JP7704616B2 - Notification device - Google Patents

Description

The present invention relates to a notification device that monitors vehicles that pose a potential risk at intersections, junctions, etc., and issues warning information, and in particular to a notification device that enables driving assistance in situations such as when an autonomous vehicle passes through an intersection.

A known notification system uses a camera to capture images of multiple oncoming moving objects passing through an intersection, determines whether there are any moving objects in the blind spot that cannot be seen from the position in the intersection where the vehicle is waiting to turn right, and notifies the driver of the determined blind spot moving object (Patent Document 1).

It is also known that a system is used to obtain intersection image data showing the situation at an intersection from above, and when a vehicle in a blind spot is extracted from the intersection image data, the system converts the intersection image data into image data seen from the target vehicle's perspective, and transmits support information to the target vehicle that includes the location of the vehicle in the blind spot and its distance from the intersection (Patent Document 2).

In addition, when there is an oncoming right-turning vehicle making a right turn in the opposite lane of a right-turning vehicle and a dark oncoming vehicle in a blind spot caused by the oncoming right-turning vehicle, physical quantities related to the intersection of these vehicles are acquired and transmitted to the right-turning vehicle, and the onboard device of the right-turning vehicle displays an image of the dark oncoming vehicle by allowing the oncoming right-turning vehicle to be seen through at the intersection corresponding to the driver's field of vision (Patent Document 3).

It is also known that when image information that may be in the driver's blind spot is transmitted to the vehicle from a road camera installed near an intersection, the vehicle's assistance device displays this image information on a display as driving assistance information (Patent Document 4).

In the above Patent Documents 1 to 4, it is assumed that moving objects or vehicles in the driver's blind spot are imaged and converted into information. However, if a blind spot is formed by a preceding vehicle or the like, it is anticipated that the blind spot will also be a blind spot for the surveillance camera, making it impossible to capture the moving object.

JP 2008-41058 A JP 2009-199532 A JP 2009-20675 A JP 2007-249364 A

The present invention has been made in consideration of the above background, and aims to provide an alarm device that can maintain an appropriate warning even when a dangerous moving object moves into the blind spot of a surveillance camera.

The notification device for achieving the above object includes an information processing device that detects a moving object of interest that poses a risk in a detection area based on data obtained from a measuring device attached to a road, starts outputting warning information when the moving object of interest enters the detection area, and continues outputting the warning information for a warning maintenance time during which the risk is predicted to continue after the moving object of interest leaves the detection area. Here, the moving object of interest leaving the detection area means that the entire moving object of interest leaves the detection area. The moving object of interest is not limited to a general automobile driven by a passenger, but is a concept that includes manned autonomous vehicles, unmanned autonomous vehicles, motorcycles, bicycles, mobile robots, etc.

In the above-mentioned notification device, the information processing device starts outputting warning information when a dangerous moving object of interest enters the detection area, and outputs the warning information for the warning maintenance time during which the danger is predicted to continue after the moving object of interest leaves the detection area. Therefore, even in a situation where the danger cannot be determined in real time due to a blind spot formed behind the moving object of interest, an appropriate warning regarding the danger can be issued.

According to a specific aspect of the present invention, in the above-mentioned notification device, the information processing device sets the warning maintenance time based on the status of the measuring device and the target moving body, so as to reflect the timing when the blind spot associated with the target moving body is estimated to leave the detection area. This allows the warning maintenance time to be set appropriately from the viewpoint of maintaining the output of warning information until the blind spot formed behind the target moving body leaves the detection area.

According to another aspect of the present invention, the information processing device periodically calculates and updates the passing time of the length of interest taking into account the moving object of interest and blind spots when the moving object of interest is present in the detection area, and calculates the warning maintenance time based on the passing time of the length of interest immediately before the moving object of interest leaves the detection area. In this case, a prediction of when the moving object of interest will leave the detection area is prepared while the moving object of interest is present in the detection area, and warning information can be output quickly while increasing its accuracy.

