Mapping system

Abstract

To detect a potential warning position, where a possibility for a vehicle to meet an accident is present, and map the warning position on map data.SOLUTION: A mapping system 10 comprises: behavior detection means 12 for detecting a warning behavior in which a driver of a vehicle 1 predicts a possibility of a traffic accident of the vehicle 1 and confirms the surroundings; warning position detection means 13 for detecting a present position P of the vehicle 1, where the warning behavior is detected, as a warning position X; and mapping means 14 which maps the warning position X on the map data.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This invention relates to a mapping system that maps positions where a vehicle may encounter a traffic accident while traveling onto map data. [Background technology]

[0002] Conventionally, there is known a mapping system that maps (associates) positions where a vehicle may encounter a traffic accident while traveling to map data. For example, Patent Document 1 discloses a system that reflects a danger position in map data based on a danger map showing danger positions where dangers that may be encountered while traveling exist and the types of dangers that exist at the danger positions. In the system disclosed in Patent Document 1, the danger map is created based on information such as positions where sudden braking has been applied frequently in the past and positions where traffic accidents frequently occur. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-163969 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in the system of Patent Document 1, points where the vehicle has actually had an accident, such as points where traffic accidents occur frequently, and points where the vehicle has actually nearly had an accident, such as points where sudden braking has occurred frequently, are reflected in the map data as dangerous positions. Therefore, positions where the vehicle may have an accident while traveling but has not actually had an accident or has not nearly had an accident, in other words, potential caution positions where there is a possibility of having an accident, are not reflected in the map data. In other words, the system of Patent Document 1 has room for improvement in reflecting such caution positions in the map data.

[0005] The present invention has been invented in consideration of the above-mentioned problems, and has as one of its objectives to detect potential caution positions where a vehicle may encounter an accident and map the caution positions onto map data. However, the present invention is not limited to this objective, and another objective of the present invention is to achieve effects and advantages that cannot be obtained by the conventional techniques, which are derived from the configurations shown in the below-mentioned embodiments of the invention. [Means for solving the problem]

[0006] The disclosed mapping system can be realized as the following disclosed aspects (application examples), which solve at least part of the above problems. Each of the aspects from aspect 2 onwards is an aspect that can be selected additionally as appropriate, and each of the aspects can be omitted. None of the aspects from aspect 2 onwards discloses an essential aspect or configuration for the present case.

[0007] Aspect 1. The disclosed mapping system includes an action detection means for detecting an attention action taken by a vehicle driver to check the surroundings in anticipation of a possible traffic accident involving the vehicle, an attention position detection means for detecting the current position of the vehicle where the attention action has been detected as an attention position, and a mapping means for mapping the attention position onto map data.

[0008] In the above-mentioned embodiment 1, it is preferable that the attention action includes a surroundings visual confirmation action in which the driver visually checks the surroundings of the vehicle. In this case, it is preferable that the action detection means detects the surroundings visual confirmation action based on information acquired from an on-board camera that captures the driver.

[0009] Aspect 3. In the above aspect 1 or 2, it is preferable that the attention action includes a light blocking action by the driver. Aspect 4. In the above aspect 3, it is preferable that the motion detection means detects the light blocking motion based on information acquired from an on-board camera that captures an image of the driver. Aspect 5: In the above aspect 3 or 4, it is preferable that the vehicle is provided with a sensor that detects the use state of a sun visor provided above the driver's seat. In this case, it is preferable that the operation detection means detects the shading operation based on information obtained from the sensor.

[0010] Aspect 6. In any of Aspects 1 to 5 above, it is preferable that the caution action includes a temporary lighting action of temporarily lighting headlights of the vehicle.

[0011] Aspect 7: In any of Aspects 1 to 6 above, it is preferable that the mapping system further includes a state detection means for detecting a driving state of the vehicle. In this case, it is preferable that the action detection means detects the attention action based on the driving state. Aspect 8. In the above aspect 7, it is preferable that the motion detection means detects the attention motion when the traveling state is a decelerating state or a slow-moving state.

