Vehicle speed control system

Abstract

To provide a vehicle speed control system that continuously detects changes in a walking rhythm of a pedestrian who is walking around a vehicle and performs control to immediately decelerate the vehicle speed when the changes in the walking rhythm of the pedestrian is detected.SOLUTION: A vehicle speed control system is configured to include a wearable terminal 100 worn by a pedestrian and a vehicle control device of a vehicle. The wearable terminal includes: a walking rhythm detection unit 111 that detects a walking rhythm of the pedestrian; and a communication unit 130 that transmits information including the walking rhythm information detected by the walking rhythm detection unit to the vehicle control device. The vehicle control device includes: a walking rhythm analysis unit that analyzes a walking rhythm; and a control unit that controls a vehicle speed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle speed control system. [Background technology]

[0002] In recent years, vehicles equipped with ADAS (Advanced Driver Assistance Systems) functions that enable the vehicle itself to grasp information about its surroundings and control the vehicle on behalf of the driver have come into practical use.

[0003] For example, one such technology disclosed is one that avoids collisions with vehicles, pedestrians, etc. based on information obtained from cameras, Lidar, millimeter-wave radar, etc. installed in the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2013-152149 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology described in Patent Document 1 does not continuously detect changes in the walking rhythm of pedestrians around the vehicle, so there is an issue that, for example, it takes time to detect when a pedestrian suddenly runs out into the roadway, resulting in a delay in the control to decelerate the vehicle.

[0006] Therefore, the present invention has been made in consideration of the above-mentioned problems, and aims to provide a vehicle speed control system that continuously detects changes in the walking rhythm of pedestrians around the vehicle, and immediately controls the vehicle speed to decelerate when a change in the pedestrian's walking rhythm is detected. [Means for solving the problem]

[0007] Form 1: One or more embodiments of the present invention propose a vehicle speed control system including a wearable terminal worn by a pedestrian and a vehicle control device of a vehicle, wherein the wearable terminal has a walking rhythm detection unit that detects the walking rhythm of the pedestrian and a communication unit that transmits information including the walking rhythm information detected by the walking rhythm detection unit to the vehicle control device, and the vehicle control device has a control unit that controls the vehicle speed when a change in the walking rhythm is detected based on the information transmitted from a specific one of the wearable terminals.

[0008] Form 6: One or more embodiments of the present invention propose a vehicle speed control system including a wearable terminal worn by a pedestrian and a vehicle control device of a vehicle, wherein the wearable terminal has one or more processors and one or more memories, the one or more processors have a walking rhythm detection unit that detects the walking rhythm of the pedestrian and a transmission unit that transmits information including the walking rhythm information detected by the walking rhythm detection unit to the vehicle control device, and the vehicle control device has one or more processors and one or more memories, and the one or more processors have a control unit that controls the vehicle speed when a change in the walking rhythm is detected based on the information transmitted from a specific one of the wearable devices. Effect of the Invention

[0009] According to one or more embodiments of the present invention, it is possible to continuously detect changes in the walking rhythm of pedestrians walking around the vehicle, and when a change in the walking rhythm of a pedestrian is detected, it is possible to immediately control the vehicle speed to decelerate. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing a configuration of a vehicle speed control system according to a first embodiment of the present invention. [Diagram 2] 1 is a diagram showing a configuration of a wearable terminal according to a first embodiment of the present invention. [Diagram 3] 3 is a diagram showing a walking rhythm detected by the wearable device according to the first embodiment of the present invention. FIG. [Figure 4] 1 is a diagram showing a configuration of a vehicle control device according to a first embodiment of the present invention. [Diagram 5] FIG. 4 is a diagram showing a processing flow of the wearable terminal according to the first embodiment of the present invention. [Figure 6] FIG. 2 is a diagram showing a processing flow of the vehicle control device according to the first embodiment of the present invention. [Figure 7] FIG. 5 is a diagram showing a configuration of a vehicle speed control system according to a second embodiment of the present invention. [Figure 8] FIG. 11 is a diagram showing a configuration of a wearable terminal according to a second embodiment of the present invention. [Figure 9] FIG. 4 is a diagram showing a configuration of a vehicle control device according to a second embodiment of the present invention. [Figure 10] FIG. 11 is a diagram showing a vehicle speed control method of a vehicle control device according to a second embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing a processing flow of a vehicle control device according to a second embodiment of the present invention. [Figure 12] FIG. 11 is a diagram showing a configuration of a vehicle speed control system according to a third embodiment of the present invention. [Figure 13] FIG. 11 is a diagram showing a configuration of a vehicle control device according to a third embodiment of the present invention. [Figure 14] FIG. 11 is a diagram showing a processing flow of a vehicle control device according to a third embodiment of the present invention. [Figure 15] FIG. 11 is a diagram showing a configuration of a vehicle speed control system according to a fourth embodiment of the present invention. [Figure 16] FIG. 13 is a diagram showing a configuration of a processor of an in-vehicle device according to a fourth embodiment of the present invention. [Figure 17] FIG. 11 is a diagram showing a processing flow of a vehicle control device according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to FIGS.

[0012] <First embodiment> A vehicle speed control system 1 according to this embodiment will be described with reference to FIGS.

[0013] <Configuration of vehicle speed control system 1> As shown in FIG. 1, a vehicle speed control system 1 according to this embodiment includes wearable terminals 100_1 to 100_N and a vehicle control device 200. Hereinafter, the wearable terminals 100_1 to 100_N will be collectively referred to as "wearable terminal 100." The wearable terminal 100 and the vehicle control device 200 are connected so as to be able to communicate with each other.

[0014] The wearable terminal 100 is, for example, a smart watch worn by a pedestrian. In this embodiment, the wearable device 100 detects, for example, the walking rhythm of a walker. In this embodiment, the wearable terminal 100 transmits, for example, a detection result to a vehicle control device 200, which will be described later. The configuration of the wearable terminal 100 will be described later.

[0015] In this embodiment, the vehicle control device 200 performs, for example, vehicle speed control. In this embodiment, the vehicle control device 200 communicates with, for example, a wearable terminal 100 worn by a pedestrian in the vicinity of the vehicle on which the vehicle control device 200 is installed. In this embodiment, the vehicle control device 200 executes control to decelerate the vehicle speed based on the walking rhythm information received from the wearable terminal 100, for example. The configuration of the vehicle control device 200 will be described later.

[0016] <Configuration of the wearable terminal 100> As shown in FIG. 2, the wearable terminal 100 includes a processor 110, a memory 120, a communication unit 130, and a sensor 140.

