Roadside device, method and control system

Abstract

The invention relates to a roadside apparatus, a method, and a control system. The roadside apparatus includes a communication unit, an imaging unit, a notification unit, and a control unit. The control unit is configured so as to notify the pedestrian of first information by the notification unit on the basis of the condition of the lane when the pedestrian facing the lane is detected from the image of the imaging unit. In addition, the control unit is configured so as to notify, via the communication unit, second information to a driver assistant of a target vehicle, which is an autonomous vehicle approaching the roadside device, after the notification of the first information. The first information indicates that the vehicle can traverse the lane. The second information is information indicating the presence of the pedestrian.

Description

Technical Field

[0001] The present disclosure relates to roadside devices, methods, and control systems. Background Art

[0002] For example, there are technologies for assisting traffic information for objects such as pedestrians and drivers or driving assistants of vehicles. For example, Japanese Unexamined Patent Application Publication No. 2023-050629 discloses a reporting system that reports, to vehicles or pedestrians other than the self-driving vehicle, whether passage is possible, a reminder, etc., based on the behavior of a self-driving vehicle that is scheduled to pass through a specified traffic area.

[0003] Improvement of technologies for assisting traffic information for objects is desired. Summary of the Invention

[0004] In view of the above circumstances, the present disclosure provides a technology for assisting traffic information for objects.

[0005] A first aspect of the present disclosure is a roadside device. The roadside device includes a communication unit, a photographing unit, a notification unit, and a control unit. The control unit is configured to, if a pedestrian facing the lane is detected from the image of the photographing unit, notify the pedestrian of first information through the notification unit based on the condition of the lane. The control unit is configured to, after the notification of the first information, notify a driving assistant of a self-driving vehicle, which is an object vehicle approaching the roadside device, of second information through the communication unit. The first information is information indicating that it is possible to cross the lane. The second information is information indicating the presence of the pedestrian.

[0006] In the roadside device according to the first aspect of the present disclosure, the control unit may be configured to, if the pedestrian is detected from the image, notify the pedestrian of the first information when there is no specified self-driving vehicle in the lane. The specified self-driving vehicle may be a vehicle whose remaining time until passing through the roadside device is less than a first threshold.

[0007] In the roadside device according to the first aspect of the present disclosure, the control unit may be configured to, when the first self-driving vehicle is present in the lane, notify the pedestrian of third information through the notification unit. The third information may be information indicating a restriction related to crossing the lane.

[0008] In the roadside device according to the first aspect of the present disclosure, the control unit may be configured to monitor the remaining time of each self-driving vehicle approaching the roadside device. If the remaining time of the self-driving vehicle becomes a second threshold less than the first threshold, the control unit may determine the self-driving vehicle as the object vehicle.

[0009] In the roadside device according to the first aspect of the present disclosure, the control unit may infer the driving path of the autonomous vehicle based on the change in the position of each autonomous vehicle present in the lane and the map information. The control unit may monitor the remaining time related to each autonomous vehicle provided with the roadside device on the driving path.

[0010] In the roadside device according to the first aspect of the present disclosure, the control unit may be configured to obtain, from the information processing device through the communication unit, information indicating the driving path of each autonomous vehicle present in the lane. The control unit may be configured to monitor the remaining time related to each autonomous vehicle provided with the roadside device on the driving path.

[0011] In the roadside device according to the first aspect of the present disclosure, the control unit may be configured to, if a pedestrian is detected from the image, send a request for obtaining the fourth information to the information processing device through the communication unit. The control unit may be configured to receive the fourth information from the information processing device through the communication unit. The fourth information may be information indicating whether the specified autonomous vehicle exists in the lane.

[0012] The second aspect of the present disclosure is a method executed by a roadside device including a communication unit, a photographing unit, and a notification unit. The method includes: if a pedestrian facing the lane is detected from the image of the photographing unit, notifying, based on the condition of the lane, the first information to the pedestrian through the notification unit; and after the notification of the first information, notifying, through the communication unit, the second information to a driver assistant of an autonomous vehicle approaching the roadside device, that is, an object vehicle. The first information is information indicating that it is possible to cross the lane. The second information is information indicating the presence of the pedestrian.

[0013] In the method according to the second aspect of the present disclosure, if a pedestrian is detected from the image and no specified autonomous vehicle exists in the lane, the roadside device may notify the first information to the pedestrian. The specified autonomous vehicle may be a vehicle whose remaining time until passing through the roadside device is less than a first threshold value.

