Attention calling system and attention calling device

Abstract

To make it possible to recognize a situation where attention calling is highly needed and to call attention of traffic participants such as pedestrians.SOLUTION: An attention calling system 1 is constituted such that plural call attention devices 100 are arrayed on a road near a border between a roadway 10 where vehicles pass, and a sidewalk 20 where pedestrians pass. The attention calling system is provided with: a vehicle detection unit that detects a vehicle passing the roadway 10 and a position of the vehicle; a person detection unit that is provided on at least one of the attention calling devices 100 and detects a person who passes on the sidewalk 20 near the attention calling device 100; and an attention calling unit that is provided on at least one of the attention calling devices 100 and calls attention of a person who passes near the attention calling device 100, wherein when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit detects a person, the attention calling unit is prompted to perform attention calling. The attention calling is thought to be performed by extending arm parts 111 of each attention calling device 100 toward adjoining attention calling devices 100.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a warning system and a warning device, and more particularly to a warning system and a warning device capable of warning traffic participants such as pedestrians.

Background Art

[0002] Conventionally, in order to prevent pedestrians from entering the roadway from the sidewalk, guardrails are installed at the boundary between the sidewalk and the roadway (see, for example, Patent Document 1). In addition, signs and warning systems that can actively warn pedestrians to prevent them from entering the roadway from the sidewalk have also been proposed (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technology described in Patent Document 2, for example, when a pedestrian approaches a pole installed side by side at the boundary between the sidewalk and the roadway, the notification means installed on the pole notifies the pedestrian of an alarm. For this reason, there is a problem that an alarm is issued even when the necessity of the alarm is low in view of the traffic situation, and the power consumption increases. In addition, there is a possibility of giving an annoying image to pedestrians more than necessary.

[0005] In view of the above points, an object of the present invention is to provide a warning system and a warning device that can warn traffic participants such as pedestrians while identifying a situation where the necessity of warning is high.

Means for Solving the Problem

[0006] To achieve the above object, the attention - calling system of the present invention includes a plurality of attention - calling devices arranged near the boundary between a first area where vehicles pass on a traffic route and a second area where pedestrians pass, a vehicle detection unit that detects a vehicle passing through the first area and its position, a person detection unit provided in at least one of the attention - calling devices for detecting a person passing near the attention - calling device in the second area, an attention - calling unit provided in at least one of the attention - calling devices for calling attention to a person passing near the attention - calling device, and a control unit for causing the attention - calling unit to call attention when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit detects a person.

[0007] In such an attention - calling system, it is still better that the control unit causes the attention - calling unit to call attention when the vehicle detection unit detects a vehicle within a predetermined distance and moving towards a predetermined target point, and the person detection unit provided in any one of the attention - calling devices detects a person. Furthermore, it is still better that the control unit causes the attention - calling unit to end the attention - calling when the vehicle detection unit detects that the vehicle at the position closest to the predetermined target point has stopped near the predetermined target point.

[0008] Alternatively, in each of the above - mentioned attention - calling systems, the person detection unit and the attention - calling unit are respectively provided in a plurality of the attention - calling devices, and when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit provided in any one of the attention - calling devices detects a person, it is preferable that the control unit causes the attention - calling unit provided in the attention - calling device to call attention. Alternatively, it is still better that the control unit causes the attention - calling unit to end the attention - calling when the vehicle detection unit detects that all the vehicles within the predetermined distance have stopped.

[0009] Alternatively, it is still preferable that the first region includes a plurality of traffic lanes divided by boundaries, and the control unit uses, as the predetermined distance, a value corresponding to the traffic lane in which the detected vehicle is traveling among the plurality of traffic lanes determined according to the direction in which the vehicle detection unit has detected the vehicle. Alternatively, it is still preferable that the first region includes a plurality of traffic lanes with different vehicle traveling directions, and the control unit uses, as the predetermined distance, a value corresponding to the traffic lane in which the detected vehicle is traveling among the plurality of traffic lanes determined according to the change over time of the position where the vehicle detection unit has detected the vehicle.

[0010] Alternatively, provide the person detection unit in two or more of the plurality of alert devices respectively, and provide a traveling direction estimation unit that estimates the traveling direction of a person passing near each of those alert devices based on the difference in the timing at which the person detection units included in those alert devices have detected a person. When it is estimated that the traveling direction is a specific direction, it is still preferable that the control unit does not cause the alert unit to issue an alert regardless of the vehicle detection state by the vehicle detection unit and the person detection state by the person detection unit.