[0012] Aspect 9. In any of Aspects 1 to 8 above, it is preferable that the mapping system further comprises a notification means for notifying the attention position based on the map data. Effect of the Invention

[0013] The disclosed mapping system is capable of detecting potential attention locations where a vehicle may encounter an accident, and mapping the attention locations onto map data. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing a vehicle to which a mapping system according to an embodiment is applied; [Diagram 2] 2 is a diagram showing an example of an image displayed on a display as a notification device provided in the vehicle of FIG. 1. FIG. [Diagram 3] 2 is an example of a flowchart for explaining a process performed in the mapping system of FIG. 1. [Figure 4] FIG. 11 is a schematic diagram showing a vehicle to which a mapping system according to a modified example is applied. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A mapping system as an embodiment will be described with reference to the drawings. The embodiment described below is merely an example, and is not intended to exclude various modifications or application of techniques not specified in the following embodiment. Each configuration of the present embodiment can be modified in various ways without departing from the spirit of the embodiment. In addition, the configurations can be selected as necessary, or can be combined appropriately.

[0016] [1. Overview] FIG. 1 is a schematic diagram showing a vehicle 1 to which a mapping system 10 (hereinafter simply referred to as "system 10") of this embodiment is applied. The system 10 performs a process of mapping (associating) a caution position X where the vehicle 1 may encounter a traffic accident (hereinafter simply referred to as "accident") while traveling to map data. The system 10 is mounted on the vehicle 1 as an electronic computing device (computer), for example, as shown in FIG. 1.

[0017] Here, map data refers to a data set in which location information (coordinates such as latitude, longitude, and altitude) is associated with feature information (e.g., roads, buildings, railroad tracks, rivers, etc.). In the map data, the location information associated with a road may be associated with attributes such as type information of the road (e.g., expressway, national road, prefectural road, etc.) and information related to the characteristics of the road (e.g., intersections, presence or absence of traffic lights, speed limit, whether it is one-way or not, number of lanes).

[0018] The system 10 detects an attention position X while the vehicle 1 is traveling. Then, the system 10 records (registers) position information of the map data that matches the position information of the detected attention position X as the attention position X, thereby associating the attention position X with the map data. In other words, the system 10 is a system that generates attention map data in which information (attributes) related to the attention position X is added to the above map data.

[0019] The system 10 detects the driver of the vehicle 1 making a cautionary motion to check the surroundings in anticipation of a possible accident involving the vehicle 1. Then, the system 10 detects the current position P of the vehicle 1 where the cautionary motion has been detected as the above-mentioned caution position X, and maps it onto the map data.

[0020] In this way, unlike conventional mapping systems that map the position where the vehicle 1 actually encountered an accident or the position where the vehicle 1 almost encountered an accident, the system 10 detects and maps the position where the driver performed an attention action as the attention position X. This makes it possible to associate potential positions where an accident may occur with map data, thereby making it possible to create more useful attention map data.

[0021] Here, as described above, the attention action means an action of the driver checking the surroundings in anticipation of the possibility of an accident involving the vehicle 1. The attention action is an action indicating that the driver is checking the surroundings in anticipation of the possibility of an accident, and can also be said as an action indicating that the driver is paying attention (gazing) at somewhere outside the vehicle.

[0022] For example, at an intersection with poor visibility where there are walls on both sides, anticipating the possibility of an accident caused by a pedestrian or other vehicle suddenly jumping out, the driver's action of looking around and visually checking the surroundings of vehicle 1, focusing on the left and right sides of vehicle 1 (the left and right sides ahead of vehicle 1, the left and right sides of the intersection ahead, the surroundings of the left and right areas that are in the driver's blind spot, etc.), is included in the attention action.

[0023] In addition, anticipating the possibility of an accident due to the glare of the setting or rising sun, a driver's action of blocking direct sunlight from reaching the driver's face (shading action) is also included in the caution action because it is an action that indicates that the driver is checking the surroundings and that the driver is looking somewhere outside the vehicle (for example, ahead).

[0024] Furthermore, in a forest, a short tunnel, under an overpass, or the like, the driver may anticipate the possibility of an accident occurring due to temporary darkness in the surroundings, and therefore may turn on the headlights 4a temporarily (temporary turn-on action) or change the direction of the headlights 4a to a distant location (high beam switching action). These actions also indicate that the driver is checking the surroundings and that the driver is paying attention to somewhere outside the vehicle (for example, the front), and are therefore included in the caution actions.

