Control device, pedestrian assistance system, and pedestrian assistance method

Abstract

The present disclosure relates to a control device, a pedestrian assistance system, and a pedestrian assistance method. The control device includes a control unit that controls the display of a first crosswalk on a roadway toward a first side of the roadway and the display of a second crosswalk on the roadway toward a second side opposite to the first side of the roadway. The control unit, when a pedestrian crosses the roadway from the first side to the second side via the first and second crosswalks, disables the display of the first crosswalk from the first side toward the second side, and disables the display of the second crosswalk after the pedestrian has crossed.

Description

Technical Field

[0001] The present disclosure relates to a control device, a pedestrian assistance system, and a pedestrian assistance method. Background Art

[0002] Japanese Patent Application Laid-Open No. 2014-225151 discloses a system that presents information indicating that a pedestrian is crossing the road to a driver of a vehicle approaching a road portion corresponding to a crossing candidate area.

[0003] A possible solution is to display a crosswalk on the roadway when a pedestrian attempts to cross at any point, and then hide it once the pedestrian has crossed. However, if multiple pedestrians continue to cross the roadway before the crosswalk is hidden, congestion could occur. Therefore, a possible solution is to hide the crosswalk from one side of the roadway until the pedestrian has completed their crossing. However, this would cause the crosswalk to disappear midway for pedestrians crossing from the other side. Summary of the Invention

[0004] The purpose of the present disclosure is to make congestion less likely to occur and to facilitate crossing the roadway from both sides.

[0005] The control device disclosed herein includes a control unit that performs the following control: displays a first crosswalk on a roadway toward a first side of the roadway, and displays a second crosswalk on the roadway toward a second side opposite to the first side of the roadway; during a pedestrian crossing the roadway from the first side to the second side via the first crosswalk and the second crosswalk, the first crosswalk is set to non-display from the first side toward the second side; and after the pedestrian crosses, the second crosswalk is set to non-display.

[0006] The pedestrian assistance method disclosed herein includes: displaying a first crosswalk on a roadway toward a first side of the roadway, and displaying a second crosswalk on the roadway toward a second side that is opposite to the first side of the roadway; during the crossing of a pedestrian from the first side to the second side through the first crosswalk and the second crosswalk, setting the first crosswalk to non-display from the first side to the second side; and setting the second crosswalk to non-display after the pedestrian crosses.

[0007] According to the present disclosure, congestion can be made less likely to occur and it is easy to cross the roadway from both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0009] Figure 1 It is a diagram showing the configuration of a system according to an embodiment of the present disclosure.

[0010] Figure 2 It is a diagram showing an example of a first crosswalk according to an embodiment of the present disclosure.

[0011] Figure 3 It is a diagram showing an example of a first crosswalk according to an embodiment of the present disclosure.

[0012] Figure 4 It is a diagram showing an example of a second crosswalk according to an embodiment of the present disclosure.

[0013] Figure 5 This is a flowchart showing the operation of the system according to the embodiment of the present disclosure.

[0014] Figure 6 It is a diagram showing an example of a second crosswalk according to a modification of the embodiment of the present disclosure.

[0015] Figure 7 This is a flowchart showing the operation of the system according to the modification of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] Hereinafter, several embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0017] In each figure, the same or corresponding parts are denoted by the same reference numerals. In the description of each embodiment, the description of the same or corresponding parts will be appropriately omitted or simplified.

[0018] One embodiment of the present disclosure will be described.

[0019] Reference Figures 1 to 4 , the structure of the system 10 of this embodiment is described.

[0020] like Figure 1 As shown, the system 10 of this embodiment includes a plurality of first light sources 11, a plurality of second light sources 12, a camera 13, and a control device 20. The control device 20 can communicate with the plurality of first light sources 11, the plurality of second light sources 12, and the camera 13 via a network such as a LAN or the Internet or a dedicated line, or can communicate with the plurality of first light sources 11, the plurality of second light sources 12, and the camera 13 wirelessly. "LAN" is an abbreviation for local area network.

