shapes. In this modification, the shape of the tactile presentation device 11 corresponds to an instruction to the pedestrian 14. Specifically, one shape corresponds to "Stop", that is, an instruction to stop temporarily. Another shape corresponds to "Proceed", that is, an instruction to proceed. The control device 20 detects a vehicle 15 traveling on a road 30 as shown in FIG. 6. The control device 20 determines an instruction to the pedestrian 14 according to the positional relationship between the detected vehicle 15 and the pedestrian 14. The control device 20 presents a tactile sensation Tx to the pedestrian 14 by protruding a road stud of a type that corresponds to the position of the pedestrian 14 and has a shape that corresponds to the instruction from the road surface as one or more tactile presentation devices 11 corresponding to the position of the pedestrian 14.

As a third example, as shown in FIG. 6, a vehicle 15 is approaching an area 33 of a road 30 while a pedestrian 14 is crossing the area 33, and there is a risk of a collision between the pedestrian 14 and the vehicle 15 if neither of them stops. In each of the four small areas set in the area 33, a polygonal pyramidal road stud corresponding to "Stop" and a hemispherical road stud corresponding to "Go" are arranged as the haptic sensation providing device 11 so that they can be switched between a protruding state and a non-protruding state independently of each other. The shape corresponding to "Stop" is not limited to a polygonal pyramid, and may be any shape such as a polygonal prism, cone, or cylinder, as long as it is different from the shape corresponding to "Go". The shape corresponding to "Go" is also not limited to a hemisphere, and may be any shape such as a polygonal prism, cone, or cylinder, as long as it is different from the shape corresponding to "Stop". The control device 20 presents the tactile sensation representing the instruction "Stop" to the pedestrian 14 as the tactile sensation Tx by making the pyramidal road studs arranged in the small area second closest to the first side 31 where the pedestrian 14 is present, among the four small areas set in the area 33, protrude toward the road surface. As a result, the pedestrian 14 stops crossing at the middle part of the crosswalk 40 and can avoid a collision with the vehicle 15. After that, as shown in FIG. 7, when the vehicle 15 passes the area 33, the control device 20 returns the pyramidal road studs arranged in the small area second closest to the first side 31 from the protruding state to the non-protruding state, and makes the hemispherical road studs arranged in the same small area protrude toward the road surface, thereby presenting the tactile sensation representing the instruction "Go" to the pedestrian 14 as the tactile sensation Tx. As a result, the pedestrian 14 can resume crossing. The control device 20 then sequentially causes the hemispherical road studs arranged in the third and fourth small areas on the first side 31 out of the four small areas set in the area 33 to protrude toward the road surface, thereby sequentially presenting the tactile sensation Tx to the pedestrian 14 at the middle and end parts of the crosswalk 40. As a result, the pedestrian 14 can sequentially recognize the middle and end parts of the crosswalk 40 and finish crossing the road 30.

The operation of the system 10 in this modified example will be described with reference to FIG. 8. This operation corresponds to the pedestrian assistance method in this modified example. The operation of the control device 20 included in this operation corresponds to the control method in this modified example.

The processing in step S201 is the same as that in step S101 in FIG. 5, so a detailed explanation is omitted.

In step S202, the control unit 21 of the control device 20 detects a vehicle 15 traveling on the road 30. The control unit 21 determines instructions to the pedestrian 14 according to the positional relationship between the detected vehicle 15 and the pedestrian 14 detected in step S201. Specifically, the process of step S202 is executed in the following procedure.

The imaging device 13 captures an image of the road 30. The communication unit 23 of the control device 20 receives the image captured by the imaging device 13. The control unit 21 of the control device 20 acquires the image received by the communication unit 23. The control unit 21 analyzes the acquired image to determine whether the vehicle 15 is likely to obstruct the pedestrian 14 from crossing. The control unit 21 may analyze the image acquired in step S201. In that case, image capture can be omitted in step S202. A known method can be used as a method of image analysis. Machine learning such as deep learning may be used. When the vehicle 15 and the pedestrian 14 are in a positional relationship such that the vehicle 15 is predicted to enter the crosswalk 40 while the pedestrian 14 is crossing the crosswalk 40, the control unit 21 determines an instruction to stop as an instruction to the pedestrian 14 since the vehicle 15 is likely to obstruct the pedestrian 14 from crossing. On the other hand, if the vehicle 15 and the pedestrian 14 are not in such a positional relationship, the control unit 21 determines to instruct the pedestrian 14 to proceed.

