Notification device, notification system, and notification method

Abstract

To provide a notification device for notifying a pedestrian or a vehicle of attention attraction under a specific condition.SOLUTION: A notification device includes: a light quantity acquisition section for acquiring lightness in the periphery; a pedestrian detection section for detecting a pedestrian in the periphery of a crosswalk or on the crosswalk; a vehicle travel direction detection section for detecting a travel direction of a vehicle which is traveling toward the crosswalk within a predetermined range from the crosswalk; an opposing state determination section for determining an opposing state of the vehicle; a headlight information acquisition section for acquiring headlight information on the vehicle; a dangerous situation detection section for detecting a first situation in which lightness in the periphery is equal to or less than a predetermined value, a pedestrian in the periphery of the crosswalk or on the crosswalk is detected, it is in an opposing state, and respective headlights of a vehicle traveling in a predetermined direction and a vehicle traveling in a direction opposing to the predetermined direction are lit; and a notification section for notifying the pedestrian or the vehicle of first attention attraction when the dangerous situation detection section detects the first situation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a notification device, a notification system, and a notification method.

Background Art

[0002] It has been proposed to control a vehicle for safe driving. In Patent Document 1, an in-vehicle control device is disclosed that includes a first detection means for detecting that the headlight of an oncoming vehicle is in a preset specific state, and a second detection means for detecting a detection target that is a preceding vehicle or a pedestrian. The in-vehicle control device includes a notification means for performing a notification process when the first detection means detects the specific state and the second detection means does not detect the detection target. Examples of the specific state include any one or more of (a) high beam, (b) a state in which the headlight is lit during the day, and (c) a state in which the headlight is turned off at night.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present disclosure is to provide a notification device that notifies a pedestrian or a vehicle to draw attention under specific conditions.

Means for Solving the Problems

[0005] The notification device of the present disclosure is a light quantity acquisition unit that acquires the ambient brightness, a pedestrian detection unit that detects a pedestrian around or on the crosswalk, a vehicle traveling direction detection unit that travels toward the crosswalk and detects the traveling direction of a vehicle within a predetermined range from the crosswalk, An oncoming state determination unit that determines an oncoming state when the vehicle traveling in a predetermined direction and the vehicle traveling in a direction opposite to the predetermined direction exist simultaneously from the traveling direction; A headlight information acquisition unit that acquires headlight information including whether the headlights of the vehicle traveling in the predetermined direction are on and whether the headlights of the vehicle traveling in the direction opposite to the predetermined direction are on; A danger situation detection unit that detects a first situation where the ambient brightness is equal to or less than a predetermined value, a pedestrian around or on the crosswalk is detected, the oncoming state exists, the headlights of one or more vehicles traveling in the predetermined direction are on, and the headlights of one or more vehicles traveling in the direction opposite to the predetermined direction are on; A notification device including a notification unit that, when the danger situation detection unit detects the first situation, notifies the pedestrian or the vehicle of a first warning.

[0006] The notification system of the present disclosure An imaging unit that outputs an imaging image; A light quantity acquisition unit that acquires the ambient brightness; A pedestrian detection unit that detects a pedestrian around or on the crosswalk using the imaging image; A vehicle traveling direction detection unit that uses the imaging image to detect the traveling direction of a vehicle traveling toward the crosswalk and within a predetermined range from the crosswalk; An oncoming state determination unit that determines an oncoming state when the vehicle traveling in a predetermined direction and the vehicle traveling in a direction opposite to the predetermined direction exist simultaneously from the traveling direction; A headlight information acquisition unit that acquires headlight information including whether the headlights of the vehicle traveling in the predetermined direction are on and whether the headlights of the vehicle traveling in the direction opposite to the predetermined direction are on; When the ambient brightness is equal to or lower than a predetermined value, and a pedestrian around or on the crosswalk is detected, and the vehicle is in the oncoming state, and the headlamps of one or more of the vehicles traveling in the predetermined direction are lit, and the headlamps of one or more of the vehicles traveling in the direction opposite to the predetermined direction are lit, a danger situation detection unit that detects a first situation; A notification system including: a notification unit that, when the danger situation detection unit detects the first situation, gives a first warning notification to the pedestrian or the vehicle.