[0025] In other words, an attention behavior is a behavior of the driver that occurs when the driver anticipates the possibility of an accident involving vehicle 1, and can also be said to mean a behavior that indicates that the driver is not just looking outside the vehicle absentmindedly, but is intentionally looking carefully outside the vehicle (the driver is alert to his or her surroundings, has increased interest in his or her surroundings, or is considerate of his or her surroundings).

[0026] Therefore, actions that are performed regardless of gazing outside the vehicle, for example, actions related to the running state of the vehicle 1, such as actions that control the speed and steering angle of the vehicle 1 (hereinafter referred to as "related actions"), are not included in the actions requiring attention. Examples of related actions include actions that accelerate or decelerate the vehicle 1 (actions of operating an accelerator pedal (not shown) or an accelerator pedal (not shown)) and actions that change the traveling direction of the vehicle 1 (actions of operating the steering wheel 8).

[0027] Therefore, the careful action can be said to be an action indicating that the driver is gazing outside the vehicle to prevent an accident from occurring, among actions other than the relevant actions (hereinafter referred to as "non-relevant actions") performed by the driver of the vehicle 1. For this reason, even if they are non-relevant actions, the driver's dozing action (e.g., closing the eyes for a certain period of time or more) and the driver's looking away (e.g., facing a direction other than the front of the vehicle for a certain period of time or more) are not actions indicating gazing outside the vehicle, and are therefore not included in the careful action.

[0028] The system 10 of this embodiment detects three types of actions, the above-mentioned surroundings visual confirmation action, the light blocking action, and the temporary lighting action, as the attention actions. Then, a position where at least one of these three types of actions is detected is detected as an attention position X, and is mapped in the map data. Note that the actions detected as the attention actions are at least actions where the driver of the vehicle 1 checks the surroundings in anticipation of the possibility of an accident involving the vehicle 1, and are not limited to the three types of actions, the surroundings visual confirmation action, the light blocking action, and the temporary lighting action, and may include other actions.

[0029] The system 10 of the present embodiment further notifies the driver of the attention position X based on the created attention map data. The system 10 thereby urges the driver to pay attention to the attention position X.

[0030] [2. Vehicle configuration] As described above, the vehicle 1 of this embodiment is equipped with the system 10 as an electronic computing device (computer). The system 10 includes a microprocessor (central processing unit), a memory (main memory), a storage device, an interface device, and the like.

[0031] Vehicle 1 is also provided with an on-board camera 2, a sun visor sensor 3, a light switch 4, and a positioning device 5. Vehicle 1 is also provided with a notification device 7. The on-board camera 2, the sun visor sensor 3, and the light switch 4 are devices for detecting the above-mentioned attention action, and the positioning device 5 is a device for detecting the above-mentioned attention position X. Notification device 7 is a device for notifying attention position X. Of these devices 2-5 and 7, devices 2-5 except for notification device 7 are connected to the input side of system 10, and notification device 7 is connected to the output side of system 10.

[0032] The vehicle-mounted camera 2 is an imaging device that captures an image of the driver. The vehicle-mounted camera 2 is installed, for example, near the upper and central part of the windshield of the vehicle 1. However, the installation position of the vehicle-mounted camera 2 is not limited to this as long as it is a position where at least the driver can be captured. The angle of view of the vehicle-mounted camera 2 is set to a range where at least the driver is captured, and is preferably set to a range where the driver's upper body and face and the sun visor 3a can be captured. Image data captured by the vehicle-mounted camera 2 is transmitted to the system 10. Note that the image data captured by the vehicle-mounted camera 2 may be a still image or a video image.

[0033] The sun visor sensor 3 is a sensor that detects the use state of the sun visor 3a provided above the driver's seat 1a of the vehicle 1. When not in use, the sun visor 3a is arranged along the ceiling surface 1b of the vehicle 1. On the other hand, when the sun visor 3a is lowered to form a predetermined angle (for example, 90 degrees) or more with respect to the ceiling surface 1b, it is in use and prevents the direct sunlight of the setting sun or the rising sun from hitting the driver's face. The sun visor sensor 3 is a sensor that detects such a use state of the sun visor 3a, and is built into, for example, the hinge of the sun visor 3a. When the sun visor sensor 3 detects the use state of the sun visor 3a, it transmits a signal indicating that to the system 10.