[0014] The method according to the second aspect of the present disclosure may include: when the specified autonomous vehicle exists in the lane, notifying, through the notification unit, the third information to the pedestrian. The third information may be information indicating a restriction related to crossing the lane.

[0015] The method according to the second aspect of the present disclosure may include: monitoring the remaining time of each autonomous vehicle approaching the roadside device; and determining the autonomous vehicle as the target vehicle if the remaining time of the autonomous vehicle becomes a second threshold smaller than the first threshold.

[0016] The method according to the second aspect of the present disclosure may include: inferring the driving path of each autonomous vehicle based on the change in the position of each autonomous vehicle present in the lane and map information; and the roadside device monitoring the remaining time related to each autonomous vehicle provided with the roadside device on the driving path.

[0017] The method according to the second aspect of the present disclosure may include: obtaining, through the communication unit, information indicating the driving path of each autonomous vehicle present in the lane from an information processing device; and the roadside device monitoring the remaining time related to each autonomous vehicle provided with the roadside device on the driving path.

[0018] The method according to the second aspect of the present disclosure may include: if a pedestrian is detected from the image, sending a request for obtaining information indicating whether the specified autonomous vehicle is present in the lane through the communication unit to the information processing device; and receiving the information from the information processing device through the communication unit.

[0019] The third aspect of the present disclosure is a control system. The control system includes: a roadside device having an imaging unit and a notification unit; and an information processing device capable of communicating with the roadside device. The roadside device is configured to, if a pedestrian facing the lane is detected from the image of the imaging unit, notify the pedestrian of first information through the notification unit based on the condition of the lane. The roadside device is configured to, after notifying the first information, notify a driving assistant of a target vehicle, that is, an autonomous vehicle approaching the roadside device, of second information through the information processing device. The first information is information indicating that it is possible to cross the lane. The second information is information indicating the presence of the pedestrian.

[0020] In the control system according to the third aspect of the present disclosure, the roadside device may be configured to, if a pedestrian is detected from the image, notify the pedestrian of the first information when the specified autonomous vehicle is not present in the lane. The specified autonomous vehicle may be a vehicle whose remaining time until passing the roadside device is less than a first threshold.

[0021] In the control system according to the third aspect of the present disclosure, the roadside device may be configured to notify the third information to the pedestrian through the notification unit when the specified autonomous vehicle exists on the lane. The third information may be information indicating a restriction related to crossing the lane.

[0022] In the control system according to the third aspect of the present disclosure, the roadside device or the information processing device may be configured to monitor the remaining time of each autonomous vehicle approaching the roadside device. The roadside device or the information processing device may be configured to determine the autonomous vehicle as the target vehicle if the remaining time of the autonomous vehicle becomes a second threshold value less than the first threshold value.

[0023] In the control system according to the third aspect of the present disclosure, the roadside device or the information processing device may be configured to infer the driving path of the autonomous vehicle based on the change in the position of each autonomous vehicle existing on the lane and the map information. The roadside device or the information processing device may be configured to monitor the remaining time related to each autonomous vehicle on which the roadside device is provided on the driving path.

[0024] In the control system according to the third aspect of the present disclosure, the roadside device may be configured to send a request for obtaining the fourth information to the information processing device if the pedestrian is detected from the image. The information processing device may be configured to send the information to the roadside device according to the reception of the acquisition request. The fourth information may be information indicating whether the specified autonomous vehicle exists on the lane.

[0025] According to an embodiment of the present disclosure, a technique for assisting traffic information for an object person can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Hereinafter, features, advantages, techniques, and industrial importance of exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same components, where:

[0027] Figure 1 is a block diagram showing a schematic configuration of a system according to an embodiment of the present disclosure.

[0028] Figure 2 is a block diagram showing a schematic configuration of a vehicle.

[0029] Figure 3 is a block diagram showing a schematic configuration of a roadside device.

[0030] Figure 4 is a block diagram showing a schematic configuration of an information processing device.

[0031] Figure 5 is a flowchart showing the operation of the roadside device involved in one embodiment.

[0032] Figure 6 is a timing chart showing the operation of the system involved in other embodiments. Detailed Embodiments

[0033] Hereinafter, embodiments of the present disclosure will be described.

[0034] (Outline of the Embodiment)

[0035] Refer to Figure 1 to describe the outline of the system 1 according to one embodiment of the present disclosure. The system 1 includes a vehicle 10, a roadside device 20, and an information processing device 30. The vehicle 10, the roadside device 20, and the information processing device 30 are communicably connected to a network 40 including a mobile communication network and the Internet, for example.

