Path control device and path control method

Abstract

This invention relates to a path control device and a path control method. One path control device includes a control unit that, upon detecting a wheelchair user about to cross a road, sets an angle of a guide line relative to the road based on the length of waiting time for vehicles traveling on the road, and performs control to display a pedestrian crossing including the guide line on the road.

Description

Technical Field

[0001] This disclosure relates to a path control device and a path control method. Background Technology

[0002] Japanese Unexamined Patent Application Publication No. 2014-225151 (JP 2014-225151 A) discloses a pedestrian crossing support device for providing drivers with information indicating to pedestrians crossing the road. Summary of the Invention

[0003] The technology described in JP 2014-225151 A is not intended to reduce the burden on wheelchair users crossing roads.

[0004] The purpose of this disclosure is to reduce the burden on wheelchair users when crossing roads.

[0005] The path control device according to this disclosure includes a control unit that, when a wheelchair user is detected about to cross the road, sets the angle of a guideway relative to the road based on the length of waiting time for vehicles traveling on the road, and performs control to display a pedestrian crossing including the guideway on the road.

[0006] The path control method according to this disclosure includes: when a wheelchair user is detected to be crossing the road, the path control device sets an angle of a guide line relative to the road for guiding the wheelchair user based on the length of waiting time for vehicles traveling on the road; and the path control device performs control to display a pedestrian crossing including the guide line on the road.

[0007] According to this disclosure, the burden on wheelchair users crossing roads can be reduced. Attached Figure Description

[0008] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar symbols denote similar elements, and wherein:

[0009] Figure 1 This is a block diagram illustrating the configuration of a system according to an embodiment of the present disclosure;

[0010] Figure 2 This is a schematic diagram illustrating a display example of a pedestrian crossing including guide lines according to an embodiment of the present disclosure;

[0011] Figure 3 This is a block diagram illustrating the configuration of a path control device according to an embodiment of the present disclosure;

[0012] Figure 4This is a flowchart illustrating the operation of a path control device according to an embodiment of the present disclosure;

[0013] Figure 5 This is a schematic diagram illustrating another example of a pedestrian crossing including guide lines according to an embodiment of the present disclosure;

[0014] Figure 6 This is a schematic diagram illustrating yet another example of a pedestrian crossing including guide lines according to an embodiment of the present disclosure;

[0015] Figure 7 This is a schematic diagram illustrating yet another example of a pedestrian crossing including guide lines according to an embodiment of the present disclosure;

[0016] Figure 8 This is a schematic diagram illustrating an example screen of a terminal according to an embodiment of the present disclosure; and

[0017] Figure 9 This is a schematic diagram illustrating an example of a pedestrian crossing notification including guide lines according to an embodiment of the present disclosure. Detailed Implementation

[0018] In the following description, embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0019] In each accompanying drawing, the same or corresponding parts are indicated by the same reference numerals. In the description of this embodiment, the same or corresponding components will be omitted or simplified as appropriate.

[0020] Reference Figure 1 The configuration of system 10 according to this embodiment is described.

[0021] The system 10 according to this embodiment includes a route control device 20 and at least one vehicle 30. The route control device 20 can communicate with the vehicle 30 via a network 40.

[0022] The path control device 20 is installed in the facility. In this embodiment, the path control device 20 is installed in a traffic control center that monitors traffic volume on the road, vehicle speeds on the road, pedestrians on the crosswalk, etc., in order to perform traffic control. The path control device 20 is a device that performs control to display pedestrian crossings at locations on roads where vehicles, such as cars, travel. The path control device 20 performs the control to display pedestrian crossings based on information collected by any device such as surveillance cameras, vehicle detectors, patrol cars, or helicopters. The path control device 20 is a computer, such as a server belonging to a cloud computing system or other computing system.

[0023] Vehicle 30 is any type of vehicle, such as a gasoline vehicle, diesel vehicle, hydrogen vehicle, HEV, PHEV, BEV, or FCEV. The term "HEV" is an abbreviation for "Hybrid Electric Vehicle." The term "PHEV" is an abbreviation for "Plug-in Hybrid Electric Vehicle." The term "BEV" is an abbreviation for "Battery Electric Vehicle." The term "FCEV" is an abbreviation for "Fuel Cell Electric Vehicle." In this embodiment, vehicle 30 is driven by a driver, but driving can be automated at any level. For example, the level of automation is, for example, one of levels 1 to 5 in the SAE rating system. The term "SAE" is an abbreviation for "Society of Automotive Engineers." Vehicle 30 may be a MaaS-specific vehicle. The term "MaaS" is an abbreviation for "Mobility as a Service."

