Proximity monitoring system, proximity monitoring method, and storage medium

Abstract

The invention provides a proximity monitoring system, a proximity monitoring method, and a storage medium. Consequently, contact between the vehicle and a moving person caused by a sudden change in action of the moving person present in the periphery of the vehicle can be prevented and prevented in advance from causing the moving person to feel boring. A proximity monitoring system is provided with: a moving person detection unit that detects a moving person present in the vicinity of a vehicle; a predicted vehicle route recognition unit that recognizes a predicted vehicle route; a moving person predicted travel route recognition unit that recognizes a moving person predicted travel route; a closest distance calculation unit that calculates a closest distance, which is the distance between the vehicle and the moving person at the closest time point, between the predicted vehicle travel route and the predicted moving person travel route when the predicted vehicle travel route and the predicted moving person travel route do not coincide with each other; and an attention reminding unit that reminds the moving person of attention when the closest distance is equal to or less than a predetermined determination distance.

Description

Technical Field

[0001] The present invention relates to a proximity monitoring system, a proximity monitoring method and a storage medium. Background Art

[0002] In recent years, efforts have been actively underway to ensure that vulnerable traffic users have access to sustainable transportation systems that take them into account. To achieve this, we are committed to further improving traffic safety and convenience through research and development related to preventive safety technologies.

[0003] For example, Patent Document 1 discloses a technology that determines that there is a possibility of a collision between a vehicle and a pedestrian based on their predicted paths, if there is a possibility that both are at the same location at the same time, and notifies the pedestrian of a collision avoidance message.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2006-31443 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] However, in preventive safety technology, it is expected to prevent pedestrians in the vicinity of the vehicle from coming into contact with the vehicle before it occurs. However, in the technology of the above-mentioned Patent Document 1, when the predicted route of the vehicle does not overlap with the predicted route of the pedestrian, no collision avoidance message is not notified, and therefore it is impossible to cope with sudden changes in the pedestrian's behavior, such as running out of the lane. In addition, it is also considered to increase the margin for contact avoidance to ease the conditions for handling contact avoidance, but in this case, frequent reminders for contact avoidance are made under conditions where the possibility of contact is low, which may cause pedestrians to feel annoyed. Therefore, the subject of the present application is to prevent contact between the vehicle and the mobile caused by sudden changes in the behavior of the mobile, such as walking or riding a bicycle, around the vehicle, by suppressing the mobile from feeling annoyed.

[0009] To address the aforementioned issues, the present application aims to provide a proximity monitoring system, a proximity monitoring method, and a proximity monitoring storage medium that can prevent contact between a vehicle and a mobile person caused by a sudden change in the mobile person's behavior around the vehicle, thereby suppressing the mobile person from becoming annoyed and thus contributing to the development of a sustainable transportation system.

[0010] Means for solving problems

[0011] As a first method for achieving the above-mentioned purpose, a proximity monitoring system can be cited, which comprises: a mobile person detection unit, which detects mobile persons existing in the vicinity of a vehicle; a vehicle predicted traveling route identification unit, which identifies a vehicle predicted traveling route as the predicted traveling route of the vehicle; a mobile person predicted traveling route identification unit, which identifies a mobile person predicted traveling route as the predicted traveling route of the mobile; a closest distance calculation unit, which calculates a closest distance between the vehicle predicted traveling route and the mobile person predicted traveling route when the vehicle predicted traveling route and the mobile person predicted traveling route do not overlap, the closest distance being the distance between the vehicle and the mobile person at the time point when the vehicle and the mobile person are predicted to be closest, that is, the closest time point; and an attention reminder unit, which determines whether to issue an attention reminder to the mobile person based on the closest distance.

[0012] In the above-mentioned proximity monitoring system, the attention calling unit may be configured to call the attention to the mover when the closest distance is equal to or smaller than a predetermined determination distance.

[0013] The proximity monitoring system may further include a determination distance setting unit configured to set the determination distance to be longer as the moving speed of the mover increases.

[0014] The proximity monitoring system may further include a determination distance setting unit configured to set the determination distance so that a time obtained by dividing the determination distance by a moving speed of the mover becomes a first predetermined time.

[0015] The proximity monitoring system may further include: a mover attribute recognition unit that recognizes an attribute of the mover; and a determination distance setting unit that sets the determination distance based on the attribute of the mover.

[0016] In the above-mentioned proximity monitoring system, the attention prompting unit may start the attention prompting a second predetermined time before the closest approach time point, and the second predetermined time may be set to be longer than a time obtained by dividing the determination distance by a moving speed of the mover.

