JP7724189B2 - Servers, vehicles and programs - Google Patents

Description

Article 30, paragraph 2 of the Patent Act applies. Website address ▲1▼https://www.softbank.jp/corp/news/press/sbkk/2021/20211117_01/ ▲2▼https://www.honda.co.jp/news/2021/c211117.html Publication date November 17, 2021 Publisher SoftBank Corp., Honda Motor Co., Ltd.

The present invention relates to a server, a vehicle, and a program.

Various technologies have been proposed in the past for warning pedestrians who are likely to come into contact with a vehicle. For example, Patent Document 1 below describes an attention warning system that includes an attention warning device which is a vehicle-side terminal, a portable device carried by the pedestrian, a sensor installed in the vehicle or attention warning device that detects pedestrians within a predetermined range, a signal sending unit installed in the attention warning device that sends a danger signal to the portable device carried by a pedestrian detected by the sensor, and a notification unit installed in the portable device that, when the danger signal is received, alerts the pedestrian carrying the portable device to the danger.

JP 2012-178127 A

However, on roadways or areas adjacent to roadways (e.g., sidewalks), there may be an obstruction on the side of a vehicle traveling on the roadway in the direction of travel. In such cases, the obstruction may make it difficult for the vehicle to see or photograph the area. Furthermore, in such areas, there may be pedestrians who cannot be seen directly from the vehicle. However, with conventional technology such as that described in Patent Document 1, the vehicle cannot determine in advance whether or not pedestrians are present in the area. Meanwhile, pedestrians in the area may also be unable to see the vehicle due to the obstruction. In such cases, both vehicles may move without noticing the other's presence, potentially resulting in a head-on collision.

A server according to one aspect of the present invention comprises a communication unit that communicates with a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian and a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; and a warning transmission control unit that controls the communication unit to receive from the vehicle while it is moving area information indicating the range of a first area, which is an area on the roadway on which the vehicle is moving or an area adjacent to the roadway, and which is an area that is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle's direction of travel, if the specific terminal location information includes specific terminal location information indicating a position inside a second area that includes at least a portion of the first area and has a predetermined horizontal extent, so as to send vehicle approach information indicating that the vehicle is approaching to the terminal device that sent the specific terminal location information.

In another aspect of the present invention, the server includes a communication unit that communicates with a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian and a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive from the traveling vehicle area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or adjacent to the roadway and which is difficult to see or photograph from the vehicle due to an obstruction present on the vehicle's direction of travel; and a notification transmission control unit that controls the communication unit to transmit pedestrian presence information to the vehicle indicating the presence of a pedestrian in the first area, if the most recently received terminal location information includes specific terminal location information indicating a position inside a second area that has a predetermined horizontal extent and includes at least a portion of the first area.

In another aspect of the present invention, the server includes a communication unit that communicates with a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive from the traveling vehicle area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or adjacent to the roadway and is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle's direction of travel; and, if the most recently received terminal location information includes specific terminal location information in which part of a second area that includes the position indicated by the terminal location information and has a predetermined horizontal extent overlaps part of the first area, a warning transmission control unit that controls the communication unit to transmit vehicle approaching information to the terminal device that transmitted the specific terminal location information, indicating that the vehicle is approaching.

A vehicle according to another aspect of the present invention is a vehicle equipped with a communication unit that communicates with a server according to one aspect of the present invention, and includes an information acquisition unit that acquires information about the outside of the vehicle, a detection unit that detects, based on the information about the outside, obstructions that exist on the roadway on which the vehicle is traveling or in an area adjacent to the roadway and that are on the side of the vehicle in the direction of travel of the vehicle, using a detection model constructed by machine learning, an area definition unit that defines, based on the obstructions, a first area that is an area that is difficult to see or photograph from the vehicle due to the obstructions, and a transmission control unit that, when the area definition unit has defined the first area, controls the communication unit to transmit area information indicating the extent of the first area to the server.

Each aspect of the present invention may be realized by a computer. In this case, the scope of the present invention also includes a program that causes the computer to operate as each unit (software element) of the system to realize the system, and a computer-readable recording medium on which the program is recorded.

1 is a block diagram showing a schematic configuration of a vehicle approach warning system configured by a vehicle according to an embodiment of a first invention and a server according to an embodiment of a second (third) invention. FIG. 2 is a block diagram showing the functional configuration of the vehicle. FIG. 2 is a plan view showing the state of the road when the area definition unit of the vehicle is operating. FIG. 10 is a block diagram showing the functional configuration of a server according to an embodiment of the second invention. 10 is a table showing an example of information managed by the server. FIG. 2 is a plan view showing the state of the road when the determination unit of the server is operating. FIG. 10 is a diagram showing an example of a warning issued by a terminal device communicating with the server. FIG. 10 is a plan view showing the state of the road when the server is communicating with a second vehicle. FIG. 10 is a plan view showing the state of the road when the server is communicating with a third vehicle. 10A and 10B are diagrams illustrating the effects achieved by the server. FIG. 10 is a block diagram showing the functional configuration of a server according to an embodiment of the third invention. FIG. 2 is a plan view showing the state of the road when the determination unit of the server is operating. FIG. 10 is a sequence diagram showing a flow when a vehicle approach warning method according to an embodiment of the fourth invention is implemented using a vehicle approach warning system. FIG. 10 is a sequence diagram showing a flow of a vehicle approach warning method according to a first modified example of the embodiment when the method is carried out using a vehicle approach warning system. FIG. 10 is a sequence diagram showing a flow of a vehicle approach warning method according to a second modification of the embodiment, when the method is carried out using a vehicle approach warning system.