[0017] In this embodiment, the processor 110 acquires, for example, information regarding the walking of a pedestrian wearing the wearable terminal 100. The configuration of the processor 110 will be described later.

[0018] The memory 120 includes a read only memory (ROM) and a random access memory (RAM), neither of which are shown. The memory 120 stores, for example, a control program and various data received from the processor 110.

[0019] The communication unit 130 communicates with the vehicle control device 200 under the control of the processor 110 . The communication unit 130 is, for example, a wireless communication unit such as Bluetooth (registered trademark), and connects to the vehicle control device 200 to transmit and receive information. In this embodiment, the communication unit 130 transmits, for example, walking rhythm information detected by the processor 110 (described later) to the vehicle control device 200. The walking rhythm information will be described later.

[0020] The sensor 140 is, for example, an acceleration sensor built into the wearable terminal 100 and inputs the sensor output to the processor 110. In this embodiment, the sensor 140 detects, for example, acceleration that occurs during walking.

[0021] <Configuration of the Processor 110> As shown in FIG. 2, the processor 110 includes a walking rhythm detection unit 111 and a terminal control unit 112. Each unit of the processor 110 and the memory 120 transmit and receive various information via a bus line BL.

[0022] The walking rhythm detection section 111 detects the walking rhythm of a walker. In this embodiment, the walking rhythm detection section 111 detects the walking rhythm based on the sensor output of an acceleration sensor input from the sensor 140, for example. The walking rhythm detection section 111 detects the walking rhythm by detecting, for example, the acceleration that occurs when the foot of a pedestrian lands on the road. As shown in FIG. 3, the walking rhythm detection section 111 determines that the foot of the pedestrian has landed on the road, for example, when the sensor output of the sensor 140 exceeds a predetermined acceleration. The walking rhythm detection section 111 detects, for example, intervals T (for example, T1 to T7) at which the feet of a pedestrian land on a road as walking rhythm information. The walking rhythm detection section 111 transmits the detected walking rhythm information to the terminal control section 112, which will be described later, via the bus line BL.

[0023] The terminal control unit 112 controls the entire wearable terminal 100 in accordance with a control program stored in the memory 120 . In this embodiment, the terminal control unit 112 detects the presence or absence of a vehicle control device 200 with which communication is possible via the communication unit 130, for example. In this embodiment, the terminal control unit 112 transmits, for example, an instruction to detect the walking rhythm to the walking rhythm detection unit 111. In this embodiment, the terminal control unit 112 transmits the individual identification number of the wearable terminal 100 and the detection result (walking rhythm information) of the walking rhythm detection unit 111 to the vehicle control device 200 via the communication unit 130, for example. In this embodiment, for example, the terminal control unit 112 continuously transmits the individual identification number of the wearable terminal 100 and the detection result of the walking rhythm detection unit 111 to the vehicle control device 200 while communication with the vehicle control device 200 is possible.

[0024] <Configuration of vehicle control device 200> As shown in FIG. 4, the vehicle control device 200 includes a processor 210, a memory 220, and a communication unit 230.

[0025] In this embodiment, the processor 210 performs vehicle speed control based on walking rhythm information received from the wearable device 100, for example. The configuration of the processor 210 will be described later.

[0026] The memory 220 includes a read only memory (ROM) and a random access memory (RAM), neither of which are shown. The memory 220 stores, for example, a control program and various data received from the processor 210.

[0027] The communication unit 230 communicates with the wearable terminal 100 under the control of the processor 210. The communication unit 230 is, for example, a wireless communication unit such as Bluetooth (registered trademark), and connects to the wearable terminal 100 to transmit and receive information.

[0028] <Configuration of the processor 210> As shown in FIG. 4, the processor 210 includes a walking rhythm analysis unit 211 and a control unit 212. Each unit of the processor 210 and the memory 220 transmit and receive various types of information via a bus line BL.

[0029] The walking rhythm analysis unit 211 analyzes the walking rhythm information received from the wearable device 100. In this embodiment, the walking rhythm analysis unit 211 analyzes, for example, the detection result of the walking rhythm detection unit 111 received from the wearable device 100, and determines whether or not there has been a change in the walking rhythm. An example of the determination method will be described below. The walking rhythm analysis unit 211 determines that a change has occurred in the walking rhythm, for example, when the change ratio of the interval T at which the pedestrian's feet land on the road exceeds a predetermined threshold value. For example, when the rate of change between T1 and T2 (=T1 / T2) shown in FIG. 3 exceeds the range of 100±25%, the walking rhythm analysis section 211 determines that a change has occurred in the walking rhythm. The walking rhythm analysis unit 211 calculates, for example, the rate of change (for example, T2 / T3, T3 / T4, . . . ) for each step of the walker, and determines whether or not there has been a change in the walking rhythm. The walking rhythm analysis section 211 is not limited to the above-mentioned determination method as long as it can detect a change in walking rhythm. In this embodiment, for example, when the walking rhythm analysis unit 211 determines that there has been a change in the walking rhythm, it transmits information indicating that a change in the walking rhythm has been detected to the control unit 212 described later via the bus line BL.

[0030] The control unit 212 controls the entire vehicle control device 200 in accordance with a control program stored in the memory 220 . In this embodiment, the control unit 212 determines, for example, whether or not there is a wearable terminal 100 with which communication is possible via the communication unit 230. In this embodiment, for example, when a wearable device 100 with which communication is possible via the communication device 230 is present, the control device 212 acquires walking rhythm information from the wearable device 100 . In this embodiment, the control unit 212 transmits an instruction to analyze the walking rhythm to the walking rhythm analysis unit 211 via, for example, the bus line BL.

[0031] In this embodiment, for example, when the control unit 212 detects a change in the walking rhythm based on walking rhythm information transmitted from a specific wearable device 100, the control unit 212 controls the vehicle speed. For example, when the control unit 212 detects a change in the walking rhythm, it transmits a deceleration command to a brake control device (not shown) to decelerate the vehicle.

[0032] <Processing of the Wearable Terminal 100> The processing of the wearable terminal 100 will be described with reference to FIG.

[0033] The terminal control unit 112 determines whether or not there is a vehicle control device 200 with which communication is possible via the communication unit 130 (step S110). When determining that there is no vehicle control device 200 with which communication is possible via the communication unit 130 ("NO" in step S110), the terminal control unit 112 ends the process. When the terminal control unit 112 determines that there is a vehicle control device 200 with which communication is possible via the communication unit 130 ("YES" in step S110), the terminal control unit 112 shifts the process to step S120.

[0034] The terminal control unit 112 transmits an instruction to detect the walking rhythm to the walking rhythm detection unit 111, and causes the walking rhythm to be detected (step S120).