[0021] A plurality of first light sources 11 are arranged at Figures 2 to 4 The roadway 30 shown in FIG. 1 is a roadway 30 as shown in FIG. 2 . In the present embodiment, the plurality of first light sources 11 are embedded in the roadway 30 so as not to protrude from the road surface. However, the plurality of first light sources 11 may be embedded in the roadway 30 so as to protrude from the road surface, or may be mounted on the road surface. The plurality of first light sources 11 emit light toward the first side 31 of the roadway 30, thereby displaying the first crosswalk 41 on the roadway 30 toward the first side 31. Therefore, the first crosswalk 41 is visually recognizable on the first side 31 of the roadway 30, but is not visually recognizable on the second side 32 of the roadway 30, which is the opposite side of the first side 31 of the roadway 30. Alternatively, the first crosswalk 41 is easily visually recognizable on the first side 31 of the roadway 30, but is difficult to visually recognizable on the second side 32 of the roadway 30.

[0022] Each first light source 11 includes at least one light-emitting element. The light-emitting element is, for example, an LED or a laser diode. "LED" is the abbreviation for light-emitting diode. Alternatively, each first light source 11 may also include a shielding member that shields light directed toward the second side 32 and other light directed toward directions other than the first side 31. Alternatively, each first light source 11 may include an element that emits directional light toward the first side 31 as a light-emitting element.

[0023] A plurality of second light sources 12 are also provided Figures 2 to 4 The roadway 30 shown in FIG. In the present embodiment, the plurality of second light sources 12 are embedded in the roadway 30 so as not to protrude from the road surface. However, the plurality of second light sources 12 may be embedded in the roadway 30 so as to protrude from the road surface, or may be mounted on the road surface. The plurality of second light sources 12 emit light toward the second side 32 of the roadway 30, thereby displaying the second crosswalk 42 on the roadway 30 toward the second side 32. Therefore, the second crosswalk 42 is visually recognizable on the second side 32 of the roadway 30, but is not visually recognizable on the first side 31 of the roadway 30. Alternatively, the second crosswalk 42 is easily visually recognizable on the second side 32 of the roadway 30, but is difficult to visually recognizable on the first side 31 of the roadway 30.

[0024] Each second light source 12 includes at least one light-emitting element. Examples of the light-emitting element include an LED or a laser diode. Alternatively, each second light source 12 may also include a shielding member that blocks light directed toward the first side 31 and other directions other than the second side 32. Alternatively, each second light source 12 may include an element that emits directional light toward the second side 32 as a light-emitting element.

[0025] In this embodiment, the plurality of first light sources 11 are dispersedly disposed in the plurality of first regions along the width direction of the roadway 30 , and the plurality of second light sources 12 are dispersedly disposed in the plurality of second regions along the width direction of the roadway 30 .

[0026] The plurality of first areas and the plurality of second areas are set to overlap each other. For example, when eight rectangular areas corresponding to the first area and the second area are arranged along the width direction of the roadway 30, the first crosswalk 41 is Figure 2 and Figure 3 As shown in the form shown, the second crosswalk 42 is Figure 4 The display is shown in the form shown. Within each rectangular area, a group of point light sources serving as each first light source 11 and a group of point light sources serving as each second light source 12 are arranged to coexist. The number of areas is not limited to eight and can be changed as appropriate. The shape of each area is not limited to a rectangle and can be changed as appropriate.

[0027] Multiple first areas and multiple second areas can also be set so that the first areas and the second areas are arranged alternately one by one instead of being set to overlap each other. For example, when 16 rectangular areas are arranged along the width direction of the roadway 30, the 8 odd-numbered rectangular areas when counting from the first side 31 or the second side 32 are equivalent to the first areas, and the 8 even-numbered rectangular areas are equivalent to the second areas. A point light source group or a rectangular surface light source is arranged as each first light source 11 in each odd-numbered rectangular area. A point light source group or a rectangular surface light source is arranged as each second light source 12 in each even-numbered rectangular area. The number of areas is not limited to 16 and can be changed appropriately. The shape of each area is not limited to a rectangle and can be changed appropriately.

[0028] The camera 13 is installed at a location such as the periphery of the roadway 30 where it can capture images of pedestrians who are about to cross the roadway 30 or pedestrians who are currently crossing the roadway 30 .

[0029] The control device 20 may be installed on the roadway 30 , may be installed around the roadway 30 , or may be installed at a remote location.