[0036] The vehicle 10 is, for example, a gasoline vehicle, an electric vehicle (BEV; Battery Electric Vehicle), a hybrid electric vehicle (HEV; Hybrid Electric Vehicle), a plug-in hybrid electric vehicle (PHEV; Plug-in Hybrid Electric Vehicle), or a fuel cell electric vehicle (FCEV; Fuel Cell Electric Vehicle), etc., but is not limited to these, and may be any vehicle that can be ridden by a human. The vehicle 10 can be, for example, an autonomous driving vehicle capable of achieving autonomous driving of levels 1 to 5 defined by the SAE (Society of Automotive Engineers). In the present embodiment, the vehicle 10 can achieve level 3 or 4 autonomous driving, and a driving assistant can ride in the vehicle 10 or perform a driving operation from a remote override. The system 1 may include any number of one or more vehicles 10.

[0037] The roadside device 20 is, for example, installed near an intersection or a crosswalk. In the present embodiment, the roadside device 20 can detect a pedestrian facing the lane as a pedestrian who wants to cross the lane from the image of the camera mounted thereon. In addition, when the roadside device 20 detects a pedestrian who wants to cross the lane, it assists traffic information by notifying the pedestrian and the driver or driving assistant of the approaching vehicle 10 of a prescribed information. The system 1 may include any number of one or more roadside devices 20.

[0038] The information processing device 30 is one or a plurality of computers that can communicate with each other. The information processing device 30 can communicate with each vehicle 10 and each roadside device 20 through the network 40. In the present embodiment, the communication between the vehicle 10 and the roadside device 20 can be performed by the information processing device 30. In addition, the information processing device 30 communicates with each vehicle 10, for example, continuously obtains vehicle information including the position of the vehicle 10.

[0039] First, the outline of this embodiment is described, and the details will be described later. If a pedestrian is detected heading toward a lane, the roadside device 20 notifies the pedestrian of the first information indicating that the pedestrian can cross the lane based on the condition of the lane. Moreover, after notifying the first information, the roadside device 20 notifies the vehicle 10 approaching the device (roadside device 20), that is, the driving assistant of the target vehicle 10, of the second information indicating the presence of the pedestrian.

[0040] According to this embodiment, after the first information indicating that the pedestrian can cross the lane is notified to the pedestrian, the second information indicating the presence of the pedestrian is notified to the driving assistant. Therefore, as described below, the reliability of the driving assistant paying attention to the presence of the pedestrian who wants to cross the lane is improved.

[0041] In an autonomous vehicle, pedestrians are generally prioritized for autonomous driving. On the other hand, from the perspective of safety, an override function is adopted, which allows a driver assistant to ride in the vehicle or remotely perform manual driving. However, in situations such as when a pedestrian crosses the lane from a blind spot of the autonomous vehicle, there are cases where the autonomous vehicle and the driver assistant cannot recognize the presence of the pedestrian, or the recognition is delayed.

[0042] In contrast, for example, when a pedestrian is detected heading toward a lane, it is considered to make arbitrary notifications to each of the pedestrian and the driving assistant. For example, when a pedestrian is notified at a time when there is sufficient time left until the autonomous driving vehicle passes through the roadside device 20, the notification can function as a so-called "green light" indicating to the pedestrian that the pedestrian can cross the lane. Here, an embodiment is envisioned in which notifications to pedestrians and notifications to the driving assistant of the autonomous driving vehicle are simultaneously performed, and the notification to the driving assistant can also function as a "green light" indicating to the driving assistant that the driver can safely pass through the roadside device 20.

[0043] However, in this embodiment, for example, if unexpected situations such as a pedestrian falling during a lane crossing or the pedestrian starting to cross after a certain period of time since the notification to the pedestrian are considered, there is a possibility of negligence in subsequent attention when the driver assistant determines that "it is possible to safely pass the roadside device 20" at a time when there is sufficient remaining time until the autonomous vehicle passes the roadside device 20. In other words, in this embodiment where notifications to both the pedestrian and the driver assistant are carried out simultaneously, since the timing of notifying the driver assistant is too early, there is a possibility of negligence in the driver assistant's subsequent attention.

[0044] In contrast, according to the present embodiment, as described above, after the timing when the first information indicating that it is possible to cross the lane is notified to the pedestrian (i.e., the timing when there is sufficient remaining time until the autonomous vehicle passes the roadside device 20), the second information indicating the presence of the pedestrian is notified to the driver assistant. Therefore, according to the present embodiment, in terms of improving the reliability of the driver assistant's attention to the presence of a pedestrian who wants to cross the lane, the technology for assisting traffic information to the target person can be improved.