[0024] Network 40 includes the Internet, at least one WAN, at least one MAN, or any combination thereof. The term "WAN" is an abbreviation for "Wide Area Network." The term "MAN" is an abbreviation for "Metropolitan Area Network." Network 40 may include at least one wireless network, at least one optical network, or any combination thereof. Wireless networks are, for example, ad hoc networks, cellular networks, wireless LANs, satellite communication networks, or terrestrial microwave networks. The term "LAN" is an abbreviation for "Local Area Network."

[0025] Reference Figure 2 An overview of this embodiment is described.

[0026] Triggered by detecting a pedestrian on the sidewalk SW about to cross the road RW, the path control device 20 displays a pedestrian crossing CW, including the guide line GW, on the road RW for the detected pedestrian. While the pedestrian crossing CW with the guide line GW is displayed, vehicles 30 traveling on the road RW wait in front of the pedestrian crossing CW. In this embodiment, displaying the pedestrian crossing CW with the guide line GW on the road RW includes marking the pedestrian crossing CW with the guide line GW on the road RW.

[0027] When the pedestrian is a wheelchair user U1, it is conceivable to reduce the burden on wheelchair user U1 by decreasing the angle α used to change direction from the travel direction indicated by arrow X in the attached diagram to the direction of crossing road RW. Specifically, it is conceivable to set the angle α to 90° or less and display guide lines GW on road RW such that guide lines GW extend diagonally forward relative to the travel direction of wheelchair user U1. By doing so, the burden on wheelchair user U1 when changing direction is reduced compared to displaying guide lines GW along a direction orthogonal to the travel direction. However, when the angle α of guide lines GW is reduced, guide lines GW become longer, and the time required to cross road RW also becomes longer. As a result, the waiting time for vehicle 30 becomes longer, and traffic on road RW may be excessively obstructed.

[0028] Therefore, in this embodiment, the angle α of the guide line GW is set according to the length of time that the vehicle 30 can remain waiting without excessively obstructing traffic on the road RW. That is, when a wheelchair user U1 is detected about to cross the road RW, the path control device 20 sets the angle α of the guide line GW for guiding the wheelchair user U1 relative to the road RW based on the length of time the vehicle 30 traveling on the road RW remains waiting. The guide line GW is displayed on the road RW at the set angle α.

[0029] According to this embodiment, the display area of ​​the pedestrian crossing CW can be adjusted based on the length of the waiting time of a vehicle 30 traveling on road RW. Therefore, the waiting time of vehicle 30 and the crossing time of wheelchair user U1 can be balanced without excessively obstructing traffic on road RW. Furthermore, since the guide line GW is displayed as extending diagonally forward relative to the direction of travel of wheelchair user U1, the burden on wheelchair user U1 when crossing road RW can be reduced.

[0030] Reference Figure 3 The configuration of the path control device 20 according to this embodiment is described.

[0031] The path control device 20 includes a control unit 21, a storage unit 22, and a communication unit 23.

[0032] Control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor for specific processing. The term "CPU" is an abbreviation for "Central Processing Unit." The term "GPU" is an abbreviation for "Graphics Processing Unit." The programmable circuit is, for example, an FPGA. The term "FPGA" is an abbreviation for "Field-Programmable Gate Array." The dedicated circuit is, for example, an ASIC. The term "ASIC" is an abbreviation for "Application-Specific Integrated Circuit." Control unit 21 performs processing related to the operation of routing control device 20 while controlling each unit of routing control device 20.

[0033] Storage cell 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, RAM or ROM. The term "RAM" is an abbreviation for "Random Access Memory." The term "ROM" is an abbreviation for "Read-Only Memory." RAM is, for example, SRAM or DRAM. The term "SRAM" is an abbreviation for "Static Random Access Memory." The term "DRAM" is an abbreviation for "Dynamic Random Access Memory." ROM is, for example, EEPROM. The term "EEPROM" is an abbreviation for "Electrically Erasable Programmable Read-Only Memory." Storage cell 22 serves as, for example, a main storage device, an auxiliary storage device, or a cache memory. Storage cell 22 stores data for the operation of path control device 20 and data acquired through the operation of path control device 20.

[0034] The communication unit 23 includes at least one communication interface. The communication interface is, for example, a LAN interface. The communication unit 23 receives data for the operation of the path control device 20 and transmits data acquired through the operation of the path control device 20. In this embodiment, the communication unit 23 communicates with the vehicle 30.

