Control device and pedestrian support method

Abstract

The present invention provides a control device and a pedestrian support method. The control device includes: a control unit that performs control to cause a crosswalk to appear in a region from a first side to a second side of a road when a pedestrian crosses the road, and detects at least one vehicle passing on the road; and a communication unit that transmits instruction data indicating a position to avoid obstructing the crossing of the pedestrian to at least one vehicle detected by the control unit.

Description

Technical Field

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

[0002] Japanese Unexamined Patent Application Publication No. 2014-225151 discloses a device that transmits a stop request signal to a vehicle approaching a road section corresponding to a crossing candidate area including a location where a pedestrian is likely to cross. Summary of the Invention

[0003] In a congested lane, a situation may occur where at least one vehicle covers a crosswalk from one end to the other in the traveling direction of the vehicle. That is, a situation may occur where at least one vehicle completely covers the crosswalk in the traveling direction. In such a situation, a pedestrian cannot walk on the crosswalk to cross the lane.

[0004] An object of the present disclosure is to facilitate walking on a crosswalk to cross a road.

[0005] The control device according to the present disclosure includes: a control unit that performs control to cause a crosswalk to appear in an area from a first side to a second side of the road when a pedestrian crosses the road, and detects at least one vehicle traveling on the road; and a communication unit that transmits instruction data indicating a position to avoid obstructing the crossing of the pedestrian to at least one vehicle detected by the control unit.

[0006] The pedestrian support method according to the present disclosure is a pedestrian support method in which a crosswalk appears in an area from a first side to a second side of the road when a pedestrian crosses the road, and includes: detecting at least one vehicle traveling on the road; and transmitting instruction data indicating a position to avoid obstructing the crossing of the pedestrian to the at least one vehicle detected.

[0007] According to the present disclosure, a pedestrian can easily walk on a crosswalk to cross a road. Brief Description of the Drawings

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

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

[0010] Figure 2 is a diagram showing the positions of the respective vehicles before the instruction in the first example.

[0011] Figure 3 is a diagram showing the positions of the respective vehicles after the instruction in the first example.

[0012] Figure 4 It is a diagram showing the positions of the respective vehicles before the instruction in the second example.

[0013] Figure 5 It is a diagram showing the positions of the respective vehicles after the instruction in the second example.

[0014] Figure 6 It is a diagram showing the positions of the respective vehicles after another instruction in the second example.

[0015] Figure 7 It is a diagram showing the positions of the respective vehicles after yet another instruction in the second example.

[0016] Figure 8 It is a flowchart showing the operation of the system according to the embodiment of the present disclosure.

[0017] Figure 9 It is a diagram showing the positions of the respective vehicles before the instruction in the third example.

[0018] Figure 10 It is a diagram showing the positions of the respective vehicles after the instruction in the third example.

[0019] Figure 11 It is a flowchart showing the operation of the system according to the modified example of the embodiment of the present disclosure. Detailed Embodiment

[0020] Hereinafter, several embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0021] 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 is appropriately omitted or simplified.

[0022] An embodiment of the present disclosure will be described.

[0023] With reference to Figures 1 to 3 , the structure of the system 10 according to the present embodiment will be described.

[0024] As Figure 1 shown, the system 10 according to the present embodiment includes a plurality of illuminations 11, sensors 12, and a control device 20. The control device 20 can communicate with the plurality of illuminations 11 and sensors 12 via a network such as a LAN or the Internet, a dedicated line, or wirelessly. "LAN" is an abbreviation for local area network.

[0025] The plurality of illuminations 11 are provided as Figure 2 and Figure 3The road 30 shown. In the present embodiment, a plurality of illuminations 11 are buried in the road 30 so as not to protrude from the road surface, but may also be buried in the road 30 so as to protrude from the road surface, or installed on the road surface. The plurality of illuminations 11 display the crosswalk 40 by lighting up. Each illumination 11 includes at least one light-emitting element. The light-emitting element is, for example, an LED or a laser diode. "LED" is an abbreviation for light emitting diode.