[0035] The terminal control unit 112 transmits the walking rhythm information detected in step S120 to the vehicle control device 200 (step S130), and ends the process.

[0036] <Processing of the vehicle control device 200> The processing of the vehicle control device 200 according to this embodiment will be described with reference to FIG.

[0037] The control unit 212 determines whether or not there is a wearable terminal 100 with which communication is possible via the communication unit 230 (step S210). When the control unit 212 determines that there is no wearable terminal 100 with which communication is possible via the communication unit 230 ("NO" in step S210), it ends the process. When the control unit 212 determines that there is a wearable terminal 100 with which communication is possible via the communication unit 230 ("YES" in step S210), the control unit 212 moves the process to step S220.

[0038] The control unit 212 transmits the walking rhythm information received from the wearable device 100 to the walking rhythm analysis unit 211, and causes the walking rhythm to be analyzed (step S220).

[0039] The control unit 212 determines whether or not the walking rhythm has changed (step S230). When the control unit 212 has not received information from the walking rhythm analysis unit 211 indicating that the walking rhythm has changed ("NO" in step S230), the control unit 212 returns the process to step S220 and continues the process. When the control unit 212 receives information from the walking rhythm analysis unit 211 that the walking rhythm has changed ("YES" in step S230), the control unit 212 shifts the process to step S240.

[0040] The control unit 212 executes control to decelerate the vehicle speed (step S240), and ends the process.

[0041] <Actions and Effects> As described above, the vehicle speed control system 1 according to this embodiment includes the wearable terminal 100 worn by a pedestrian and the vehicle control device 200 of the vehicle. The wearable device 100 includes a walking rhythm detection unit 111 that detects the walking rhythm of a pedestrian, and transmits walking rhythm information detected by the walking rhythm detection unit 111 to the vehicle control device 200 continuously. The vehicle control device 200 includes a walking rhythm analysis unit 211 that analyzes the walking rhythm, and a control unit 212 that controls the vehicle speed. That is, the vehicle control device 200 continuously receives walking rhythm information from the wearable device 100 and detects changes in walking rhythm. This allows the vehicle control device 200 to immediately detect a change in walking rhythm.

[0042] The vehicle control device 200 of the vehicle speed control system 1 according to this embodiment controls the vehicle speed when a change in the walking rhythm is detected based on the walking rhythm information transmitted from a specific wearable device 100. In other words, when the vehicle control device 200 detects a change in the walking rhythm, it determines that there is a possibility that a pedestrian wearing the wearable terminal 100 will suddenly start running and jump in front of a moving vehicle, and immediately controls the vehicle to slow down. This enables the vehicle speed control system 1 to reduce the occurrence of contact between the vehicle and the pedestrian.

[0043] <Second embodiment> A vehicle speed control system 1A according to this embodiment will be described with reference to FIGS. In addition, since the components having the same reference numerals as those in the first embodiment have the same functions, detailed description thereof will be omitted.

[0044] <Configuration of vehicle speed control system 1A> As shown in FIG. 7, a vehicle speed control system 1A according to this embodiment includes wearable terminals 100A_1 to 100A_N and a vehicle control device 200A. Hereinafter, the wearable terminals 100A_1 to 100A_N will be collectively referred to as "wearable terminal 100A." The wearable terminal 100A and the vehicle control device 200A are connected to each other so as to be able to communicate with each other.

[0045] The wearable terminal 100A is, for example, a smart watch worn by a pedestrian. In this embodiment, the wearable terminal 100A detects, for example, the walking rhythm of a walker. In this embodiment, the wearable terminal 100A detects, for example, position information of a pedestrian. In this embodiment, the wearable terminal 100A detects, for example, the landing impact of a pedestrian. In this embodiment, the wearable terminal 100A transmits, for example, walking rhythm information to a vehicle control device 200A, which will be described later. In this embodiment, the wearable terminal 100A transmits, for example, the detected landing impact information and position information to a vehicle control device 200A, which will be described later. The configuration of the wearable terminal 100A will be described later.

[0046] In this embodiment, the vehicle control device 200A communicates with, for example, a wearable terminal 100A worn by a pedestrian in the vicinity of the vehicle in which the vehicle control device 200A is installed. In this embodiment, the vehicle control device 200A executes vehicle speed control based on, for example, walking rhythm information, landing impact information, and pedestrian position information received from the wearable terminal 100A. The configuration of the vehicle control device 200A will be described later.

[0047] <Configuration of wearable terminal 100A> As shown in FIG. 8, the wearable terminal 100A includes a processor 110A, a memory 120, a communication unit 130, and a sensor 140.

[0048] In this embodiment, the processor 110A acquires, for example, information regarding the walking of a pedestrian. The configuration of the processor 110A will be described later.

[0049] The memory 120 includes a read only memory (ROM) and a random access memory (RAM), neither of which are shown. The memory 120 stores, for example, a control program and various data received from the processor 110A.

[0050] <Configuration of the Processor 110A> As shown in FIG. 8, the processor 110A includes a walking rhythm detection section 111, a terminal control section 112A, a landing shock detection section 113, and a position information detection section 114. Each unit of the processor 110A and the memory 120 transmit and receive various information via a bus line BL.

[0051] The landing impact detection unit 113 detects the landing impact of a pedestrian. The landing impact detection unit 113 detects, based on the sensor output of the sensor 140, the acceleration that occurs when a pedestrian's foot lands on the road. In this embodiment, the landing impact detection unit 113 detects, for example, the maximum value of acceleration that occurs when a pedestrian's feet land on the road. The landing impact detection unit 113 transmits the detected acceleration to a terminal control unit 112A, which will be described later, via the bus line BL.

[0052] The position information detection unit 114 detects the position information of a pedestrian. The position information detection unit 114 detects the position information (latitude and longitude information) of a pedestrian based on, for example, radio waves received from a GPS (Global Positioning System) satellite. The position information detection unit 114 transmits the detected position information of the pedestrian to the terminal control unit 112A, which will be described later, via the bus line BL.