[0035] The function of the path control device 20 is achieved by executing an information processing program according to this embodiment using a processor that acts as a control unit 21. In other words, the function of the path control device 20 is implemented through software. The information processing program causes a computer to perform operations on the path control device 20, thus making the computer function as the path control device 20. That is, the computer functions as the path control device 20 by executing operations on the path control device 20 according to the information processing program.

[0036] Programs can be stored on non-transitory computer-readable media. Non-transitory computer-readable media include, for example, flash memory, magnetic recording devices, optical discs, optical-magnetic recording media, or ROM. For example, programs can be distributed by selling, transferring, or renting portable media such as SD cards, DVDs, or CD-ROMs containing the program. The term "SD" is an abbreviation for "Secure Digital." The term "DVD" is an abbreviation for "Digital Versatile Optical Disc." The term "CD-ROM" is an abbreviation for "Optical Disc Read-Only Memory." Programs can be stored on a server's storage device and transferred from the server to other computers for distribution. Programs can be provided as program products.

[0037] For example, a computer may temporarily store a program stored on a portable medium or a program transferred from a server in main storage. The computer then instructs its processor to read the program stored in main storage and to execute processing based on the read program. The computer can directly read a program from a portable medium and execute processing based on the program. Whenever a program is transferred from a server to the computer, the computer can execute processing based on the received program. This processing can be performed through a so-called ASP service, which performs its function solely by executing instructions and retrieving results without transferring the program from the server to the computer. The term "ASP" is an abbreviation for "Application Service Provider." The program includes information used by the computer for processing and is equivalent to the program. For example, data that is not a direct command to the computer but has characteristics defining the computer's processing corresponds to "data equivalent to a program."

[0038] Some or all of the functions of the path control device 20 can be implemented by programmable circuitry or by a dedicated circuitry that acts as the control unit 21. In other words, some or all of the functions of the path control device 20 can be implemented by hardware.

[0039] Reference Figure 4 The configuration of system 10 according to this embodiment is described. The operation corresponds to the path control method according to this embodiment.

[0040] In step S1, the control unit 21 of the path control device 20 detects pedestrians about to cross the road RW. Pedestrian detection can be performed by any method. For example, detection can be performed by the following method: The control unit 21 receives video captured by sensors such as surveillance cameras installed on the sidewalk SW via the communication unit 23. The control unit 21 performs any image recognition processing on the received video, such as object recognition or skeleton recognition, to detect pedestrians about to cross the road RW. Pedestrians about to cross the road RW can be detected by any method. For example, when a pedestrian in the video performs a gesture such as raising his / her hand, the control unit 16 can determine that a pedestrian is about to cross the road RW. Alternatively, the control unit 21 can detect pedestrians by receiving a crossing request transmitted from a terminal T1, such as a pedestrian's smartphone, via the communication unit 23. Alternatively, the control unit 21 can detect pedestrians about to cross the road RW by multiple load sensors installed in the sidewalk SW. In other words, when the load sensor detects that a pedestrian has stopped on the sidewalk SW, the control unit 21 can detect the pedestrian as a pedestrian about to cross the road RW.

[0041] In step S2, the control unit 21 of the path control device 20 determines whether the pedestrian detected in step S1 is a wheelchair user U1. This determination can be performed through any procedure, and for example, by the following process: The control unit 21 receives images captured by sensors such as surveillance cameras mounted on the sidewalk SW via the communication unit 23. The control unit 21 analyzes the received images and determines whether the pedestrian in the images is a wheelchair user U1. Alternatively, the control unit 21 can refer to a pedestrian database indicating attributes of one or more pedestrians, including the detected pedestrian, and obtain information indicating the attributes of the detected pedestrian. In this case, the pedestrian attributes include information indicating whether the pedestrian is a wheelchair user. The pedestrian database can be pre-stored in the storage unit 22 of the path control device 20, or it can be stored in an external system. When it is determined in step S2 that the pedestrian is a wheelchair user U1, the processing in step S3 is executed. When it is determined that the pedestrian is not a wheelchair user U1, the control unit 21 terminates the processing.

[0042] In step S3, the control unit 21 of the path control device 20 determines the length of the waiting time for a vehicle 30 traveling on road RW to remain waiting. The determination of the waiting time length can be performed through any procedure. In this embodiment, the waiting time length is predetermined for each of the plurality of roads including road RW. The control unit 21 refers to a waiting time database indicating the defined waiting time length for each of one or more roads including road RW to obtain the waiting time length defined for road RW.