According to yet another aspect of the present invention, the information processing device determines that the target moving object has left the detection area when the front end of the target moving object leaves the detection area, and starts a process of subtracting the elapsed time since leaving the detection area from the warning maintenance time. The front end of the target moving object is an area that is easy to detect, making it easier to make the countdown of the warning maintenance time more appropriate.

According to yet another aspect of the present invention, the information processing device calculates the warning maintenance time based on the installation height of the measuring device, the vehicle height of the moving body of interest, the vehicle length of the moving body of interest, the distance from the measuring device to the moving body of interest, and the speed of the moving body of interest. By calculating the warning maintenance time using these elements, the value of the warning maintenance time can be adapted to the situation.

1 is a conceptual side view illustrating an alarm system including an alarm device according to an embodiment. FIG. 2 is a conceptual plan view illustrating a usage state of the notification system of FIG. 1. FIG. 2A is a conceptual block diagram illustrating an alarm device, and FIG. 2B is a conceptual block diagram illustrating an in-vehicle device. FIG. 2 is a conceptual diagram illustrating one monitoring state by an alarm device. 13 is a conceptual diagram illustrating another monitoring state by the alarm device. FIG. FIG. 11 is a conceptual diagram illustrating still another monitoring state by the alarm device. 11 is a conceptual diagram illustrating a process when a plurality of vehicles are detected in a detection area. FIG. 13A and 13B are diagrams illustrating a modified example for dealing with blind spots in the lateral direction. 10A and 10B are diagrams illustrating an example of an operation of the notification device. FIG. 13 is a conceptual diagram illustrating a modified example of the notification device.

Below, we will explain an alarm system incorporating an alarm device according to one embodiment of the present invention, with reference to the drawings.

1, the notification system 100 monitors the presence of a vehicle having a potential danger (specifically, the presence of an oncoming vehicle going straight that may collide when the user's mobile body V01 turns right) at an intersection or the like, and notifies surrounding vehicles of warning information, and includes a notification device 10 installed near the intersection A0 and a vehicle-mounted device 20 mounted on the user's mobile body V01. The notification device 10 monitors vehicles V11 and V12 approaching the intersection A0 from one side, and provides additional support information including warning information related to the presence of the vehicle V11, etc. to the user's mobile body V01 approaching the intersection A0 from the other side. In the illustrated example, the notification device 10 is provided so as to be incorporated into the vehicle traffic light 31 at the intersection A0, but may be provided independently of the vehicle traffic light 31. The user's mobile body V01 is not limited to a general automobile driven by a passenger, but is a concept that includes a manned automatic driving vehicle, an unmanned automatic driving vehicle, a two-wheeled vehicle, a bicycle, etc. Vehicles V11 and V12 have blind spots behind them, and the concept includes general automobiles, manned self-driving vehicles, unmanned self-driving vehicles, motorcycles, etc. The intersection A0 shown in the figure is premised on a road to which the Road Traffic Act applies, but the notification system 100 can also be installed at intersections of roads or passages to which the Road Traffic Act does not apply.

As shown in FIG. 2, at the intersection A0, the first road A1 and the second road A2 intersect. The first road A1 has opposing lanes A11 and A12, and the second road A2 has opposing lanes A21 and A22. Four vehicle traffic lights 31, 32, 33, and 34 are provided at the corners of the intersection A0. The first vehicle traffic light 31 is intended for vehicles V11, V12, etc. that are in the lane A11 of the first road A1 toward the left side of the paper, and displays a signal to these vehicles V11 and V12. The second vehicle traffic light 32 displays a signal to vehicles (such as user moving body V01) that are in the lane A12 of the first road A1 toward the right side of the paper. The third and fourth vehicle traffic lights 33 and 34 display a signal to vehicles that are in the second road A2. Each of the vehicle traffic signals 31, 32, 33, and 34 is provided with a notification device 10 that mainly monitors lanes A11, A12, A21, and A22, respectively. Below, we will explain the structure and operation of the notification device 10 provided on the first vehicle traffic signal 31.

As shown in FIG. 3(A), the alarm device 10 includes a measurement device 11, a communication device 13, and an information processing device 18.