[0007] The notification method of the present disclosure is as follows. Obtain the ambient brightness, Detect a pedestrian around or on the crosswalk, Drive toward the crosswalk and detect the driving direction of vehicles within a predetermined range from the crosswalk, Determine that it is an oncoming state when there are simultaneously a vehicle traveling in a predetermined direction and a vehicle traveling in a direction opposite to the predetermined direction from the driving direction, Obtain headlamp information including whether the headlamps of the vehicle traveling in the predetermined direction are lit and whether the headlamps of the vehicle traveling in the direction opposite to the predetermined direction are lit, Detect a first situation where the ambient brightness is equal to or lower than a predetermined value, and a pedestrian around or on the crosswalk is detected, and the vehicle is in the oncoming state, and the headlamps of one or more of the vehicles traveling in the predetermined direction are lit, and the headlamps of one or more of the vehicles traveling in the direction opposite to the predetermined direction are lit, A notification method that, when the first situation is detected, gives a first warning notification to the pedestrian or the vehicle.

Advantages of the Invention

[0008] The present disclosure provides a notification device that gives a warning notification to a pedestrian or a vehicle under specific conditions.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Mode for Carrying Out the Invention

[0010] Embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiments. Also, not all of the configurations described in the embodiments are essential as means for solving the problems. For the sake of clarity of explanation, the following description and drawings have been appropriately omitted and simplified. In each drawing, the same elements are denoted by the same reference numerals, and duplicate explanations are omitted as necessary.

[0011] (Explanation of the notification device according to the embodiment) FIG. 1 is a block diagram showing the configuration of the notification device according to the embodiment. FIG. 2 is a diagram showing an outline of the notification device according to the embodiment. The notification device 100 will be described with reference to FIGS. 1 and 2. The notification device 100 is an information processing device that operates as part of a smart pole installed, for example, on a road with a crosswalk or around a road with a crosswalk.

[0012] As shown in FIG. 1, the notification device 100 includes a light amount acquisition unit 101, a pedestrian detection unit 102, a vehicle traveling direction detection unit 103, an oncoming state determination unit 104, a headlight information acquisition unit 105, a danger situation detection unit 106, and a notification unit 107.

[0013] The light amount acquisition unit 101 acquires the ambient brightness. For example, the light amount acquisition unit 101 acquires the ambient brightness from a light sensor provided in the smart pole, a light sensor provided in the vehicle, or the like.

[0014] The pedestrian detection unit 102 detects pedestrians around a crosswalk who are about to cross the crosswalk or pedestrians on the crosswalk who are in the process of crossing the crosswalk. The pedestrian detection unit 102 may be configured by, for example, an image analysis device. In that case, the pedestrian detection unit 102 acquires the captured image output by the imaging device and detects pedestrians from the acquired image. The imaging device is provided in, for example, a smart pole. Also, the pedestrian detection unit 102 may acquire the detection results of sensors mounted on the vehicle or detection results such as LiDAR (Light Detection And Ranging). In that case, the pedestrians detected by the vehicle are notified to the notification device 100 via wireless communication.

[0015] The vehicle traveling direction detection unit 103 travels toward the crosswalk and detects the traveling direction of a vehicle within a predetermined range from the crosswalk. The predetermined range is, for example, the range reflected in the image of the imaging device. Specifically, the vehicle traveling direction detection unit 103 acquires, for example, the image output by the imaging device and detects the crosswalk and the vehicle existing in the image. For the detected vehicle, the traveling direction of the vehicle is detected by calculating a motion vector using the past image and the current image. Note that since a vehicle that has passed the crosswalk has nothing to do with the evaporation phenomenon on the crosswalk, the traveling direction of the vehicle is not detected. Specifically, when the motion vector of the vehicle is in a direction away from the crosswalk, the vehicle traveling direction detection unit 103 does not include the traveling direction of the vehicle having the motion vector in the detection result. The evaporation phenomenon is a phenomenon in which pedestrians or objects located at the intersection of the headlights of a vehicle and an oncoming vehicle (oncoming vehicle) that are traveling in a certain direction and an oncoming vehicle that are passing each other become invisible to the driver in a situation where the surroundings are dark, such as at night.

[0016] In addition, the vehicle traveling direction detection unit 103 may acquire position information from a GPS (Global Positioning System) receiver attached to the vehicle. The traveling direction of the vehicle is detected from the past position and the current position. The vehicle traveling direction detection unit 103 stores the position of the crosswalk, and does not detect vehicles whose traveling direction is away from the crosswalk. That is, vehicles whose traveling direction is away from the crosswalk are not included in the detection result.