[0043] As a modification to this embodiment, the control unit 21 of the path control device 20 can determine the length of the waiting time based on the traffic volume of road RW. In this example, it is assumed that the length of the waiting time is predetermined based on the traffic volume. Specifically, it is assumed that the greater the traffic volume, the longer the waiting time is set. The control unit 21 calculates the traffic volume on road RW by analyzing information collected by surveillance cameras, vehicle detectors, patrol cars, helicopters, etc. Alternatively, the control unit 21 can calculate the traffic volume on road RW based on the driving speed of vehicle 30. This is because it is assumed that the slower the driving speed, the greater the traffic volume. The calculation unit 21 obtains the length of the waiting time corresponding to the calculated traffic volume.

[0044] In step S4, the control unit 21 of the path control device 20 sets the angle α of the guide line GW relative to the road RW for guiding the wheelchair user U1 based on the length of the waiting time obtained in step S3. Specifically, the control unit 21 sets the angle α of the guide line GW to decrease as the waiting time increases. As an example, when the waiting time is 30 seconds, the angle α is set to 45°. When the waiting time is 20 seconds, the angle α is set to 60°. When the waiting time is 10 seconds, the angle α is set to 75°. As an example, suppose the length of the waiting time obtained in step S3 is 30 seconds. In this case, the control unit 21 sets the angle α to 45°.

[0045] In this embodiment, when the road RW is on the right side relative to the driving direction of the wheelchair user U1, and the azimuth angle of the driving direction is set to 0°, the control unit 21 of the path control device 20 sets an angle α clockwise within a range greater than 0° and less than or equal to 90°. Specifically, when the wheelchair user U1 is driving while looking to the right at the road RW, the control unit 21 displays the guide line GW in front of the wheelchair user U1 diagonally to the right. On the other hand, when the road RW is on the left side relative to the driving direction of the wheelchair user U1, and the azimuth angle of the driving direction is set to 0°, the control unit 21 sets an angle α counterclockwise within a range greater than 0° and less than or equal to 90°. Specifically, when the wheelchair user U1 is driving while looking to the left at the road RW, the control unit 21 displays the guide line GW in front of the wheelchair user U1 diagonally to the left.

[0046] As a modification to this embodiment, the control unit 21 of the path control device 20 can further set the angle α according to the movement speed of the wheelchair user U1. Specifically, when the movement speed of the wheelchair user U1 is less than a threshold, the control unit 21 sets the angle α to be even larger. When the angle α of the guide line GW is increased, the length of the guide line GW can be shortened accordingly. This is because when the length of the guide line GW is shortened, even if the movement speed of the wheelchair user U1 is less than the threshold, the wheelchair user U1 can complete the crossing of the guide line GW within the waiting time of the vehicle 30. The threshold can be any value, and in this example, the threshold is set to 1 m / s, which is the movement speed of a normal pedestrian. Information indicating the movement speed of the wheelchair user U1 can be obtained through any process. For example, the information can be obtained through the following process: The control unit 21 of the path control device 20 communicates with a terminal T1, such as the smartphone of the wheelchair user U1, via a communication unit 23. The control unit 21 obtains information indicating the movement speed measured by the terminal T1 as information indicating the movement speed of the wheelchair user U1. When the movement speed of wheelchair user U1, as indicated by the acquired information, is less than 1 m / s, the control unit 21 sets the angle α to an even larger value. The control unit 21 multiplies the value of angle α, which is set according to the length of the waiting time, by a coefficient corresponding to the ratio of the movement speed of wheelchair user U1 to that of a normal pedestrian, in order to set angle α to an even larger value. The coefficient can be any value. As an example, in a step-by-step manner, when the movement speed of wheelchair user U1 is 0.8 m / s or greater and less than 1 m / s, the coefficient is set to 1.3; when the movement speed of wheelchair user U1 is 0.5 m / s or greater and less than 0.8 m / s, the coefficient is set to 1.5, and so on. As an example, suppose the movement speed of wheelchair user U1 is 0.8 m / s. Further, suppose the value of angle α set according to the length of the waiting time is 45°. In this case, the control unit 21 sets angle α as 58.5°, obtained by multiplying 45°, which is the value set according to the length of the waiting time, by the coefficient 1.3.