[0026] In the present embodiment, among the regions 33 from the first side 31 to the second side 32 of the road 30, a plurality of small regions arranged along the width direction of the road 30 are set. For example, as Figure 3 shown, when four rectangular regions are set as the plurality of small regions, the plurality of illuminations 11 are dispersedly arranged in these four rectangular regions. A point light source group or a rectangular surface light source serving as each illumination 11 is arranged in each rectangular region. The number of small regions is not limited to four and can be appropriately changed. The shape of each small region is not limited to a rectangle and can be appropriately changed. As a modification example of the present embodiment, a plurality of small regions may not be set in the region 33, and a plurality of illuminations 11 may be provided only at one place in the region 33 or in the whole region 33. Alternatively, a single surface light source or the like may be provided only at one place in the region 33 or in the whole region 33 instead of the plurality of illuminations 11.

[0027] The sensor 12 is provided at a location such as the periphery of the road 30 where a pedestrian 13 and at least one vehicle 14 passing on the road 30 can be photographed. The sensor 12 is, for example, a camera, a radar, or a LiDAR. "LiDAR" is an abbreviation for light detection and ranging.

[0028] The control device 20 may be provided on the road 30, may be provided on the periphery of the road 30, or may be provided at a distance.

[0029] The control device 20 performs control to cause the crosswalk 40 to appear in the region 33 from the first side 31 to the second side 32 of the road 30 when the pedestrian 13 crosses the road 30. The region 33 corresponds to a crossing candidate region. The control device 20 detects at least one vehicle 14 passing on the road 30. The control device 20 transmits first instruction data D1 to the detected at least one vehicle 14. The first instruction data D1 is data indicating a position to avoid obstructing the crossing of the pedestrian 13.

[0030] According to the present embodiment, it is possible to urge the vehicle 14 to avoid a position that obstructs the crossing of the pedestrian 13. Therefore, it is easy for the pedestrian 13 to walk on the crosswalk 40 to cross the road 30.

[0031] As a first example, as Figure 2As shown, it is assumed that road 30 is congested. In the first example, vehicles V1, V2, V3, and V4 are traveling in the lanes on the first side 31 of road 30. Vehicles V5, V6, and V7 are traveling in the reverse lanes on the second side 32 of road 30. Pedestrian 13 wants to cross road 30 from the first side 31 to the second side 32. The control device 20 determines a rectangular area with a certain width having a straight line from the location where pedestrian 13 is located along the width direction of road 30 to the second side 32 as the center line as area 33. In the first example, vehicle V3 completely covers area 33 in the traveling direction. In this situation, pedestrian 13 cannot walk on crosswalk 40 to cross road 30. Therefore, after sending the first instruction data D1 to vehicle V3, the control device 20 performs control to display crosswalk 40 in area 33. As Figure 3 shown, vehicle V3 retreats from area 33 in accordance with the first instruction data D1. As a result, pedestrian 13 can walk on crosswalk 40 to cross road 30. In the first example, the control device 20 sends the first instruction data D1 before crosswalk 40 is displayed, but it can also send the first instruction data D1 after crosswalk 40 is displayed.

[0032] As a second example, as Figure 4 shown, it is assumed that road 30 is congested. Similar to the first example, in the second example, vehicles V1, V2, V3, and V4 are traveling in the lanes on the first side 31 of road 30. Vehicles V5, V6, and V7 are traveling in the reverse lanes on the second side 32 of road 30. Pedestrian 13 wants to cross road 30 from the first side 31 to the second side 32. The control device 20 determines a rectangular area with a certain width having a straight line from the location where pedestrian 13 is located along the width direction of road 30 to the second side 32 as the center line as area 33. Different from the first example, in the second example, vehicle V3 and vehicle V5 overlap with area 33 in a positional relationship such that pedestrian 13 cannot cross road 30 in a straight line. In this situation, pedestrian 13 has to walk in a zigzag on crosswalk 40 to cross road 30. Therefore, after sending the first instruction data D1 to vehicle V3, vehicle V5, or both, the control device 20 performs control to display crosswalk 40 in area 33. As Figure 5 shown, vehicle V3 retreats from area 33 in accordance with the first instruction data D1. Or, as Figure 6 shown, vehicle V5 retreats from area 33 in accordance with the first instruction data D1. Or, as Figure 7As shown, vehicle V3 and vehicle V5 retreat from area 33 according to the first indication data D1. As a result, pedestrian 13 can walk straight across the road 30 on the crosswalk 40. In the second example, the control device 20 sends the first indication data D1 before the crosswalk 40 is displayed, but it can also send the first indication data D1 after the crosswalk 40 is displayed.