[0053] The terminal control unit 112A performs overall control of the wearable terminal 100A in accordance with a control program stored in the memory 120. In this embodiment, the terminal control unit 112A detects the presence or absence of a vehicle control device 200A with which communication is possible via the communication unit 130, for example. In this embodiment, the terminal control unit 112A transmits to the walking rhythm detection unit 111, for example, an instruction to detect the walking rhythm. In this embodiment, the terminal control unit 112A transmits, for example, an instruction to the landing impact detection unit 113 to detect a landing impact. In this embodiment, the terminal control unit 112A transmits, for example, to the position information detection unit 114 an instruction to detect position information of a pedestrian. In this embodiment, the terminal control unit 112A transmits, for example, the individual identification number of the wearable terminal 100A and the detection result of the walking rhythm detection unit 111 to the vehicle control device 200A via the communication unit . In this embodiment, for example, the terminal control unit 112A continuously transmits the individual identification number of the wearable terminal 100A and the detection result of the walking rhythm detection unit 111 to the vehicle control device 200A while communication with the vehicle control device 200A is possible. In this embodiment, for example, when the terminal control unit 112A is requested by the vehicle control device 200A described later to transmit information regarding the value of the landing impact and location information, the terminal control unit 112A transmits the individual identification number of the wearable terminal 100A and the detection results of the landing impact detection unit 113 and the detection results of the location information detection unit 114 to the vehicle control device 200A.

[0054] <Configuration of the vehicle control device 200A> As shown in FIG. 9, the vehicle control device 200A includes a processor 210A, a memory 220, and a communication unit 230.

[0055] In this embodiment, the processor 210A controls the vehicle speed based on, for example, information related to the walking of a pedestrian received from the wearable terminal 100A. The configuration of the processor 210A will be described later.

[0056] <Configuration of the Processor 210A> As shown in FIG. 9, the processor 210A includes a walking rhythm analysis section 211, a control section 212A, and a current position information acquisition section 213. Each unit of the processor 210A and the memory 220 transmit and receive various information via the bus line BL.

[0057] The current position information acquisition unit 213 acquires the current position of the vehicle equipped with the vehicle control device 200A. The current position information acquisition unit 213 acquires vehicle position information (latitude and longitude information) based on, for example, radio waves received from a GPS (Global Positioning System) satellite. The current position information acquisition unit 213 transmits the acquired vehicle position information to a control unit 212A (described later) via the bus line BL.

[0058] The control unit 212A performs overall control of the vehicle control device 200A in accordance with a control program stored in the memory 220. In this embodiment, the control unit 212A determines whether or not there is a wearable terminal 100A with which communication is possible via the communication unit 230, for example. In this embodiment, for example, when a wearable terminal 100A with which communication is possible via the communication unit 230 is present, the control unit 212A acquires walking rhythm information from the wearable terminal 100A. In this embodiment, the control unit 212A controls the vehicle speed based on, for example, rhythm information, landing impact information, and pedestrian position information acquired from the wearable terminal 100A. In this embodiment, the control unit 212A transmits walking rhythm information to the walking rhythm analysis unit 211 via, for example, the bus line BL, and causes the walking rhythm analysis unit 211 to detect changes in walking rhythm. In this embodiment, for example, when the control unit 212A receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected, it acquires landing impact information and pedestrian position information from the wearable device 100A in which the change in walking rhythm has been detected.

[0059] In this embodiment, the control unit 212A determines, for example, whether or not the landing impact of the pedestrian is large. In this embodiment, for example, when the value of the landing impact is less than a predetermined value, the control unit 212A determines that the landing impact is small. In this embodiment, the control unit 212A determines that the landing impact is large when, for example, a period during which the value of the landing impact is equal to or greater than a predetermined value continues for a predetermined period of time or longer.

[0060] In this embodiment, the control unit 212A determines, for example, whether the position of the wearable terminal 100A is ahead of the position of the vehicle equipped with the vehicle control device 200A based on the position information of a pedestrian received from the wearable terminal 100A in which a change in walking rhythm has been detected and the position information of the vehicle received from the current position information acquisition unit 213. In this embodiment, the control unit 212A executes vehicle speed control based on, for example, the above-mentioned determination result. As shown in FIG. 10, for example, when the control unit 212A determines that the landing impact is large and that the position of the wearable terminal 100A is forward of the position of the vehicle equipped with the vehicle control device 200A, the control unit 212A executes control to decelerate the vehicle. For example, when the control unit 212A determines that the landing impact is large and that the position of the wearable terminal 100A is behind the position of the vehicle equipped with the vehicle control device 200A, the control unit 212A does not execute control to decelerate the vehicle. For example, when the control unit 212A determines that the landing impact is small, it does not execute control to decelerate the vehicle speed regardless of the position of the wearable terminal 100A. When the control unit 212A executes control to slow down the vehicle speed, it performs vehicle speed control so as to stop the vehicle before it reaches the pedestrian's position, for example, based on the pedestrian's position information received from the wearable terminal 100A, the vehicle's position information received from the current position information acquisition unit 213, and the vehicle's speed. The control unit 212A, for example, transmits a deceleration command to a brake control device (not shown) and performs control to decelerate the vehicle speed.

[0061] <Processing of the vehicle control device 200A> The process of the vehicle control device 200A according to this embodiment will be described with reference to FIG.

[0062] The control unit 212A determines whether or not there is a wearable terminal 100A with which communication is possible via the communication unit 230 (step S210). When the control unit 212A determines that there is no wearable terminal 100A with which communication is possible via the communication unit 230 ("NO" in step S210), the control unit 212A ends the process. When the control unit 212A determines that there is a wearable terminal 100A with which communication is possible via the communication unit 230 ("YES" in step S210), the control unit 212A shifts the process to step S220.

[0063] The control unit 212A transmits the walking rhythm information received from the wearable device 100A to the walking rhythm analysis unit 211, and causes the walking rhythm to be analyzed (step S220).

[0064] The control unit 212A determines whether or not the walking rhythm has changed (step S230). When the control unit 212A has not received information from the walking rhythm analysis unit 211 indicating that the walking rhythm has changed ("NO" in step S230), the control unit 212A returns the process to step S220 and continues the process. When the control unit 212A receives information from the walking rhythm analysis unit 211 that the walking rhythm has changed ("YES" in step S230), the control unit 212A shifts the process to step S310.

[0065] The control unit 212A acquires landing impact information and position information of the pedestrian from the wearable device 100A in which a change in walking rhythm has been detected (step S310).

[0066] The control unit 212A determines whether the landing impact is large or not based on the information acquired in step S310 (step S320). When the control unit 212A determines that the landing impact is large ("YES" in step S320), it shifts the process to step S330. When the control unit 212A determines that the landing impact is small ("NO" in step S320), it ends the process.

[0067] The control unit 212A determines whether or not the position of the pedestrian acquired in step S310 is ahead of the position of the vehicle equipped with the vehicle control device 200A (step S330). When determining that the position of the pedestrian acquired in step S310 is not ahead of the position of the vehicle equipped with the vehicle control device 200A ("NO" in step S330), the control unit 212A ends the process. When the control unit 212A determines that the position of the pedestrian acquired in step S310 is ahead of the position of the vehicle equipped with the vehicle control device 200A ("YES" in step S330), it shifts the process to step S340.