[0034] The light switch 4 is a switch that switches between a turned-on state and a turned-off state of the headlights 4a provided at the front of the vehicle 1. The light switch 4 is provided, for example, on a lever that is cantilevered on a steering column of the steering wheel 8. When the light switch 4 is turned on by the driver's switch operation, it turns on the headlights 4a and transmits a signal indicating that the headlights 4a are turned on to the system 10. On the other hand, when the light switch 4 is turned off by the driver's switch operation, it turns off the headlights 4a and transmits a signal indicating that the headlights 4a are turned off to the system 10.

[0035] The positioning device 5 measures position information (coordinates such as latitude, longitude, and altitude) of the current position P of the vehicle 1 based on detection information from a GNSS (Global Navigation Satellite System) or a vehicle speed sensor. The positioning device 5 may accurately identify the current position P of the vehicle 1 based on map data stored in the system 10. The position information of the current position P measured by the positioning device 5 is transmitted to the system 10.

[0036] As described above, the notification device 7 is a device that notifies the driver of the attention position X. In this embodiment, the notification device 7 is a display for transmitting visual information such as characters and images to the driver. The notification device 7 is controlled by the system 10 to display characters, images, and the like indicating features at positions surrounding the current position P of the vehicle 1 on the display. Furthermore, the notification device 7 notifies the driver of the attention position X by highlighting positions registered as the attention position X among the positions surrounding the current position P on the display.

[0037] [3. System (software) configuration] The system 10 is provided with functional elements for carrying out the above-mentioned processing, including a motion detection means 12, an attention position detection means 13, a mapping means 14, and a notification means 15. These functional elements may be realized by electronic circuits (hardware), or may be programmed as software, or some of these functions may be provided as hardware and the other parts as software.

[0038] The action detection means 12 detects the attention action. When the action detection means 12 detects the attention action, it transmits a signal indicating that the attention action has been detected to the attention position detection means 13. As described above, the action detection means 12 of this embodiment detects three types of attention actions: a surrounding visual confirmation action, a light blocking action, and a momentary light turning-on action. These actions and the detection method thereof will be described in detail below.

[0039] The surroundings visual confirmation action is an action of visually checking the surroundings of the vehicle 1, and includes, for example, a pointing action to the left and right and an action of checking the left and right in a forward leaning posture. The action detection means 12 acquires image data from the in-vehicle camera 2, and detects these actions based on the acquired image data.

[0040] A known behavior detection technique may be applied to the detection of the surroundings visual confirmation action based on the image data acquired from the vehicle-mounted camera 2. For example, the system 10 may recognize the skeleton of the person (driver) in the image data, and create a recognition model by machine learning a series of skeletal movements included in the surroundings visual confirmation action, and the created recognition model may be used to detect the surroundings visual confirmation action.

[0041] The shading action is an action to block direct sunlight from the setting sun or the rising sun onto the driver's face. Shading actions include, for example, an action of holding a hand over the driver's eyes, an action of putting on sunglasses, and / or an action of lowering the sun visor 3a. The action detection means 12 acquires image data from the in-vehicle camera 2 and detects these actions based on the acquired image data. The action detection means 12 may detect the action of lowering the sun visor 3a by receiving a signal from the sun visor sensor 3 indicating that the use state of the sun visor 3a has been detected.

[0042] The temporary lighting operation is an operation for temporarily lighting the headlights 4a. The operation detection means 12 detects the temporary lighting operation, for example, when it receives a signal from the light switch 4 indicating that the headlights 4a are turned on and then receives a signal indicating that the headlights 4a are turned off within a predetermined time. The predetermined time is set to a time (for example, about several minutes) that allows it to determine whether the headlights 4a are turned on temporarily. The operation detection means 12 may obtain image data from the vehicle-mounted camera 2 and detect the temporary lighting operation based on the obtained image data.

[0043] When the attention position detection means 13 receives a signal indicating that an attention action has been detected from the action detection means 12, it detects the current position P of the vehicle 1 where the attention action was detected as an attention position X. Specifically, the attention position detection means 13 acquires position information of the current position P of the vehicle 1 where the attention action was detected from the positioning device 5, and detects (sets) the acquired position information as position information of the attention position X. The attention position detection means 13 transmits the detected position information of the attention position X to the mapping means 14.