[0045] Next, each component of the system 1 will be described in detail.

[0046] (Configuration of the vehicle)

[0047] As Figure 2 shown, the vehicle 10 includes a communication unit 11, a sensor unit 12, a storage unit 13, and a control unit 14.

[0048] The communication unit 11 includes one or more communication interfaces connected to the network 40. This communication interface corresponds to mobile communication standards such as 4G (4th Generation) and 5G (5th Generation), for example, but is not limited to these and can correspond to any communication standard. In the present embodiment, the vehicle 10 communicates with the information processing device 30 through the communication unit 11 and the network 40.

[0049] The sensor unit 12 includes one or more sensors used in the control of the vehicle 10. This sensor is, for example, a position sensor corresponding to GPS (Global Positioning System) etc., a geomagnetic sensor, a speed sensor, an acceleration sensor, or a gyro sensor, etc., but is not limited to these and can be any sensor.

[0050] The storage unit 13 includes one or more memories. In the present embodiment, the "memory" is, for example, a semiconductor memory, a magnetic memory, or an optical memory, etc., but is not limited to these. Each memory included in the storage unit 13 can function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 13 stores any information used in the operation of the vehicle 10. For example, the storage unit 13 can store system programs, application programs, and installed software, etc. The information stored in the storage unit 13 can be updated, for example, using the information obtained from the network 40 through the communication unit 11.

[0051] The control unit 14 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor customized for specific processing, but is not limited to these. The programmable circuit is, for example, an FPGA (Field-Programmable Gate Array), but is not limited thereto. The dedicated circuit is, for example, an ASIC (Application Specific Integrated Circuit), but is not limited thereto. The control unit 14 controls the overall operation of the vehicle 10.

[0052] For example, in the present embodiment, the control unit 14 sends the position information of the own vehicle detected by the sensor unit 12 to the information processing device 30 through the communication unit 11. For example, the transmission of the position information can be performed periodically or whenever a specified event occurs. In addition, for example, when traveling according to the path information indicating the explored travel path, the control unit 14 can send the path information to the information processing device 30.

[0053] (Configuration of roadside device)

[0054] As Figure 3 shown, the roadside device 20 includes a communication unit 21, a photographing unit 22, a notification unit 23, a storage unit 24, and a control unit 25.

[0055] The communication unit 21 includes one or more communication interfaces connected to the network 40. This communication interface corresponds to, for example, a mobile body communication standard or a wireless LAN (Local Area Network) standard, but is not limited to these and can correspond to any communication standard. In the present embodiment, the roadside device 20 communicates with the information processing device 30 through the communication unit 21 and the network 40.

[0056] The photographing unit 22 includes one or more cameras capable of photographing the surrounding scenery. In the present embodiment, the roadside device 20 is disposed near the boundary between the sidewalk and the lane, for example, in such a way that the photographing unit 22 can photograph pedestrians moving from the sidewalk toward the lane.

[0057] The notification unit 23 includes one or more notification devices for notifying information to pedestrians in the vicinity. The notification device is, for example, a speaker, an electronic bulletin board, a display, etc., but is not limited to these and can be any notification device.

[0058] The storage unit 24 includes one or more memories. Each memory included in the storage unit 24 can function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 24 stores any information used in the operation of the roadside device 20. For example, the storage unit 24 can store system programs, application programs, installed software, and map information, etc. The information stored in the storage unit 24 can be updated, for example, using the information obtained from the network 40 through the communication unit 21.

[0059] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 25 controls the overall operation of the roadside device 20. Details of the operation of the roadside device 20 will be described later.

[0060] (Configuration of the information processing device)

[0061] As Figure 4 shown, the information processing device 30 includes a communication unit 31, a storage unit 32, and a control unit 33.

[0062] The communication unit 31 includes one or more communication interfaces connected to the network 40. The communication interface corresponds to, for example, a wired LAN standard or a wireless LAN standard, but is not limited to these and can correspond to any communication standard. In the present embodiment, the information processing device 30 communicates with the vehicle 10 and the roadside device 20 respectively through the communication unit 31 and the network 40.

[0063] The storage unit 32 includes one or more memories. Each memory included in the storage unit 32 can function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores any information used in the operation of the information processing device 30. For example, the storage unit 32 can store system programs, application programs, installed software, and map information, etc. In the present embodiment, the storage unit 32 stores information indicating the installation positions of the respective roadside devices 20.