[0030] The control device 20 controls the display of a first crosswalk 41 on the roadway 30 toward the first side 31 of the roadway 30 and displays a second crosswalk 42 on the roadway 30 toward the second side 32 of the roadway 30. When a pedestrian crosses the roadway 30 from the first side 31 to the second side 32 via the first crosswalk 41 and the second crosswalk 42, the control device 20 disables the display of the first crosswalk 41 from the first side 31 toward the second side 32. After the pedestrian crosses, the control device 20 disables the display of the second crosswalk 42.

[0031] In this embodiment, if Figure 3 As shown, the first crosswalk 41 is hidden from the first side 31 before a person crossing the roadway 30 from the first side 31 has completed their crossing. This makes it easier to prevent multiple pedestrians from continuously crossing the roadway 30 from the first side 31. As a result, it can be said that congestion is less likely to occur. By hiding the second crosswalk 42 after a person crossing the roadway 30 from the first side 31 has completed their crossing, it is easier for a person crossing the roadway 30 from the second side 32 to cross the roadway 30. In other words, according to this embodiment, congestion is less likely to occur and crossing the roadway 30 from both sides is easier.

[0032] like Figure 1 As shown, the control device 20 includes a control unit 21 , a storage unit 22 , and a communication unit 23 .

[0033] The 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 dedicated to specific processing. "CPU" is the abbreviation of central processing unit. "GPU" is the abbreviation of graphics processing unit. A programmable circuit is, for example, an FPGA. "FPGA" is the abbreviation of field-programmable gate array. A dedicated circuit is, for example, an ASIC. "ASIC" is the abbreviation of application specific integrated circuit. The control unit 21 controls each part of the control device 20 while performing processing related to the operation of the control device 20.

[0034] The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, RAM or ROM. "RAM" is the abbreviation of random access memory. "ROM" is the abbreviation of read only memory. RAM is, for example, SRAM or DRAM. "SRAM" is the abbreviation of static random access memory. "DRAM" is the abbreviation of dynamic random access memory. ROM is, for example, EEPROM. "EEPROM" is the abbreviation of electrically erasable programmable read only memory. The storage unit 22 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores data used for the operation of the control device 20 and data obtained by the operation of the control device 20.

[0035] The communication unit 23 includes at least one communication interface. Examples of the communication interface include a LAN interface, an interface corresponding to a mobile communication standard such as LTE, the 4G standard, or the 5G standard, or an interface corresponding to a short-range wireless communication standard such as Bluetooth (registered trademark). "LTE" stands for Long Term Evolution. "4G" stands for 4th generation (fourth generation mobile communication technology). "5G" stands for 5th generation (fifth generation mobile communication technology). The communication unit 23 receives data used to control the operation of the device 20 and transmits data obtained by controlling the operation of the device 20.

[0036] The functions of the control device 20 are realized by executing the program of this embodiment on the processor serving as the control unit 21. That is, the functions of the control device 20 are realized by software. The program causes the computer to function as the control device 20 by causing it to execute the operations of the control device 20. That is, the computer functions as the control device 20 by executing the operations of the control device 20 according to the program.

[0037] The program can be pre-stored in a non-transitory computer-readable medium. Examples of non-transitory computer-readable media are flash memory, magnetic recording devices, optical disks, magneto-optical recording media, or ROMs. For example, the program can be circulated by selling, transferring, or lending removable media such as SD cards, DVDs, or CD-ROMs that store the program. "SD" is the abbreviation for Secure Digital. "DVD" is the abbreviation for digital versatile disc. "CD-ROM" is the abbreviation for compact disc read only memory. The program can also be pre-stored in a storage device on a server and transferred from the server to other computers, thereby circulating the program. The program can also be provided as a program product.

[0038] The computer temporarily stores a program stored in a removable medium or a program transmitted from a server in a main storage device, for example. Then, the computer reads the program stored in the main storage device through a processor, and executes processing according to the read program through the processor. The computer can also read the program directly from the removable medium and execute processing according to the program. The computer can also sequentially execute processing according to the received program each time the program is transmitted from the server to the computer. It is also possible not to transmit the program from the server to the computer, but to execute processing through a so-called ASP-type service, which realizes functions only by executing instructions and obtaining results. "ASP" is the abbreviation of application service provider. The program includes information for processing by an electronic computer, and the information is equivalent to the program. For example, data that is not a direct instruction to the computer but has the nature of specifying the processing of the computer corresponds to "information equivalent to the program."