[0047] As a modification to this embodiment, the control unit 21 of the path control device 20 can further set the angle α based on the width of the road RW. Specifically, when the width of the road RW is narrower than a threshold, the control unit 21 sets the angle α to an even smaller value. The threshold can be any value. In this example, the threshold is set to 20m. Information indicating the width of the road RW can be obtained through any process. For example, the information can be obtained through the following process: The control unit 21 of the path control device 20 receives images captured by sensors such as surveillance cameras installed on the road RW via the communication unit 23. The control unit 21 analyzes the received images to calculate the width of the road RW and obtains the calculated value as information indicating the width of the road RW. When the width of the road RW indicated by the obtained information is less than 20m, the control unit 21 sets the angle α to an even smaller value. The control unit 21 sets the angle α to an even smaller value by multiplying a coefficient corresponding to the width of the road RW by a value of angle α set according to the length of the waiting time. The coefficient can be any value. As an example, in a stepwise manner, when the width of the road RW is less than 10m, the coefficient is set to 0.5; when the width of the road RW is 10m or more but less than 20m, the coefficient is set to 0.8, and so on. As an example, suppose the width of the road RW is 10m. In this case, the control unit 21 sets angle α to 36°, which is obtained by multiplying 45° (which is set according to the length of the waiting time) by the coefficient 0.8.

[0048] In step S5, the control unit 21 of the path control device 20 performs control to display the pedestrian crossing CW, including the guide line GW, on the road RW. The pedestrian crossing CW, including the guide line GW, can be displayed by any method. For example, the pedestrian crossing CW, including the guide line GW, can be displayed by illuminating a light source mounted on the road RW. Each light source includes a light-emitting element, such as an LED or a laser diode. The term "LED" is an abbreviation for "light-emitting diode". In this embodiment, "illuminating" is not limited to, for example, continuously illuminating the light source, and may include, for example, flashing the light source at a predetermined period or pattern. Alternatively, the control unit 21 can cause the pedestrian crossing CW, including the guide line GW, to be displayed by illuminating the road RW with light from an illumination device mounted on the road RW.

[0049] Figure 2A display example of a pedestrian crossing CW including a guide line GW is shown in this embodiment. In this display example, the control unit 21 of the path control device 20 defines an area where the guide line GW acts as a diagonal line and performs control to display the pedestrian crossing CW in the shape of the defined area. Specifically, the control unit 21 performs control to display the pedestrian crossing CW as a rectangular area in which the start and end points of the guide line GW act as opposite vertices. For example, the control unit 21 performs control to display the pedestrian crossing CW by illuminating a light source in the display area of ​​the pedestrian crossing CW from a light source mounted on the road RW. Alternatively, the control unit 21 can perform control to display the pedestrian crossing CW by illuminating a light source on the periphery of the display area of ​​the pedestrian crossing CW from a light source mounted on the road RW. In this example, as Figure 2 As shown, the display area of ​​the pedestrian crossing CW is divided and illuminated with a striped pattern. The control unit 21 can control the display area of ​​the pedestrian crossing CW on the road RW by illuminating the display area of ​​the pedestrian crossing CW on the road RW with light from an illumination device mounted on the road RW.

[0050] like Figure 2 As shown, the control unit 21 further executes control over the shape of the guide line GW by superimposing the shape of the guide line GW onto the pedestrian crossing CW. Specifically, the control unit 21 executes control over displaying the guide line GW diagonally on the display area of ​​the pedestrian crossing CW. For example, the control unit 21 executes control over displaying the guide line GW and the pedestrian crossing CW in different colors. That is, the control unit 21 executes control over displaying the guide line GW on the display area of ​​the pedestrian crossing CW by causing a light source mounted on the guide line GW to emit light of a different color than the light emitted from a light source mounted on the display area of ​​the pedestrian crossing CW. Alternatively, the control unit 21 can execute control over displaying the guide line GW on the display area of ​​the pedestrian crossing CW by illuminating the road RW with light of a different color than the light corresponding to the pedestrian crossing CW as the light corresponding to the guide line GW from an illumination device mounted on the road RW. As a result, Figure 2 As shown, the shape of the guide line GW is displayed by being superimposed on the pedestrian crossing CW.

[0051] According to this example, when wheelchair user U1 crosses road RW, wheelchair user U1 can travel within a relatively wide area displayed as pedestrian crossing CW. This increases the flexibility of route selection. Furthermore, since the guide line GW, which is the shortest distance within the displayed area as pedestrian crossing CW, is clearly displayed, wheelchair user U1 can easily choose a route with the shortest time required for crossing. This reduces the burden on wheelchair users when crossing roads.