[0044] The attention position detection means 13 may acquire, from the positioning device 5, position information of the current position P of the vehicle 1 at the time when the signal was received from the action detection means 12, and set the position information as the position information of the attention position X. Alternatively, the attention position detection means 13 may acquire, from the positioning device 5, position information of the current position P of the vehicle 1 at the time when the attention action began to be detected, going back from the time when the signal was received, and set the position information as the position information of the attention position X.

[0045] The mapping means 14 maps the attention position X detected by the attention position detection means 13 onto map data. The mapping means 14 refers to position information that matches the position information of the acquired attention position X from the map data, and stores (registers) the position information as the attention position X. As a result, attention map data in which the information of the attention position X is added to the map data is generated.

[0046] The notification means 15 refers to the attention map data created by the mapping means 14 and notifies the driver of the attention position X. For example, as shown in FIG. 2, the notification means 15 acquires position information of the current position P of the vehicle 1 from the positioning device 5, and refers to position information that matches the acquired position information from the attention map data. Then, the notification means 15 displays characters, images, etc. indicating features associated with surrounding position information including the position information on the notification device 7. In addition, the notification means 15 notifies the driver of the attention position X by highlighting the position registered as the attention position X among the surrounding position information including the position information on the notification device 7. Note that, when a route from the current position P of the vehicle 1 to the destination is set, the notification means 15 may notify the driver of the attention position X by displaying the position registered as the attention position X among the positions on the route on the notification device 7.

[0047] [4. Flowchart] Fig. 3 is an example of a flowchart for explaining the processing performed by the motion detection means 12, attention position detection means 13, and mapping means 14 of the system 10. The flowchart in Fig. 3 is repeatedly performed at a predetermined calculation period when the main power supply of the vehicle 1 is turned on, for example, and ends when the main power supply of the vehicle 1 is turned off.

[0048] In step S1, it is determined whether or not an attention action has been detected based on information acquired from the in-vehicle camera 2, the sun visor sensor 3, and the light switch 4. If it is determined in step S1 that an attention action has not been detected, it is determined that the current position P of the vehicle 1 at that time point is not the attention position X, and the flow is returned.

[0049] On the other hand, if it is determined in step S1 that the attention action has been detected, the process proceeds to step S2. In step S2, the current position P of the vehicle 1 is detected as the attention position X. More specifically, the position information of the current position P of the vehicle 1 acquired from the positioning device 5 is set as the position information of the attention position X. Then, the process proceeds to step S3, where the position information of the map data that matches the position information of the detected attention position X is registered as the attention position X, so that the attention position X is mapped to the map data, and this flow is returned.

[0050] [5. Actions and Effects] (1) In the above-mentioned system 10, the action detection means 12 detects an attention action, and the attention position detection means 13 detects the current position P of the vehicle 1 where the attention action was detected as the attention position X. An attention action is an action in which the driver of the vehicle 1 checks the surroundings in anticipation of a possibility of an accident of the vehicle 1. The system 10 detects such an action as an attention action, and detects the current position P of the vehicle 1 where the attention action was detected as the attention position X. This makes it possible to detect a potential attention position X where there is a possibility that the vehicle 1 will encounter an accident, rather than a position where the vehicle 1 actually encountered or was about to encounter an accident. In addition, the mapping means 14 maps such an attention position X to the map data, so that more useful attention map data can be generated.

[0051] (2) In the above-mentioned system 10, the surroundings visual confirmation action is detected as an attention action, and the position where the attention action is detected is detected as the attention position X. This makes it possible to map, in the map data, the positions where the vehicle 1 should be driven while paying attention to the surroundings, such as poorly visible intersections or T-junctions with walls on both sides, and school routes with many pedestrians. In addition, in the above-mentioned system 10, the surroundings visual confirmation action is detected based on information obtained from the in-vehicle camera 2. This makes it possible to detect various actions included in the surroundings visual confirmation action, such as pointing to the left and right and checking to the left and right in a forward leaning posture, based only on information obtained from the in-vehicle camera 2, thereby simplifying the configuration of the system 10.

[0052] (3) In the above-described system 10, a shading action is detected as an attention action, and the position where the attention action is detected is detected as an attention position X. This makes it possible to map positions where an accident due to dazzling sunlight such as the setting sun or the rising sun may occur on the map data.