[0017] The oncoming state determination unit 104 determines whether at least two of the vehicles traveling toward the crosswalk are traveling in an oncoming state. One direction of the road with the crosswalk is set as a predetermined direction, and it is determined whether at least one vehicle traveling in the predetermined direction and at least one vehicle traveling in the direction opposite to the predetermined direction exist simultaneously. Specifically, when the movement vectors detected by the vehicle traveling direction detection unit 103 exist in both the predetermined direction and the direction opposite to the predetermined direction, it is determined as an oncoming state. Or when the traveling directions detected using GPS exist in both the predetermined direction and the direction opposite to the predetermined direction, it is determined as an oncoming state.

[0018] The headlight information acquisition unit 105 acquires the headlight information of each vehicle. The headlight information acquisition unit 105 acquires information on the state of the headlight of the vehicle, such as whether the headlight is on or off. The headlight information acquisition unit 105 may use information such as an imaging device provided in a smart pole. For example, an image output by the imaging device is acquired, and a known image recognition technique is used to detect the vehicle. Then, headlight information is acquired such that if the pixel value in the range of the vehicle's headlight is equal to or greater than a predetermined value, the headlight is on, and if it is less than the predetermined value, the headlight is off. Furthermore, since the traveling direction of the vehicle lane on the road is determined, the traveling direction of the vehicle may be determined from the position of the headlight. Therefore, information combining the on / off information of the headlight and the traveling direction information may be used as the headlight information.

[0019] The headlight information acquisition unit 105 may acquire headlight information from the vehicle. For example, the headlight information acquisition unit 105 may acquire headlight information including the presence or absence of lighting of the vehicle's headlights, the presence or absence of a headlight control function, and the traveling direction of the vehicle by communicating with the vehicle. The headlight control function refers to functions such as automatically changing the high beam of the headlight to the low beam by looking at the ambient brightness, changing the irradiation direction of the headlight when there is an oncoming vehicle, and the like.

[0020] The danger situation detection unit 106 detects a first situation where the ambient brightness acquired by the light quantity acquisition unit 101 is equal to or less than a predetermined value, and the pedestrian detection unit 102 detects a pedestrian around or on the crosswalk, and the oncoming state determination unit 104 determines an oncoming state, and the headlight information acquisition unit 105 acquires headlight information indicating that the headlights of one or more vehicles traveling in a predetermined direction are lit, and the headlight information acquisition unit 105 acquires headlight information indicating that the headlights of one or more vehicles traveling in a direction opposite to the predetermined direction are lit. For example, the danger situation detection unit 106 detects, as the first situation, a situation where the ambient brightness is equal to or less than a predetermined value, such as in the evening, at dawn, or at night, there are pedestrians around or on the crosswalk, vehicles traveling on the road are traveling in opposite directions to each other, and the headlights of at least one vehicle traveling in a predetermined direction and at least one vehicle traveling in a direction opposite to the predetermined direction are lit. In such a situation, there is a possibility that an evaporation phenomenon may occur when a pedestrian is at a place where the headlights of a vehicle traveling in a predetermined direction and the headlights of a vehicle traveling in a direction opposite to the predetermined direction overlap. Therefore, the first situation indicating danger is detected.

[0021] When the danger situation detection unit 106 detects the first situation, the notification unit 107 notifies pedestrians or vehicles of the first warning to prompt attention to the evaporation phenomenon. The notification unit 107 includes, for example, a voice device installed on a smart pole, a display device, a display device and a voice device of a car navigation system installed in a vehicle, etc. The first warning is, for example, a notification that displays a text such as "Please be careful around" or outputs a voice to pedestrians. For vehicles, it is a notification that displays a text such as "Please be careful of pedestrians" or outputs a voice.

[0022] As a configuration example of the present invention, the light quantity acquisition unit 101, the pedestrian detection unit 102, the vehicle traveling direction detection unit 103, the oncoming state determination unit 104, the headlight information acquisition unit 105, the danger situation detection unit 106, and the notification unit 107 may be included in one device called a so-called smart pole installed on the road and used for various purposes. Alternatively, only the notification unit 107 may be included in another device, for example, a configuration that spans a plurality of devices such as a car navigation of a vehicle or a smartphone held by a pedestrian. It may also be a configuration including the information acquisition device itself. For example, it may be a configuration including an imaging device such as a camera provided in a smart pole or a surveillance camera installed around a crosswalk as an imaging unit. When configured across a plurality of devices, it can also be said to be a notification system.