[0052] exist Figure 2 The display examples shown have already described examples of explicitly displaying the boot line GW. However, as... Figure 5 As shown, instead of explicitly displaying the guide line GW, the control unit 21 of the path control device 20 can perform control to display only the display area of ​​the pedestrian crossing CW without displaying the guide line GW. Specifically, the control unit 21 performs control to display only the display area of ​​the pedestrian crossing CW by illuminating only the light source provided in the display area of ​​the pedestrian crossing CW. The control unit 21 can also perform control to display only the pedestrian crossing CW by illuminating only the display area of ​​the pedestrian crossing CW on the road RW with light from an illumination device installed on the road RW. As a result, as Figure 5 The image shows only the display area of ​​the pedestrian crossing CW.

[0053] According to this example, when wheelchair user U1 crosses road RW, wheelchair user U1 can travel within a relatively wide area of ​​the pedestrian crossing CW, which is shown as a guide line GW acting as a diagonal line. Therefore, it increases the flexibility of the path selection that wheelchair user can take when crossing the road.

[0054] Figure 6 Another display example of the pedestrian crossing CW and guide line GW in this embodiment is shown. In this display example, the control unit 21 of the path control device 20 performs control to display the pedestrian crossing CW in the shape of the guide line GW. Specifically, the control unit 21 performs control to display the guide line GW as the pedestrian crossing CW. For example, the control unit 21 performs control to display the guide line GW as the pedestrian crossing CW by illuminating only the area corresponding to the shape of the guide line GW. Alternatively, the control unit 21 can perform control to display the guide line GW as the pedestrian crossing CW by illuminating only the area corresponding to the shape of the guide line GW with light from an illumination device mounted on the road RW. Therefore, as Figure 6 As shown, the pedestrian crossing CW, including the guide line GW, is displayed on the road RW in the shape of the guide line GW.

[0055] According to this example, the pedestrian crossing CW, including the guide line GW, is displayed in the same shape as the guide line GW, so as to extend diagonally forward relative to the direction of travel of the wheelchair user U1. This reduces the burden on the wheelchair user when crossing the road.

[0056] Figure 7Another display example of the pedestrian crossing CW and guide line GW in this embodiment is shown. In this display example, the control unit 21 of the path control device 20 performs control to display the pedestrian crossing CW including the guide line GW by superimposing the pedestrian crossing CW, which includes the guide line GW, onto the pedestrian crossing, which is configured to extend in a direction orthogonal to the road RW. Specifically, when a pedestrian crossing already exists on the road RW, the control unit 21 of the path control device 20 performs control to display the pedestrian crossing CW including the guide line GW, such that at least a portion of the pedestrian crossing CW including the guide line GW overlaps with the pedestrian crossing. For example, as Figure 7 As shown, this considers the case where a pedestrian crossing already exists on road RW in a direction orthogonal to road RW. In this situation, control unit 21 performs operations on the existing pedestrian crossing as referenced. Figure 6 The description shows the pedestrian crossing CW displayed in the shape of the guide line GW as a control for the pedestrian crossing CW including the guide line GW. The result is as follows... Figure 7 As shown, the pedestrian crossing CW, including the guide line GW, is displayed by being superimposed on an existing pedestrian crossing. Alternatively, instead of displaying the pedestrian crossing CW in the shape of the guide line GW, the control unit 21 can define an area where the guide line GW acts as a diagonal and perform control to display the pedestrian crossing CW in the shape of the defined area, as shown in the reference. Figure 5 Described. Further, as referenced... Figure 2 As described, the control unit 21 can perform control to display the shape of the guide line GW by superimposing the shape of the guide line GW onto the pedestrian crossing CW.

[0057] According to this example, even when an existing crosswalk exists, wheelchair user U1 can cross road RW following the instructions of the crosswalk CW, which includes the guide line GW. Therefore, wheelchair user U1 does not need to make a right-angle turn to cross an existing crosswalk. This reduces the burden on wheelchair users when crossing roads.

[0058] As described above, when a wheelchair user U1 is detected about to cross the road RW, the control unit 21 of the path control device 20 sets the angle α of the guide line GW for guiding the wheelchair user U1 relative to the road RW based on the length of the waiting time of vehicles 30 traveling on the road RW. The control unit 21 performs control to display the pedestrian crossing CW including the guide line GW on the road RW.

[0059] According to this embodiment, the burden on wheelchair user U1 when crossing the road RW is reduced.