[0053] (4) Furthermore, in the above-described system 10, a shading action is detected based on information obtained from the vehicle-mounted camera 2. This allows various actions, which are included in the shading action, such as holding a hand over the driver's eyes, putting on sunglasses, and lowering the sun visor 3a, to be detected only from the information obtained from the vehicle-mounted camera 2, so that the configuration of the system 10 can be simplified. (5) Furthermore, according to the above-described system 10, by detecting a shading operation based on information obtained from the sun visor sensor 3, it is possible to detect the operation of lowering the sun visor 3a as a shading operation regardless of the angle of view of the vehicle-mounted camera 2.

[0054] (6) In the above-described system 10, the momentary lighting operation is detected as an attention operation, and the position where the attention operation is detected is detected as the attention position X. This makes it possible to map, in the map data, positions where the vehicle 1 should be driven with caution while informing objects outside the vehicle (e.g., other vehicles, people, or animals in the case of a forest) of the presence of the vehicle 1, such as in a forest, a short tunnel, or under an overpass.

[0055] (7) According to the above-described system 10, the notification means 15 controls the notification device 7 to notify the driver of the attention position X. This makes it possible to prompt the driver to pay attention (be cautious or vigilant) to the attention position X, thereby contributing to safe driving by the driver.

[0056] [6. Modifications] FIG. 4 is a schematic diagram showing a vehicle 1' to which a modified system 10' is applied. The modified system 10' differs from the above-mentioned system 10 in that it detects the running state of the vehicle 1' and detects a caution operation based on the detected running state. In the following explanation, the same components as those explained in the embodiment are given the same reference numerals, and explanations of the components and effects are omitted. Furthermore, for components corresponding to those explained in the embodiment, a prime (') is added to the reference numerals of the embodiment, and detailed explanations are omitted.

[0057] The system 10' detects the attention action, for example, when the driving state is decelerating or slowing down. Here, in a location where a possibility of an accident is expected, it is considered that the driver will decelerate or slow down the vehicle 1' in advance to avoid the accident. Therefore, by detecting the attention action only when the driving state is decelerating or slowing down, it is possible to improve the certainty (credibility) of the attention position X detected based on the attention action. In this way, the system 10' detects the attention position X by combining the driving state and the attention action, thereby more appropriately detecting the attention position X. As a result, it is possible to create more credible attention map data.

[0058] In this modified example, the vehicle 1' is provided with a vehicle speed sensor 6 as a device for detecting the traveling state. The vehicle speed sensor 6 is a sensor for detecting the vehicle speed V of the vehicle 1' (or the wheel speed or vehicle body speed corresponding to the vehicle speed). The vehicle speed V detected by the vehicle speed sensor 6 is transmitted to the system 10'.

[0059] In addition to the functional elements of the system 10 described above, the system 10′ is provided with a state detection means 11 as a functional element that detects the running state of the vehicle 1. The action detection means 12′ detects an attention action based on the running state received from the state detection means 11.

[0060] The state detection means 11 detects the running state of the vehicle 1'. The state detection means 11 detects the deceleration state and the slow-moving state of the vehicle 1'. The state detection means 11 acquires the vehicle speed V from the vehicle speed sensor 6, and calculates the acceleration A of the vehicle 1' by differentiating the acquired vehicle speed V. The state detection means 11 determines that the running state is a slow-moving state when the acquired vehicle speed V is equal to or lower than a predetermined vehicle speed Vn (e.g., 15 km / h). Furthermore, the state detection means 11 determines that the running state is a deceleration state when the calculated acceleration A is a negative value. The state detection means 11 transmits the detected running state to the operation detection means 12'.

[0061] The action detection means 12', like the action detection means 12 described above, acquires information, for example, from the in-vehicle camera 2, the sun visor sensor 3, and / or the light switch 4, and detects the caution action based on the acquired information. However, as described above, the action detection means 12' in this modified example detects the caution action in consideration of the driving state received from the state detection means 11. Specifically, the action detection means 12' detects the caution action when the driving state detected by the state detection means 11 is a deceleration state or a slow-moving state.

[0062] In this way, in the system 10' of the modified example, the motion detection means 12' specifies the situation in which to detect the caution motion, taking into account the running state of the vehicle 1' detected by the state detection means 11. This makes it possible to prevent motions performed in running states where the caution motion is unlikely to be performed (for example, a constant speed state that is not an accelerating state or a slow-moving state) from being detected as the caution motion. Therefore, the attention position X can be detected more appropriately.