[0017] In the above-mentioned proximity monitoring system, the attention calling unit may be configured to call the attention to the mover when a time obtained by dividing the closest distance by a moving speed of the mover is equal to or shorter than a first predetermined time.

[0018] In the above-mentioned proximity monitoring system, the attention calling unit may be configured to change the form of the attention calling as the remaining time until the closest approach time point decreases.

[0019] In the above-mentioned proximity monitoring system, it can also be constructed to have a guardrail presence / absence identification unit, which identifies whether there is a guardrail separating the driving area of ​​the vehicle from the moving area of ​​the mover. When the vehicle is driving in the driving area where the guardrail is identified as existing by the guardrail presence / absence identification unit, the attention reminder unit does not perform the attention reminder.

[0020] As a second method for achieving the above-mentioned purpose, a proximity monitoring method can be cited, which is a proximity monitoring method executed by a computer, including: a mover detection step for detecting a mover existing in the vicinity of a vehicle; a vehicle predicted route identification step for identifying a vehicle predicted route as the predicted route of the vehicle; a mover predicted route identification step for identifying a mover predicted route as the predicted route of the mover; a closest distance calculation step for calculating the closest distance between the vehicle predicted route and the mover predicted route when the vehicle predicted route and the mover predicted route do not overlap, the closest distance being the distance between the vehicle and the mover at the time point when the vehicle and the mover are predicted to be closest, that is, the closest time point; and an attention reminder step for judging whether to issue an attention reminder to the mover based on the closest distance.

[0021] As a third method for achieving the above-mentioned purpose, a storage medium can be cited, which stores a proximity monitoring program, and the proximity monitoring program enables a computer to function as the following parts: a mobile person detection unit, which detects mobile persons existing in the vicinity of a vehicle; a vehicle predicted traveling route identification unit, which identifies the vehicle predicted traveling route as the predicted traveling route of the vehicle; a mobile person predicted traveling route identification unit, which identifies the mobile person predicted traveling route as the predicted traveling route of the mobile; a closest distance calculation unit, which calculates the closest distance between the vehicle predicted traveling route and the mobile person predicted traveling route when the vehicle predicted traveling route and the mobile person predicted traveling route do not overlap, and the closest distance is the distance between the vehicle and the mobile person at the time point when the vehicle and the mobile person are predicted to be closest, that is, the closest time point; and an attention reminder unit, which determines whether to issue an attention reminder to the mobile person based on the closest distance.

[0022] Effects of the Invention

[0023] According to the proximity monitoring system, proximity monitoring method, and storage medium storing a proximity monitoring program, contact between a vehicle and a mobile person caused by a sudden change in the behavior of the mobile person present around the vehicle can be suppressed and prevented from causing annoyance to the mobile person. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the proximity monitoring system.

[0025] Figure 2 This is an explanatory diagram of the timing of calling attention when the vehicle's predicted travel route and the person's predicted travel route do not overlap.

[0026] Figure 3 This is an explanatory diagram of the timing of calling attention when the vehicle's predicted travel route and the person's predicted travel route overlap.

[0027] Figure 4 This is a first flow chart of the proximity monitoring process.

[0028] Figure 5 This is a second flow chart of the proximity monitoring process.

[0029] Figure 6 This is a third flow chart of the proximity monitoring process.

[0030] Description of Reference Numerals

[0031] 1…Proximity monitoring system; 10…Processor; 11…Mover detection unit; 12…Vehicle predicted route identification unit; 13…Mover predicted route identification unit; 14…Current distance calculation unit; 15…Mover attribute identification unit; 16…Distance setting unit; 17…Guardrail presence identification unit; 18…Caution reminder unit; 20…Memory; 21…Proximity monitoring program; 50…Communication terminal; 51…GNSS sensor; 100…Vehicle; 101…ECU; 102…Communication unit; 103…GNSS sensor; 104…Front camera; 105…Front radar; 120…Surveillance camera; 200…Communication network; 210…User information server; 211…Road information server; P…Pedestrian; PCc…Vehicle predicted route; PCp1, PCp2…Mover predicted route; Ln…Current distance. DETAILED DESCRIPTION

[0032] [1. Structure of the proximity monitoring system]

[0033] Reference Figures 1 to 3 , the structure of the proximity monitoring system 1 disclosed in the present invention is described. Figure 1 As shown, the proximity monitoring system 1 is a computer system composed of a processor 10, a memory 20, a communication unit 30, etc., which monitors the approach between a vehicle 100 traveling on a road and a person moving on the road and issues a warning to the person.