In the alarm device 10, the measuring device 11 is, for example, a distance image measuring device that measures the flight time while scanning pulsed light two-dimensionally, and can obtain three-dimensional information by measuring the distance to an object constituting the foreground. Although not shown in detail, the measuring device 11 includes a light projecting unit that projects laser light L1, a light receiving unit that receives laser light L2, a two-dimensional scanning device that scans the laser light L1 and L2 when projecting and receiving the laser light, a timing detection unit that detects the emission of the laser light L1, a time measurement unit that measures the elapsed time from the emission of the laser light L1 to the incidence of the laser light L2, which is the reflected light, and an operation control circuit that controls the operating state of each unit. The measuring device 11 is not limited to a scanning type measuring device as long as it can measure a distance image, and may be a TOF camera that uses a light source and an image sensor, or a stereo camera that measures distance from parallax. The measuring device 11 is not limited to a distance image measuring device, and may be one that extracts an object from a two-dimensional image and makes it possible to determine whether the object has entered the detection area DA (see FIG. 2).

The communication device 13 enables road-to-vehicle communication between the intersection A0 and vehicles present in the vicinity thereof. The communication device 13 uses a short-range wireless communication method, such as DSRC (Dedicated Short Range Communication), and performs digital data communication between a target vehicle present in a specified communication zone, that is, between the vehicle-mounted device 20 mounted on the user's mobile body V01 shown in FIG. 1. The communication device 13 is not limited to DSRC, and may use a spot communication method such as a beacon. Furthermore, the communication device 13 may use a medium-range wireless communication method such as a wireless LAN. The communication device 13 may use a mobile communication line such as 5G or 4G LTE. However, if the communication device 13 uses a mid-range wireless communication method or a mobile communication line, it is necessary for the vehicle-mounted device 20 of the user's mobile body V01 to be able to identify which notification device 10 is installed at which vehicle traffic light 31, 32, 33, or 34 at intersection A0 the information provided by the communication device 13 comes from, based on the location information, unique information, etc. provided by the notification device 10.

The communication device 13 is not limited to being composed of a single device, but may be composed of multiple devices to cover the communication zone through which the user mobile body V01 is expected to pass.

The information processing device 18 is a computer main body made of integrated circuits, and has a main control circuit 18a, an IF circuit 18b, and a memory circuit 18c. The information processing device 18 communicates with the measurement device 11 and the communication device 13 via the IF circuit 18b to transfer data. The memory circuit 18c stores a program that operates the information processing device 18, enabling the monitoring and reporting operations of the notification device 10. At this time, the information processing device 18 collects traffic information in the target monitoring area using the measurement device 11, and transmits additional support information extracted from the traffic information to the vehicle-mounted device 20 via the communication device 13. The additional support information can include related information such as the current indication status of the vehicle traffic light 31, in addition to warning information described later. This related information can include information such as the future seconds of the traffic light (the planned number of seconds for the indication after the current indication), the remaining seconds (the remaining number of seconds for the current indication), and so on, in addition to the indication. In order to enable the above operations, the storage device 82 stores application software and data for executing processes of extracting a moving object from a distance image obtained by the measurement device 11, determining geometric characteristics such as height and depth from the extracted object, determining a movement vector of the extracted object, determining whether the extracted object is within the detection area DA, and transmitting warning information to the vehicle-mounted device 20 via the communication device 13 if the extracted object or its blind spot is within the detection area DA. Here, the blind spot refers to the spatial area behind the extracted object, actually behind the vehicle V11, and means the spatial area that cannot be observed by the measurement device 11.

As shown in FIG. 3B, the vehicle-mounted device 20 includes a measuring device 21, a communication device 23, a positioning device 24, a user IF device 25, a drive control device 26, and a control processing device 28. The vehicle-mounted device 20 is incorporated in the user's mobile body V01 as, for example, an automatic driving control device or an in-vehicle device that performs navigation, etc.