[0063] In particular, in the above-mentioned system 10', the action detection means 12' detects the attention action only when the driving state is decelerating or slowing down. This makes it possible to more appropriately detect the attention position X, and also reduces the processing load of the system 10' because the process of detecting the attention action is not performed when the driving state is not decelerating or slowing down.

[0064] It should be noted that the method of detecting the attention action based on the running state of the vehicle 1' is not limited to this. For example, the action detection means 12' may not detect the attention action in a start-up state immediately after the start of the vehicle 1', even if the running state is a deceleration state or a slow-moving state. Also, the action detection means 12' may not detect the attention action in a reverse moving state where the vehicle 1' is moving backwards, even if the running state is a deceleration state or a slow-moving state. In this way, by detecting the attention action excluding the time when the vehicle 1' leaves or enters the garage, the reliability of the attention position X detected based on the attention action can be increased.

[0065] [7.Other] The configurations of the systems 10, 10' and the vehicles 1, 1' described above are examples. Furthermore, the processes performed by the systems 10, 10' described above are examples. The operations detected as attention operations are not limited to the three types of operations, namely, the surrounding visual confirmation operation, the light blocking operation, and the temporary lighting operation, and may include other operations. Alternatively, one or two of these three types of operations may be detected as attention operations. Furthermore, the operations exemplified as the three types of operations are also examples, and are not limited to the above-mentioned operations. The systems 10, 10' may detect the above-mentioned other operations as attention operations based on information acquired from the vehicle-mounted camera 2.

[0066] The attention action may include not only the action of the driver checking the surroundings directly with his / her eyes, but also the action of checking the surroundings indirectly via an in-vehicle display device (e.g., a monitor). The attention action may include, for example, the action of activating the around view monitor to check blind spots on narrow roads, etc. The action detection means 12, 12' may detect the action based on the CAN signal when the around view monitor is operated.

[0067] The system 10, 10' may further include a time detection means for detecting the current time of the vehicle 1, 1'. In this case, the action detection means 12, 12' may detect the attention action taking into account the current time detected by the time detection means.

[0068] For example, the action detection means 12, 12' may detect the shading action as the caution action only when the current time of the vehicle 1, 1' is the time indicating dawn or dusk. In this way, by detecting the shading action as the caution action only during the time when dazzling by the setting sun or the rising sun is likely to occur, the reliability of the attention position X detected based on the caution action can be increased.

[0069] Moreover, the action detection means 12, 12' may detect the momentary turn-on action as the caution action only when the current time detected by the time detection means is a time indicating daytime. In this way, by detecting the momentary turn-on action as the caution action only during the daytime when the headlights 4a are basically turned off, the reliability of the attention position X detected based on the caution action can be increased.

[0070] The system 10, 10' may further include a weather detection means for detecting weather information for the current position P of the vehicle 1, 1'. In this case, the action detection means 12, 12' may detect the caution action by taking into consideration the weather information detected by the weather detection means. For example, the action detection means 12, 12' may detect the shading action as the caution action only when the weather information for the current position P of the vehicle 1, 1' indicates sunny. In this way, by detecting the shading action as the caution action only when the weather is such that dazzling light from the setting sun or the rising sun is likely to occur, the reliability of the caution position X detected based on the caution action can be increased.

[0071] The system 10, 10' may further include a traveling position detection means for detecting the traveling position of the vehicle 1, 1' on the road. The traveling position detection means may detect the position of the vehicle 1, 1' on the road by performing image recognition (recognizing the left and right edges of the road, center lines, and white lines) based on image data acquired from a camera for an around view monitor or other cameras capable of acquiring images outside the vehicle.

[0072] In this case, the action detection means 12, 12' may detect the attention action taking into consideration the running position detected by the running position detection means. The action detection means 12, 12' may detect the attention action when the running position of the vehicle 1, 1' on the road changes. For example, in a road without a center line such as a residential area, the action detection means 12, 12' may detect the attention action when the running position of the vehicle 1, 1' on the road changes from the edge to the center to avoid pedestrians. In this way, by detecting the attention action in combination with the change in the running position, the reliability of the attention position X detected based on the attention action can be increased.