[0034] exist Figures 1 to 3In the figure, a pedestrian P is illustrated as a moving person. Moving persons include not only pedestrians but also people who move on vehicles without a prime mover, such as bicycles and scooters. The proximity monitoring system 1 uses the communication unit 30 to communicate via the communication network 200 between the vehicle 100, the communication terminal 50 used by the pedestrian P, the user information server 210, the road information server 211, and the surveillance camera 120 installed along the road. The user information server 210 provides attribute information UAi indicating the attributes (age, gender, etc.) of the user of the communication terminal 50 (including the pedestrian P). The road information server 211 provides road information RDi indicating the road specifications (category, traffic zones, presence of barriers such as guardrails, etc.).

[0035] The vehicle 100 includes an ECU (Electronic Control Unit) for controlling the operation of the vehicle 100 , a communication unit 102 for communicating via a communication network 200 , a GNSS (Global Navigation Satellite System) sensor 103 for detecting the current position of the vehicle 100 , a front camera 104 for photographing the front of the vehicle 100 , and a front radar 105 for detecting the position of objects in front of the vehicle 100 .

[0036] The ECU 101 transmits vehicle position information CPi indicating the current position of the vehicle 100 detected by the GNSS sensor 103, and vehicle surrounding information CSi indicating the surrounding conditions of the vehicle 100 identified based on images captured by the front camera 104 and detection signals from the front radar 105, to the proximity monitoring system 1. The communication terminal 50 includes a GNSS sensor 51 and transmits moving person position information PPi indicating the current position of a pedestrian P detected by the GNSS sensor 51 to the proximity monitoring system 1. The surveillance camera 120 transmits a road image Rimg obtained by capturing images of the surrounding road to the proximity monitoring system 1.

[0037] A proximity monitoring program 21 is stored in the memory 20 of the proximity monitoring system 1. The proximity monitoring program 21 can be read from a recording medium (such as an optical disk, a magnetic disk, or a semiconductor memory) into the proximity monitoring system 1 and stored in the memory 20, or downloaded from an external server to the proximity monitoring system 1 and stored in the memory 20. By reading and executing the proximity monitoring program 21, the processor 10 functions as the mobile person detection unit 11, the vehicle predicted path identification unit 12, the mobile person predicted path identification unit 13, the closest distance calculation unit 14, the mobile person attribute identification unit 15, the determination distance setting unit 16, the guardrail presence identification unit 17, and the attention reminder unit 18.

[0038] The processing performed by the mobile person detection unit 11 corresponds to the mobile person detection step in the proximity monitoring method disclosed herein, and the processing performed by the vehicle predicted path identification unit 12 corresponds to the vehicle predicted path identification step in the proximity monitoring method disclosed herein. The processing performed by the mobile person predicted path identification unit 13 corresponds to the mobile person predicted path identification step in the proximity monitoring method disclosed herein, and the processing performed by the closest distance calculation unit 14 corresponds to the closest distance calculation step in the proximity monitoring method disclosed herein. The processing performed by the attention prompting unit 18 corresponds to the attention prompting step in the proximity monitoring method disclosed herein.

[0039] The moving person detection unit 11 detects moving persons in the vicinity in front of the vehicle 100 based on the vehicle position information CPi and vehicle surrounding information CSi transmitted from the vehicle 100, the moving person position information PPi transmitted from the communication terminal 50 held by the pedestrian P, and the road image Rimg transmitted from the surveillance camera 120. Figure 1 In the example, the moving person detection unit 11 detects a pedestrian P in front of the vehicle 100. Alternatively, instead of using all of this information, a moving person existing in the vicinity of the front of the vehicle 100 may be detected using only the vehicle position information CPi and the moving person position information PPi.

[0040] The vehicle predicted travel path recognition unit 12 is based on the change of the position of the vehicle 100 recognized from the vehicle position information CPi, as shown in FIG. Figure 2 As shown in the dialog box B1, the predicted route of the vehicle 100 at the current time point t0, that is, the vehicle predicted route PCc, is identified. Figure 2 CaL represents the left end position of the vehicle 100 . Figure 2 A1 is a lane where the vehicle 100 travels, and A2 is a sidewalk where the pedestrian P moves.

[0041] The predicted moving path identification unit 13 is based on the change of the position of the pedestrian P identified from the moving position information PPi, as shown in FIG. Figure 2 As shown in the dialog box B2, the predicted route of pedestrian P at the current time point t0 is identified, that is, the predicted route PCp1 of the mobile person. Figure 2 As shown, the closest distance calculation unit 14 calculates the time point (closest time point) t when the vehicle 100 and the pedestrian P are closest to each other in the vehicle predicted travel route PCc1 and the person predicted travel route PCp. n The distance (closest distance) Ln between the vehicle 100 and the pedestrian P.