[0064] The control unit 33 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 33 controls the overall operation of the information processing device 30. Details of the operation of the information processing device 30 will be described later.

[0065] (Operation flow of roadside device)

[0066] Refer to Figure 5 The operation flow of the roadside device 20 according to the present embodiment will be described.

[0067] In S100, the control unit 25 of the roadside device 20 detects a pedestrian facing the lane from the image of the imaging unit 22.

[0068] Specifically, the control unit 25 detects the pedestrian reflected in the image through any object recognition process, and determines the moving direction based on the change in the position of the pedestrian. For example, the control unit 25 detects a pedestrian moving towards the lane in the image as a pedestrian who wants to cross the lane.

[0069] In S101, the control unit 25 monitors the remaining time of each vehicle 10 approaching the own device (roadside device 20) until it passes the roadside device 20.

[0070] Specifically, first, the control unit 25 sends a request for obtaining the position information of each vehicle 10 to the information processing device 30 through the communication unit 21. The control unit 25 receives the position information of each vehicle 10 continuously sent from the information processing device 30 according to the obtaining request through the communication unit 21.

[0071] Next, the control unit 25 infers the driving path of each vehicle 10 based on the change in the position of each vehicle 10 and the map information stored in the storage unit 24. Alternatively, the control unit 25 may send a request for obtaining the driving path of each vehicle 10 to the information processing device 30 and receive information indicating the driving path of each vehicle 10 from the information processing device 30.

[0072] Next, the control unit 25 determines the vehicles 10 on the driving path where the own device (roadside device 20) is provided as the vehicles 10 approaching the own device (roadside device 20). Moreover, the control unit 25 continuously infers the remaining time until each vehicle 10 passes the roadside device 20 based on the change in the determined position of each vehicle 10, thereby monitoring the remaining time of each vehicle 10.

[0073] In S102, the control unit 25 determines whether there is at least one vehicle 10 with a remaining time less than a specified first threshold. When it is determined that there is at least one vehicle 10 with a remaining time less than the first threshold (S102 - Yes), the process proceeds to S106. On the other hand, when it is determined that there is no vehicle 10 with a remaining time less than the first threshold (in other words, the remaining time of all vehicles 10 is equal to or greater than the first threshold) (S102 - No), the process proceeds to S103.

[0074] The "first threshold" is, for example, 60 seconds, but is not limited thereto, and can be any time at which it is considered that a pedestrian can cross the lane leisurely.

[0075] In S103, when it is determined in S102 that there is no vehicle 10 with a remaining time less than the first threshold (S102 - No), the control unit 25 notifies the pedestrian of first information indicating that the lane can be crossed through the notification unit 23.

[0076] Specifically, the control unit 25 notifies the pedestrian of the first information by outputting the first information through a display or a speaker via the notification unit 23. Here, "there is no vehicle 10 with a remaining time less than the first threshold" indicates a situation where there is sufficient time until the vehicle 10 approaching the roadside device 20 passes the roadside device 20. Therefore, the pedestrian who receives the notification of the first information can recognize the above situation, and can also recognize that the system 1 normally detects his / her presence, so he / she can cross the lane with confidence.

[0077] In S104, the control unit 25 determines whether the remaining time of the vehicle 10 is a second threshold that is less than the first threshold. When it is determined that the remaining time of the vehicle 10 is the second threshold (S104 - Yes), the process proceeds to S105. On the other hand, when it is determined that the remaining time of the vehicle 10 is more than the second threshold (S104 - No), the process repeats S104.

[0078] The "second threshold" is, for example, 30 seconds, but is not limited thereto, and can be any time at which it is considered that the attention that a driver assistant should pay in terms of traffic safety can be maintained until the vehicle 10 passes the roadside device 20. Hereinafter, the vehicle 10 whose remaining time is determined to be the second threshold is also referred to as the "target vehicle 10".

[0079] In S105, when it is determined in S104 that the remaining time of the vehicle 10 becomes the second threshold (S104 - Yes), the control unit 25 notifies the driver assistant of the target vehicle 10, which is approaching the own unit (roadside device 20), of second information indicating the presence of the pedestrian through the communication unit 21.

[0080] Specifically, the control unit 25 notifies the second information to the driver assistant of the target vehicle 10 by sending a notification request for the second information of the driver assistant of the target vehicle 10 to the information processing device 30 via the communication unit 21. The control unit 33 of the information processing device 30 notifies the second information to the driver assistant by sending the second information to the target vehicle 10 or the terminal device used by the driver assistant according to the reception of the notification request. That is, in the present embodiment, the roadside device 20 and the information processing device 30 cooperate to notify the second information to the driver assistant of the target vehicle 10.