[0073] The motion detection means 12, 12' may detect the caution motion based on (taking into consideration) all of the above-mentioned running state, the current time, the weather information of the current position, and the running position, or may detect the caution motion by combining these pieces of information. The motion detection means 12, 12' is sufficient as long as it detects at least the caution motion, and does not need to take these pieces of information into account when detecting the caution motion.

[0074] In the above-mentioned embodiment, the system 10, 10' is mounted on the vehicle 1, 1', but the system 10, 10' may not be mounted on the vehicle 1, 1'. The system 10, 10' may be built in a server (cloud) provided outside the vehicle 1, 1', for example. In this case, the system 10, 10' may obtain information from the devices 2 to 6 provided in each of the multiple vehicles to detect the attention action and the attention position X. In other words, the system 10, 10' may aggregate and map the attention action and the attention position X of the multiple vehicles. As a result, the attention position X in the area where the driver of the vehicle 1, 1' has not driven can also be mapped on the map data. Therefore, the driver of the vehicle 1, 1' can be notified of the potential attention position X that is highly local and known by local people.

[0075] Furthermore, when the system 10, 10' is mounted on the vehicle 1, 1', the system 10, 10' may acquire and map the attention position X detected by the system 10, 10' mounted on a vehicle other than the vehicle 1, 1'. In this case, the attention position X in an area where the driver of the vehicle 1, 1' has not traveled can be mapped on the map data. Therefore, the driver of the vehicle 1, 1' can be notified of a potential attention position X with a high regionality that local people know.

[0076] The system 10, 10' may not have a function of notifying the driver of the attention position X. In this case, the notification means 15 may be omitted. The notification device 7 is not limited to a display, and may be a warning light or a speaker.

[0077] The system 10, 10' may detect the running state, the caution action, and the caution position X of the vehicle 1, 1' based on information acquired from a device other than the above-mentioned devices 2 to 6. In this case, the vehicle 1, 1' may be provided with a device other than the above-mentioned devices 2 to 6. The system 10, 10' may include a function of mapping danger positions, such as a position where the vehicle 1 actually encountered an accident or a position where the vehicle 1 almost encountered an accident, onto map data, as disclosed in Patent Document 1. [Industrial Applicability]

[0078] The present invention is applicable to the manufacturing industry of mapping systems applied to vehicles, and also to the manufacturing industry of vehicles equipped with such mapping systems. [Explanation of symbols]

[0079] 1,1' vehicle 1a Driver's seat 2. In-vehicle camera 3 Sun visor sensor (sensor) 3a Sun visor 4a Headlight 10,10′ System (Mapping System) 11. State detection means 12, 12' Motion detection means 13. Attention position detection means 14 Mapping Methods 15 Notification methods P Current position X Caution position

Claims

1. An action detection means for detecting an attentive action of a driver of a vehicle checking surroundings in anticipation of a possibility of a traffic accident involving the vehicle; an attention position detection means for detecting a current position of the vehicle where the attention action has been detected as an attention position; A mapping means for mapping the attention position onto map data. A mapping system comprising:

2. The attention action includes a surroundings visual confirmation action in which the driver visually checks the surroundings of the vehicle, The motion detection means detects the surrounding visual confirmation motion based on information acquired from an in-vehicle camera that captures an image of the driver.

2. The mapping system of claim 1 .

3. The attention action includes a light blocking action by the driver.

2. The mapping system of claim 1 .

4. The motion detection means detects the light blocking motion based on information acquired from an in-vehicle camera that captures an image of the driver.

4. The mapping system of claim 3.

5. The vehicle is provided with a sensor for detecting a use state of a sun visor provided above the driver's seat, The operation detection means detects the light blocking operation based on information acquired from the sensor.

4. The mapping system of claim 3.

6. The warning action includes a temporary lighting action for temporarily lighting the headlights of the vehicle.

2. The mapping system of claim 1 .

7. The vehicle further includes a state detection means for detecting a running state of the vehicle. The motion detection means detects the attention motion based on the running state. A mapping system according to any one of claims 1 to 6.

8. The motion detection means detects the attention motion when the traveling state is a decelerating state or a slow-moving state.

8. The mapping system of claim 7.

9. The vehicle further includes a notification means for notifying the user of the attention position based on the map data. A mapping system according to any one of claims 1 to 6.

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