[0068] The control unit 212A executes control to decelerate the vehicle speed (step S340), and ends the process.

[0069] <Actions and Effects> As described above, the vehicle speed control system 1A according to this embodiment includes the wearable terminal 100A worn by a pedestrian, and the vehicle control device 200A. The wearable device 100A includes a walking rhythm detection unit 111 that detects the walking rhythm of the walker, a landing impact detection unit 113 that detects the landing impact of the walker, and a position information detection unit 114 that detects position information. The vehicle control device 200A includes a current position information acquisition unit 213 that acquires the current position of the vehicle, a walking rhythm analysis unit 211 that analyzes the walking rhythm, and a control unit 212A that controls the vehicle speed. That is, the vehicle control device 200A continuously receives walking rhythm information from the wearable terminal 100A and detects changes in walking rhythm. This allows the vehicle control device 200A to immediately detect a change in walking rhythm.

[0070] When the vehicle control device 200A of the vehicle speed control system 1A of this embodiment detects a change in walking rhythm based on walking rhythm information transmitted from a specific wearable terminal 100A, it acquires landing impact information and position information from the wearable terminal 100A and performs vehicle speed control. That is, when the vehicle control device 200A detects a change in the walking rhythm of the pedestrian, it detects the behavior of the pedestrian based on the value of the landing impact of the pedestrian. The vehicle control device 200A detects, for example, a change in walking rhythm, and if the value of the landing impact is less than a predetermined value, determines that there is no significant change in the behavior of the pedestrian. The vehicle control device 200A detects a change in walking rhythm, and if the landing impact value is less than a predetermined value, it determines that, for example, the pedestrian has stopped walking or has passed a pedestrian approaching from the front. For example, the vehicle control device 200A detects a change in walking rhythm, and if it determines that the period during which the landing impact value is equal to or greater than a predetermined value continues for a predetermined time or longer, it determines that a significant change has occurred in the pedestrian's behavior. The vehicle control device 200A detects a change in walking rhythm, and when it determines that the period during which the landing impact value is equal to or greater than a predetermined value continues for a predetermined time or longer, it determines, for example, that the pedestrian has suddenly started running, or that the pedestrian has left the alley and turned onto the road. In other words, the vehicle control device 200A detects the behavior of a pedestrian by referring not only to the change in walking rhythm but also to the magnitude of the landing impact and the duration of the change in the landing impact, and therefore can detect the behavior of a pedestrian with high accuracy.

[0071] The vehicle control device 200A of the vehicle speed control system 1A according to this embodiment, when it detects a pedestrian whose behavior has changed significantly ahead of the vehicle's position, immediately performs control to decelerate the vehicle's speed based on the pedestrian's position information. This makes it possible for the vehicle speed control system 1A to suppress the occurrence of contact between the vehicle and the pedestrian.

[0072] <Third embodiment> A vehicle speed control system 1B according to this embodiment will be described with reference to FIGS. In addition, since the components having the same reference numerals as those in the first and second embodiments have the same functions, detailed description thereof will be omitted.

[0073] <Configuration of vehicle speed control system 1B> As shown in FIG. 12, a vehicle speed control system 1B according to this embodiment includes wearable terminals 100A_1 to 100A_N and a vehicle control device 200B. The wearable terminal 100A and the vehicle control device 200B are connected to each other so as to be able to communicate with each other.

[0074] <Configuration of the vehicle control device 200B> As shown in FIG. 13, the vehicle control device 200B includes a processor 210B, a memory 220, a communication unit 230, and a notification unit 240.

[0075] In this embodiment, the processor 210B performs vehicle speed control based on, for example, walking rhythm information received from the wearable terminal 100A. The configuration of the processor 210B will be described later.

[0076] The notification unit 240 is, for example, a display panel such as a liquid crystal display and a speaker, and displays the information received from the processor 210B and outputs sound. In this embodiment, the notification unit 240 notifies the driver of a danger, for example, when the vehicle control device 200B controls the vehicle speed of the vehicle.

[0077] <Configuration of the Processor 210B> As shown in FIG. 13, the processor 210B includes a walking rhythm analysis section 211, a control section 212B, a current position information acquisition section 213, and a feature detection section 214. Each component of the processor 210B and the memory 220 transmit and receive various types of information via the bus line BL.

[0078] The feature detection unit 214 detects features around the vehicle. In this embodiment, the feature detection unit 214 detects the positions of obstacles such as utility poles and pedestrians on the road on which the vehicle is traveling, based on outputs from, for example, a camera, Lidar, and millimeter wave radar installed in the vehicle. In this embodiment, the feature detection unit 214 transmits information regarding the distance and direction from the vehicle to the detected feature to a control unit 212B (described later) via, for example, the bus line BL. In this embodiment, the feature detection unit 214 continuously transmits, for example, position information of the detected features to the control unit 212B.

[0079] The control unit 212B performs overall control of the vehicle control device 200B in accordance with a control program stored in the memory 220. In this embodiment, the control unit 212B transmits, for example, an instruction to detect features to the feature detection unit 214.

[0080] In this embodiment, for example, the control unit 212B detects a change in the walking rhythm of a pedestrian, and if the landing impact is small, identifies the deceleration position from the position information of the pedestrian and nearby features detected by the feature detection unit 214, and controls the vehicle speed. In this embodiment, for example, when the control unit 212B receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected and determines that the landing impact received from the wearable device 100A is smaller than a predetermined value, the control unit 212B executes control to decelerate the vehicle to a speed at which the vehicle can safely pass over the pedestrian and the feature, based on information regarding the distance and direction to the pedestrian and the feature received from the feature detection unit 214 and the traveling speed of the vehicle.

[0081] When the control unit 212B detects a change in the walking rhythm of the pedestrian and determines that the landing impact is large, it activates the notification unit 240 and executes vehicle speed control to forcibly reduce the vehicle speed. In this embodiment, for example, when the control unit 212B receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected and determines that the landing impact received from the wearable terminal 100A is large, it activates the notification unit 240 and executes vehicle speed control to forcibly decelerate the vehicle speed. In this embodiment, the control section 212B determines that the landing impact is large when, for example, a period during which the value of the landing impact is equal to or greater than a predetermined value continues for a predetermined period of time. The control unit 212B, for example, transmits an instruction to decelerate to a brake control device (not shown), and decelerates the vehicle speed. In this embodiment, for example, when executing control to forcibly decelerate, the control unit 212B causes the notification unit 240 to display text information such as "A pedestrian has been detected who may jump in front of the vehicle. Forced braking will begin.", and at the same time, causes the notification unit 240 to emit a warning sound.