[0023] Figure 2 shows a smart pole 201, a vehicle A203 traveling in a predetermined direction, a headlight 205 of vehicle A, a vehicle B203 traveling in a direction opposite to the predetermined direction, and a headlight 206 of vehicle B. The smart pole 201 is provided with a notification device 100, an imaging device, a display device 202, and a voice output device. The notification device 100 detects a pedestrian 204, a vehicle A203, and a vehicle B203 from the image output by the imaging device, and alerts pedestrians or vehicles to the evaporation phenomenon by the display device 202 or the voice output device.

[0024] The notification device 100 may communicate with the car navigation systems of vehicle A203 and vehicle B203 and notify of a warning. In this case, the warning is given by screen display or voice output by the car navigation system.

[0025] The notification device 100 may communicate with the smartphone held by a pedestrian and notify of a warning. In this case, the warning is given by screen display or voice output by the smartphone.

[0026] In this way, the notification device can give a warning about the evaporation phenomenon.

[0027] Modification Example 1 The headlight information acquisition unit 105 further acquires information on the headlight control function of vehicle A203 or vehicle B203. The headlight control function is a function that automatically controls the low beam, high beam, lighting, non-lighting, and change of irradiation direction of the headlights according to the situation around the vehicle. Therefore, if there is a headlight control function, the situation where the evaporation phenomenon occurs can be avoided.

[0028] The dangerous situation detection unit 106 detects the first situation and the situation where one or more vehicles do not have the headlight control function as the second situation. Specifically, the headlight information acquisition unit 105 acquires the presence or absence of the headlight control function of a vehicle traveling in a predetermined direction and a vehicle traveling in a direction opposite to the predetermined direction. Then, in the case of the first situation, the dangerous situation detection unit 106 acquires the presence or absence of the headlight control function acquired by the headlight information acquisition unit 105. The dangerous situation detection unit 106 detects the situation where one or more of the vehicles traveling in a predetermined direction and the vehicle traveling in a direction opposite to the predetermined direction do not have the headlight control function as the second situation. The notification unit 107 notifies a second warning that prompts a specific action to a pedestrian or a vehicle in the case of the second situation. In the case of the second situation, since the evaporation phenomenon is likely to occur, a second warning that prompts a specific action is given. The second warning is, for example, "Please check left and right" for a pedestrian. For a vehicle, it is something like "Please drive slowly".

[0029] Modification Example 2 The danger situation detection unit 106 detects, as a third situation, a situation where one or more vehicles traveling in a first situation and in a predetermined direction do not have a headlight control function, and one or more vehicles traveling in a direction opposite to the predetermined direction do not have a headlight control function. Specifically, the headlight information acquisition unit 105 acquires the presence or absence of the headlight control function of vehicles traveling in a predetermined direction and vehicles traveling in a direction opposite to the predetermined direction. Then, in the case of the first situation, the danger situation detection unit 106 acquires the presence or absence of the headlight control function acquired by the headlight information acquisition unit 105. The danger situation detection unit 106 detects, as a third situation, a situation where one or more vehicles traveling in a predetermined direction and one or more vehicles traveling in a direction opposite to the predetermined direction do not have a headlight control function. The notification unit 107 notifies, in the case of the third situation, a third warning to prompt pedestrians and vehicles to stop in front of the crosswalk. In the case of the third situation, since the evaporation phenomenon is more likely to occur than in the second situation, a third warning is given to prompt them to stop in front of the crosswalk. By stopping in front of the crosswalk, pedestrians and vehicles can check the safety inside the crosswalk and then proceed. The third warning is, for example, "Stop and check left and right" for pedestrians. For vehicles, it is something like "Please stop temporarily". When a pedestrian is on the crosswalk, the notification unit 107 may, as the third warning, prompt the pedestrian to leave the crosswalk, such as "Please cross quickly" or "Please go back". Note that the predetermined value of the ambient brightness in Modification Example 1 and Modification Example 2 may be lower (darker) than that in the embodiment. Furthermore, the predetermined values of the predetermined brightness in the embodiment, Modification Example 1, and Modification Example 2 may be different from each other.

[0030] By doing so, appropriate warnings can be given for each situation where the evaporation phenomenon may occur.