[0039] A part or all of the functions of the control device 20 may be realized by a programmable circuit or a dedicated circuit as the control unit 21. In other words, a part or all of the functions of the control device 20 may be realized by hardware.

[0040] Reference Figure 5 The operation of the system 10 of this embodiment will be described. This operation corresponds to the pedestrian assistance method of this embodiment. The operation of the control device 20 included in this operation corresponds to the control method of this embodiment.

[0041] In step S101, the control unit 21 of the control device 20 determines whether a first pedestrian 51 intends to cross the roadway 30 from the first side 31 to the second side 32, wherein the first pedestrian 51 is a pedestrian located on the first side 31 of the roadway 30. This process can be performed in any order, but in this embodiment, it is performed in the following order.

[0042] The camera 13 captures images of the area of ​​the roadway 30 where the plurality of first light sources 11 and the plurality of second light sources 12 are located, as well as the surrounding area. The communication unit 23 of the control device 20 receives the images captured by the camera 13. The control unit 21 of the control device 20 acquires the images received by the communication unit 23. The control unit 21 analyzes the acquired images to determine whether the first pedestrian 51 is present and whether the first pedestrian 51 intends to cross the roadway 30 from the first side 31 to the second side 32. Known image analysis methods can be used. Machine learning, such as deep learning, can also be used. Specifically, the control unit 21 determines that the first pedestrian 51 intends to cross the roadway 30 from the first side 31 to the second side 32 if the first pedestrian 51 remains facing the roadway 30 from the first side 31 without moving for a predetermined period of time or longer. Alternatively, the control unit 21 determines that the first pedestrian 51 intends to cross the roadway 30 from the first side 31 to the second side 32 if the first pedestrian 51 makes a gesture, such as raising a hand, from the first side 31.

[0043] If it is determined that the first pedestrian 51 is not attempting to cross the roadway 30 from the first side 31 to the second side 32, that is, if no pedestrian is detected attempting to cross the roadway 30 from the first side 31 to the second side 32, the process of step S101 is executed again. If it is determined that the first pedestrian 51 is attempting to cross the roadway 30 from the first side 31 to the second side 32, that is, if a pedestrian is detected attempting to cross the roadway 30 from the first side 31 to the second side 32, the process of step S102 is executed.

[0044] In step S102, the control unit 21 of the control device 20 controls the display of the first crosswalk 41 on the roadway 30, facing the first side 31 of the roadway 30, and the display of the second crosswalk 42 on the roadway 30, facing the second side 32 of the roadway 30. This process can be performed in any order, but in this embodiment, it is performed in the following order.

[0045] The control unit 21 of the control device 20 sends first instruction data and second instruction data to the communication unit 23, wherein the first instruction data is data instructing the plurality of first light sources 11 to emit light toward the first side 31 of the roadway 30, and the second instruction data is data instructing the plurality of second light sources 12 to emit light toward the second side 32 of the roadway 30. The communication unit 23 sends the first instruction data to the plurality of first light sources 11 and sends the second instruction data to the plurality of second light sources 12. The plurality of first light sources 11 emit light according to the first instruction data, thereby Figure 2 As shown, a first crosswalk 41 is displayed on the roadway 30 toward the first side 31 . The plurality of second light sources 12 emit light according to the second indication data, thereby displaying a second crosswalk 42 on the roadway 30 toward the second side 32 .

[0046] In step S103, the control unit 21 of the control device 20 determines whether the first pedestrian 51 has started crossing the roadway 30. This process can be executed in any order, but in this embodiment, it is executed in the following order.

[0047] The control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as in step S101. The control unit 21 analyzes the acquired image to determine whether the first pedestrian 51 has begun crossing the roadway 30. Specifically, the control unit 21 determines that the first pedestrian 51 has begun crossing the roadway 30 if the first pedestrian 51 is located closer to the second side 32 than the end 43 of the first crosswalk 41 on the first side 31.

[0048] If it is determined that the first pedestrian 51 has not started crossing the roadway 30, the process of step S103 is executed again. If it is determined that the first pedestrian 51 has started crossing the roadway 30, the process of step S104 is executed.