[0060] In this embodiment, the control unit 21 of the path control device 20 can further set one or more checkpoints on the guide route GW. The control unit 21 can notify the wheelchair user U1 of each of the one or more checkpoints that the wheelchair user U1 should pass the checkpoint to complete the timing of crossing the road RW within the waiting time. Specifically, the total length of the guide route GW is divided based on the length of the waiting time, and the division points are used as checkpoints. The control unit 21 monitors the position of the wheelchair user U1, and when the wheelchair user U1 has not reached the checkpoint at the time when the wheelchair user U1 should pass, the control unit notifies the wheelchair user U1 of this fact. For example, suppose the total length of the guide route GW is 10m. Suppose the length of the waiting time is 20 seconds. In this case, the division points obtained by dividing the 10m into 20 parts are used as checkpoints. That is, checkpoints are set every 0.5m. Further, the timing for the wheelchair user U1 to pass the first checkpoint, counted from the start point of the guide route GW, is one second after the guide route GW is displayed. The timing for the wheelchair user U1 to pass the second checkpoint, counted from the start point of the guide route GW, is two seconds after the guide route GW is displayed. In other words, wheelchair user U1 should move every second in sequence from the start to the end of the guide route GW, passing through each checkpoint. Control unit 21 monitors the position of wheelchair user U1 and notifies wheelchair user U1 of this fact when wheelchair user U1 has not yet reached a checkpoint at the scheduled time. The notification to wheelchair user U1 of the scheduled checkpoint time can be achieved through any procedure, such as the following: When wheelchair user U1 has not yet passed a checkpoint on the guide route GW and the time to pass the checkpoint is approaching, control unit 21 causes the light source corresponding to the checkpoint in the road RW to flash. Alternatively, whenever wheelchair user U1 passes a checkpoint, control unit 21 can notify wheelchair user U1 of the scheduled checkpoint time by having an output device such as a speaker on the road RW output a message such as "Passing the checkpoint on time" or "One second until the next checkpoint."

[0061] According to this embodiment, wheelchair user U1 can be supported, enabling wheelchair user U1 to complete crossing the road RW within the time it takes to display the guidance route GW. Therefore, the burden on wheelchair user U1 when crossing the road RW can be further reduced.

[0062] In this embodiment, the control unit 21 of the path control device 20 can further notify the wheelchair user U1 of the display position P of the pedestrian crossing CW including the guide line GW before displaying the pedestrian crossing CW including the guide line GW. Specifically, the control unit 21 performs control over the extension direction of the guide line GW on the sidewalk SW as notification of the display position P of the pedestrian crossing CW including the guide line GW. As an example, the control unit 21 can transmit an image showing the display position P of the pedestrian crossing CW including the guide line GW to a terminal T1 of a smartphone, such as the wheelchair user U1. In this case, the terminal T1, having received the data, displays the received image on its screen. For example, as Figure 8 As shown, an image showing the display location P of the pedestrian crossing CW including the guide line GW, along with the message "Guide line will be displayed soon," is displayed on the screen of terminal T1. Alternatively, instead of an image, control unit 21 can transmit data indicating the display location P of the pedestrian crossing CW including the guide line GW to terminal T1 of a smartphone, such as a wheelchair user U1. In this case, terminal T1, having received the data, displays the map indicated by the received data on its screen. Alternatively, as... Figure 9 As shown, control unit 21 can notify wheelchair user U1 of the display position P of the pedestrian crossing CW, including the guide line GW, by illuminating a light source provided on the sidewalk SW at a position on the road RW corresponding to the display position P of the guide line GW in the shape of an arrow Y indicating the direction of angle α of the guide line GW. Control unit 21 can perform control to display arrow Y on the road RW. Alternatively, control unit 21 can cause a display such as a sign provided on the sidewalk SW to display arrow Y. As a result, the display position P of the pedestrian crossing CW, including the guide line GW, is notified to wheelchair user U1.

[0063] According to this modification, wheelchair user U1 can know in advance the displayed location P of the pedestrian crossing CW, including the guide line GW. Therefore, wheelchair user U1 can prepare by turning in advance in the direction of the guide line GW. Thus, the burden on wheelchair user U1 when crossing the road RW can be further reduced.

[0064] This disclosure is not limited to the embodiments described above. For example, two or more blocks in the block diagram may be integrated, or a single block may be divided. Instead of performing the two or more steps shown in the flowchart in chronological order according to the specification, these steps may be performed in parallel or in a different order, depending on the processing capacity of the means of performing the steps or as needed. Other changes may be made without departing from the scope of this disclosure.