In the vehicle-mounted device 20, the measurement device 21 includes various sensors such as LiDAR and cameras, detection of surrounding objects and road conditions based on sensor output, and a signal processing circuit that enables sensor fusion. The communication device 23 is capable of data communication with a management server (not shown) via 5G, 4G LTE, or other mobile communication lines, and performs high-speed direct or indirect data communication with the notification device 10. The communication device 23 has a communication function corresponding to the communication method of the communication device 13 in order to receive additional support information transmitted from the communication device 13 of the notification device 10. The positioning device 24 is a device for detecting the position and direction of the vehicle, and includes a measurement device that uses GNSS, but can also be one that acquires information on the speed, acceleration, angular velocity, etc. of the user's mobile body V01 using various sensors to improve the accuracy of positioning, or one that uses various high-precision positioning technologies such as the RTK method using fixed stations. Furthermore, the positioning device 24 may use a technology for calculating position information by comparing information acquired by a camera or other sensor with a map, or a technology for identifying a location by detecting electromagnetic induction lines embedded in a road or detecting magnetic markers. The user IF device 25 includes a touch panel display 25a, a speaker 25b, a microphone 25c, etc. The drive control device 26 is a part that causes the engine, steering, brakes, direction indicators, etc. to perform appropriate driving operations, and in particular, when performing automatic driving control, accelerates, decelerates, adjusts the steering angle, etc. of the user moving body V01 based on commands from the control processing device 28. The control processing device 28 is a computer main body made of integrated circuits, and has a main control circuit 28a, an IF circuit 28b, and a memory circuit 28c. The main control circuit 28a communicates with the communication device 23, the positioning device 24, and the user IF device 25 through the IF circuit 28b and transfers data. The memory circuit 28c stores a program that operates the control processing device 28. When performing automatic driving control, the control processing device 28 performs a process of collecting necessary information from the memory circuit 28c, the positioning device 24, the communication device 23, etc., as a basic operation, and controlling the driving state from moment to moment so that the user's moving body V01 reaches the destination. In other words, the control processing device 28 monitors and manages the driving state in approximately real time so that the user's moving body V01 heads toward the destination while ensuring safety according to the current state of the user's moving body V01, based on the current situation and surrounding environmental information of the user's moving body V01 obtained from the positioning device 24, the communication device 23, etc., information on the destination and route stored in the memory circuit 28c, and a driving algorithm for automatic driving including experience information collected by preceding driving. In addition, when a driver is present and the control processing device 28 performs navigation for the driver, the control processing device 28 performs a process of collecting information from the positioning device 24, the communication device 23, the user IF device 25, etc., as a basic operation, and presents driving assistance information to the passenger of the user's moving body V01. In other words, the control processing device 28 identifies the current location of the user's mobile body V01 based on information obtained from the positioning device 24, sets a route to the destination based on information input from the user IF device 25, and provides guidance as needed on the way to the destination.

When the control processing device 28 is performing automatic driving control and receives additional support information related to the intersection A0 ahead from the notification device 10 via the communication device 13, it operates the drive control device 26 based on the received additional support information, and executes driving control to cause the user's mobile body V01 to brake, etc. For example, when the user's mobile body V01 makes a right turn, the vehicle-mounted device 20 provides the notification device 10 with information on the vehicle's status including the planned right turn, and the notification device 10 notifies the control processing device 28 of the vehicle-mounted device 20 of information including traffic conditions that are an obstacle to the right turn as additional support information. The control processing device 28, which receives such a notification, controls the user's mobile body V01 to make a right turn at a timing when the safety of the user's mobile body V01 is ensured.

When the control processing device 28 receives additional support information related to the intersection A0 ahead from the notification device 10 via the communication device 13 during navigation, the control processing device 28 provides guidance on the touch panel display 25a and the speaker 25b based on the received additional support information. This guidance includes warning information that notifies of dangers caused by oncoming vehicles. The warning information is selected from pre-prepared patterns by the control processing device 28 based on the warning information received from the information processing device 18 of the notification device 10, taking into account the driving conditions of the user's mobile body V01, and is specifically an image or sound that alerts the user to the presence of a vehicle V11 that may proceed straight in the oncoming lane A11 when the user's mobile body V01 turns right at the intersection A0. When the warning information is presented by sound, for example, an announcement such as "A vehicle has been spotted in the oncoming lane, so please be careful of its blind spot" is continued during the warning maintenance time described below.