[0031] (Explanation of the notification method according to the embodiment) FIG. 3 is a flowchart of the notification method according to the embodiment. FIG. 4 is a flowchart of the notification methods according to Modification 1 and Modification 2. While referring to FIGS. 3 and 4, the notification methods according to the embodiment and the modifications will be described.

[0032] As shown in FIG. 3, the light quantity acquisition unit 101 acquires the ambient brightness. When the ambient brightness is not less than a predetermined value (NO in step S301), the notification device 100 ends the process. When the ambient brightness is less than or equal to the predetermined value (YES in step S301), the pedestrian detection unit 102 detects pedestrians around or on the crosswalk.

[0033] When no pedestrians are present (NO in step S302), the notification device 100 ends the process. When pedestrians are present (YES in step S302), the vehicle traveling direction detection unit 103 travels toward the crosswalk and detects the traveling directions of vehicles within a predetermined range from the crosswalk. Then, the oncoming state determination unit 104 determines whether a plurality of vehicles traveling toward the crosswalk are in an oncoming traveling state (oncoming state).

[0034] When the vehicles do not travel in opposite directions, in other words, when there are only vehicles traveling in the same direction (NO in step S303), the notification device 100 ends the process. When the vehicles travel in opposite directions (YES in step S303), the headlight information acquisition unit 105 acquires the headlight information of each vehicle. Then, the dangerous situation detection unit 106 detects a case where one or more vehicles traveling in a predetermined direction and one or more vehicles traveling in a direction opposite to the predetermined direction (oncoming vehicles) are both lit. That is, the dangerous situation detection unit 106 detects a first situation where the ambient brightness is less than or equal to a predetermined value, and pedestrians around or on the crosswalk are detected, and it is in an oncoming state, and the headlights of the vehicles traveling in a predetermined direction and the oncoming vehicles are both lit.

[0035] When neither the vehicle traveling in a predetermined direction nor the oncoming vehicle is lit, or only one of the vehicles is lit (in the case of NO in step S304), the notification device 100 ends the process. When the headlamps of the vehicle traveling in a predetermined direction and the headlamps of the oncoming vehicle are lit respectively (in the case of YES in step S304), the dangerous situation detection unit 106 detects the first situation. The notification unit 107 notifies the pedestrian or the vehicle 203 of the first warning in the case of the first situation (step S305).

[0036] Furthermore, as shown in FIG. 4, it may be determined whether the vehicle has a headlamp control function and the process may be changed. When the headlamps of one or more vehicles traveling in a predetermined direction and the headlamps of one or more oncoming vehicles are lit respectively (in the case of YES in step S304), the headlamp information acquisition unit 105 acquires the presence or absence of the headlamp control functions of the headlamps of the vehicle traveling in a predetermined direction and the oncoming vehicle. The dangerous situation detection unit 106 ends the process when all of the headlamps of the vehicle traveling in a predetermined direction and the oncoming vehicle have the headlamp control function (in the case of YES in step S401). In Modification 1, when one or more of the vehicle traveling in a predetermined direction and the oncoming vehicle do not have the headlamp control function (in the case of NO in step S401), the dangerous situation detection unit 106 detects it as the second situation. The notification unit 107 notifies the second warning in the case of the second situation (step S402).

[0037] In Modification 2, when one or more vehicles traveling in a predetermined direction do not have the headlamp control function and one or more oncoming vehicles do not have the headlamp control function (in the case of NO in step S401), the dangerous situation detection unit 106 detects it as the third situation. The notification unit 107 notifies the pedestrian 204 or the vehicle 203 of the third warning in the case of the third situation (step S402).

[0038] In this way, the notification device can notify the pedestrian or the vehicle of a warning according to the scene.

[0039] In addition, part or all of the above-described processing can be realized as a computer program. Such a program can be stored using various types of non-transitory computer-readable media and supplied to a computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM, CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM). Also, the program may be supplied to the computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can supply the program to the computer via wired communication paths such as electric wires and optical fibers, or wireless communication paths.

[0040] Note that the present invention is not limited to the above-described embodiments and can be appropriately modified without departing from the gist thereof.