[0042] Figure 2 The case where the vehicle predicted travel route PCc and the mobile person predicted travel route PCp1 do not overlap is illustrated. Figure 3The case where the vehicle predicted travel route PCc and the mobile person predicted travel route PCp2 overlap (intersect) is illustrated. Figure 3 In the figure, as shown in dialog box B4, the vehicle predicted route identification unit 12 identifies the vehicle predicted route PCc of the vehicle 100 at the current time point t0, and as shown in dialog box B5, the mobile predicted route identification unit 13 identifies the mobile predicted route PCp2 of the pedestrian P at the current time point t0.

[0043] The mobile person attribute recognition unit 15 obtains attribute information UAi related to the pedestrian P by accessing the user information server 210, or recognizes the attributes of the pedestrian P based on an image of the pedestrian P captured by the front camera 104 and included in the vehicle surrounding information CSi, or an image of the pedestrian P included in the road image Rimg. The judgment distance setting unit 16 sets a judgment distance Lth for determining whether to warn the pedestrian P of the approach of the vehicle 100.

[0044] exist Figure 2 As shown in dialog box B2, the determination distance setting unit 16 identifies the moving speed Vp of the pedestrian P based on the change in the position of the pedestrian P identified based on the mobile person position information PPi. The determination distance setting unit 16 then calculates the determination distance Lth using the following equation (1). According to the following equation (1), the greater the moving speed Vp of the pedestrian P, the longer the determination distance Lth is set. Furthermore, when the pedestrian P is identified as a child based on the attributes of the pedestrian P identified by the mobile person attribute recognition unit 15, or when the pedestrian P is identified as an elderly person, the determination distance setting unit 16 performs correction to set the determination distance Lth longer than the baseline distance assumed for an adult.

[0045] Lth / Vp=Tth1…(1)

[0046] Here, Lth is the determination distance, Vp is the moving speed of the pedestrian P, and Tth1 is the first predetermined time.

[0047] The first predetermined time Tth1 is set to, for example, several seconds based on the estimated time from when a typical pedestrian receives a warning to stop while walking (the estimated time from when a pedestrian protruding into the lane receives a warning to when he stops).

[0048] The guardrail presence recognition unit 17 obtains road information RDi by accessing the road information server 211 or searches for a portion of an image of a guardrail in the road image captured by the front camera 104 or the road image Rimg captured by the surveillance camera 120, which is included in the vehicle surrounding information CSi. The guardrail may be, for example, a guardrail or a fence.

[0049] When there is a high possibility that the vehicle 100 is approaching the pedestrian P, the attention calling unit 18 calls attention to the pedestrian P. Details of the attention calling process will be described later.

[0050] [2. Proximity monitoring processing]

[0051] according to Figures 4 to 6 The flowchart shown in Figures 1 to 3 The proximity monitoring system 1 repeatedly performs the following steps based on the proximity monitoring process. Figures 4 to 6 The process is shown in the flowchart.

[0052] exist Figure 4 In step S1, the moving person detection unit 11 searches for moving persons in the vicinity in front of the vehicle 100. In the next step S2, the moving person detection unit 11 proceeds to step S3 when a moving person is detected, and proceeds to step S1 when no moving person is detected. Figures 1 to 3 In the example of , the moving person detection unit 11 detects a pedestrian P and advances the process to step S3.

[0053] In step S3, if Figure 2 、 Figure 3 As shown, the vehicle predicted travel path recognition unit 12 recognizes the vehicle predicted travel path PCc for the vehicle 100. In the next step S4, the mobile predicted travel path recognition unit 13 recognizes the mobile predicted travel path PCp for the pedestrian P (in Figure 2 In the Figure 3 In the next step S5, the determination distance setting unit 16 identifies the moving speed Vp of the pedestrian P (mover). In the next step S6, the moving person attribute recognition unit 15 recognizes the attribute of the pedestrian P.

[0054] In the next step S7, the determination distance setting unit 16 sets the determination distance Lth as described above based on the moving speed Vp and attributes of the pedestrian P. In the next step S8, the attention prompting unit 18 determines whether the vehicle predicted traveling route PCc and the mobile person predicted traveling route PCp overlap. Then, the attention prompting unit 18 determines whether the vehicle predicted traveling route PCc and the mobile person predicted traveling route PCp overlap ( Figure 3 In the case of Figure 6 In step S20, when the vehicle predicted route PCc and the mobile predicted route PCp do not overlap ( Figure 2 In the case of ), the processing enters step S9.