With reference to FIG. 4, a case where warning information is issued from the notification device 10 to the vehicle-mounted device 20 (see FIG. 1) will be described. The notification device 10 acquires distance image data in the monitoring area SA, which corresponds to the angle of view FG of the measurement device 11. The notification device 10 determines whether a vehicle is present in the detection area DA, which is a range in the monitoring area SA where a vehicle traveling in lane A11 may cause a danger to a vehicle traveling in lane A12, and transmits warning information, which is additional support information, to the vehicle-mounted device 20 if a vehicle V11 is present in the detection area DA, based on the distance image data obtained by the measurement device 11. However, the notification device 10 cannot detect a following vehicle V12 that has entered the blind spot BS of the vehicle V11. On the other hand, if the following vehicle V12 is present at the rear end RE of the blind spot BS or at a position Pr behind it, the notification device 10 can detect the vehicle V12 as being independent of the vehicle V11. Note that if the following vehicle V12 partially enters the blind spot BS, that is, if the vehicles V11 and V12 are not completely separated or independent in the distance image, in this embodiment, in order to prevent a decrease in the detection accuracy of the vehicle V12, various processes are performed assuming that the vehicle V12 is present in the blind spot BS.

For convenience of processing, the notification device 10 or the information processing device 18 (see FIG. 3) processes the time when it is determined that the front end, i.e., the leading end 91, of the vehicle V11 of interest has arrived at the position Pi of the rear end E1 of the detection area DA as the timing when the vehicle V11 has entered the detection area DA, and processes the time when it is determined that the front end of the vehicle V11 of interest has arrived at the position Po of the front end E2 of the detection area DA as the timing when the vehicle V11 has left the detection area DA for convenience of processing. As a practical matter, when a vehicle exists in the detection area DA, it is necessary to issue warning information, but even if the vehicle V11 has left the detection area DA, it is necessary to issue warning information if the following vehicle V12 exists in the detection area DA. Therefore, when the vehicle V11 enters the detection area DA, the notification device 10 or the information processing device 18 continues to output warning information until the blind spot BS formed by the vehicle V11 leaves the detection area DA, even if the entire vehicle V11 leaves the detection area DA. That is, the notification device 10 starts outputting warning information when the vehicle V11, which is a moving object of interest, enters the detection area DA, and continues outputting the warning information for a warning maintenance time during which the danger is predicted to continue after the entire vehicle V11, which is a moving object of interest, leaves the detection area DA. Here, the warning maintenance time is set to reflect the timing at which the blind spot BS associated with the vehicle V11, which is a moving object of interest, is estimated to leave the detection area DA. For example, the warning maintenance time is based on the time when the front end, i.e., the leading end 91, of the vehicle V11, which is a moving object of interest, arrives at the front end E2 of the detection area DA, and is set to the time at which the rear end RE of the blind spot BS associated with the vehicle V11 is estimated to pass the front end E2 of the detection area DA at that time. That is, when the vehicle V11 arrives at the position Pe in the figure, the rear end RE of the blind spot BS reaches the front end E2, and the output of the warning information is continued by predicting this time. By outputting the warning information in this manner, the output of the warning information continues until the time when it is estimated that the possibility of the following vehicle V12, which is in the blind spot BS associated with vehicle V11, being in the detection area DA has been eliminated. In other words, the problem of occlusion caused by vehicle V11 is avoided by appropriately maintaining the warning information, i.e., by extending the output time of the warning information.