[0011] Alternatively, provide the person detection unit in two or more of the plurality of alert devices respectively, and provide a traveling speed estimation unit that estimates the traveling speed of a person passing near each of those alert devices based on the difference in the timing at which the person detection units included in those alert devices have detected a person. It is still preferable that the control unit determines the value of the predetermined distance based on the estimated traveling speed. Alternatively, provide a light detection unit that detects the ambient brightness, and it is still preferable that the control unit determines the value of the predetermined distance according to the detected ambient brightness.

[0012] Alternatively, it is still preferable that the alert unit alerts not only a person passing near the alert device but also a vehicle passing through the first region at the same time. Alternatively, the attention - calling unit may be a means for performing the above - mentioned attention - calling by deforming the above - mentioned attention - calling device so as to prevent a person from passing through between adjacent attention - calling devices.

[0013] Further, the attention - calling device of the present invention is an attention - calling device installed near the boundary between a first area where vehicles pass in a traffic route and a second area where pedestrians pass. The attention - calling device includes a vehicle detection unit that detects vehicles passing through the first area and the positions of the vehicles, a person detection unit that detects a person passing near the attention - calling device in the second area, an attention - calling unit that calls attention to a person passing near the attention - calling device, and a control unit that causes the attention - calling unit to perform attention - calling when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit detects a person.

[0014] In such an attention - calling device, it is preferable that the control unit causes the attention - calling unit to end the attention - calling when the vehicle detection unit no longer detects a vehicle within the predetermined distance or when the person detection unit no longer detects a person. Alternatively, it is preferable that the control unit causes the attention - calling unit to end the attention - calling when the vehicle detection unit detects that all vehicles within the predetermined distance have stopped.

[0015] The present invention as described above can be implemented in any form, such as an invention of an apparatus and a system, a method, a control program, a medium storing the program, etc.

Effect of the Invention

[0016] According to the present invention as described above, it is possible to realize an attention - calling system and an attention - calling device that can call attention to traffic participants such as pedestrians while identifying situations where the need for attention - calling is high.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

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Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Mode for Carrying Out the Invention

[0018] Embodiments of the present invention will be described with reference to the drawings. 〔First Embodiment: FIGS. 1 to 6〕 First, the alert system 1 which is the first embodiment of this invention will be described. FIG. 1 is a diagram showing a state where this alert system 1 is arranged near the boundary between a sidewalk and a roadway.

[0019] The alert system 1 includes a plurality of alert devices 100 arranged near the boundary between the roadway 10 and the sidewalk 20 of a road which is a traffic route as shown in FIG. 1 as an example. The roadway 10 corresponds to a first area where vehicles pass. In the example of FIG. 1, it is a one-lane road on one side provided with lanes 10A and 10B separated by a center line 11. Also, a crosswalk 12 for pedestrians to cross the roadway 10 is provided. This road is a left-hand traffic road, and stop lines 13A and 13B are provided in front of the crosswalk 12 of each of the lanes 10A and 10B.

[0020] The sidewalk 20 corresponds to a second area where pedestrians pass. In the example of FIG. 1, five columnar alert devices 100 are linearly arranged at a position near the boundary with the roadway 10 within the sidewalk 20. The rightmost alert device 100 in the figure is arranged immediately in front of the crosswalk 12 as seen from the front side in the figure.

[0021] In the example of FIG. 1, such an arrangement is made for the purpose of preventing pedestrians walking from the front side to the back side of the sidewalk 20 in the figure from entering the roadway 10 in front of the crosswalk 12. For example, there is an exit of a building or facility that many people use on the front side, and people coming out of the exit tend to cross the road in front of the crosswalk 12, so this is to prevent such a situation.

[0022] That is, the five warning devices 100 are installed at least in part at the boundary of the area from a predetermined part 20A to another predetermined part 20B of the sidewalk 20. The part 20A is, for example, a part that leads to the entrance of a building or facility where people enter and exit, such as a factory, an office, a store, a school, a park, or an apartment. And the part 20B is the part that corresponds to the entrance of the crosswalk 12. There is a roadway 10 in front of the entrances of the buildings and facilities. Pedestrians coming out of the entrances must walk on the sidewalk 20 for a while and then cross the crosswalk 12. The part 20A and the part 20B are at a slightly separated position.