If the instruction to pause is determined, the process of step S203 is executed. On the other hand, if the instruction to proceed is determined, the process of step S204 is executed.

In step S203, the control unit 21 of the control device 20 selects one or more tactile sensation providing devices 11 that correspond to the position of the pedestrian 14 detected in step S101 among the multiple tactile sensation providing devices 11 installed from the first side 31 to the second side 32 of the road 30 and that have a type of road stud having a shape corresponding to the instruction to stop protruding from the road surface of the road 30, thereby providing the pedestrian 14 with a tactile sensation Tx that is different from that of the road surface and corresponds to the instruction to stop. The procedure for the process of identifying one or more tactile sensation providing devices 11 that correspond to the position of the pedestrian 14 is the same as the procedure for the process of step S102 in FIG. 5, and therefore a description thereof will be omitted. After the tactile sensation corresponding to the instruction to stop has been presented to the pedestrian 14, the process of step S202 is executed again.

In step S204, the control unit 21 of the control device 20 selects one or more tactile sensation presentation devices 11 that correspond to the position of the pedestrian 14 detected in step S101 and that have a type of road stud, the shape of which corresponds to the instruction to proceed, from the road surface, and presents the tactile sensation Tx that is different from that of the road surface to the pedestrian 14, which corresponds to the instruction to proceed. The process steps for identifying one or more tactile sensation presentation devices 11 that correspond to the position of the pedestrian 14 are the same as the process steps of step S102 in FIG. 5, and therefore will not be described.

The processing in step S205 is the same as that in step S103 in FIG. 5, so a detailed explanation is omitted.

If it is determined that the pedestrian 14 has finished crossing the road 30, the system 10 ends its operation. On the other hand, if it is determined that the pedestrian 14 is still in the middle of crossing the road, the process of step S202 is executed again.

As a variation of this embodiment, the multiple tactile sensation providing devices 11 may be multiple vibrators with variable vibration patterns instead of two or more types of road studs with different shapes. In that case, in step S203, the control unit 21 of the control device 20 vibrates the vibrator corresponding to the position of the pedestrian 14 detected in step S101 with a vibration pattern corresponding to the instruction to stop, thereby providing the pedestrian 14 with a tactile sensation corresponding to the instruction to stop as a tactile sensation Tx. In step S204, the control unit 21 of the control device 20 vibrates the vibrator corresponding to the position of the pedestrian 14 detected in step S101 with a vibration pattern corresponding to the instruction to proceed, thereby providing the pedestrian 14 with a tactile sensation corresponding to the instruction to proceed as a tactile sensation Tx.

As a variation of this embodiment, the multiple tactile sensation providing devices 11 may be multiple vibrators with variable vibration intensity instead of two or more types of road studs with different shapes. In that case, in step S203, the control unit 21 of the control device 20 may vibrate the vibrator corresponding to the position of the pedestrian 14 detected in step S101 with a vibration intensity corresponding to the instruction to stop, thereby providing the pedestrian 14 with a tactile sensation corresponding to the instruction to stop as a tactile sensation Tx. In step S204, the control unit 21 of the control device 20 vibrates the vibrator corresponding to the position of the pedestrian 14 detected in step S101 with a vibration intensity corresponding to the instruction to proceed, thereby providing the pedestrian 14 with a tactile sensation corresponding to the instruction to proceed as a tactile sensation Tx.

The present disclosure is not limited to the above-described embodiments. For example, two or more blocks shown in the block diagram may be integrated, or one block may be divided. Two or more steps shown in the flowchart may be executed in parallel or in a different order, instead of being executed in chronological order as described, depending on the processing capabilities of the device executing each step, or as needed. Other modifications are possible without departing from the spirit of the present disclosure.

REFERENCE SIGNS LIST 10 System 11 Tactile sensation presentation device 12 Tactile sensation presentation device 13 Imaging device 14 Pedestrian 15 Vehicle 20 Control device 21 Control unit 22 Memory unit 23 Communication unit 30 Road 31 First side 32 Second side 33 Area 40 Crosswalk 50 Sidewalk