A specific method for calculating the warning maintenance time will be described. The length of interest X1, which is the sum of the vehicle V11 and the blind spot BS, is expressed as follows, assuming that the length of the vehicle V11, which is the moving object of interest, is Lc, and the length of the blind spot BS associated with the vehicle V11 along the lane A11 is X2:
X1=Lc+X2
The time that is estimated to be required for the target length X1 to pass the front end E2 of the detection area DA, that is, the warning maintenance time T, is expressed as follows, where v is the speed of the target moving body, the vehicle V11:
T = X1/v
=(Lc+X2)/v... (1)
Regarding the length X2 of the blind spot BS, the installation height of the measurement device 11 is Hs, the vehicle height of the vehicle V11 which is the moving body of interest is Hc, and the distance from the measurement device 11 to the front end (i.e., the leading end 91) of the vehicle V11 which is the moving body of interest is Ld,
X2=Hc・(Ld+Lc)/(Hs−Hc)… (2)
Here, the value X2 is a variable of time t, and the time when the front end of the vehicle V11 arrives at the front end E2 of the detection area DA is taken as to, and the value X2(to) indicates the length of the blind spot BS at the timing when the front end of the vehicle V11 arrives at the front end E2 of the detection area DA. The warning maintenance time T is calculated by substituting the value X2 of the formula (2) into the formula (1) as follows:
T={Lc+Hc・(Ld+Lc)/(Hs−Hc)}/v… (3)
In actual measurements, when the vehicle V11, which is a moving object of interest, enters the detection area DA, the information processing device 18 repeatedly calculates the warning maintenance time T based on the formula (3) during the period until the front end of the vehicle V11 leaves the detection area DA, and determines the warning maintenance time T(to) at the time when the front end of the vehicle V11 reaches the front end E2 of the detection area DA as the final warning maintenance time, and sets this warning maintenance time as the time for continuing to output warning information thereafter. This warning maintenance time T corresponds to the time when the attention length X1 passes the front end E2 of the detection area DA when the vehicle V11 maintains its speed v, and corresponds to the time when it is estimated that the blind spot BS or the vehicle V12 hiding therein will completely leave the detection area DA (hereinafter also referred to as the passing time of the attention length X1). The warning maintenance time T is set based on the status of the measuring device 11 and the moving body of interest (specifically, vehicle V11) (specifically, detection information including vehicle length Lc, vehicle height Hc, distance Ld to the front end 91 of the vehicle V11, installation height Hs of the measuring device 11, speed v of the vehicle V11, etc.).

In the above, the warning maintenance time T(to) at the point when the front end of the vehicle V11, which is the moving object of interest, reaches the front end E2 of the detection area DA is considered to be the final warning maintenance time, but the information processing device 18 can calculate and update the warning maintenance time T as long as the rear end of the vehicle V11 can be detected by the measuring device 11.

Figure 5 is a diagram for explaining a case where the warning maintenance time T is calculated and updated as long as the rear end of the vehicle V11 can be detected. In this case, the focus length X1 is longer than the strict interval length X1a based on the front end of the detection area DA by the protrusion amount δ, but the warning maintenance time T is only slightly longer than the warning maintenance time T(to), and no safety issues arise. Note that the information processing device 18 can make corrections that take into account the protrusion amount δ when calculating the warning maintenance time T, and can calculate the warning maintenance time T from the strict interval X1a = X1 - δ and the speed v, for example.

Figure 6 shows a case where the front end 91 of vehicle V11 has passed the measuring device 11. In this case, the detection area DA is set near a traffic light, and while monitoring the detection area DA, the distance Ld from the measuring device 11 to the front end 91 of vehicle V11, which is the moving object of interest, becomes negative, making it impossible to measure an appropriate value. In such a case, Ld = 0 is set, the vehicle length Lc of vehicle V11 is set to the distance Lc' from the position of the measuring device 11 to the rear end of vehicle V11, and the warning maintenance time T is calculated using equation (3). Even when the front end 91 of vehicle V11 has passed the measuring device 11 as in Figure 6, a correction can be made to the calculation of warning maintenance time T taking into account the protrusion amount δ, as in the case of Figure 5.