[0033] As Figure 1 shown, the control device 20 includes a control unit 21, a storage unit 22, and a communication unit 23.

[0034] 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 an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for field-programmable gate array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for 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.

[0035] 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, a RAM or a ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. The RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. The ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The storage unit 22 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. Data for the operation of the control device 20 and data obtained through the operation of the control device 20 are stored in the storage unit 22.

[0036] The communication unit 23 includes at least one communication interface. The communication interface is, for example, a LAN interface, an interface corresponding to a mobile communication standard such as LTE, 4G standard or 5G standard, or an interface corresponding to a short-range wireless communication standard such as Bluetooth (registered trademark). "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The communication unit 23 receives data for controlling the operation of the device 20 and transmits the data obtained through the operation of the device 20.

[0037] The functions of the control device 20 are implemented by a processor serving as the control unit 21 executing the program according to the present embodiment. That is, the functions of the control device 20 are implemented by software. The program causes a computer to execute the operations of the control device 20, thereby causing the computer to function as 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.

[0038] The program can be stored in a non-transitory computer-readable medium. The non-transitory computer-readable medium is, for example, a flash memory, a magnetic recording device, an optical disc, a magneto-optical recording medium, or a ROM. The program is distributed, for example, by selling, transferring, or lending a portable medium such as an SD card, a DVD, or a CD-ROM storing the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can be stored in the memory of a server and transmitted from the server to another computer to distribute the program. The program can also be provided as a program product.

[0039] A computer temporarily stores, for example, a program stored in a portable medium or a program transmitted from a server in a main storage device. 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 may also directly read a program from a portable medium and execute processing according to the program. The computer may also execute processing according to the received program each time a program is transmitted from the server to the computer. It is also possible to execute processing by using a so-called ASP-type service that realizes functions only through execution instructions and result acquisition without transmitting the program from the server to the computer. "ASP" is an abbreviation for Application Service Provider. A program includes information of a quasi-program for processing by an electronic computer. For example, data that is not a direct instruction to the computer but has the nature of prescribing the processing of the computer is equivalent to "information of a quasi-program".

[0040] Part or all of the functions of the control device 20 can also be implemented by a programmable circuit or a dedicated circuit as the control unit 21. That is, part or all of the functions of the control device 20 can also be implemented by hardware.

[0041] Refer to Figure 8 , and the operation of the system 10 according to this embodiment will be described. This operation corresponds to the pedestrian support method according to this embodiment. The operation of the control device 20 included in this operation corresponds to the control method according to this embodiment.

[0042] In step S101, when the pedestrian 13 is on the first side 31 of the road 30, the control unit 21 of the control device 20 determines whether the pedestrian 13 intends to cross the road 30 from the first side 31 to the second side 32. This process can be executed in any process, but in this embodiment, it is executed in the following process.

[0043] The sensor 12 captures an image of at least the first side 31 of the road 30. The communication unit 23 of the control device 20 receives the image captured by the sensor 12. The control unit 21 of the control device 20 acquires the image received by the communication unit 23. The control unit 21 determines whether the pedestrian 13 is on the first side 31 of the road 30 and whether the pedestrian 13 intends to cross the road 30 from the first side 31 to the second side 32 by analyzing the acquired image. As a method of image analysis, known methods can be used. Machine learning such as deep learning can be used. Specifically, when the pedestrian 13 remains in a state facing the road 30 on the first side 31 without moving for a certain period of time or more, the control unit 21 determines that the pedestrian 13 intends to cross the road 30 from the first side 31 to the second side 32. Alternatively, when the pedestrian 13 makes a gesture such as raising a hand on the first side 31, the control unit 21 determines that the pedestrian 13 intends to cross the road 30 from the first side 31 to the second side 32.

[0044] When it is determined that the pedestrian 13 is not on the first side 31 of the road 30 or the pedestrian 13 does not intend to cross the road 30 from the first side 31 to the second side 32, that is, when no pedestrian intending to cross the road 30 from the first side 31 to the second side 32 is detected, the process of step S101 is executed again. When it is determined that the pedestrian 13 intends to cross the road 30 from the first side 31 to the second side 32, that is, when a pedestrian intending to cross the road 30 from the first side 31 to the second side 32 is detected, the process of step S102 is executed.

[0045] In step S102, the control unit 21 of the control device 20 determines whether at least one vehicle 14 passing on the road 30 obstructs the crossing of the pedestrian 13. This process can be executed in any process, but in the present embodiment, it is executed in the following process.