<First invention: vehicle>
First, a vehicle 1 according to an embodiment of the first invention will be described.

[Vehicle configuration]
As shown in FIG. 1 , the vehicle 1, together with a server 2 (2A) (described later), constitutes a vehicle approach warning system 100 (100A). This vehicle approach warning system 100 (100A) communicates with at least one terminal device M. The terminal device M may be a portable device carried by a pedestrian or a wearable device worn by a pedestrian. In the present invention, a "pedestrian" refers to a person on the road who is able to see a warning issued by the terminal device M, including a person riding a bicycle or in a wheelchair. The vehicle 1 according to this embodiment communicates with the server 2 (2A) via a cellular system (via a base station 3). The vehicle 1 may also be configured to communicate directly with the server 2 (2A) (without going through the base station 3) using specific radio waves. As shown in FIG. 2 , the vehicle 1 according to this embodiment includes an information acquisition unit 11, a second information acquisition unit 12, a vehicle-side communication unit 13 (communication unit), a vehicle-side memory unit 14, a warning horn 15, and a vehicle-side control unit 16.

[Information acquisition department]
The information acquisition unit 11 acquires information about the outside of the vehicle 1. The information acquisition unit 11 according to this embodiment is a camera that captures images of the outside of the vehicle 1, including the direction of travel of the vehicle 1, and generates images. That is, the information about the outside acquired by the information acquisition unit 11 according to this embodiment is an image. The information acquisition unit 11 according to this embodiment stores the acquired information about the outside (the generated image) in the vehicle-side memory unit 14. The camera may be one that captures video or still images of the outside of the vehicle 1. The information acquisition unit 11 may also be various sensors other than a camera.

[Second Information Acquisition Department]
The second information acquisition unit 12 acquires vehicle position information indicating the position of the vehicle 1. The second information acquisition unit 12 according to this embodiment is configured with a GNSS (Global Navigation Satellite System) receiver and the like. The second information acquisition unit 12 generates position information based on signals received from satellites. The second information acquisition unit 12 according to this embodiment repeatedly acquires vehicle position information. The vehicle position information acquired by the second information acquisition unit 12 according to this embodiment includes longitude, latitude, and the time of acquisition of these. The second information acquisition unit 12 according to this embodiment stores the acquired vehicle position information in the vehicle-side memory unit 14.

[Vehicle-side communication unit]
The vehicle-side communication unit 13 communicates with a server 2 (2A), which will be described later. The vehicle-side communication unit 13 according to this embodiment is configured with a wireless communication module. That is, the vehicle-side communication unit 13 according to this embodiment communicates wirelessly with the server 2 (2A).

[Vehicle-side storage unit]
The vehicle-side storage unit 14 is configured to be able to store at least the outside information and the vehicle position information. The vehicle-side storage unit 14 according to the present embodiment is configured with a semiconductor memory, a hard disk drive, etc. The vehicle-side storage unit 14 may be divided into a unit that stores the outside information and a unit that stores the vehicle position information.

[Alarm bell]
The warning horn 15 sounds a warning horn in the direction in which the vehicle 1 is traveling.

[Vehicle-side control unit]
The vehicle-side control unit 16 controls each unit of the vehicle 1. The vehicle-side control unit 16 according to this embodiment includes a detection unit 161, an area definition unit 162, a vehicle-side transmission control unit 163 (transmission control unit), a vehicle-side reception control unit 164 (reception control unit), and a horn control unit 165.

(Detection unit)
The detection unit 161 detects an obstructing object S based on external information. The obstructing object S is located on the roadway on which the vehicle 1 is traveling or in an area adjacent to the roadway, and is located on the side of the vehicle 1 in the traveling direction of the vehicle 1. Examples of the obstructing object S include parked vehicles, roadside trees, signs, fences, buildings, etc. The detection unit 161 according to this embodiment detects the obstructing object S based on an image generated by a camera. This makes it easier to detect the obstructing object S than when using other means. Furthermore, the detection unit 161 according to this embodiment detects the obstructing object S using a detection model constructed by machine learning. For example, the detection model may be constructed by machine learning using images of a road and the obstructing object S on the road as training data, and may output a determination result as to whether or not the obstructing object S exists on the road when an image of the road is input.

(area definition part)
The region definition unit 162 defines a first region _R1 based on the obstruction S. The first region _R1 is a region that is difficult to view or photograph from the vehicle 1 due to the obstruction S. As shown in FIG. 3 , the first region _R1 defined by the region definition unit 162 according to this embodiment is a rectangle (rectangle) having a first side _E1 that extends along the traveling direction from the obstruction S as a starting point _P , and a second side E2 that extends in a direction away from the center line of the roadway from the obstruction S as the starting point P. Specifically, the region definition unit 162 calculates the longitude and latitude of a point (e.g., an end) of the detected obstruction S relative to the vehicle 1. Then, the region definition unit 162 adds the calculated longitude and latitude to the longitude and latitude included in the most recently acquired vehicle position information (the most recent of those stored in the vehicle-side memory unit 14) to define the starting point P of the first region _R1 . The region definition unit 162 then defines a rectangular first region R1 having two sides: a long side (first side _E1 ) of length _l1 extending from the starting point P along the traveling direction of the vehicle ₁ , and a short side (second side _E2 ) of length l2 extending from the starting point _P in a direction away from the center line of the roadway. The length of each side of the rectangular first region _R1 can be set using various known techniques. The first region _R1 may have a circular, elliptical, trapezoidal, parallelogram, or other shape.