[0082] <Processing of the vehicle control device 200B> The process of the vehicle control device 200B according to this embodiment will be described with reference to FIG.

[0083] The control unit 212B determines whether or not there is a wearable terminal 100A with which communication is possible via the communication unit 230 (step S210). If the control unit 212B determines that there is no wearable terminal 100A with which communication is possible via the communication unit 230 ("NO" in step S210), it ends the process. When the control unit 212B determines that there is a wearable terminal 100A with which communication is possible via the communication unit 230 ("YES" in step S210), the control unit 212B shifts the process to step S220.

[0084] The control unit 212B transmits the walking rhythm information received from the wearable device 100A to the walking rhythm analysis unit 211, and causes the walking rhythm to be analyzed (step S220).

[0085] The control unit 212B determines whether or not the walking rhythm has changed (step S230). When the control section 212B has not received information from the walking rhythm analysis section 211 indicating that the walking rhythm has changed ("NO" in step S230), the control section 212B returns the process to step S220 and continues the process. When the control unit 212B receives information from the walking rhythm analysis unit 211 that the walking rhythm has changed ("YES" in step S230), the control unit 212B shifts the process to step S240.

[0086] The control unit 212B acquires landing impact information and pedestrian position information from the wearable device 100A in which a change in walking rhythm has been detected (step S310).

[0087] Control unit 212B determines whether the landing impact is large or not based on the information acquired in step S310 (step S320). When the control unit 212B determines that the landing impact is large ("YES" in step S320), it shifts the process to step S410. When the control unit 212B determines that the landing impact is small ("NO" in step S320), it shifts the process to step S430.

[0088] When the control unit 212B determines that the landing impact is large ("YES" in step S320), it transmits an instruction to a brake control device (not shown) to decelerate the vehicle, and performs control to forcibly decelerate the vehicle (step S410).

[0089] The control unit 212B causes the notification unit 240 to output display information indicating that there is a possibility of collision between the vehicle and the pedestrian and an alarm sound (step S420), and ends the process.

[0090] When the control unit 212B determines that the landing impact is small ("NO" in step S320), it acquires information about the features detected by the feature detection unit 214 (step S430). Based on the information acquired in step S430, control unit 212B executes vehicle speed control (step S440), and ends the process.

[0091] <Actions and Effects> As described above, the vehicle control device 200B according to this embodiment further includes the feature detection unit 214 that detects features around the vehicle. When the control unit 212B of the vehicle control device 200B detects a change in the walking rhythm of the pedestrian and determines that the landing impact is small, it identifies the deceleration position from the position information of the pedestrian and nearby features detected by the feature detection unit 214, and controls the vehicle speed. In other words, when the control unit 212B receives information from the walking rhythm analysis unit 211 that the walking rhythm has changed and the landing impact received from the wearable device 100A is smaller than a predetermined value, the control unit 212B identifies the deceleration position from the position information of the pedestrian detected by the feature detection unit 214 and the nearby features, and controls the vehicle speed. When the vehicle control device 200B receives information from the walking rhythm analysis unit 211 that the walking rhythm has changed and the landing impact received from the wearable terminal 100A is smaller than a predetermined value, it determines that the pedestrian has corrected his or her direction of travel to avoid other pedestrians or an obstacle, for example. When the vehicle control device 200B receives information from the walking rhythm analysis unit 211 that the walking rhythm has changed and the landing impact received from the wearable terminal 100A is smaller than a predetermined value, it determines that there is a low possibility that a pedestrian will suddenly jump in front of the vehicle, and performs vehicle speed control based on the detection result of the feature detection unit 214. As a result, the vehicle speed control system 1B can suppress the occurrence of contact between the vehicle and the pedestrian.

[0092] The vehicle control device 200B according to this embodiment further includes a notification unit 240 that notifies of a danger. When the vehicle control device 200B detects a change in the walking rhythm of the pedestrian and determines that the landing impact is large, it activates the notification unit 240 and executes vehicle speed control to forcibly reduce the vehicle speed. In other words, when the vehicle control device 200B receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected and determines that the landing impact received from the wearable terminal 100A is large, it activates the notification unit 240 and executes vehicle speed control to forcibly decelerate the vehicle speed. When the vehicle control device 200B receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected and determines that the landing impact received from the wearable terminal 100A is large, it determines, for example, that the pedestrian has suddenly started running, or that the pedestrian has left the alley and turned onto the road. When the vehicle control device 200B receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected and determines that the landing impact received from the wearable terminal 100A is large, it determines that there is a high possibility that a pedestrian will suddenly jump in front of the vehicle and immediately executes control to decelerate the vehicle speed. That is, the vehicle control device 200B can detect a large change in the behavior of a pedestrian more quickly by continuously analyzing the walking rhythm. This allows the vehicle control device 200B to start vehicle speed control earlier, thereby making it possible to reduce the occurrence of contact between the vehicle and a pedestrian. When the vehicle speed is forcibly reduced, the vehicle control device 200B causes the notification unit 240 to display information that there is a possibility of contact with a pedestrian, thereby making it possible to alert the driver. When the vehicle speed is forcibly decelerated, the vehicle control device 200B causes the notification unit 240 to emit a warning sound, thereby making it possible to call the driver's attention.

[0093] <Fourth embodiment> A vehicle speed control system 1C according to this embodiment will be described with reference to FIGS. In addition, since the components having the same reference numerals as those in the first to third embodiments have the same functions, detailed description thereof will be omitted.

[0094] <Configuration of vehicle speed control system 1C> As shown in FIG. 15, a vehicle speed control system 1C according to this embodiment includes wearable terminals 100A_1 to 100A_N and a vehicle control device 200C. The wearable terminal 100A and the vehicle control device 200C are connected to each other so as to be able to communicate with each other.

[0095] <Configuration of the vehicle control device 200C> As shown in FIG. 16, the vehicle control device 200C includes a processor 210C, a memory 220C, and a communication unit 230.

[0096] In this embodiment, the processor 210C performs vehicle speed control based on, for example, walking rhythm information received from the wearable terminal 100A. The configuration of the processor 210C will be described later.

[0097] The memory 220C includes a read only memory (ROM) and a random access memory (RAM), neither of which are shown. In this embodiment, the memory 220C includes a storage unit 221. The storage unit 221 stores, for example, a control program and various data received from the processor 210C. In this embodiment, the storage unit 221 stores map information indicating dangerous locations. An example of a dangerous location is a road without a sidewalk.

[0098] <Configuration of the processor 210C> As shown in FIG. 16, the processor 210C includes a walking rhythm analysis section 211 and a control section 212C. Each component of the processor 210C and the memory 220C transmit and receive various types of information via the bus line BL.