[0046] The sensor 12 captures an image of the road 30. The communication unit 23 of the control device 20 receives the image captured by the sensor 12. The control unit 21 of the control device 20 acquires the image received by the communication unit 23. The control unit 21 determines whether at least one vehicle 14 obstructs the crossing of the pedestrian 13 by analyzing the acquired image. The control unit 21 may also analyze the image acquired in step S101. In this case, image capture can be omitted in step S102. As a method of image analysis, known methods can be used. Machine learning such as deep learning can be used. Specifically, when at least one vehicle 14 is located in the area 33 from the first side 31 to the second side 32 of the road 30, the control unit 21 determines that at least one vehicle 14 obstructs the crossing of the pedestrian 13. In the first example, as Figure 2 shown, the vehicle V3 covers the area 33 from the first end 34 to the second end 35 in the traveling direction. Therefore, the control unit 21 determines that the vehicle V3 completely obstructs the crossing of the pedestrian 13. In the second example, asFigure 4 As shown, multiple vehicles including vehicle V3 and vehicle V5 are in a positional relationship that obstructs pedestrian 13 from crossing road 30 in a straight line. Therefore, control unit 21 determines that one or more vehicles included in the multiple vehicles, namely vehicle V3, vehicle V5, or both, obstruct the smooth crossing of pedestrian 13.

[0047] When it is determined that at least one vehicle 14 does not obstruct the crossing of pedestrian 13, that is, when no vehicle that obstructs the crossing of pedestrian 13 is detected, the process of step S106 is executed. When it is determined that at least one vehicle 14 obstructs the crossing of pedestrian 13, that is, when a vehicle that obstructs the crossing of pedestrian 13 is detected, the process of step S103 is executed. In the first example, since it is determined that vehicle V3 completely obstructs the crossing of pedestrian 13, the process of step S103 is executed. In the second example, since it is determined that vehicle V3, vehicle V5, or both obstruct the smooth crossing of pedestrian 13, the process of step S103 is also executed.

[0048] In step S103, control unit 21 of control device 20 determines whether leading vehicle 15 passing in front of at least one vehicle 14 on road 30 obstructs the progress of at least one vehicle 14. This process can be executed in any process, but in this embodiment, it is executed in the following process.

[0049] Sensor 12 captures an image of road 30. Communication unit 23 of control device 20 receives the image captured by sensor 12. Control unit 21 of control device 20 acquires the image received by communication unit 23. Control unit 21 determines whether leading vehicle 15 obstructs the progress of at least one vehicle 14 by analyzing the acquired image. Control unit 21 can also analyze the image acquired in step S101 or step S102. In this case, image capture can be omitted in step S103. As a method of image analysis, known methods can be used. Machine learning such as deep learning can be used. In the first example, as Figure 2 shown, since the distance between vehicle V2 and the first end 34 of area 33 is shorter than the overall length of vehicle V3, vehicle V3 cannot move forward to the front of area 33 when vehicle V2 is stopped. Therefore, control unit 21 determines that vehicle V2 obstructs the progress of vehicle V3. In the second example, as Figure 4As shown, since the distance between vehicle V2 and the first end 34 of area 33 is shorter than the overall length of vehicle V3, vehicle V3 cannot move forward beyond area 33 even when vehicle V2 is stopped. Therefore, control unit 21 determines that vehicle V2 obstructs the movement of vehicle V3. In the reverse lane, since the space available along the forward movement direction from the second end 35 of area 33 is longer than the overall length of vehicle V5, vehicle V5 can move forward beyond area 33. Therefore, control unit 21 determines that there is no leading vehicle obstructing the movement of vehicle V5.

[0050] In the case where it is determined that leading vehicle 15 does not obstruct the movement of at least one vehicle 14, that is, when no leading vehicle obstructing the movement of at least one vehicle 14 is detected, the process of step S105 is executed. In the case where it is determined that leading vehicle 15 obstructs the movement of at least one vehicle 14, that is, when a leading vehicle obstructing the movement of at least one vehicle 14 is detected, the process of step S104 is executed. In the first and second examples, since it is determined that vehicle V2 obstructs the movement of vehicle V3, the process of step S104 is executed.