Explanation of Reference Numerals

[0041] 100 Notification device, 101 Light quantity acquisition unit, 102 Pedestrian detection unit, 103 Vehicle traveling direction detection unit, 104 Opposite state determination unit, 105 Headlight information acquisition unit, 106 Danger situation detection unit, 107 Notification unit, 201 Smart pole, 202 Display device, 203 Vehicle A, Vehicle B, 204 Pedestrian, 205 Headlight of Vehicle A, 206 Headlight of Vehicle B

Claims

1. A light quantity acquisition unit that acquires the ambient brightness; A pedestrian detection unit that detects pedestrians around or on the crosswalk; A vehicle travel direction detection unit that travels toward the crosswalk and detects the travel direction of vehicles within a predetermined range from the crosswalk; An oncoming state determination unit that determines an oncoming state when the vehicle traveling in a predetermined direction and the vehicle traveling in a direction opposite to the predetermined direction exist simultaneously; A headlight information acquisition unit that acquires headlight information including the presence or absence of lighting of the headlights of the vehicle traveling in the predetermined direction and the presence or absence of lighting of the headlights of the vehicle traveling in a direction opposite to the predetermined direction; A danger situation detection unit that detects a first situation in which the ambient brightness is equal to or less than a predetermined value, pedestrians around or on the crosswalk are detected, the oncoming state exists, the headlights of one or more vehicles traveling in the predetermined direction are lit, and the headlights of one or more vehicles traveling in a direction opposite to the predetermined direction are lit; A notification device comprising a notification unit that, when the danger situation detection unit detects the first situation, gives a first warning notification to the pedestrian or the vehicle.

2. The headlight information acquisition unit further acquires information on the headlight control function of the vehicle; The danger situation detection unit detects, as a second situation, the first situation and a situation in which one or more of the vehicles traveling in the predetermined direction and the vehicles traveling in a direction opposite to the predetermined direction do not have the headlight control function; The notification unit In the case of the second situation, gives a second warning notification that prompts a specific action to the pedestrian or the vehicle. The notification device according to claim 1.

3. The danger situation detection unit detects, as a third situation, the first situation, a situation in which one or more of the vehicles traveling in the predetermined direction do not have the headlight control function, and a situation in which one or more of the vehicles traveling in a direction opposite to the predetermined direction do not have the headlight control function; The notification unit In the case of the third situation, gives a third warning notification that prompts the pedestrian or the vehicle to stop in front of the crosswalk. The notification device according to claim 2.

4. An imaging unit that outputs an imaging image; A light quantity acquisition unit that acquires the ambient brightness; A pedestrian detection unit that detects pedestrians around or on the crosswalk using the imaging image; A vehicle traveling direction detection unit that travels toward the crosswalk using the captured image and detects the traveling direction of vehicles within a predetermined range from the crosswalk; An oncoming state determination unit that determines an oncoming state when the vehicle traveling in a predetermined direction and the vehicle traveling in a direction opposite to the predetermined direction exist simultaneously from the traveling direction; A headlight information acquisition unit that acquires headlight information including the presence or absence of lighting of the headlights of the vehicle traveling in the predetermined direction and the presence or absence of lighting of the headlights of the vehicle traveling in a direction opposite to the predetermined direction; A danger situation detection unit that detects a first situation where the ambient brightness is equal to or less than a predetermined value, a pedestrian around or on the crosswalk is detected, the oncoming state exists, the headlights of one or more vehicles traveling in the predetermined direction are lit, and the headlights of one or more vehicles traveling in a direction opposite to the predetermined direction are lit; A notification system including a notification unit that, when the danger situation detection unit detects the first situation, gives a first warning notification to the pedestrian or the vehicle.

5. Acquire the ambient brightness, Detect a pedestrian around or on the crosswalk, Travel toward the crosswalk and detect the traveling direction of vehicles within a predetermined range from the crosswalk, Determine an oncoming state when the vehicle traveling in a predetermined direction and the vehicle traveling in a direction opposite to the predetermined direction exist simultaneously from the traveling direction, Acquire headlight information including the presence or absence of lighting of the headlights of the vehicle traveling in the predetermined direction and the presence or absence of lighting of the headlights of the vehicle traveling in a direction opposite to the predetermined direction, Detect a first situation where the ambient brightness is equal to or less than a predetermined value, a pedestrian around or on the crosswalk is detected, the oncoming state exists, the headlights of one or more vehicles traveling in the predetermined direction are lit, and the headlights of one or more vehicles traveling in a direction opposite to the predetermined direction are lit, A notification method that, when the first situation is detected, gives a first warning notification to the pedestrian or the vehicle.

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