[0055] In step S9, Figure 2As shown, the closest distance calculation unit 14 calculates the closest distance Ln. In the next step S10, the attention prompting unit 18 determines whether the closest distance Ln exceeds the determination distance Lth. Then, the attention prompting unit 18 enters the process when the closest distance Ln exceeds the determination distance Lth. Figure 6 In step S16, in this case, no attention call is made to the pedestrian P. On the other hand, when the closest distance Ln is less than the determination distance Lth, the attention call unit 18 enters the process Figure 5 Step S11.

[0056] In step S11, the attention prompting unit 18 calculates the remaining time Tr from the current time point to the closest time point. In the following step S12, the attention prompting unit 18 determines whether the remaining time Tr is longer than the second predetermined time Tth2. If the remaining time Tr is longer than the second predetermined time Tth2, the attention prompting unit 18 proceeds to step S16. In this case, the attention prompting unit 18 does not issue an attention prompt to the pedestrian P. On the other hand, if the remaining time Tr is less than the second predetermined time Tth2, the attention prompting unit 18 proceeds to step S13. The second predetermined time Tth2 is set so that the relationship shown in the following equation (2) holds.

[0057] Tth2>Lth / Vp … (2)

[0058] Here, Tth2 is the second predetermined time, Lth is the determination distance, and Vp is the moving speed of the pedestrian P.

[0059] In step S13, the guardrail presence / absence recognition unit 17 recognizes the presence or absence of a guardrail separating lane A1 from sidewalk A2. In the following step S14, if the guardrail presence / absence recognition unit 17 recognizes the presence of a guardrail, the attention-provoking unit 18 proceeds to step S16. In this case, no attention-provoking message is issued to the pedestrian P. On the other hand, if the guardrail presence / absence recognition unit 17 recognizes the absence of a guardrail, the attention-provoking unit 18 proceeds to step S15.

[0060] In step S15, as a reminder to the pedestrian P, Figure 1 As shown, the attention-provoking unit 18 transmits attention-provoking information ATi to the communication terminal 50 held by the pedestrian P, notifying the pedestrian that the vehicle 100 is approaching. Upon receiving the attention-provoking information ATi, the communication terminal 50 outputs an audible warning and displays a screen on its display unit notifying the pedestrian of the approaching vehicle 100. This prompts the pedestrian P to pay attention to the vehicle 100, preventing the pedestrian P from running off the lane and coming into contact with the vehicle 100. In this case, the intensity of the attention-provoking information can be increased, for example, by increasing the audible warning sound as the remaining time Tr decreases.

[0061] Figure 6Yes and Figure 3 As shown in FIG. 2 , the process is performed in response to the case where the vehicle predicted travel path PCc of the vehicle 100 and the mobile person predicted travel path PCp2 of the pedestrian P overlap. Figure 6 In step S20, the attention prompting unit 18 calculates the shortest distance Lm (refer to the shortest distance Lm between the vehicle predicted travel route PCc and the mobile person predicted travel route PCp2 at the current time point) Figure 3 The shortest distance Lm becomes shorter as the vehicle 100 and the pedestrian P move forward.

[0062] In the next step S21, the attention prompting unit 18 determines whether the shortest distance Lm exceeds the determination distance Lth. Then, when the shortest distance Lm exceeds the determination distance Lth, the attention prompting unit 18 enters the process Figure 5 In this case, the attention calling unit 18 does not call attention to the pedestrian P. On the other hand, when the shortest distance Lm is equal to or less than the determination distance Lth, the attention calling unit 18 advances the processing to step S22.

[0063] In step S22, as Figure 3 As shown, the attention prompting unit 18 calculates the time from the current time point to the contact prediction time point t c The remaining time TTC is calculated, and the contact prediction time point t c This is the time point when the left end line CaL corresponding to the vehicle predicted travel route PCc and the mobile person predicted travel route PCp2 overlap (intersect) as shown in the dialog box B6. In the next step S23, the attention prompting unit 18 determines whether the remaining time TTC exceeds the first determination time TTC_th1.

[0064] Then, when the remaining time TTC exceeds the first determination time TTC_th1, the attention prompting unit 18 enters the process into Figure 5 In this case, the attention calling unit 18 does not call attention to the pedestrian P. On the other hand, when the remaining time TTC is equal to or less than the first determination time TTC_th1, the attention calling unit 18 advances the processing to step S24.

[0065] In step S24, the warning unit 18 determines whether the remaining time TTC is less than or equal to the second determination time TTC_th2 (<TTC_th2). If the remaining time TTC is less than or equal to the second determination time TTC_th2, the warning unit 18 proceeds to step S30. If the remaining time TTC is greater than or equal to the second determination time TTC_th2, the warning unit 18 proceeds to step S25.