Figure 7 shows a case where multiple vehicles are detected in the detection area DA. In this case, the focus length X1 of the preceding vehicle V11 and the focus length X1 of the following vehicle V12 are calculated individually based on the status of the measuring device 11 and the target moving object (specifically, vehicles V11 and V12), and are continued until the corresponding warning maintenance time T has elapsed. As a result, warning information is output during the period as the union of the warning maintenance times T for each vehicle. In other words, when the information processing device 18 detects multiple target moving objects (specifically, vehicles V11 and V12) that pose a risk in the detection area DA, it determines whether or not to continue outputting the warning information by setting the warning maintenance time T for each target moving object. As a result, even when multiple vehicles V11 and V12 are present in the detection area, it is possible to take into account the blind spots BS of each vehicle and issue an appropriate warning regarding the risk.

8 shows a case where the notification device 110, i.e., the measuring device 11, is installed at a location separate from the vehicle traffic light 31 in front. In this example, the measuring device 11 etc. are incorporated in the vehicle traffic light 32. In this case, the measuring device 11 is placed above the lane A12 and observes the lane A11, so the blind spot BS that occurs in the lateral direction becomes an issue. Even when a blind spot BS in the lateral direction is formed in this way, if the distance from the roadside of the measuring device 11 to the roadside is Ws and the side position from the roadside or inside of the vehicle V11, which is the moving object of interest, is Wc, the warning maintenance time T2 can be calculated in the same manner as in equation (3) by:
T2={Lc+Wc・(Ld+Lc)/(Ws-Wc)}/v... (4)
In addition, since the measurement by the measuring device 11 is also affected by the blind spot BS in the height direction, the warning information is output during the period as the union of the warning maintenance time T obtained by the formula (3) and the warning maintenance time T2 obtained by the formula (4).

An example of the operation of the information processing device 18 will be described with reference to FIG. 9. First, the information processing device 18 imports a distance image measured by the measuring device 11 and performs various processes such as object extraction processing (step S11). When the information processing device 18 detects a vehicle in the detection area DA by the object extraction processing (Yes in step S12), it reads the detection data (step S13). The detection data includes data on the vehicle length Lc of the vehicle corresponding to the detected object, the vehicle height Hc, the distance Ld from the measuring device 11 to the front end of the vehicle (front end 91), the installation height Hs of the measuring device 11, the vehicle speed v, and the like. Next, the information processing device 18 clears the warning maintenance time T that has already been calculated and stored in the memory circuit 18c (step S14), and calculates the warning maintenance time T based on the new detection data imported in step S13 and stores it in the memory circuit 18c (step S15). The warning maintenance time T is calculated based on the formula (3) and corresponds to the warning maintenance time. Next, the information processing device 18 outputs warning information including the presence of a vehicle in the detection area DA and associated information to the vehicle-mounted device 20 (step S16). If a vehicle is not detected in the detection area DA (No in step S12), the information processing device 18 checks whether the warning maintenance time T is stored in the memory circuit 18c (step S17), and if the warning maintenance time T is stored (Yes in step S17), updates the warning maintenance time T (step S18). In updating the warning maintenance time T, the elapsed time from the previous check corresponding to the time interval of the sensing process repeatedly executed in step S11 is subtracted from the warning maintenance time T held in the memory circuit 18c, and the obtained new warning maintenance time T is overwritten on the warning maintenance time T recorded in the memory circuit 18c. The information processing device 18 judges whether the warning maintenance time T is ≦0 (step S19), and if the warning maintenance time T is not ≦0 (No in step S19), proceeds to step S16 and outputs warning information to the vehicle-mounted device 20. On the other hand, if the warning maintenance time T is ≦0 (Yes in step S19), or if the warning maintenance time T is not stored (No in step S17), information indicating that there is no dangerous vehicle in the detection area DA is output to the vehicle-mounted device 20 (step S20).

By the above operations, when the vehicle V11, which is a moving object of interest, is present in the detection area DA, the passing time of the length of interest X1 taking into account the vehicle (moving object of interest) V11 and the blind spot BS is periodically calculated and updated, and the warning maintenance time T is calculated based on the passing time of the length of interest X1 immediately before the vehicle (moving object of interest) V11 leaves the detection area DA. Furthermore, by the above operations, when the front end 91 (see FIG. 4) of the vehicle (moving object of interest) V11 leaves the detection area DA, it is determined that the vehicle (moving object of interest) V11 has left the detection area DA (No in step S12), and the process of subtracting the elapsed time since leaving the detection area DA from the warning maintenance time T is started (steps S18 and onward).