[0051] In step S104, control unit 21 of control device 20 causes communication unit 23 to transmit second instruction data D2. Second instruction data D2 is data for urging leading vehicle 15 to move forward. Second instruction data D2 can be a message for the driver or can also be a signal for vehicle control. Communication unit 23 transmits second instruction data D2 to leading vehicle 15. Leading vehicle 15 receives second instruction data D2. Leading vehicle 15 moves forward in accordance with the received second instruction data D2. In the first example, as Figure 3 shown, vehicle V2 moves forward in accordance with second instruction data D2 so that the distance between vehicle V2 and the first end 34 of area 33 is longer than the overall length of vehicle V3. In the second example, as Figure 5 or Figure 7 shown, vehicle V2 also moves forward in accordance with second instruction data D2 so that the distance between vehicle V2 and the first end 34 of area 33 is longer than the overall length of vehicle V3.

[0052] In step S105, the control unit 21 of the control device 20 causes the communication unit 23 to transmit first instruction data D1. The first instruction data D1 is data indicating a position to avoid crossing by the obstructing pedestrian 13. Specifically, the first instruction data D1 is data indicating traveling ahead of the area 33. The first instruction data D1 can be a message for the driver or can also be a signal for vehicle control. The communication unit 23 transmits the first instruction data D1 to at least one vehicle 14. At least one vehicle 14 receives the first instruction data D1. At least one vehicle 14 avoids the position where the crossing of the obstructing pedestrian 13 is hindered according to the received first instruction data D1. Specifically, at least one vehicle 14 travels ahead of the area 33. In the first example, as Figure 3 shown, the vehicle V3 travels forward according to the first instruction data D1 so as not to overlap with the area 33. In the second example, as Figure 5 or Figure 7 shown, the vehicle V3 also travels forward according to the first instruction data D1 so as not to overlap with the area 33. Or, as Figure 6 or Figure 7 shown, the vehicle V5 travels forward according to the first instruction data D1 so as not to overlap with the area 33.

[0053] Even when a preceding vehicle that obstructs the travel of at least one vehicle 14 is detected in step S103, when the adjacent lane of the lane in which at least one vehicle 14 is located is idle, the process of step S104 can be skipped. Also, in step S105, data indicating traveling ahead of the area 33 after moving to the adjacent lane can be transmitted as the first instruction data D1. That is, the control unit 21 of the control device 20 can also cause the communication unit 23 to transmit, as the first instruction data D1, data indicating traveling ahead of the area 33 after moving to the adjacent lane when the adjacent lane of the lane in which at least one vehicle 14 is located is idle and a preceding vehicle that obstructs the travel of at least one vehicle 14 is detected.

[0054] In step S106, the control unit 21 of the control device 20 performs control to cause the crosswalk 40 to appear in the area 33. Specifically, the control unit 21 performs control to display the crosswalk 40 by turning on a plurality of illuminations 11 as the control to cause the crosswalk 40 to appear. This process can be executed by an arbitrary process, but in the present embodiment, it is executed by the following process.

[0055] The control unit 21 of the control device 20 causes the communication unit 23 to transmit third instruction data D3. The third instruction data D3 is data indicating to turn on. The communication unit 23 transmits the third instruction data D3 to the plurality of illuminations 11. The plurality of illuminations 11 receive the third instruction data D3. The crosswalk 40 is displayed by the plurality of illuminations 11 turning on according to the received third instruction data D3.

[0056] After step S106, the control unit 21 of the control device 20 may also determine whether the pedestrian 13 has crossed the road 30. For example, the sensor 12 may capture an image of at least the second side 32 of the road 30. The control unit 21 may determine whether the pedestrian 13 has crossed the road 30 by analyzing the image captured by the sensor 12.

[0057] After the pedestrian 13 crosses, the control unit 21 of the control device 20 may also cause the crosswalk 40 not to be displayed. For example, the control unit 21 may cause the communication unit 23 to send fourth instruction information D4. The fourth instruction data D4 is data indicating extinguishing. The communication unit 23 may send the fourth instruction data D4 to the plurality of lights 11. The crosswalk 40 may not be displayed by the plurality of lights 11 extinguishing according to the fourth instruction data D4.

[0058] As described above, in the present embodiment, the crosswalk 40 extending from one side of the road 30 to the other side is displayed toward the pedestrian 13, including a path such that the pedestrian 13 can cross the road 30 through between two or more vehicles located on the congested road 30. The shape of the crosswalk 40 is fixed in the present embodiment, but may also be variable. The crosswalk 40 extends orthogonally to the road 30 in the present embodiment, but may also extend obliquely with respect to the road 30.