[0049] In step S104, the control unit 21 of the control device 20 hides the portion of the first crosswalk 41 where the first pedestrian 51 has passed while the first pedestrian 51 is crossing. This process can be performed in any order, but in this embodiment, it is performed in the following order.

[0050] The control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as step S101. The control unit 21 determines the portion of the first crosswalk 41 where the first pedestrian 51 has passed by analyzing the acquired image. The control unit 21 selects the first light source 11 located in the determined portion from the plurality of first light sources 11. The control unit 21 sends the third indication data instructing the selected first light source 11 to stop emitting light to the communication unit 23. The communication unit 23 sends the third indication data to the first light source 11 selected by the control unit 21. The first light source 11 selected by the control unit 21 stops emitting light in accordance with the third indication data, thereby setting the portion of the first crosswalk 41 where the first pedestrian 51 has passed to non-display. That is, as Figure 3 As shown, the control unit 21 expands the non-display range 45 of the first crosswalk 41 as the first pedestrian 51 advances on the roadway 30. Figure 4 As shown, the control unit 21 continues to display the entire second crosswalk 42 while the first pedestrian 51 is crossing until the first pedestrian 51 has completely crossed the roadway 30 .

[0051] In step S105, the control unit 21 of the control device 20 determines whether the first pedestrian 51 has completely crossed the roadway 30. This process can be executed in any order, but in this embodiment, it is executed in the following order.

[0052] The control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as in step S101. The control unit 21 analyzes the acquired image to determine whether the first pedestrian 51 has completely crossed the roadway 30. Specifically, the control unit 21 determines that the first pedestrian 51 has completely crossed the roadway 30 if the first pedestrian 51 is located on the second side 32.

[0053] If it is determined that the first pedestrian 51 has not yet completely crossed the roadway 30, the process of step S104 is executed again. While the first pedestrian 51 is crossing, the process of step S104 is repeatedly executed, thereby rendering the first crosswalk 41 invisible from the first side 31 toward the second side 32. If it is determined that the first pedestrian 51 has completely crossed the roadway 30, the process of step S106 is executed.

[0054] In step S106, the control unit 21 of the control device 20 sets the entire second crosswalk 42 to non-display after the first pedestrian 51 crosses. This process can be executed in any order, but in this embodiment, it is executed in the following order.

[0055] The control unit 21 of the control device 20 transmits fourth instruction data instructing the plurality of second light sources 12 to stop emitting light to the communication unit 23. The communication unit 23 transmits the fourth instruction data to the plurality of second light sources 12. The plurality of second light sources 12 stop emitting light in accordance with the fourth instruction data, thereby making the entire second crosswalk 42 non-displayable.

[0056] As described above, in this embodiment, the control unit 21 of the control device 20 independently controls the display of the first crosswalk 41 for the first pedestrian 51 located on the left or right side of the roadway 30 and the display of the second crosswalk 42 for the second pedestrian 52 located on the other left or right side of the roadway 30. Figure 2 As shown, when it is determined that the first pedestrian 51 intends to cross the road 30, the control unit 21 causes the plurality of first light sources 11 and the plurality of second light sources 12 to display the first crosswalk 41 and the second crosswalk 42 respectively. Figure 3 As shown, the control unit 21 sets the portion of the first crosswalk 41 where the first pedestrian 51 has crossed to non-display. Therefore, when viewed from the perspective of the third pedestrian 53, the crosswalk disappears behind the first pedestrian 51. When the first pedestrian 51 has completed crossing, the control unit 21 sets the second crosswalk 42 to non-display. Figure 4 As shown, the entire second crosswalk 42 remains displayed until the first pedestrian 51 completes crossing. Therefore, the crosswalk does not disappear when viewed from the second pedestrian 52. Thus, while the first pedestrian 51 is crossing, the second pedestrian 52 can also start crossing.

[0057] According to this embodiment, Figure 3 As shown, by sequentially hiding the portion of first crosswalk 41 where first pedestrian 51 has crossed, a third pedestrian 53 following first pedestrian 51 can be prevented from starting to cross roadway 30, thereby minimizing congestion. By hiding second crosswalk 42 after first pedestrian 51 has completed crossing, second pedestrian 52 can also cross roadway 30 while first pedestrian 51 is crossing. In other words, the crosswalk remains displayed without disappearing midway for pedestrians crossing from either side of roadway 30, making it easier for pedestrians to cross roadway 30 from both sides.