Claims

1. A path control device comprising a control unit that, upon detecting a wheelchair user about to cross a road, sets an angle of a guide line relative to the road for guiding the wheelchair user based on the length of waiting time of vehicles traveling on the road, and performs control to display a crosswalk including the guide line on the road. in, The control unit informs the wheelchair user of the display location of the pedestrian crossing, including the guide lines, before displaying the pedestrian crossing.

2. The path control device according to claim 1, wherein, The control unit sets the angle according to the wheelchair user's movement speed.

3. The path control device according to claim 1 or 2, wherein, The control unit further sets the angle based on the width of the road.

4. The path control device according to claim 1 or 2, wherein, When the road is on the right side relative to the wheelchair user's direction of travel, the control unit sets the angle clockwise within a range greater than 0° and less than or equal to 90°, with the azimuth angle of the direction of travel set to 0°.

5. The path control device according to claim 1 or 2, wherein, When the road is on the left relative to the wheelchair user's direction of travel, the control unit sets the angle counterclockwise within a range greater than 0° and less than or equal to 90°, with the azimuth angle of the direction of travel set to 0°.

6. The path control device according to claim 1 or 2, wherein, The control unit performs control to display the pedestrian crossing in the shape of the guide line.

7. The path control device according to claim 1 or 2, wherein, The control unit defines the area where the guide line acts as a diagonal, and performs control to display the pedestrian crossing in the shape of the defined area.

8. The path control device according to claim 7, wherein, The control unit performs control over displaying the shape of the guide line by superimposing the shape of the guide line onto the pedestrian crossing.

9. The path control device according to claim 1 or 2, wherein, The control unit performs control to display the pedestrian crossing including the guide lines by superimposing the pedestrian crossing, which is configured to extend along a direction orthogonal to the road, on the pedestrian crossing.

10. The path control device according to claim 1 or 2, wherein, The control unit sets one or more checkpoints on the guide route, and for each of the one or more checkpoints, notifies the wheelchair user that the wheelchair user needs to pass through each of the one or more checkpoints to complete the timed crossing of the road within the waiting time.

11. A path control method, comprising: When a wheelchair user is detected about to cross the road, the path control device sets the angle of the guide line relative to the road to guide the wheelchair user based on the length of waiting time that vehicles traveling on the road are waiting. as well as The path control device performs the control to display the pedestrian crossing, including the guide line, on the road. The method further includes: The path control device notifies the wheelchair user of the display location of the pedestrian crossing, including the guide line, before displaying the pedestrian crossing including the guide line.

12. The path control method according to claim 11, wherein, Setting the angle includes: the path control device further setting the angle based on the movement speed of the wheelchair user.

13. The path control method according to claim 11 or 12, wherein, Setting the angle includes: the path control device further setting the angle based on the width of the road.

14. The path control method according to claim 11 or 12, wherein, Setting the angle includes: when the road is on the right side relative to the wheelchair user's driving direction, the path control device sets the angle clockwise within a range greater than 0° and less than or equal to 90°, provided that the azimuth angle of the driving direction is set to 0°.

15. The path control method according to claim 11 or 12, wherein, Setting the angle includes: when the road is on the left side relative to the wheelchair user's driving direction, the path control device sets the angle counterclockwise within a range greater than 0° and less than or equal to 90°, provided that the azimuth angle of the driving direction is set to 0°.

16. The path control method according to claim 11 or 12, wherein, Displaying the pedestrian crossing including the guide lines on the road includes: displaying the pedestrian crossing in the shape of the guide lines.

17. The path control method according to claim 11 or 12, wherein, Displaying the pedestrian crossing including the guide lines on the road includes: defining an area where the guide lines act as a diagonal, and displaying the pedestrian crossing in the shape of the defined area.

18. The path control method according to claim 11 or 12, wherein, Displaying the pedestrian crossing including the guide line on the road includes displaying the pedestrian crossing including the guide line by superimposing the pedestrian crossing including the guide line on a pedestrian crossing that is configured to extend in a direction orthogonal to the road.

19. The path control method according to claim 11 or 12, comprising: The path control device sets one or more checkpoints on the guide line; as well as For each of the one or more checkpoints, the path control device notifies the wheelchair user that the wheelchair user needs to pass through each of the one or more checkpoints to complete the timed crossing of the road within the waiting time.

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