Claims (15)

a control unit that detects a pedestrian crossing a road and drives one or more tactile sensation presentation devices corresponding to the position of the detected pedestrian among a plurality of tactile sensation presentation devices installed from a first side to a second side of the road to present the pedestrian with a tactile sensation different from that of the road surface ;
the plurality of tactile sensation providing devices are switchable between a protruding state and a non-protruding state with respect to the road surface;
the control unit presents the tactile sensation to the pedestrian by causing the one or more tactile sensation providing devices to protrude from the road surface;
the plurality of tactile sensation providing devices are two or more types of road studs having mutually different shapes;
The control unit detects vehicles passing on the road, determines instructions to the pedestrian based on the relative positions of the detected vehicle and the pedestrian, and protrudes road studs of a type whose shape corresponds to the position of the pedestrian and to the instructions, as the one or more tactile presentation devices, into the road surface . The control device according to claim 1 , wherein the control unit determines, as the instruction, either an instruction to pause or an instruction to proceed. a control unit that detects a pedestrian crossing a road and drives one or more tactile sensation presentation devices corresponding to the position of the detected pedestrian among a plurality of tactile sensation presentation devices installed from a first side to a second side of the road to present the pedestrian with a tactile sensation different from that of the road surface;
the plurality of haptic sensation providing devices are switchable between a vibration state and a non-vibration state;
the control unit presents the tactile sensation to the walker by vibrating the one or more tactile sensation providing devices;
the plurality of haptic sensation providing devices are a plurality of vibrators having variable vibration intensities,
The control unit detects vehicles passing on the road, determines instructions to the pedestrian based on the relative positions of the detected vehicles and the pedestrian, and vibrates a vibrator corresponding to the position of the pedestrian as the one or more tactile presentation devices with a vibration intensity corresponding to the instruction . The control device according to claim 3, wherein the control unit determines whether the instruction is a pause instruction or a proceed instruction. A communication unit that communicates with a terminal device carried by the pedestrian,
The control device according to claim 1 , wherein the control unit detects the pedestrian by referring to data from the terminal device received by the communication unit. A communication unit that communicates with an imaging device installed in the vicinity of the road,
The control device according to claim 1 , wherein the control unit detects the pedestrian by acquiring an image from the imaging device received by the communication unit and analyzing the acquired image. 7. The control device according to claim 1, wherein the control unit causes light sources installed from the first side to the second side of the road to emit light, thereby displaying a crosswalk in an area where the pedestrian is to cross. A control device according to any one of claims 1 to 7 ;
A system comprising the plurality of tactile sensation providing devices. Detecting pedestrians crossing a road;
driving one or more tactile sensation providing devices corresponding to the detected position of the pedestrian among a plurality of tactile sensation providing devices installed from the first side to the second side of the road, to provide the pedestrian with a tactile sensation different from that of the road surface;
Including,
the plurality of tactile sensation providing devices are switchable between a protruding state and a non-protruding state with respect to the road surface;
The presenting step includes protruding the one or more haptic sensation providing devices relative to the road surface;
the plurality of tactile sensation providing devices are two or more types of road studs having mutually different shapes;
Detecting vehicles traveling on the road;
determining an instruction to the pedestrian according to a positional relationship between the detected vehicle and the pedestrian;
Including,
A pedestrian assistance method , wherein the one or more tactile sensation providing devices correspond to the position of the pedestrian and are road studs of a type whose shape corresponds to the instruction . The pedestrian assistance method according to claim 9 , wherein determining the instruction includes determining one of a stop instruction and a proceed instruction. Detecting pedestrians crossing a road;
among a plurality of tactile sensation providing devices installed from a first side to a second side of the road, one or more tactile sensation providing devices corresponding to the detected position of the pedestrian are driven to provide the pedestrian with a tactile sensation different from that of the road surface;
Including,
the plurality of haptic sensation providing devices are switchable between a vibration state and a non-vibration state;
the providing step includes providing the tactile sensation to the walker by vibrating the one or more tactile sensation providing devices;
Including,
the plurality of haptic sensation providing devices are a plurality of vibrators having variable vibration intensities,
Detecting vehicles traveling on the road;
determining an instruction to the pedestrian according to a positional relationship between the detected vehicle and the pedestrian;
Includes
The one or more haptic sense providing devices vibrate a vibrator corresponding to a position of the pedestrian with a vibration intensity corresponding to the instruction. The method of claim 11 , wherein determining the instruction includes determining one of a stop instruction and a proceed instruction. 13. The pedestrian support method according to claim 9 , wherein the detecting includes receiving data from a terminal device carried by the pedestrian and referring to the received data. 13. The pedestrian support method according to claim 9 , wherein the detecting includes receiving an image from an imaging device installed in the vicinity of the road, and analyzing the received image. Displaying a crosswalk in an area where pedestrians cross by illuminating light sources installed from the first side to the second side of the road;
The method of pedestrian assistance according to any one of claims 9 to 14, further comprising:

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