[0058] As a variation of this embodiment, the process of sequentially hiding the first crosswalk 41 starting from the portion where the currently crossing pedestrian has passed may be initiated based on information related to subsequent pedestrians. For example, the control unit 21 of the control device 20 may adjust the time to start hiding the first crosswalk 41 based on the estimated arrival time of a third pedestrian 53 at the end 43 of the first crosswalk 41 on the first side 31, where the third pedestrian 53 is another pedestrian following the first pedestrian 51. This process can be performed in any order, but in this variation, it is performed in the following order.

[0059] When transitioning from step S103 to step S104, the control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as in step S101. The control unit 21 analyzes the acquired image to determine the distance between the position of the third pedestrian 53 and the end 43 of the first crosswalk 41. The control unit 21 divides the determined distance by a standard walking speed or the actual walking speed of the third pedestrian 53 determined from the image to calculate the estimated arrival time of the third pedestrian 53 at the end 43 of the first crosswalk 41. If the time from the time the first pedestrian 51 begins crossing the roadway 30 to the estimated arrival time is less than a threshold, the control unit 21 sets the time to begin hiding the first crosswalk 41 to a time later than the estimated arrival time. In other words, if the time from the time the first pedestrian 51 begins crossing the roadway 30 to the estimated arrival time is less than the threshold, the process of step S104 is not initiated before the estimated arrival time.

[0060] According to this variation, if the third pedestrian 53 following the first pedestrian 51 starts crossing the roadway 30 almost immediately, the timing for starting to hide the first crosswalk 41 is delayed. As a result, the third pedestrian 53 also starts crossing the roadway 30 while the first pedestrian 51 is crossing.

[0061] As a modification of the present embodiment, when the crosswalk is to be hidden, the crosswalk may be flashed or the color of the crosswalk may be changed, thereby causing pedestrians or vehicles to foresee that the crosswalk is hidden.

[0062] As a variation of this embodiment, it may also be as follows: Figure 6 As shown, when the second pedestrian 52 begins to cross while the first pedestrian 51 is crossing, the second crosswalk 42 facing the second pedestrian 52 is sequentially non-displayed starting from the portion where the second pedestrian 52 has passed, even if the first pedestrian 51 is still crossing. This modified example will be described as another embodiment.

[0063] Reference Figure 7, the operation of the system 10 of this embodiment is described.

[0064] Regarding the processing of steps S201 to S206, Figure 5 The processing from step S101 to step S106 is the same, so the description is omitted.

[0065] If it is determined in step S205 that the first pedestrian 51 has not completely crossed the roadway 30 , the process of step S207 is executed.

[0066] In step S207, the control unit 21 of the control device 20 determines whether the second pedestrian 52 has started crossing the roadway 30. This process can be executed in any order, but in this embodiment, it is executed in the following order.

[0067] The control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as in step S201. The control unit 21 analyzes the acquired image to determine whether the second pedestrian 52 has begun crossing the roadway 30. Specifically, the control unit 21 determines that the second pedestrian 52 has begun crossing the roadway 30 if the second pedestrian 52 is located closer to the first side 31 than the end 44 of the second crosswalk 42 on the second side 32.

[0068] If it is determined that the second pedestrian 52 has not started crossing the roadway 30, the process of step S204 is executed again. The process of step S204 is repeatedly executed while the first pedestrian 51 is crossing, thereby making the first crosswalk 41 non-displayed from the first side 31 toward the second side 32. If it is determined that the second pedestrian 52 has started crossing the roadway 30, the process of step S208 is executed.

[0069] In step S208, the control unit 21 of the control device 20 sets the portion of the first crosswalk 41 where the first pedestrian 51 has already passed to a non-display state. The order for executing this process is the same as that for step S204, so its description is omitted. When the second pedestrian 52 crosses, the control unit 21 sets the portion of the second crosswalk 42 where the second pedestrian 52 has already passed to a non-display state. This process can be executed in any order, but in this embodiment, it is executed in the following order.