(Vehicle-side transmission control unit)
2, when the area definition unit 162 defines the first area _R1 , the vehicle-side transmission control unit 163 controls the vehicle-side communication unit 13 to transmit area information to the server 2 (2A). The area information is information indicating the range of the first area _R1 .

(Vehicle-side reception control unit)
The vehicle-side reception control unit 164 controls the vehicle-side communication unit 13 to receive pedestrian presence information from the server 2 (2A). The pedestrian presence information is information indicating the presence of a pedestrian inside or near the first region _R1 . This allows the vehicle 1 to determine whether a pedestrian is present in the first region _R1 when a terminal device M (a pedestrian carrying or wearing the terminal device M) is present in the first region _R1 .

(horn control unit)
The horn control unit 165 controls the horn 15 to sound the horn when the vehicle-side communication unit 13 receives a notification. As a result, the vehicle 1 sounds the horn when it receives a notification (when a pedestrian carrying or wearing a terminal device M is present in the first area _R1 ). Pedestrians who hear the horn can more reliably recognize the approach of the vehicle 1 (even if they overlook the warning from the terminal device M). This further ensures the safety of pedestrians. Note that if the server 2 (2A), described below, is configured to provide sufficient warning to pedestrians, the vehicle-side control unit 16 does not need to be equipped with the horn control unit 165.

[Vehicle Actions and Effects]
From the vehicle 1, it is not possible to visually determine (including detection by an on-board camera) whether or not a pedestrian is present in the first region _R1 . However, according to the vehicle 1 according to the present embodiment described above, each time an obstruction S is detected, the first region _R1 is defined and the region information is transmitted to the server 2 (2A). As a result, when a pedestrian carrying or wearing a terminal device M is present in the first region _R1 , the server 2 (2A) can perform processing (for example, transmitting vehicle approach information to the terminal device M, and transmitting pedestrian presence information to the vehicle 1, as described below) to reduce the possibility of the vehicle 1 and the pedestrian moving without noticing each other's presence due to the obstruction S, resulting in a head-on collision.

<Second invention: Server>
Next, the server 2 according to the second embodiment of the present invention will be described.

[Server configuration]
As shown in Fig. 1, the server 2, together with the vehicle 1, constitutes a vehicle approach warning system 100. The server 2 according to this embodiment communicates with the vehicle 1 and the terminal device M by cellular communication (via a base station 3). As shown in Fig. 4, the server 2 according to this embodiment includes a server-side communication unit 21 (communication unit), a server-side storage unit 22, and a server-side control unit 23.

[Server-side communication unit]
The server-side communication unit 21 communicates with the terminal device M and the vehicle 1. The server-side communication unit 21 according to this embodiment is configured with a communication module and is connected to the base station 3. That is, the server-side communication unit 21 according to this embodiment communicates wirelessly with the terminal device M and the vehicle 1 via the base station 3.

[Server-side storage unit]
The server-side storage unit 22 stores a database 221. The server-side storage unit 22 according to this embodiment is configured with a semiconductor memory, a hard disk drive, and the like.

[Server-side control unit]
The server-side control unit 23 includes a first reception control unit 231, a second reception control unit 232, a judgment unit 233, a warning transmission control unit 234, a notification transmission control unit 235, a third reception control unit 236, an identification unit 237, an instruction transmission control unit 238, a fourth reception control unit 239, a second identification unit 240, and an information transmission control unit 241.

(First reception control unit)
The first reception control unit 231 controls the server-side communication unit 21 to repeatedly receive, from the terminal device M, terminal location information indicating the location of the terminal device M. The first reception control unit 231 in this embodiment stores the terminal location information received by the server-side communication unit 21 in the database 221. For example, as shown in FIG. 5 , the terminal location information stored in the database 221 by the first reception control unit 231 in this embodiment includes the identification information (Ped) of the terminal device M, the longitude (Lon) of the terminal device M, the latitude (Lat) of the terminal device M, and the time these were acquired (GNSS Time). This makes it possible to record the movements of pedestrians carrying or wearing the terminal device M. As a result, it becomes possible to verify the movement later.

(Second reception control unit)
4 , the second reception control unit 232 controls the server-side communication unit 21 to receive area information from a traveling vehicle 1. The second reception control unit 232 according to this embodiment stores the pedestrian position information received by the server-side communication unit 21 in the database 221.

(Judgment Department)
The determination unit 233 determines whether the terminal location information most recently received by the server-side communication unit 21 includes specific terminal location information indicating a location inside the second region _R2 indicated by the region information received by the server-side communication unit 21. The second region _R2 is a region that includes at least a portion of the first region _R1 and has a predetermined horizontal extent. As shown in FIG. 6 , the second region _R2 used by the determination unit 233 in this embodiment for determination is a circle with a predetermined radius r1 that has its center inside the first region _{R1 and} includes the entire first region _R1 . The center of the second region _R2 may coincide with the center or center of gravity of the first region _R1 (or the intersection of the diagonals in the case of a rectangle). This makes it easy to set the second region _R2 . As a result, the terminal device M that sends the alarm can also be easily identified.