[0099] The control unit 212C performs overall control of the vehicle control device 200C in accordance with a control program stored in the storage unit 221. In this embodiment, the control unit 212C determines whether or not a wearable terminal 100A with which communication is possible via the communication unit 230, for example. In this embodiment, for example, when a wearable terminal 100A with which communication is possible via the communication unit 230 is present, the control unit 212C acquires walking rhythm information from the wearable terminal 100A.

[0100] In this embodiment, the control unit 212C controls the vehicle speed based on, for example, rhythm information, landing impact information, and pedestrian position information acquired from the wearable terminal 100A. In this embodiment, for example, when the control unit 212C receives information from the walking rhythm analysis unit 211 that a change in walking rhythm has been detected, it acquires landing impact information and pedestrian position information from the wearable device 100A in which the change in walking rhythm has been detected. In this embodiment, the control unit 212C determines, for example, whether or not the landing impact of the pedestrian is large. In this embodiment, for example, when the value of the landing impact is less than a predetermined value, the control unit 212C determines that the landing impact is small. In this embodiment, the control section 212C determines that the landing impact is large when, for example, a period during which the value of the landing impact is equal to or greater than a predetermined value continues for a predetermined period of time or longer. In this embodiment, the control unit 212C determines, for example, whether the position of the wearable terminal 100A is ahead of the position of the vehicle equipped with the vehicle control device 200C based on the position information of a pedestrian received from the wearable terminal 100A in which a change in walking rhythm has been detected and the position information of the vehicle received from the current position information acquisition unit 213. In this embodiment, the control unit 212C executes vehicle speed control based on, for example, the above-mentioned determination result. For example, when the control unit 212C determines that the landing impact is large and that the position of the wearable terminal 100A is forward of the position of the vehicle equipped with the vehicle control device 200C, the control unit 212C executes control to decelerate the vehicle. For example, when the control unit 212C determines that the landing impact is large and that the position of the wearable terminal 100A is behind the position of the vehicle equipped with the vehicle control device 200C, the control unit 212C does not execute control to decelerate the vehicle. For example, when the control unit 212C determines that the landing impact is small, it does not execute control to decelerate the vehicle speed regardless of the position of the wearable terminal 100A. When the control unit 212C executes control to slow down the vehicle speed, it performs vehicle speed control so as to stop the vehicle before it reaches the pedestrian's position, for example, based on the pedestrian's position information received from the wearable terminal 100A, the vehicle's position information received from the current position information acquisition unit 213, and the vehicle's speed. The control unit 212C, for example, transmits a deceleration command to a brake control device (not shown) and performs control to decelerate the vehicle speed.

[0101] In this embodiment, the control unit 212C, for example, refers to the location information acquired from the wearable terminal 100A and the map information indicating dangerous locations stored in the memory unit 221, and determines whether the location of the wearable terminal 100A corresponds to a dangerous location. In this embodiment, the control unit 212C starts the operation of the walking rhythm analysis unit 211 when the position of the wearable terminal 100A corresponds to a dangerous area. In this embodiment, the control unit 212C transmits an instruction to start analysis of the walking rhythm to the walking rhythm analysis unit 211 via, for example, the bus line BL. In this embodiment, the control unit 212C stops the operation of the walking rhythm analysis unit 211 when the position of the wearable terminal 100A does not correspond to a dangerous location. In this embodiment, the control section 212C transmits an instruction to stop the analysis of the walking rhythm to the walking rhythm analysis section 211 via, for example, the bus line BL.

[0102] <Processing of the vehicle control device 200C> The process of the vehicle control device 200C according to this embodiment will be described with reference to FIG.

[0103] The control unit 212C determines whether or not there is a wearable terminal 100A with which communication is possible via the communication unit 230 (step S210). If the control unit 212C determines that there is no wearable terminal 100A with which communication is possible via the communication unit 230 ("NO" in step S210), the control unit 212C ends the process. When the control unit 212C determines that there is a wearable terminal 100A with which communication is possible via the communication unit 230 ("YES" in step S210), the control unit 212C shifts the process to step S510.

[0104] The control unit 212C determines whether or not the position information of the wearable terminal 100A corresponds to a dangerous location (step S510). When the control unit 212C determines that the position information of the wearable terminal 100A does not correspond to a dangerous location ("NO" in step S510), it ends the process. When the control unit 212C determines that the position information of the wearable terminal 100A does not correspond to a dangerous location ("YES" in step S510), it shifts the process to step S220.

[0105] The control unit 212C transmits the walking rhythm information received from the wearable terminal 100A to the walking rhythm analysis unit 211, and causes the walking rhythm to be analyzed (step S220).

[0106] The control unit 212C determines whether or not the walking rhythm has changed (step S230). When the control unit 212C has not received information from the walking rhythm analysis unit 211 indicating that the walking rhythm has changed ("NO" in step S230), the control unit 212C returns the process to step S220 and continues the process. When the control unit 212C receives information from the walking rhythm analysis unit 211 indicating that the walking rhythm has changed ("YES" in step S230), the control unit 212C shifts the process to step S310.

[0107] The control unit 212C acquires landing impact information and position information of the pedestrian from the wearable device 100A in which a change in walking rhythm has been detected (step S310).

[0108] Control unit 212C determines whether the landing impact is large or not based on the information acquired in step S310 (step S320). When the control unit 212C determines that the landing impact is large ("YES" in step S320), it shifts the process to step S330. When the control unit 212C determines that the landing impact is small ("NO" in step S320), it ends the process.

[0109] The control unit 212C determines whether or not the position of the pedestrian acquired in step S310 is ahead of the position of the vehicle equipped with the vehicle control device 200C (step S330). When determining that the position of the pedestrian acquired in step S310 is not ahead of the position of the vehicle equipped with the vehicle control device 200C ("NO" in step S330), the control unit 212C ends the process. When the control unit 212C determines that the position of the pedestrian acquired in step S310 is ahead of the position of the vehicle equipped with the vehicle control device 200C ("YES" in step S330), it shifts the process to step S340.

[0110] Control unit 212C executes control to decelerate the vehicle speed (step S340), and ends the process.