[0070] The control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as step S201. The control unit 21 determines the portion of the second crosswalk 42 where the second pedestrian 52 has passed by analyzing the acquired image. The control unit 21 selects the second light source 12 located in the determined portion from the plurality of second light sources 12. The control unit 21 sends the fifth indication data instructing the selected second light source 12 to stop emitting light to the communication unit 23. The communication unit 23 sends the fifth indication data to the second light source 12 selected by the control unit 21. The second light source 12 selected by the control unit 21 stops emitting light in accordance with the fifth indication data, thereby setting the portion of the second crosswalk 42 where the second pedestrian 52 has passed to non-display. That is, as Figure 6 As shown, the control unit 21 expands the non-display range 46 of the second crosswalk 42 as the second pedestrian 52 moves forward on the roadway 30 .

[0071] In step S209, the control unit 21 of the control device 20 determines whether the first pedestrian 51 and the second pedestrian 52 have completely crossed the roadway 30. This process can be executed in any order, but in this embodiment, it is executed in the following order.

[0072] The control unit 21 of the control device 20 acquires the image captured by the camera 13 in the same manner as in step S201. The control unit 21 analyzes the acquired image to determine whether the first pedestrian 51 and the second pedestrian 52 have completely crossed the roadway 30. Specifically, if the first pedestrian 51 is located on the second side 32, the control unit 21 determines that the first pedestrian 51 has completely crossed the roadway 30. If the second pedestrian 52 is located on the first side 31, the control unit 21 determines that the second pedestrian 52 has completely crossed the roadway 30.

[0073] If it is determined that the first pedestrian 51 or the second pedestrian 52 has not completely crossed the roadway 30, the process of step S208 is executed again. While the first pedestrian 51 is crossing, the process of step S208 is repeatedly executed, thereby setting the first crosswalk 41 to be non-displayed from the first side 31 to the second side 32. While the second pedestrian 52 is crossing, the process of step S208 is repeatedly executed, thereby setting the second crosswalk 42 to be non-displayed from the second side 32 to the first side 31. If it is determined that the first pedestrian 51 and the second pedestrian 52 have completely crossed the roadway 30, Figure 7 The process ends.

[0074] As described above, in this embodiment, when the second pedestrian 52 does not cross the roadway 30 from the second side 32 to the first side 31 via the first crosswalk 41 and the second crosswalk 42 during the crossing of the first pedestrian 51, the control unit 21 of the control device 20 continues to display the entire second crosswalk 42 until the first pedestrian 51 has completely crossed the roadway 30. When the second pedestrian 52 does not cross the roadway 30 during the crossing of the first pedestrian 51, the control unit 21 sets the second crosswalk 42 to non-display from the second side 32 to the first side 31 during the crossing of the second pedestrian 52. That is, as Figure 6 As shown, when a second pedestrian 52 is crossing, the control unit 21 sequentially hides the portion of the second crosswalk 42 where the second pedestrian 52 has crossed, even if the first pedestrian 51 is also crossing. Therefore, when viewed from the perspective of the fourth pedestrian 54 following behind, the crosswalk disappears behind the second pedestrian 52.

[0075] According to this embodiment, Figure 6 As shown, by sequentially non-displaying the portion of the second crosswalk 42 where the second pedestrian 52 has crossed, the fourth pedestrian 54 following the second pedestrian 52 can be prevented from starting to cross the roadway 30 , thereby reducing the occurrence of congestion.

[0076] The present disclosure is not limited to the above-described embodiments. For example, two or more blocks described in the block diagram may be integrated, or a single block may be split. Instead of executing the two or more steps described in the flowchart in chronological order as described, two or more steps described in the flowchart may be executed in parallel or in a different order, depending on the processing capabilities of the device executing each step or as needed. Other modifications are possible without departing from the scope of the present disclosure.

Claims

1. A control device comprising a control unit configured to display a first crosswalk on a roadway facing a first side of the roadway, and to display a second crosswalk on the roadway facing a second side opposite to the first side of the roadway, wherein the first crosswalk is set to non-display from the first side toward the second side during a pedestrian crossing the roadway from the first side to the second side via the first crosswalk and the second crosswalk, and the second crosswalk is set to non-display after the pedestrian crosses.

2. The control device according to claim 1, wherein: The control unit expands the non-display range of the first crosswalk as the pedestrian moves forward on the roadway.