[0081] In this way, since the second information is notified when the remaining time of the vehicle 10 reaches the second threshold, the possibility of maintaining the attention that the driver assistant should pay to traffic safety until the vehicle 10 passes the roadside device 20 is increased.

[0082] In S106, when it is determined in S102 that there is at least one vehicle 10 with a remaining time less than the first threshold (S102 - Yes), the control unit 25 notifies the third information indicating the restrictions related to crossing the lane to the pedestrians through the notification unit 23, and at the same time notifies the second information to the driver assistants of the respective vehicles 10 with a remaining time less than the first threshold.

[0083] Specifically, the control unit 25 notifies the third information to the pedestrians by outputting the third information through the display or speaker of the notification unit 23. Here, the "third information" includes, for example, messages such as "The autonomous vehicle temporarily stops for the priority of pedestrians, but please pay attention to the surroundings when crossing the lane", but is not limited thereto, and may also include any message that notifies the pedestrians of the restriction of paying attention to the surroundings when crossing the lane. Or, the "third information" includes, for example, messages such as "The autonomous vehicle is approaching, so please cross the lane after the autonomous vehicle has passed for safety", but is not limited thereto, and may also include any message that notifies the pedestrians of the restriction of reserving the lane crossing until the autonomous vehicle has passed.

[0084] In addition, the control unit 25 notifies the second information to the driver assistants by sending a notification request for the second information of the driver assistants of the respective vehicles 10 with a remaining time less than the first threshold to the information processing device 30 via the communication unit 21. The control unit 33 of the information processing device 30 notifies the second information to the respective driver assistants by sending the second information to the respective vehicles 10 with a remaining time less than the first threshold or the respective terminal devices used by the respective driver assistants according to the reception of the notification request. That is, in the present embodiment, the roadside device 20 and the information processing device 30 cooperate to notify the second information to the driver assistants of the respective vehicles 10 with a remaining time less than the first threshold.

[0085] As described above, when a pedestrian heading towards the lane is detected, the roadside device 20 according to the present embodiment notifies the pedestrian of the first information indicating that it is possible to cross the lane based on the condition of the lane. Further, after the notification of the first information, the roadside device 20 notifies the driver assistance of the vehicle 10 approaching the own device (roadside device 20), that is, the target vehicle 10, of the second information indicating the presence of the pedestrian.

[0086] According to the above configuration, as described above, after the timing when the first information indicating that it is possible to cross the lane is notified to the pedestrian (that is, the timing when there is sufficient remaining time until the autonomous vehicle passes the roadside device 20), the second information indicating the presence of the pedestrian is notified to the driver assistance. Therefore, according to the present embodiment, in terms of improving the reliability of the driver assistance paying attention to the presence of a pedestrian who wants to cross the lane, the technique of assisting traffic information for the target person can be improved.

[0087] The present disclosure has been described based on the respective drawings and embodiments, but it should be noted that those skilled in the art can make various modifications and changes based on the present disclosure. Therefore, it should be noted that these modifications and changes are also included in the scope of the present disclosure. For example, the functions included in each component or each step, etc. can be reconfigured in a logically consistent manner, and multiple components or steps, etc. can be combined into one or divided.

[0088] For example, an embodiment in which a part of the operations performed by the roadside device 20 in the above embodiment is performed by the information processing device 30 can also be implemented. Refer to Figure 6 to describe a modification example of the embodiment in which a part of the operations is performed by the information processing device 30.

[0089] In S200, the control unit 25 of the roadside device 20 detects a pedestrian heading towards the lane from the image of the imaging unit 22. This operation of S200 is the same as S100 in the above embodiment.

[0090] In S201, the control unit 25 sends a request for obtaining information indicating whether a vehicle 10 whose remaining time until passing the own device (roadside device 20) is less than the first threshold exists in the lane to the information processing device 30 through the communication unit 21.

[0091] In S202, when the control unit 33 of the information processing device 30 receives the acquisition request of S201 from the roadside device 20, it monitors the remaining time until each vehicle 10 approaching the roadside device 20 passes the roadside device 20. This operation of S202 is the same as S101 in the above embodiment.

[0092] In S203, the control unit 33 determines whether there is at least one vehicle 10 with a remaining time less than the first threshold. This operation of S203 is the same as S102 in the above-described embodiment. Further, based on the determination result, the control unit 33 transmits information indicating the presence or absence of the vehicle 10 with a remaining time less than the first threshold to the roadside device 20 via the communication unit 31.