The determination unit 233 then identifies the terminal device M that has transmitted terminal location information indicating a position inside the second region _R2 from the terminal location information most recently received from each terminal device M. As described above, the first reception control unit 231 stores the terminal location information received by the server-side communication unit 21 in the database 221. Therefore, the determination unit 233 according to this embodiment identifies the terminal device M that has transmitted terminal location information indicating a position inside the second region _R2 from the most recent terminal location information stored in the database 221. If there is a plurality of pieces of terminal location information indicating a position inside the second region _R2 , the determination unit 233 identifies all of the terminal devices M that have transmitted this terminal location information.

(Warning transmission control section)
When the determination unit 233 determines that the most recently received terminal location information includes specific terminal location information indicating a location inside the second region _R2 , the warning transmission control unit 234 controls the server-side communication unit 21 to transmit vehicle approaching information to the terminal device M that transmitted the specific terminal location information, as shown in FIG. 4 . The vehicle approaching information is information indicating that a vehicle 1 is approaching the terminal device M. The terminal device M that has received the vehicle approaching information warns pedestrians carrying or wearing the terminal device M that the vehicle 1 is approaching. The warning is issued, for example, by a screen display, audio output, or vibration, as shown in FIG. 7 , or a combination of at least two of these. As a result, pedestrians carrying or wearing the terminal device M who are inside the second region _R2 receive a warning when the vehicle 1 is approaching. On the other hand, pedestrians outside the second region _R2 do not receive a warning. The warning transmission control unit 234 according to this embodiment controls the server-side communication unit 21 to transmit the vehicle approaching information to the terminal device M via a cellular system. This means that, unlike conventional technology that uses radio waves that interfere with the radio waves emitted by mobile phones, communication is performed using the same radio waves as those emitted by mobile phones, so no interference occurs.

Furthermore, when the determination unit 233 identifies two or more terminal devices M that have transmitted terminal position information indicating a position inside the second region _R2 , the warning transmission control unit 234 according to this embodiment controls the server-side communication unit 21 to transmit vehicle approaching information to all of these terminal devices M. This makes it possible to warn each pedestrian in advance of the possibility of contact with the vehicle 1, even if there are multiple pedestrians in the second region _R2 . Note that when the server-side control unit 23 includes a notification transmission control unit 235 (described later), the server-side control unit 23 does not necessarily have to include the warning transmission control unit 234.

(Notification sending control section)
When the determination unit 233 determines that the most recently received terminal location information includes specific terminal location information indicating a location inside the second region _R2 , the notification transmission control unit 235 controls the server-side communication unit 21 to transmit pedestrian presence information to the vehicle 1. Upon receiving the pedestrian presence information, the vehicle 1 notifies the occupants of the vehicle 1 that a pedestrian is present inside or near the first region _R1 . The notification is performed by a screen display, a voice, or a combination of these. As a result, the occupants of the vehicle 1 receive a notification when the terminal device M is present in the second region _R2 . This allows the vehicle 1 and its occupants to know whether a pedestrian is present inside or near the first region _R1 . Furthermore, even if the server 2 cannot obtain the location information of the vehicle 1 (as long as communication is possible), the server 2 can transmit vehicle approach information to the terminal device M (so that the terminal device M can warn the pedestrian). Note that if the server-side control unit 23 includes the warning transmission control unit 234, the server-side control unit 23 does not need to include the notification transmission control unit 235.

(Third reception control unit)
The third reception control unit 236 controls the server-side communication unit 21 to receive, from multiple vehicles 1 located on the roadway, vehicle information including the position information and traveling direction of each vehicle 1. This makes it possible to perform control that takes into account at least the position of the vehicle 1 that is the destination of the pedestrian presence information (determine the timing of transmission, control other vehicles 1 so that the first region _R1 for the destination vehicle 1 is visible from a different location, etc.).

(Specific section)
When the determination unit 233 determines that specific terminal location information is not included in the most recently received terminal location information, the identification unit 237 identifies a second vehicle 1A based on the vehicle information received by the server-side communication unit 21. The second vehicle 1A is a vehicle traveling toward the first region _R1 from a different direction from vehicle 1 and equipped with an information acquisition unit 11 that acquires outside information. The identification unit 237 according to the present embodiment identifies a second vehicle 1A traveling toward the first region _R1 from a different direction from vehicle 1 and equipped with an information acquisition unit 11, which is located inside a third region _R3 . The third region _R3 is a region that includes at least a portion of the first region _R1 and has a predetermined horizontal extent. As shown in FIG. 8 , the third region _R3 used for identification by the identification unit 237 according to the present embodiment is a circle with a predetermined radius _r2 that has a center inside the first region _R1 and includes the entire first region _R1 . In this way, by making the radius _{r2 of} the third region R3 larger than _the radius _r1 of the first region R1, when the information acquisition unit 11 is a camera, it becomes easier to identify the second vehicle 1A that can simultaneously capture images of the obstructing object and the pedestrian. Note that the center of the third region _R3 may coincide with the center or center of gravity of the first region _R1 . Furthermore, the second vehicle 1A may be, for example, a vehicle traveling in the opposite direction to vehicle 1 on an oncoming lane of the lane on which vehicle 1 is traveling (an oncoming vehicle of vehicle 1), as shown in FIG. 8, or may be a vehicle traveling on a road that intersects with the road on which vehicle 1 is traveling.