3. The control device according to claim 1 or 2, wherein: The control unit hides the portion of the first crosswalk that the pedestrian has passed while the pedestrian is crossing.

4. The control device according to any one of claims 1 to 3, wherein: The control unit adjusts a timing for starting to hide the first crosswalk based on an estimated arrival time of another pedestrian following the pedestrian at an end of the first crosswalk on the first side.

5. The control device according to claim 4, wherein: The control unit sets the time to start hiding the first crosswalk to a time later than the expected arrival time when the time from the time the pedestrian starts crossing the roadway to the expected arrival time is less than a threshold.

6. The control device according to any one of claims 1 to 5, wherein: When the pedestrian is set as the first pedestrian, in the case where there is a second pedestrian crossing the roadway from the second side to the first side via the first crosswalk and the second crosswalk during the crossing of the first pedestrian, the control unit sets the second crosswalk to be non-displayed from the second side to the first side during the crossing of the second pedestrian.

7. The control device according to claim 6, wherein: The control unit expands the area where the second crosswalk is not displayed as the second pedestrian moves forward on the roadway.

8. The control device according to claim 6 or 7, wherein: The control unit sets a portion of the second crosswalk, which the second pedestrian has passed, to non-display during the second pedestrian crossing.

9. The control device according to any one of claims 6 to 8, wherein: If the second pedestrian is not present while the first pedestrian is crossing, the control unit continues to display the entire second crosswalk until the first pedestrian has completely crossed the roadway.

10. The control device according to any one of claims 1 to 9, wherein: The control portion performs the control when the pedestrian is detected on the first side.

11. A pedestrian assistance system comprising: The control device according to any one of claims 1 to 10; a plurality of first light sources, disposed on the roadway, for displaying the first crosswalk by emitting light toward the first side; and A plurality of second light sources are disposed on the roadway and display the second crosswalk by emitting light toward the second side.

12. A pedestrian assistance method, comprising: displaying a first crosswalk on a roadway toward a first side of the roadway, and displaying a second crosswalk on the roadway toward a second side opposite the first side of the roadway; When a pedestrian crosses the roadway from the first side to the second side via the first crosswalk and the second crosswalk, setting the first crosswalk to non-display from the first side toward the second side; as well as After the pedestrian crosses, the second crosswalk is set to non-display.

13. The pedestrian assistance method according to claim 12, wherein: Setting the first crosswalk to be non-displayed includes expanding a range where the first crosswalk is set to be non-displayed as the pedestrian moves forward on the roadway.

14. The pedestrian assistance method according to claim 12 or 13, wherein: Setting the first crosswalk to be non-displayed includes: setting a portion of the first crosswalk that the pedestrian has passed through to be non-displayed during the pedestrian's crossing.

15. The pedestrian assistance method according to any one of claims 12 to 14, further comprising: The time to start non-displaying the first crosswalk is adjusted based on an estimated arrival time of another pedestrian following the pedestrian at the end of the first crosswalk on the first side.

16. The pedestrian assistance method according to claim 15, wherein: The adjustment includes setting the time to start hiding the first crosswalk to a time later than the expected arrival time when the time from the time the pedestrian starts crossing the roadway to the expected arrival time is less than a threshold.

17. The pedestrian assistance method according to any one of claims 12 to 16, further comprising: When the pedestrian is set as the first pedestrian, if there is a second pedestrian crossing the road from the second side to the first side via the first crosswalk and the second crosswalk during the crossing of the first pedestrian, the second crosswalk is set to be non-displayed from the second side toward the first side during the crossing of the second pedestrian.

18. The pedestrian assistance method according to claim 17, wherein: Setting the second crosswalk to be non-displayed includes expanding a range where the second crosswalk is set to be non-displayed as the second pedestrian moves forward on the roadway.

19. The pedestrian assistance method according to claim 17 or 18, wherein: Setting the second crosswalk to be non-displayed includes: during the crossing of the second pedestrian, setting a portion of the second crosswalk that the second pedestrian has passed to be non-displayed.

20. The pedestrian assistance method according to any one of claims 17 to 19, further comprising: When the second pedestrian is not present during the crossing of the first pedestrian, the entire second crosswalk is continuously displayed until the first pedestrian has completely crossed the roadway.

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