[0066] In step S25, as Figure 3As shown in dialog box B7, the attention-provoking unit 18 transmits attention-provoking information ATi, notifying the pedestrian P of the approaching vehicle 100, to the communication terminal 50 held by the pedestrian P. Upon receiving the attention-provoking information ATi, the communication terminal 50 outputs an alarm sound notifying the pedestrian of the approaching vehicle 100 and displays a screen on its display indicating the approaching vehicle 100. This can help the pedestrian P be alerted to the vehicle 100 and prevent the pedestrian P from moving directly toward the vehicle 100 and thereby contacting the vehicle 100.

[0067] In step S25, as Figure 3 As shown in dialog box B8, at time t2, when remaining time TTC becomes less than or equal to second determination time TTC_th2, attention prompting unit 18 transmits attention prompting information ATi to communication terminal 50 held by pedestrian P, warning of the approaching vehicle 100. Upon receiving attention prompting information ATi, communication terminal 50 outputs an alarm sound warning of the approaching vehicle 100 and displays a screen on its display indicating the approaching vehicle 100. This prompts pedestrian P to stop, preventing contact between pedestrian P and vehicle 100.

[0068] [3. Other Implementation Methods]

[0069] In the above embodiment, the determination distance setting unit 16 is provided to set the determination distance Lth for determining whether to call attention to the pedestrian P according to the moving speed Vp of the pedestrian P. However, the determination distance setting unit 16 may be omitted and the determination distance Lth may be set to a fixed value.

[0070] In the above embodiment, the mobile attribute recognition unit 15 is provided, and the determination distance setting unit 16 sets the determination distance Lth based on the attributes of the pedestrian P. However, the mobile attribute recognition unit 15 may be omitted, and the determination distance Lth based on the attributes of the pedestrian P may not be set.

[0071] In the above embodiment, the guardrail presence recognition unit 17 is provided. If a guardrail is present separating the lane A1 from the sidewalk A2, the attention warning unit 18 does not provide a warning to the pedestrian P. In other embodiments, the guardrail presence recognition unit 17 may be omitted, and the determination of whether to provide a warning based on the presence or absence of a guardrail may not be performed.

[0072] In the above embodiment, the attention prompting unit 18 is Figure 4 When it is determined in step S10 that the closest distance Ln is less than the determination distance Lth, a warning is issued to the pedestrian P. As another embodiment, a warning may be issued to the pedestrian P when the condition of the following formula (3) is satisfied.

[0073] Ln / Vp≤Tth1…(3)

[0074] Here, Ln is the closest distance, Vp is the moving speed of the pedestrian P, and Tth1 is the first predetermined time (see the above-mentioned formula (1)).

[0075] also, Figure 1 This is a schematic diagram showing the structure of the proximity monitoring system 1 according to the main processing contents for easy understanding of the present invention. The structure of the proximity monitoring system 1 can also be configured by other divisions. In addition, the processing of each component can be executed by one hardware unit or by multiple hardware units. Figures 4 to 6 The processing of each component shown may be executed by one program or by a plurality of programs.

[0076] [4. Structure supported by the above-mentioned embodiment]

[0077] The above-mentioned embodiment is a specific example of the following structure.

[0078] (Structure 1) A proximity monitoring system comprises: a mobile person detection unit that detects a mobile person existing in the vicinity of a vehicle; a vehicle predicted traveling route recognition unit that recognizes a vehicle predicted traveling route as the predicted traveling route of the vehicle; a mobile person predicted traveling route recognition unit that recognizes a mobile person predicted traveling route as the predicted traveling route of the mobile person; a closest distance calculation unit that calculates a closest distance between the vehicle predicted traveling route and the mobile person predicted traveling route when the vehicle predicted traveling route and the mobile person predicted traveling route do not overlap, the closest distance being the distance between the vehicle and the mobile person at a time point when the vehicle and the mobile person are predicted to be closest, i.e., a closest time point; and an attention reminder unit that determines whether to give an attention reminder to the mobile person based on the closest distance.

[0079] The proximity monitoring system of Structure 1 can prevent contact between a vehicle and a mobile person caused by a sudden change in the behavior of a mobile person in the vicinity of the vehicle, thereby suppressing the mobile person from becoming annoyed and thus preventing the occurrence of such contact. Mobile persons include not only pedestrians but also people traveling on vehicles without a prime mover, such as bicycles and scooters.

[0080] (Configuration 2) The proximity monitoring system according to Configuration 1, wherein the attention calling unit calls the attention to the mover when the closest distance is equal to or smaller than a predetermined determination distance.

[0081] According to the proximity monitoring system of configuration 2, it is possible to determine whether to issue a warning based on the determination distance.