(Instruction transmission control unit)
The instruction transmission control unit 238 controls the server-side communication unit 21 to transmit a substitute determination instruction to the second vehicle 1A, as shown in Fig. 4. The substitute determination instruction is an instruction to acquire outside information and determine whether or not a pedestrian is present in the first region _R1 based on the outside information.

(Fourth reception control section)
The fourth reception control unit 239 controls the server-side communication unit 21 to receive, from the second vehicle 1A, the determination result as to whether or not a pedestrian is present in the first region _R1 .

(Notification sending control unit 2)
When the determination result received by the server-side communication unit 21 indicates that a pedestrian is present in the first region _R1 , the notification transmission control unit 235 according to this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the vehicle 1. This enables the vehicle 1 to recognize the presence of a pedestrian who is not carrying or wearing a terminal device M and is present inside the first region _R1 .

(Second Specific Section)
The second identification unit 240 identifies a third vehicle 1B, which is a vehicle traveling on the roadway in the direction in which the first region _R1 exists and is different from the vehicle 1 and the second vehicle 1A, based on the vehicle information received by the server-side communication unit 21. The third vehicle 1B may be a vehicle traveling in the opposite direction to the vehicle 1 on the oncoming lane of the lane in which the vehicle 1 is traveling, or a vehicle traveling on a road intersecting the road in which the vehicle 1 is traveling. The third vehicle 1B may also be a vehicle (a vehicle following the vehicle 1) traveling in the same direction as the vehicle 1 on the road in which the vehicle 1 is traveling, as shown in FIG. 9 , for example.

(Information transmission control section)
The information transmission control unit 241 controls the server-side communication unit 21 to transmit the area information to the third vehicle 1B.

(Notification sending control section 3)
The notification transmission control unit 235 according to this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the third vehicle 1B. This allows the third vehicle 1B approaching the first region _R1 to be promptly notified of the presence of a pedestrian in the first region _R1 . As shown in FIG. 4 , the notification transmission control unit 235 according to this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the third vehicle 1B when region information is transmitted to the third vehicle _1B and an inquiry about the presence of a pedestrian in the first region R1 is received from the third vehicle 1B. If multiple first regions _R1 exist, frequent alerts may be issued to the third vehicle 1B, hindering smooth driving. However, with the above configuration, the third vehicle 1B is notified of the presence of a pedestrian only when requested as necessary. As a result, the third vehicle 1B can continue smooth driving.

[Server effects]
From the vehicle 1, it is not possible to visually determine (including detection by an on-board camera) whether or not a pedestrian is present in the first region _R1 . However, according to the server 2 according to the present embodiment described above, as shown in FIG. 10 , when a terminal device M is present in the second region _R2 , the server 2 transmits vehicle approaching information to the terminal device M (it does not transmit to terminal devices M located outside the second region _R2 ). Then, the terminal device M that receives the vehicle approaching information warns the pedestrian carrying or wearing the terminal device M that the vehicle 1 is approaching. This allows the pedestrian carrying or wearing the terminal device M to recognize the possibility of collision with the vehicle 1. Furthermore, according to the server 2, even if the server 2 cannot grasp the position information of the vehicle 1 (as long as communication is possible), the server 2 can transmit the vehicle approaching information to the terminal device M (the terminal device M can warn the pedestrian). The pedestrian carrying or wearing the terminal device M who receives the warning becomes aware of the approach of the vehicle 1. As a result, the possibility of the vehicle 1 and the pedestrian moving without noticing each other's presence due to the obstruction S can be reduced, reducing the possibility of a head-on collision.

<Third Invention: Server>
Next, a server 2A according to an embodiment of the third invention will be described.

[Server configuration]
1, the server 2A constitutes a vehicle approach warning system 100A together with the vehicle 1. As shown in FIG. 11, the server 2A according to this embodiment includes a server-side communication unit 21 (communication unit) and a server-side storage unit 22 similar to those of the server 2, as well as a server-side control unit 23A.

[Server-side control unit]
The server-side control unit 23A includes a first reception control unit 231 and a second reception control unit 232 similar to those of the server 2, as well as a determination unit 233A and at least one of a warning transmission control unit 234A and a notification transmission control unit 235A. The server-side control unit 23A may further include at least one of a third reception control unit 236, an identification unit 237, an instruction transmission control unit 238, a fourth reception control unit 239, a second identification unit 240, and an information transmission control unit 241 similar to those of the server 2.

(Judgment Department)
The determination unit 233A determines whether the most recently received terminal location information includes specific terminal location information in which a portion of a fourth region _R4 (another region) that includes the location indicated by the terminal location information and has a predetermined horizontal extent, as shown in FIG. 12 , overlaps with a portion of the first region _R1 . The fourth region _R4 used by the determination unit 233A in this embodiment for determination is a circle with a predetermined radius _r3 centered on the location indicated by the terminal location information. The predetermined radius _r3 is determined according to the cycle at which the first reception control unit 231 repeatedly receives terminal location information. Specifically, the predetermined radius _r3 is increased when the cycle is long and decreased when the cycle is short. The longer (shorter) the cycle at which the terminal location information is repeatedly received, the longer (shorter) the distance traveled by a pedestrian during one cycle. Therefore, the above configuration allows the predetermined radius _r3 to be appropriately set.