[0059] During congestion, the control unit 21 of the control device 20 instructs the vehicles located in front of the crossing candidate area for displaying the crosswalk 40 to approach forward while appropriately ensuring the balance of the inter-vehicle distance. Therefore, according to the present embodiment, even during congestion, the vehicles overlapping the crossing candidate area are likely to retreat from the crossing candidate area.

[0060] The control unit 21 of the control device 20 instructs the vehicles overlapping the crossing candidate area to retreat from the crossing candidate area. Therefore, according to the present embodiment, even during congestion, the pedestrian 13 can easily cross the road 30 through between two or more vehicles.

[0061] In the present embodiment, the control unit 21 of the control device 20 analyzes the actions of the pedestrian 13 observed by the sensor 12 and determines whether the pedestrian 13 crosses the road 30. When the control unit 21 determines that the pedestrian 13 crosses the road 30, it performs control to cause the crosswalk 40 to appear. That is, in the present embodiment, the actions of the pedestrian 13 are monitored by the sensor 12, and when it is determined that the display of the crosswalk 40 is required, the crosswalk 40 is displayed. The position of the pedestrian 13 may also be detected by the sensor 12, and the area 33 may be set according to the position.

[0062] Whether the display of the crosswalk 40 is required can also be notified by the pedestrian 13 to the control device 20 instead of being automatically determined by the control device 20. In such a modified example, the terminal device of the pedestrian 13 sends the request data Dq to the control device 20. The terminal device of the pedestrian 13 is, for example, a mobile device such as a mobile phone, a smart phone, or a tablet computer. The request data Dq is data for requesting the appearance of the crosswalk 40. The communication unit 23 of the control device 20 receives the request data Dq from the terminal device of the pedestrian 13. The control unit 21 of the control device 20 acquires the request data Dq received by the communication unit 23. The control unit 21 performs control to cause the crosswalk 40 to appear based on the acquired request data Dq. That is, in this modified example, when the destination of the pedestrian 13 is on the opposite side of the road 30 from the side where the pedestrian 13 is located and the display of the crosswalk 40 is requested from the terminal device of the pedestrian 13, the crosswalk 40 is displayed. It is also possible to notify the control device 20 of the position of the pedestrian 13 from the terminal device of the pedestrian 13 and set the area 33 based on this position.

[0063] In the present embodiment, the crosswalk 40 visually appears by lighting a plurality of illuminations 11. However, as a modified example of the present embodiment, the crosswalk 40 may physically appear by raising a part of the road surface of the road 30. That is, the control unit 21 of the control device 20 may also perform control to form the crosswalk 40 by raising a part of the road surface of the road 30 as the control to cause the crosswalk 40 to appear. In such a modified example, the control unit 21 performs control to raise the road surfaces of a plurality of small areas arranged along the width direction of the road 30 within the area 33 set from the first side 31 to the second side 32 of the road 30. For example, Figure 3 in the same example as, when four rectangular areas are set as the plurality of small areas, the crosswalk 40 is formed by raising the road surfaces of these four rectangular areas. In this modified example, the plurality of illuminations 11 can be omitted.

[0064] As a modified example of the present embodiment, the control unit 21 of the control device 20 may also instruct a vehicle located near the crossing candidate area to stop in a manner that does not overlap with the crossing candidate area. For example, the control unit 21 may instruct a vehicle driving at a low speed or a vehicle separated from the crossing candidate area to such an extent that emergency braking is not required to stop in front of the crossing candidate area. Such a modified example will be described as another embodiment.

[0065] As a third example, as Figure 9As shown, it is assumed that road 30 is congested. In the third example, vehicles V1, V2, and V3 are traveling in the lanes on the first side 31 of road 30. Vehicles V5, V6, and V7 are traveling in the reverse lanes on the second side 32 of road 30. Pedestrian 13 wants to cross road 30 from the first side 31 to the second side 32. The control device 20 determines a rectangular area with a certain width having as the center line a straight line drawn along the width direction of road 30 from the location where pedestrian 13 is located to the second side 32 as area 33. In the third example, vehicle V3 is traveling toward area 33. In this situation, pedestrian 13 cannot cross road 30 by walking on crosswalk 40. Therefore, after sending first instruction data D1 to vehicle V3, the control device 20 performs control to display crosswalk 40 in area 33. As Figure 10 shown, vehicle V3 stops near area 33 in accordance with the first instruction data D1. As a result, pedestrian 13 can cross road 30 by walking on crosswalk 40. In the third example, the control device 20 sends the first instruction data D1 before crosswalk 40 is displayed, but it may also send the first instruction data D1 after crosswalk 40 is displayed.