[0093] In S204, when the control unit 25 of the roadside device 20 receives the information of S203 from the information processing device 30, it notifies the pedestrian of the first information indicating that the lane can be crossed or the third information indicating the restriction related to the lane crossing according to the presence or absence of the vehicle 10 with a remaining time less than the first threshold via the notification unit 23.

[0094] Specifically, when there is no vehicle 10 with a remaining time less than the first threshold, the control unit 25 notifies the pedestrian of the first information. On the other hand, when there is a vehicle 10 with a remaining time less than the first threshold, the control unit 25 notifies the pedestrian of the third information. This operation of notifying the first information or the third information in S204 is the same as S103 or S106 in the above-described embodiment.

[0095] In S205, the roadside device 20 and the information processing device 30 cooperate to notify the driver assistance of the target vehicle 10, that is, the vehicle 10 approaching the roadside device 20, of the second information indicating the presence of the pedestrian.

[0096] In addition, when the first information is notified to the pedestrian in the immediately preceding S204, in S205, when the remaining time of the target vehicle 10 becomes the second threshold, the second information is notified to the driver assistance. This operation of notifying the second information when the remaining time of the target vehicle 10 becomes the second threshold is the same as S104 and S105 in the above-described embodiment.

[0097] On the other hand, when the third information is notified to the pedestrian in the immediately preceding S204, in S205, the second information is immediately notified to the driver assistance. This operation of immediately notifying the second information is the same as S106 in the above-described embodiment.

[0098] According to this modification, similar to the above-described embodiment, after the timing when the first information indicating that the lane can be crossed is notified to the pedestrian (that is, the timing when the remaining time until the autonomous vehicle passes the roadside device 20 is sufficient), the second information indicating the presence of the pedestrian is notified to the driver assistance. Therefore, according to this modification, similar to the above-described embodiment, in terms of improving the reliability of the driver assistance paying attention to the presence of the pedestrian who wants to cross the lane, the technique of assisting the target person with traffic information can be improved.

[0099] In addition, for example, an embodiment can also be implemented in which a general-purpose computer functions as the information processing device 30 according to the above-described embodiment. Specifically, a program describing the processing content of each function of the information processing device 30 according to the above-described embodiment is stored in the memory of the computer, and the program is read and executed by the processor of the computer. Therefore, the present disclosure can also be implemented as a program executable by a processor or a non-transitory computer-readable medium storing the program.

Claims

1. A roadside device, characterized in that: It includes a communication unit, a shooting unit, a notification unit and a control unit. The control unit is configured to perform the following processing: If a pedestrian heading toward a lane is detected from the image of the imaging unit, first information indicating that the pedestrian can cross the lane is notified to the pedestrian through the notification unit based on the condition of the lane; and After the notification of the first information, second information indicating the presence of the pedestrian is notified to a driving assistant of a target vehicle, which is an autonomous driving vehicle approaching the roadside device, through the communication unit.

2. The roadside device according to claim 1, characterized in that: The control unit is configured to, when the pedestrian is detected from the image, notify the pedestrian of the first information when a predetermined autonomous driving vehicle is not present on the lane, The predetermined automated driving vehicle is a vehicle for which a remaining time until passing through the roadside device is less than a first threshold.

3. The roadside device according to claim 2, characterized in that: The control unit is configured to notify the pedestrian of third information through the notification unit when the predetermined automatic driving vehicle is present on the lane, The third information is information indicating a restriction related to crossing the lane.

4. The roadside device according to claim 2 or 3, characterized in that: The control unit is configured to execute the following processing: monitoring the remaining time for each autonomous driving vehicle approaching the roadside device; and If the remaining time of the autonomous driving vehicle becomes a second threshold value that is smaller than the first threshold value, the autonomous driving vehicle is determined as the target vehicle.

5. The roadside device according to claim 4, characterized in that: The control unit is configured to execute the following processing: inferring a driving path of the autonomous driving vehicle based on changes in positions of each autonomous driving vehicle existing on the lane and map information; and The remaining time associated with each autonomous driving vehicle on which the roadside device is installed on the driving path is monitored.

6. The roadside device according to claim 4, characterized in that: The control unit is configured to execute the following processing: acquiring, through the communication unit, information indicating a travel path of each autonomous driving vehicle existing on the lane from an information processing device; and The remaining time associated with each autonomous driving vehicle on which the roadside device is installed on the driving path is monitored.