[0023] Under such circumstances, a plurality of warning devices 100 are installed at the boundary between the sidewalk 20 from the part 20A to the part 20B and the roadway 10. For this reason, the warning device 100 can first make pedestrians clearly recognize the existence of the boundary between the sidewalk 20 and the roadway 10 by its mere existence. As a result, pedestrians are alerted to walk in the area demarcated by these warning devices 100. Furthermore, it is possible to suppress actions such as pedestrians crossing the roadway 10 or jumping out into the roadway 10 at parts other than the crosswalk 12. Also, if the arrangement intervals of the warning devices 100 are made relatively dense, it is possible to suppress or prevent vehicles such as automobiles, motorcycles, and bicycles running on the roadway 10 from entering the sidewalk 20.

[0024] Furthermore, the warning system 1 detects pedestrians walking on the sidewalk 20 and vehicles such as automobiles, motorcycles, and bicycles running on the roadway 10 by each warning device 100, and actively alerts the pedestrians and vehicles according to their presence or absence, so that pedestrians can safely pass through the sidewalk 20 and cross the crosswalk 12. This point is one of the features of the warning system 1. Next, with reference to FIGS. 2A to 5 as well, the configuration of the warning system 1 and the warning device 100 related to this point will be described in more detail.

[0025] Figures 2A and 2B are side views of the warning device 100 that constitutes the warning system 1, seen from different sides. Figure 2A is a view seen from the front side of FIG. 1 in the arrangement direction of the warning device 100. Figure 2B is a view seen from the sidewalk 20 side (arrow A side in FIG. 2A). Figure 3 is a diagram schematically showing the movement of the arm portion 111 of the warning device 100. Only the main body portion 110 and the arm portion 111 of the warning device 100 are shown in FIG. 3. Figure 4 is a block diagram showing the electronic hardware configuration of the warning device 100. Figure 5 is a diagram for explaining the role sharing of a plurality of warning devices 100.

[0026] As shown in FIGS. 2A and 2B, the warning device 100 has a configuration in which a millimeter-wave radar 101, a human sensor 102, a lamp 103, and an arm portion 111 are provided on a columnar main body portion 110. The main body portion 110 has a columnar outer shape with a hemispherical top, and is fixed to the ground by an anchor or the like via a base portion 112. The material of the main body portion 110 may be arbitrarily selected from synthetic resins such as polyvinyl chloride and ABS, a metal plate such as aluminum or iron, and a hard material such as metal, with a resin coating on the surface. It is preferable to use a soft material such as resin from the viewpoint of safety when a pedestrian comes into contact.

[0027] In addition, the main body portion 110 may be made in a conspicuous color such as red, orange, or yellow to attract attention, or may be made in a striped pattern of white on a red background or yellow on a black background to further enhance visibility. Further, a reflective sheet or the like may be attached to the outer surface to enhance night visibility. The height of the main body portion 110 should be such that a pedestrian cannot easily step over it and does not give a sense of oppression to the pedestrian, for example, about 0.4 m to 1.2 m.

[0028] The millimeter-wave radar 101 is a vehicle detection unit that detects vehicles passing through the lane 10 and their positions, and is installed inside the main body 110 on the lane 10 side. What is shown in Fig. 2A is the exterior of the millimeter-wave radar 101. The millimeter-wave radar 101 is arranged so that it can detect vehicles passing through each lane of the lane 10 towards the crosswalk 12. It is not essential to detect vehicles that have passed through the crosswalk 12.

[0029] If the field of view is not sufficient with one unit, it is also conceivable to provide a first millimeter-wave radar for detecting vehicles passing from the back side to the front side of Fig. 1 towards the crosswalk 12 in the lane 10A, and a second millimeter-wave radar for detecting vehicles passing from the front side to the back side of Fig. 1 towards the crosswalk 12 in the lane 10B.

[0030] Also, as long as the vehicle detection unit can detect vehicles passing through the lane 10 and their positions as described above, it may be configured by means other than the millimeter-wave radar. As an example, it can be configured by a lidar (LiDAR), an optical camera with an image analysis function, etc. Distance measurement markers provided on the road may also be used in combination. For the convenience of detection, a configuration in which all or part of the vehicle detection unit is provided outside the main body 110 can also be adopted. In this case, it is preferable to enable the transmission of data necessary for the detection process from the vehicle detection unit provided outside to the control unit 120 on the main body 110 side described later. The data transmission means can adopt any means regardless of wired or wireless.