In the notification devices 10, 110 of the embodiments described above, the information processing device 18 starts outputting warning information when a dangerous vehicle (mobile body of interest) V11 enters the detection area DA, and outputs the warning information for the warning maintenance time T during which the danger is predicted to continue after the vehicle (mobile body of interest) V11 leaves the detection area DA. Therefore, even in a situation where the danger cannot be determined in real time due to the blind spot BS formed behind the vehicle (mobile body of interest) V11, an appropriate warning regarding the danger can be issued.

Figure 10 shows a modified example of the notification device 10 shown in Figure 1 etc. In this case, the notification device 10 is installed in association with a sign or the like near a junction on a highway or other junction. The notification device 10 mainly monitors the main line B11 out of the main line B11 and the overtaking lane B12, and detects a vehicle V11 approaching the junction. When a vehicle V11 is present in the detection area DA, the notification device 10 calculates a focus length X1 including a blind spot BS behind the vehicle V11, which is a focus moving object, as in the case shown in Figure 4 etc., and calculates a warning maintenance time T predicting the passage of the focus length X1. When a user moving object V01 is approaching the junction from the acceleration lane B13, the notification device 10 outputs warning information to the vehicle-mounted device 20 indicating the presence of a vehicle that will be an obstacle to merging for a period equivalent to the warning maintenance time T.

This invention is not limited to the above-described embodiment, but can be implemented in various forms without departing from the spirit of the invention.

In the above embodiment, road A1 has one lane on each side, but similar processing is possible even if road A1 has two lanes on each side. However, if there are multiple lanes on each side, the processing content, such as whether or not to perform alarm processing, can be changed depending on the type of lane, such as whether the lane is for turning right or going straight.

In the above embodiment, warning information is output from the notification device 10 to the vehicle-mounted device 20 based on the warning maintenance time estimated when the blind spot BS of the vehicle (moving body of interest) V11 leaves the detection area DA. However, it is also possible to switch the content of the warning information to notify the passing of the blind spot when the entire vehicle V11 leaves the detection area DA, for example.

10,110...notification device, 11...measuring device, 13...communication device, 18...information processing device, 20...vehicle mounted device, 23...communication device, 24...positioning device, 25...user IF device, 28...control processing device, 31,32,33,34...vehicle traffic light, 82...storage device, 91...head, 100...notification system, A0...intersection, A1,A2...road, A11,A12,A21,A22...lane, BS...blind spot, DA...detection area, E1...rear end, E2...front end, L1,L2...laser light, RE...rear end, SA...monitoring area, V01...user moving body, V11,V12...vehicle, X1...focus length

Claims (4)

an information processing device that detects a mobile object of interest that poses a risk in a detection area based on data obtained from a measuring device attached to a road, starts outputting warning information when the mobile object of interest enters the detection area, and continues outputting the warning information for a warning maintenance time during which the risk is predicted to continue after the mobile object of interest leaves the detection area ;
The information processing device sets the warning maintenance time based on the status of the measuring device and the target moving body to reflect the timing when the blind spot associated with the target moving body is estimated to leave the detection area. The information processing device of claim 1, wherein the information processing device periodically calculates and updates the passing time of the length of interest taking into account the moving body of interest and the blind spot when the moving body of interest is present in the detection area, and calculates the warning maintenance time based on the passing time of the length of interest immediately before the moving body of interest leaves the detection area . The information processing device is configured to determine that the target moving body has left the detection area when the front end of the target moving body leaves the detection area, and to start a process of subtracting the elapsed time since leaving the detection area from the warning maintenance time . The notification device according to any one of claims 1 to 3, wherein the information processing device calculates the warning maintenance time based on an installation height of the measuring device, a vehicle height of the target moving body, a vehicle length of the target moving body, a distance from the measuring device to the target moving body , and a speed of the target moving body.

Images