[0082] (Configuration 3) The proximity monitoring system according to Configuration 2 further comprises a determination distance setting unit configured to set the determination distance longer as the moving speed of the mover increases.

[0083] According to the proximity monitoring system of structure 3, it is predicted that the greater the moving speed of the mover, the more rapidly the moving direction of the mover will change toward the vehicle, thereby shortening the time until the mover contacts the vehicle. Therefore, the greater the moving speed of the mover, the longer the judgment distance will be set, so that sufficient attention reminders for avoiding contact can be made.

[0084] (Structure 4) The proximity monitoring system according to Structure 2, wherein the proximity monitoring system includes a determination distance setting unit that sets the determination distance so that a time obtained by dividing the determination distance by the moving speed of the mover becomes a first predetermined time.

[0085] According to the approach monitoring system of configuration 4, when it is assumed that the moving direction of the mover changes to the direction toward the vehicle, it is possible to issue a warning when the predicted time until the mover contacts the vehicle is less than or equal to the first predetermined time.

[0086] (Structure 5) The proximity monitoring system according to Structure 2, wherein the proximity monitoring system includes: a mover attribute recognition unit that recognizes the attribute of the mover; and a determination distance setting unit that sets the determination distance based on the attribute of the mover.

[0087] According to the proximity monitoring system of Configuration 5, a determination distance suitable for the mobile can be set based on the mobile's behavior characteristics, reaction speed, alertness, etc. estimated from the mobile's attributes.

[0088] (Structure 6) A proximity monitoring system according to any one of Structures 2 to 5, wherein the attention reminder unit starts the attention reminder before a second prescribed time at the closest time point, and the second prescribed time is set to be longer than the time obtained by dividing the determination distance by the moving speed of the mover.

[0089] According to the proximity monitoring system of structure 6, even if the moving direction of the mover changes to the direction toward the vehicle, the mover's movement toward the vehicle can be stopped by a warning, and a specified time can be set to ensure the time to avoid contact between the vehicle and the mover.

[0090] (Structure 7) In the proximity monitoring system according to Structure 1, the attention calling unit calls the attention to the mover when a time obtained by dividing the closest distance by the moving speed of the mover is equal to or shorter than a first predetermined time.

[0091] According to the proximity monitoring system of Configuration 7, it is possible to determine whether to issue a warning based on the first predetermined time.

[0092] (Configuration 8) The proximity monitoring system according to any one of Configurations 1 to 7, wherein the attention calling unit changes the method of the attention calling as the remaining time until the closest approach time point decreases.

[0093] According to the approach monitoring system of the eighth configuration, by changing the form of the attention call, the mover can be made aware that the possibility of contact with the vehicle is increasing.

[0094] (Structure 9) A proximity monitoring system according to any one of Structures 1 to 8, wherein the proximity monitoring system comprises a guardrail presence / absence recognition unit, the guardrail presence / absence recognition unit identifying the presence / absence of a guardrail separating the driving area of ​​the vehicle from the moving area of ​​the mover, and when the vehicle is driving in a driving area in which the guardrail is identified as existing by the guardrail presence / absence recognition unit, the attention reminder unit does not perform the attention reminder.

[0095] According to the approach monitoring system of Configuration 9, when a mover is prevented from moving toward the vehicle due to the presence of a guardrail, unnecessary warnings to the mover can be avoided.

[0096] (Structure 10) A proximity monitoring method, which is a proximity monitoring method executed by a computer, comprising: a mover detection step for detecting a mover existing in the vicinity of a vehicle; a vehicle predicted travel route identification step for identifying a vehicle predicted travel route as the predicted travel route of the vehicle; a mover predicted travel route identification step for identifying a mover predicted travel route as the predicted travel route of the mover; a closest distance calculation step for calculating a closest distance between the vehicle predicted travel route and the mover predicted travel route when the vehicle predicted travel route and the mover predicted travel route do not overlap, the closest distance being the distance between the vehicle and the mover at the time point at which the vehicle and the mover are predicted to be closest, i.e., the closest time point; and an attention reminder step for determining whether to issue an attention reminder to the mover based on the closest distance.

[0097] By executing the proximity monitoring method of the configuration 10 on a computer, the same operational effects as those of the proximity monitoring system of the configuration 1 can be obtained.

[0098] (Structure 11) A storage medium storing a proximity monitoring program that causes a computer to function as: a mobile person detection unit that detects a mobile person existing in the vicinity of a vehicle; a vehicle predicted traveling route identification unit that identifies a vehicle predicted traveling route as the predicted traveling route of the vehicle; a mobile person predicted traveling route identification unit that identifies a mobile person predicted traveling route as the predicted traveling route of the mobile person; a closest distance calculation unit that calculates a closest distance between the vehicle predicted traveling route and the mobile person predicted traveling route when the vehicle predicted traveling route and the mobile person predicted traveling route do not overlap, the closest distance being the distance between the vehicle and the mobile person at a time point when the vehicle and the mobile person are predicted to be closest, i.e., a closest time point; and an attention reminder unit that determines whether to issue an attention reminder to the mobile person based on the closest distance.