[0066] Refer to Figure 11 , and the operation of the system 10 according to the present embodiment will be described. This operation corresponds to the pedestrian support method according to the present embodiment. The operation of the control device 20 included in this operation corresponds to the control method according to the present embodiment.

[0067] Regarding the process of step S201, since it is the same as the process of step S101 of Figure 8 , the description thereof is omitted.

[0068] In step S202, the control unit 21 of the control device 20 determines whether at least one vehicle 14 traveling on road 30 is likely to obstruct the crossing of pedestrian 13. This process can be executed by any process, but in the present embodiment, it is executed by the following process.

[0069] Sensor 12 captures an image of road 30. The communication unit 23 of control device 20 receives the image captured by sensor 12. The control unit 21 of control device 20 acquires the image received by communication unit 23. The control unit 21 determines whether at least one vehicle 14 may obstruct the crossing of pedestrian 13 by analyzing the acquired image. The control unit 21 may also analyze the image acquired in step S201. In this case, the image capture in step S202 may be omitted. As a method of image analysis, a known method may be used. Machine learning such as deep learning may be used. Specifically, when it is predicted that at least one vehicle 14 will enter area 33 when it appears at crosswalk 40, the control unit 21 determines that at least one vehicle 14 may obstruct the crossing of pedestrian 13. In the third example, as Figure 9 shown, vehicle V3 is moving towards area 33. Therefore, the control unit 21 determines that vehicle V3 may obstruct the crossing of pedestrian 13.

[0070] When it is determined that at least one vehicle 14 is not likely to obstruct the crossing of pedestrian 13, that is, when no vehicle that may obstruct the crossing of pedestrian 13 is detected, the process of step S204 is executed. When it is determined that at least one vehicle 14 may obstruct the crossing of pedestrian 13, that is, when a vehicle that may obstruct the crossing of pedestrian 13 is detected, the process of step S203 is executed. In the third example, since it is determined that vehicle V3 may obstruct the crossing of pedestrian 13, the process of step S203 is executed.

[0071] In step S203, the control unit 21 of control device 20 causes the communication unit 23 to transmit first instruction data D1. In the present embodiment, the first instruction data D1 is data instructing to stop near area 33, but it may also be data instructing to pass through area 33 before the appearance of crosswalk 40, or it may also be data instructing to travel at a speed slower than the speed at which it reaches area 33 during the appearance of crosswalk 40. The communication unit 23 transmits the first instruction data D1 to at least one vehicle 14. At least one vehicle 14 receives the first instruction data D1. At least one vehicle 14 avoids the position that obstructs the crossing of pedestrian 13 according to the received first instruction data D1. Specifically, at least one vehicle 14 stops near area 33. In the third example, as Figure 10 shown, vehicle V3 stops near area 33 according to the first instruction data D1.

[0072] Regarding the process of step S204, since it is the same as the process of step S106 of Figure 8 , the description thereof is omitted.

[0073] 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 one block may be divided. Also, two or more steps described in the flowchart may be executed in parallel or in a different order, instead of being executed in time series as described, depending on the processing capabilities of the device that executes each step or as needed. In addition, changes can be made without departing from the gist of the present disclosure.

Claims

1. A control device, comprising: a control unit that performs control to cause a crosswalk to appear in an area from a first side to a second side of the road when a pedestrian crosses the road, and detects at least one vehicle passing on the road; and a communication unit that transmits instruction data indicating a position to avoid interfering with the pedestrian's crossing to at least one vehicle detected by the control unit, the control unit determines a rectangular area with a certain width having a straight line from a location on the first side of the road where the pedestrian is located to the second side of the road along the width direction of the road as the center line as the area where the crosswalk appears, the communication unit transmits the instruction data to the at least one vehicle before causing the crosswalk to appear in the area, the control unit detects one or more vehicles among multiple vehicles in a positional relationship that interferes with the pedestrian crossing the road in a straight line in the area as the at least one vehicle, when the control unit further detects a preceding vehicle that interferes with the progress of the at least one vehicle, the control unit causes the communication unit to transmit data urging the preceding vehicle to move forward; or, when there is an idle adjacent lane to the lane where the at least one vehicle is located and the control unit detects a preceding vehicle that interferes with the progress of the at least one vehicle, the control unit causes the communication unit to transmit data indicating to move to the adjacent lane and then move forward to the front of the area as the instruction data.