(Warning transmission control section)
In this embodiment, when the judgment unit 233A judges that the most recently received terminal location information includes specific terminal location information in which part of the fourth region _R4 overlaps part of the first region _R1 , the warning transmission control unit 234A controls the server-side communication unit 21 to transmit vehicle approaching information to the terminal device M that has transmitted the specific terminal location information.

(Notification sending control section)
The notification transmission control unit 235A according to this embodiment controls the server-side communication unit ₂₁ to transmit pedestrian presence information to the vehicle 1 when the determination unit 233A determines that the most recently received terminal location information includes specific terminal location information in which part of the fourth region R4 overlaps part of the first region _R1 .

[Server effects]
From the vehicle 1, it is not possible to visually determine (including detection by an on-board camera) whether a pedestrian is present in the first region _R1 . However, according to the server 2A according to the present embodiment described above, when a portion of the fourth region _R4 overlaps a portion of the first region _R1 (i.e., when the terminal device M is present in the first region _R1 ), the server 2A transmits vehicle approaching information to the terminal device M (it does not transmit to terminal devices M whose fourth region _R4 does not overlap the first region _R1 ). The terminal device M that receives the vehicle approaching information then warns the pedestrian carrying or wearing the terminal device M that the vehicle 1 is approaching. This allows the pedestrian carrying or wearing the terminal device M to recognize that they may be in a location that may be out of sight of the vehicle 1, thereby recognizing the possibility of contact with the vehicle 1. Furthermore, according to the server 2A, even if the server 2A cannot grasp the location information of the vehicle 1 (as long as communication is possible), the server 2A can transmit the vehicle approaching information to the terminal device M (the terminal device M can warn the pedestrian). Pedestrians carrying or wearing the terminal device M who receive the warning become aware of the approach of the vehicle 1. As a result, the possibility of the vehicle 1 and the pedestrian moving without noticing the presence of the other due to the obstruction S, resulting in a head-on collision, can be reduced.

<Fourth Invention: Vehicle Approach Warning Method>
Next, a vehicle approach warning method according to a fourth embodiment of the present invention will be described.

[Flow of vehicle approach warning method]
As shown in FIG. 13, the vehicle approach warning method includes a measurement step S1, a first notification step S2, a detection step S3, a definition step S4, a second notification step S5, a determination step S6, and a warning step S7.

(Measurement step)
In the first measurement step S1, the position of the terminal device M carried or worn by the pedestrian is measured. This measurement step S1 can be performed, for example, by the terminal device M measuring its own position and generating terminal position information. In the vehicle approach warning method according to this embodiment, this measurement step S1 is repeated at a predetermined interval.

(First notification step)
After the terminal device M measures its position, the process proceeds to a first notification step S2. In the first notification step S2, the measured position of the terminal device M is notified to the server 2, 2A. This first notification step S2 can be performed, for example, by the terminal device M transmitting terminal position information, which is then received by the server 2, 2A. In the vehicle approach warning method according to this embodiment, this first notification step S2 is performed every time the terminal device M measures its position. In other words, this first notification step S2 is performed repeatedly.

(Detection step)
In parallel with the repetition of steps S1 and S2, a detection step S3 is performed. In the detection step S3, an obstruction S is detected. This detection step S3 can be performed, for example, by the vehicle 1 detecting the obstruction S based on external information. In the vehicle approach warning method according to this embodiment, this measurement step S1 is repeatedly performed.

(Definition step)
After detecting the obstruction S, the process proceeds to a definition step S4. In the definition step S4, a first region _R1 is defined based on the detected obstruction S. This definition step S4 can be performed by, for example, the vehicle 1 generating region information.

(Second notification step)
After the first region _R1 is defined, the process proceeds to a second notification step S5. In the second notification step S5, the range of the defined first region _R1 is notified to the server 2, 2A. This second notification step S5 can be performed, for example, by the vehicle 1 transmitting region information, which is then received by the server 2, 2A.

(Decision step)
After notifying the range of the first region _R1 , the process proceeds to a determination step S6. In the determination step S6, it is determined whether or not the terminal device M is present inside the second region _R2 . This determination step S6 can be performed, for example, by determining whether or not the terminal location information most recently received by the server 2 includes specific terminal location information indicating a position inside the second region _R2 . Note that in the determination step S6, it may also be determined whether or not the terminal location information most recently received by the server 2A includes specific terminal location information in which a part of a fourth region _R4 that includes the position indicated by the terminal location information and has a predetermined horizontal extent overlaps with a part of the first region _R1 .

(Warning step)
If it is determined that the terminal device M is inside the second region _R2 , the process proceeds to a warning step S7. In the warning step S7, a warning of the approaching vehicle 1 is issued to a pedestrian carrying or wearing a specific terminal device M. This warning step S7 can be performed, for example, by the server 2, 2A transmitting approaching vehicle information, which is then received by the terminal device M, and the warning is issued based on the received approaching vehicle information.