[0111] <Actions and Effects> As described above, the vehicle control device 200C according to this embodiment includes the storage unit 221 that stores map information indicating dangerous locations. The vehicle control device 200C stops the operation of the walking rhythm analysis unit 211 when the position information acquired from the wearable terminal 100A does not correspond to a dangerous location. For example, when the road has a sidewalk, the vehicle control device 200C stops the analysis of the walking rhythm because the possibility that a pedestrian will suddenly appear in front of the vehicle is low. For example, when a pedestrian is walking on a road without a sidewalk, the vehicle control device 200C starts analyzing the walking rhythm since the possibility of contact between a vehicle and the pedestrian increases. That is, the vehicle control device 200C controls the operation of the walking rhythm analysis section 211 depending on the possibility of contact between the vehicle and a pedestrian. This allows the vehicle control device 200C to reliably start the operation of the walking rhythm analysis section 211 at a dangerous location where there is a high possibility of contact between the vehicle and a pedestrian. Therefore, the vehicle speed control system 1C can suppress the occurrence of contact between the vehicle and the pedestrian at a dangerous spot.

[0112] <Variation 1> The vehicle control device 200C described above determines whether a pedestrian is walking through a dangerous area based on the position information of the wearable terminal 100A and map information indicating the dangerous area. However, the vehicle control device 200C may determine the dangerous area based on image information of the road captured by a camera installed in the vehicle, for example. That is, the vehicle control device 200C analyzes image information of the road, and determines, for example, whether or not a sidewalk on which pedestrians can safely walk exists on the road on which the vehicle is traveling. As a result, the vehicle control device 200C can determine dangerous areas based on the actual road conditions even when the sidewalk is impassable due to road construction, and can reliably start the operation of the walking rhythm analysis unit 211 on roads where there is a high possibility of contact between vehicles and pedestrians.

[0113] <Variation 2> The walking rhythm analysis unit 211 described above, for example, calculates the variation ratio of the interval T at which the pedestrian's feet land on the road for each step and detects a change in walking rhythm, but it may also be configured to detect a change in walking rhythm by machine learning. The walking rhythm analysis unit 211 detects a change in the behavior of the pedestrian by using a learning model that uses as teacher data, for example, the walking rhythm when the pedestrian suddenly starts running and the value of the landing impact. This allows the vehicle speed control system 1 to detect changes in the behavior of pedestrians with high accuracy, thereby making it possible to reduce the occurrence of contact between the vehicle and the pedestrian.

[0114] <Modification 3> The processing of the walking rhythm analysis unit 211 of the vehicle control device 200 described above may be executed in the wearable terminal 100. For example, the wearable device 100 analyzes the detected walking rhythm information, and when a significant change in the behavior of the pedestrian is detected, transmits to the vehicle control device 200 information indicating that a change in behavior has been detected. The vehicle control device 200 executes vehicle speed control when it receives information from the wearable terminal 100 that a change in behavior has been detected. Each person has their own unique walking rhythm. The wearable device 100 generates a learning model using, for example, the acceleration values ​​generated during walking and the walking rhythm as teacher data, and detects changes in the behavior of the pedestrian through machine learning using the generated learning model. As a result, the wearable device 100 detects a change in the behavior of a pedestrian using a learning model generated for each pedestrian, and therefore can detect a change in the behavior of a pedestrian with higher accuracy. Therefore, the vehicle speed control system 1 can suppress the occurrence of contact between the vehicle and the pedestrian.

[0115] The processing of the walking rhythm analysis unit 211 and the control unit 212 of the vehicle control device 200 described above can be recorded on a recording medium readable by a computer system, and the program recorded on this recording medium can be read into memory and executed, thereby realizing the vehicle control device 200 of the present invention. The above computer system includes an OS and hardware such as peripheral devices.

[0116] If the above computer system utilizes a WWW (World Wide Web) system, it also includes the homepage providing environment (or display environment). The above-mentioned program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium, or by a transmission wave in the transmission medium. The transmission medium for transmitting the above-mentioned program refers to a medium having a function for transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.

[0117] The above program may be for realizing a part of the above-mentioned functions. The above program may be a so-called differential file (differential program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0118] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and designs that do not deviate from the gist of the present invention are also included. [Explanation of symbols]

[0119] 1. Vehicle speed control system 100;Wearable devices 110;Processor 111: Walking rhythm detector 112; Terminal control unit 113: Landing impact detection unit 114: Location information detection unit 120;Memory 130; Communications Department 140 Sensor 200: Vehicle control device 210; Processor 211: Walking rhythm analysis section 212; Control section 213;Current location information acquisition unit 214; Feature detection section 220;Memory 230; Communications Department

Claims

1. The system includes a wearable device worn by a pedestrian and a vehicle control device of a vehicle, The wearable terminal includes: a walking rhythm detection unit that detects the walking rhythm of the pedestrian; a communication unit that transmits information including the walking rhythm information detected by the walking rhythm detection unit to the vehicle control device; Equipped with The vehicle control device includes: A vehicle speed control system comprising a control unit that controls the vehicle speed when a change in walking rhythm is detected based on the information transmitted from a specific wearable device.

2. The wearable device further includes a landing impact detection unit that detects a landing impact of the pedestrian and a position information detection unit that detects position information; The vehicle speed control system of claim 1, characterized in that when the control unit detects a change in walking rhythm based on the walking rhythm information transmitted from a specific wearable device, it acquires landing impact information detected by the landing impact detection unit and position information detected by the position information detection unit from the specific wearable device, and performs vehicle speed control based on the walking rhythm information, the landing impact information, and the position information.

3. The vehicle control device further includes a feature detection unit that detects features around the vehicle, The vehicle speed control system according to claim 2, characterized in that when the control unit detects a change in the walking rhythm of the pedestrian and determines that the landing impact is small, the control unit identifies a deceleration position from position information of the pedestrian and the nearby features detected by the feature detection unit, and controls the vehicle speed.

4. The vehicle control device further includes a warning unit that warns of a danger, 4. The vehicle speed control system according to claim 2 or 3, wherein the control unit detects a change in the walking rhythm of the pedestrian and, when it determines that the landing impact is large, activates the notification unit and executes vehicle speed control to forcibly reduce the vehicle speed.

5. The vehicle control device includes a storage unit for storing map information indicating dangerous locations, The vehicle speed control system according to claim 2, characterized in that, when the position information of the wearable device does not correspond to the dangerous area, detection of the change in the walking rhythm is stopped.

6. The system includes a wearable device worn by a pedestrian and a vehicle control device of a vehicle, The wearable terminal includes: one or more processors; one or more memories; Equipped with The one or more processors: a walking rhythm detection unit that detects the walking rhythm of the pedestrian; a transmitter that transmits information including the walking rhythm information detected by the walking rhythm detector to the vehicle control device; Equipped with The vehicle control device includes: one or more processors; one or more memories; Equipped with The one or more processors: A vehicle speed control system comprising a control unit that controls the vehicle speed when a change in walking rhythm is detected based on the information transmitted from a specific wearable device.

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