2. The control device according to claim 1, wherein, the control unit detects a vehicle located in the area as the at least one vehicle, the communication unit transmits data indicating to move forward to the front of the area as the instruction data.

3. The control device according to claim 1, wherein, the control unit detects a vehicle that covers the area from a first end to a second end in the traveling direction as the at least one vehicle.

4. The control device according to claim 2, wherein, the control unit detects a vehicle that covers the area from a first end to a second end in the traveling direction as the at least one vehicle.

5. The control device according to claim 1, wherein, the control unit detects a vehicle predicted to enter the area when the crosswalk appears as the at least one vehicle, the communication unit transmits data indicating to pass through the area before the crosswalk appears as the instruction data.

6. The control device according to claim 1, wherein, the control unit detects a vehicle predicted to enter the area when the crosswalk appears as the at least one vehicle, the communication unit transmits data indicating to stop near the area as the instruction data.

7. The control device according to claim 1, wherein, the control unit detects a vehicle predicted to enter the area when the crosswalk appears as the at least one vehicle, the communication unit transmits data indicating to travel at a speed slower than the speed of reaching the area during the appearance of the crosswalk as the instruction data.

8. The control device according to any one of claims 1 to 7, wherein, The control unit performs control to display the crosswalk by turning on the lighting provided on the road as control to cause the crosswalk to appear.

9. The control device according to any one of claims 1 to 7, wherein, the control unit performs control to form the crosswalk by raising a part of the road surface of the road as control to cause the crosswalk to appear.

10. The control device according to any one of claims 1 to 7, wherein, the control unit analyzes the actions of the pedestrians observed by sensors provided around the road to determine whether the pedestrians cross the road, and performs control to cause the crosswalk to appear when it is determined that the pedestrians cross the road.

11. The control device according to any one of claims 1 to 7, wherein, the communication unit receives request data for requesting the appearance of the crosswalk from the terminal device of the pedestrian, and the control unit performs control to cause the crosswalk to appear based on the request data received by the communication unit.

12. A pedestrian support method, which causes a crosswalk to appear in an area from a first side to a second side of the road when a pedestrian crosses the road, wherein, it includes: detecting at least one vehicle passing on the road; and sending indication data for instructing to avoid a position that obstructs the crossing of the pedestrian to the at least one detected vehicle, the pedestrian support method determines a rectangular area with a certain width having a straight line along the width direction of the road from a location on the first side of the road where the pedestrian is located to the second side of the road as the area where the crosswalk appears, the sending sends the indication data to the at least one vehicle before the crosswalk appears in the area, the detecting includes detecting one or more vehicles among a plurality of vehicles in a positional relationship that obstruct the pedestrian from crossing the road in a straight line in the area as the at least one vehicle, the pedestrian support method further includes, when a leading vehicle that obstructs the progress of the at least one vehicle is further detected, sending data for urging the leading vehicle to move forward; or further includes, when an adjacent lane to the lane where the at least one vehicle is located is idle and a leading vehicle that obstructs the progress of the at least one vehicle is detected, sending data for instructing to move to the adjacent lane and then move forward to the front of the area as the indication data.

13. The pedestrian support method according to claim 12, wherein, the detecting includes detecting a vehicle located in the area as the at least one vehicle, and the sending includes sending data for instructing to move forward to the front of the area as the indication data.

14. The pedestrian support method according to claim 12 or 13, wherein, the detecting includes detecting a vehicle that covers the area from a first end to a second end in the traveling direction as the at least one vehicle.

15. The pedestrian support method according to claim 12, wherein, The detection includes detecting, as the at least one vehicle, a vehicle predicted to enter the area when the crosswalk appears. The sending includes sending, as the indication data, data indicating passing through the area before the crosswalk appears, stopping in the vicinity of the area, or traveling more slowly than the speed at which the vehicle arrives at the area during the appearance of the crosswalk.

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