[0099] The configuration of the proximity monitoring system of the configuration 1 can be realized by executing the proximity monitoring program of the configuration 11 on a computer.

Claims

1. A proximity monitoring system comprising: a moving person detecting unit that detects a moving person existing around the vehicle; a vehicle predicted travel route identification unit that identifies a vehicle predicted travel route as a predicted travel route of the vehicle; a predicted moving person traveling route identifying unit that identifies a predicted moving person traveling route as a predicted traveling route of the moving person; a closest distance calculation unit for calculating, when the vehicle predicted travel route and the mobile person predicted travel route do not overlap, a closest distance between the vehicle predicted travel route and the mobile person predicted travel route, the closest distance being the distance between the vehicle and the mobile person at a time point when the vehicle and the mobile person are predicted to be closest, that is, at a closest time point; as well as The attention calling unit determines whether to call attention to the mover based on the closest distance.

2. The proximity monitoring system according to claim 1, wherein: The attention calling unit calls the attention to the mover when the closest distance is equal to or smaller than a predetermined determination distance.

3. The proximity monitoring system according to claim 2, wherein: The proximity monitoring system includes a determination distance setting unit configured to set the determination distance to be longer as the moving speed of the mover increases.

4. The proximity monitoring system according to claim 2, wherein: The proximity monitoring system includes a determination distance setting unit configured to set the determination distance so that a time obtained by dividing the determination distance by a moving speed of the mover becomes a first predetermined time.

5. The proximity monitoring system according to claim 2, wherein: The proximity monitoring system comprises: a mover attribute identification unit that identifies the attributes of the mover; and A determination distance setting unit sets the determination distance based on an attribute of the mover.

6. The proximity monitoring system according to any one of claims 2 to 5, wherein: The attention reminder unit starts to issue the attention reminder before the second prescribed time closest to the time point, The second predetermined time is set to be longer than a time obtained by dividing the determination distance by the moving speed of the mover.

7. The proximity monitoring system according to claim 1, wherein: The attention calling unit calls the attention to the mover when a time obtained by dividing the closest distance by the moving speed of the mover is equal to or shorter than a first predetermined time.

8. The proximity monitoring system according to any one of claims 1 to 5 and 7, wherein: The attention calling unit changes the method of the attention calling as the remaining time until the closest time point decreases.

9. The proximity monitoring system according to any one of claims 1 to 5 and 7, wherein: The proximity monitoring system includes a guardrail presence / absence recognition unit for recognizing the presence / absence of a guardrail separating a travel area of ​​the vehicle from a movement area of ​​the mover. When the vehicle is traveling in a traveling area where the guardrail presence / absence recognition unit recognizes that the guardrail exists, the attention prompting unit does not perform the attention prompting.

10. A proximity monitoring method, which is a proximity monitoring method executed by a computer, wherein: The proximity monitoring method comprises: a moving person detecting step of detecting a moving person existing around the vehicle; a vehicle predicted traveling route identifying step of identifying a vehicle predicted traveling route as a predicted traveling route of the vehicle; a mobile person predicted travel route identifying step of identifying a mobile person predicted travel route as the predicted travel route of the mobile person; a closest distance calculation step of calculating, when the vehicle's predicted travel route and the person's predicted travel route do not overlap, a closest distance between the vehicle's predicted travel route and the person's predicted travel route, the closest distance being the distance between the vehicle and the person at a time point when the vehicle and the person are predicted to be closest, i.e., a closest time point; and The attention prompting step is to determine whether to issue an attention prompt to the mover based on the closest distance.

11. A storage medium storing a proximity monitoring program, wherein: The proximity monitoring program enables the computer to function as follows: a moving person detecting unit that detects a moving person existing around the vehicle; a vehicle predicted travel route identification unit that identifies a vehicle predicted travel route as a predicted travel route of the vehicle; a predicted moving person traveling route identifying unit that identifies a predicted moving person traveling route as a predicted traveling route of the moving person; a closest distance calculation unit for calculating, when the vehicle's predicted travel route and the person's predicted travel route do not overlap, a closest distance between the vehicle and the person at a time point when the vehicle and the person are predicted to be closest, i.e., a closest time point; as well as The attention calling unit determines whether to call attention to the mover based on the closest distance.

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