[Effects of the vehicle approach warning method]
From vehicle 1, it is not possible to visually determine (including detection by an on-board camera) whether or not a pedestrian is present in first region _R1 . However, according to the vehicle approach warning method described above, if a pedestrian carrying or wearing a terminal device M is present in second region _R2 , a warning is issued to all pedestrians present inside second region _R2 . Therefore, pedestrians carrying or wearing a terminal device M within second region _R2 can recognize the possibility of coming into contact with vehicle 1. As a result, it is possible to reduce the possibility of vehicle 1 and pedestrians moving without noticing the presence of each other due to the obstruction S, resulting in a head-on collision.

[Modification 1]
As shown in FIG. 14, the vehicle approach warning method may include, in addition to the above steps S1 to S6, a third notification step S11, a second determination step S12, a second warning step S13, and a fourth notification step S14.

(Third notification step)
In a third notification step S11, which is performed when it is determined that the terminal device M is located inside the second region _R2 (step S6: YES), the range of the first region _R1 notified in the second notification step S5 is notified to the terminal device M. This third notification step S11 can be performed, for example, by the servers 2 and 2A transmitting region information, which is then received by the terminal device M.

(Second decision step)
After notifying the range of the first region R1, the process proceeds to a second determination step S12. In the second determination step S12, it is determined whether or not the terminal device M is located inside the first region _R1 . This second determination step S12 can be performed, for example, by determining whether or not the terminal location information most recently generated by the terminal device M indicates a position inside the first region _R1 .

(Warning step)
If it is determined that the terminal device M is inside the first region R1, the process proceeds to a second warning step S13. In the second warning step S13, a warning is issued to a pedestrian carrying or wearing a terminal device M inside the first region _R1 that a vehicle 1 is approaching. This second warning step S7 can be performed by, for example, the terminal device M issuing the warning.

(Fourth notification step)
In parallel with the second warning step S13, a fourth notification step S14 is performed. In the fourth notification step S14, the vehicle 1 is notified that a pedestrian is present inside or near the first region _R1 . This fourth notification step S14 can be performed, for example, by the terminal device M transmitting pedestrian presence information, the server 2, 2A transferring the information to the vehicle 1, the vehicle 1 receiving the information, and the vehicle 1 issuing a notification based on the received pedestrian presence information.

As described above, it is possible to issue warnings to pedestrians carrying or wearing terminal device M and to notify occupants of vehicle 1 in as close to real time as possible based on the location of terminal device M. Note that the vehicle approach warning method according to the above embodiment has lower accuracy in selecting target pedestrians than the method according to variant 1. On the other hand, the method according to the above embodiment can warn pedestrians more quickly than variant 1.

[Modification 2]
Furthermore, as shown in FIG. 15, the vehicle approach warning method may include a third determination step S21 and a third warning step S22 in addition to the above steps S1 to S5.

(Decision step)
In a third determination step S21 that is performed after the range of the first region _R1 has been notified (step S5), it is determined whether or not the terminal device M is located inside both the second region _R2 and the first region _R1 . This third determination step S21 can be performed, for example, by determining whether or not specific terminal location information indicating a location inside both the second region _R2 and the first region _R1 is included in the terminal location information most recently received by the server 2.

(Warning step)
If it is determined that the terminal device M is located inside the second region _R2 and inside the first region _R1 , the process proceeds to a third warning step S22. In the third warning step S22, a warning is issued to a pedestrian carrying or wearing a specific terminal device M that a vehicle 1 is approaching. This warning step S7 can be performed, for example, by the server 2, 2A transmitting vehicle approaching information, which is then received by the terminal device M, and the warning is issued based on the received vehicle approaching information.

If the terminal device M and a pedestrian carrying or wearing it are present within the second region _R2 but outside the first region _R1 , the pedestrian is less likely to collide with the vehicle 1 than if the pedestrian were present within the first region R1. Therefore, by following the procedure described above, a warning will not be issued to the pedestrian in the above case. In other words, by following the procedure described above, it is possible to improve the accuracy of selecting pedestrians to be warned.

<First to fourth inventions and others>
The functions of the vehicle 1, the server 2, 2A, and the terminal device M (hereinafter, referred to as the device) can be realized by a program that causes a computer to function as the device, and that causes the computer to function as each control block of the device (particularly each unit included in the vehicle-side control unit 16 and the server-side control units 23, 23A). In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The functions described in the above embodiment are realized by executing the program using the control device and the storage device. The program may be stored non-transitory on one or more computer-readable storage media. The storage media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

Furthermore, some or all of the functions of each of the above control blocks can be realized by logic circuits. For example, integrated circuits incorporating logic circuits that function as each of the above control blocks are also included in the scope of the present invention. In addition, the functions of each of the above control blocks can also be realized by, for example, a quantum computer.

Furthermore, according to each aspect of the present invention described above, the above-mentioned effects can be achieved, making it possible to reduce the number of casualties resulting from collisions between vehicles 1 and pedestrians. As a result, this can contribute to achieving Goal 3 of the Sustainable Development Goals (SDGs) advocated by the United Nations, "Ensure good health and well-being for all."