7. The roadside device according to claim 2 or 3, characterized in that: The control unit is configured to execute the following processing: If the pedestrian is detected from the image, a request for obtaining fourth information is sent to the information processing device via the communication unit; and receiving the fourth information from the information processing device through the communication unit, The fourth information is information indicating whether the predetermined automatic driving vehicle is present in the lane.

8. A method, performed by a roadside device having a communication unit, a photographing unit, and a notification unit, characterized in that: include: If a pedestrian heading toward the lane is detected from the image of the imaging unit, first information is notified to the pedestrian through the notification unit based on the condition of the lane, wherein the first information is information indicating that the pedestrian can cross the lane; and After the notification of the first information, second information indicating the presence of the pedestrian is notified to a driving assistant of a target vehicle, which is an autonomous driving vehicle approaching the roadside device, through the communication unit.

9. The method according to claim 8, characterized in that If the pedestrian is detected from the image, the roadside device notifies the pedestrian of the first information when a predetermined autonomous driving vehicle is not present on the lane. The predetermined automated driving vehicle is a vehicle for which a remaining time until passing through the roadside device is less than a first threshold.

10. The method according to claim 9, characterized in that Also includes: When the predetermined autonomous driving vehicle is present on the lane, third information is notified to the pedestrian through the notification unit, wherein the third information is information indicating a restriction on crossing the lane.

11. The method according to claim 9 or 10, characterized in that: Also includes: monitoring the remaining time of each autonomous driving vehicle approaching the roadside device; and If the remaining time of the autonomous driving vehicle becomes a second threshold value that is smaller than the first threshold value, the autonomous driving vehicle is determined as the target vehicle.

12. The method according to claim 11, characterized in that Also includes: inferring a driving path of the autonomous driving vehicle based on changes in positions of each autonomous driving vehicle existing on the lane and map information; and The remaining time associated with each autonomous driving vehicle on which the roadside device is installed on the driving path is monitored by the roadside device.

13. The method according to claim 11, characterized in that Also includes: acquiring, through the communication unit, from an information processing device, information indicating a travel path of each autonomous driving vehicle existing on the lane; and The remaining time associated with each autonomous driving vehicle on which the roadside device is installed on the driving path is monitored by the roadside device.

14. The method according to claim 9 or 10, characterized in that Also includes: If the pedestrian is detected from the image, a request for obtaining information indicating whether the predetermined automatic driving vehicle is present on the lane is sent to the information processing device through the communication unit; and The information is received from the information processing device through the communication unit.

15. A control system, characterized in that: include: A roadside device including a photographing unit and a notification unit; and an information processing device capable of communicating with the roadside device, in, The roadside device is configured to perform the following processing: If a pedestrian heading toward the lane is detected from the image of the imaging unit, first information is notified to the pedestrian through the notification unit based on the condition of the lane, wherein the first information is information indicating that the pedestrian can cross the lane; and After the notification of the first information, the driving assistant of the target vehicle, which is an autonomous driving vehicle approaching the roadside device, is notified of second information indicating the presence of the pedestrian through the information processing device.

16. The control system according to claim 15, characterized in that: The roadside device is configured to, when the pedestrian is detected from the image, notify the pedestrian of the first information when a predetermined automatic driving vehicle is not present on the lane, The predetermined automated driving vehicle is a vehicle for which a remaining time until passing through the roadside device is less than a first threshold.

17. The control system according to claim 16, characterized in that: The roadside device is configured to notify the pedestrian of third information through the notification unit when the predetermined automatic driving vehicle is present on the lane, The third information is information indicating a restriction related to crossing the lane.

18. The control system according to claim 16 or 17, characterized in that: The roadside device or the information processing device is configured to perform the following processing: monitoring the remaining time for each autonomous driving vehicle approaching the roadside device; and If the remaining time of the autonomous driving vehicle becomes a second threshold value that is smaller than the first threshold value, the autonomous driving vehicle is determined as the target vehicle.

19. The control system according to claim 18, characterized in that: The roadside device or the information processing device is configured to perform the following processing: inferring a driving path of the autonomous driving vehicle based on changes in positions of each autonomous driving vehicle existing on the lane and map information; and The remaining time associated with each autonomous driving vehicle on which the roadside device is installed on the driving path is monitored.

20. The control system according to claim 16 or 17, characterized in that: The roadside device is configured to send a request for obtaining fourth information to the information processing device when the pedestrian is detected from the image. The information processing device is configured to transmit the information to the roadside device in response to receipt of the acquisition request. The fourth information is information indicating whether the predetermined automatic driving vehicle is present in the lane.

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