Furthermore, the present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 100, 100A Vehicle approach warning system 1 Vehicle 11 Information acquisition unit 12 Second information acquisition unit 13 Vehicle-side communication unit 14 Vehicle-side memory unit 15 Horn 16 Vehicle-side control unit 161 Detection unit 162 Area definition unit 163 Vehicle-side transmission control unit 164 Vehicle-side reception control unit 165 Horn control unit 1A Second vehicle 1B Third vehicle 2, 2A Server 21 Server-side communication unit 22 Server-side memory unit 221 Database 23, 23A Server-side control unit 231 First reception control unit 232 Second reception control unit 233, 233A Determination unit 234, 234A Warning transmission control unit 235, 235A Notification transmission control unit 236 Third reception control unit 237 Identification unit 238 Instruction transmission control unit 239 Fourth reception control unit 240 Second identification unit 241 Information transmission control unit 3 Base station R ₁ First area P Starting point E ₁ First side E ₂ Second side R ₂ Second area R ₃ Third area R ₄ Fourth area

Claims (11)

a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle;
a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device;
a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information;
a warning transmission control unit that controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; and
Equipped with
the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway,
The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region .
server. a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle;
a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device;
a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information;
a warning transmission control unit that controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; and
a notification transmission control unit that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information; and
a third reception control unit that controls the communication unit to receive vehicle information, including position information and traveling direction of each vehicle, from a plurality of vehicles located on the roadway;
an identification unit that identifies a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle based on the vehicle information ;
Equipped with
The notification transmission control unit controls the communication unit to transmit the pedestrian presence information to the following vehicle .
server . a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle;
a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device;
a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information;
a warning transmission control unit that controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; and
a notification transmission control unit that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information; and
a third reception control unit that controls the communication unit to receive vehicle information, including position information and traveling direction of each vehicle, from a plurality of vehicles located on the roadway;
an identification unit that identifies a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle based on the vehicle information;
an information transmission control unit that controls the communication unit to transmit the area information to the following vehicle ;
Equipped with
the notification transmission control unit controls the communication unit to transmit the pedestrian presence information to the following vehicle when the area information is transmitted to the following vehicle and an inquiry about whether a pedestrian is present in the first area is received from the following vehicle .
server . a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle;
a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device;
a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information;
a notification transmission control unit that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present in the first area, when the specific terminal location information is included in the most recently received terminal location information;
Equipped with
the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway,
The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region.
server. a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle;
a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device;
a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a warning transmission control unit that controls the communication unit to transmit vehicle approaching information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal position information when the most recently received terminal position information includes specific terminal position information in which a part of another area that includes the position indicated by the terminal position information and has a predetermined horizontal extent overlaps with a part of the first area;
Equipped with
The other area is a circle having a center at the location indicated by the terminal location information and a radius determined according to the cycle at which the first reception control unit repeatedly receives the terminal location information, and the radius is increased when the cycle is long and decreased when the cycle is short .
server. A vehicle equipped with a communication unit that communicates with the server according to claim 1,
an information acquisition unit that acquires information about the outside of the vehicle;
a detection unit that detects an obstruction that is on a roadway on which the vehicle is traveling or in an area adjacent to the roadway, and that is located on the side of the vehicle in a traveling direction of the vehicle, based on the information about the outside;
an area definition unit that defines a first area, which is an area that is difficult to view or photograph from the vehicle due to the obstruction, based on the obstruction;
a transmission control unit that controls the communication unit to transmit area information indicating the range of the first area to the server when the area definition unit defines the first area;
A vehicle equipped with: A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle,
a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device;
a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area;
a warning transmission process for controlling the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information;
Execute
the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway,
The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region.
program. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle,
a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device;
a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area;
a warning transmission process for controlling the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information;
a notification transmission process that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information;
a third receiving process for controlling the communication unit to receive vehicle information including position information and traveling direction of each vehicle from a plurality of vehicles located on the roadway;
an identification process for identifying a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle, based on the vehicle information;
Execute
In the notification transmission process, the processor controls the communication unit to transmit the pedestrian presence information to the following vehicle.
program. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle,
a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device;
a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area;
a warning transmission process for controlling the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information;
a notification transmission process that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information;
a third receiving process for controlling the communication unit to receive vehicle information including position information and traveling direction of each vehicle from a plurality of vehicles located on the roadway;
an identification process for identifying a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle, based on the vehicle information;
an information transmission process for controlling the communication unit to transmit the area information to the following vehicle;
Execute
In the notification transmission process, when the area information is transmitted to the following vehicle and an inquiry as to whether a pedestrian is present in the first area is received from the following vehicle, the processor controls the communication unit to transmit the pedestrian presence information to the following vehicle.
program. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle,
a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device;
a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area;
a notification transmission process of controlling the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present in the first area, when the specific terminal location information is included in the most recently received terminal location information;
Equipped with
the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway,
The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region.
program. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle,
a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device;
a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle;
a warning transmission process for controlling the communication unit to transmit vehicle approaching information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal position information when the most recently received terminal position information includes specific terminal position information in which a part of another area that includes the position indicated by the terminal position information and has a predetermined horizontal extent overlaps with a part of the first area;
Equipped with
The other area is a circle having a center at the position indicated by the terminal location information and a radius length determined according to a cycle at which reception of the terminal location information is repeated in the first reception process, and the radius is increased when the cycle is long, and decreased when the cycle is short.
program.