[0031] The human presence sensor 102 is a human detection unit that detects people passing near the sidewalk 20 side of the warning device 100, and is installed inside the main body 110 on the sidewalk 20 side. What is shown in Figs. 2A and 2B is the exterior of the human presence sensor 102. The human presence sensor 102 is arranged, for example, so that it can detect people within a distance approximately equal to the width of the sidewalk 20 from the warning device 100. However, it is not essential to accurately distinguish between people and other animals or objects.

[0032] Also, it is not essential for the human presence sensor 102 to be able to detect a person who has stopped. However, it is preferable for the human presence sensor 102 provided in the warning device 100 at the position closest to the crosswalk 12 to be able to detect a person who has stopped. This is because it is preferable to be able to detect a person who has stopped in front of the crosswalk 12 for safety confirmation. For this reason, a sensor that detects human movement over a relatively wide range and a sensor that can also detect a person who has stopped within a specific narrow range may be used in combination.

[0033] As the human presence sensor 102, a sensor that detects a person by infrared rays is preferable so that the sound or light emitted by the vehicle does not interfere with the detection. However, the use of other types of sensors is not excluded. In addition to the method of detecting infrared rays emitted by a person, a method of detecting the presence or absence of an object that blocks the optical path based on whether the infrared rays emitted from a light source can be detected by a detector is also applicable. As the human detection unit, it is also conceivable to use a more general object detection sensor instead of a sensor called a human presence sensor. Also, for the convenience of detection, a configuration in which all or part of the human detection unit is provided outside the main body unit 110 can be adopted. In this case, similar to the case of the vehicle detection unit, it is preferable to enable the transmission of data necessary for the detection process from the human detection unit to the control unit 120 on the main body unit 110 side.

[0034] The lamp 103 is a warning unit that warns pedestrians walking near the warning device 100 by lighting or flashing the light. The lamp 103 is also installed inside the main body unit 110, and what is shown in FIGS. 2A and 2B is its exterior. The lamp 103 may include a light source such as a fixed light-emitting diode (LED), or may be a rotating lamp. Also, the lamp 103 is preferably configured to warn not only pedestrians but also vehicles passing through the roadway. For example, it is preferable to output light around the entire circumference of the main body unit 110. The color of the lamp 103 is preferably a color indicating danger or caution, such as red or yellow.

[0035] The wrist part 111 is a warning part that warns pedestrians walking in the vicinity of the warning device 100 by deforming the warning device 100 so as to prevent people from passing through between adjacent warning devices 100. Also, as shown by the arrow B in FIG. 3, the wrist part 111 can be arbitrarily rotated between the position indicated by the solid line and the position indicated by the virtual line.

[0036] As shown in FIGS. 1 and 3, when not giving a warning, the wrist part 111 is generally in a direction along the main body part 110 as shown by the solid line, and about half of the short side direction is accommodated in a groove 113 provided in the main body part 110. When giving a warning, it is rotated around a rotation shaft 115 provided on a bracket 114 protruding from the main body part 110 by an actuator 104 (see FIG. 4) built in the main body part 110, and the wrist part 111 rises to a direction generally parallel to the ground as shown by the virtual line. At this time, the tip of the wrist part 111 faces the side of the adjacent warning device 100.

[0037] By the wrist parts 111 of each warning device 100 performing similar operations, at the time of warning, the gaps between the adjacent warning devices 100 are at least partially blocked by the respective wrist parts 111, and people can be prevented from passing through. Or, it is possible to actively warn that people must not pass between the warning devices 100. When giving a warning, the wrist part 111 may be moved up and down periodically.

[0038] Note that the wrist part 111 only needs to have a presence that can convey to pedestrians that they must not pass between the warning devices 100, and does not need to be a sturdy one that can physically block the passage of people. For example, it may be a lightweight plastic or a balloon inflated by air. In the latter case, it is preferable to provide a pump for supplying air in the main body part 110. From the viewpoints of energy saving and safety when a pedestrian accidentally touches it, such a lightweight and soft wrist part 111 is preferable.

[0039] Also, as shown in FIG. 4, in addition to the parts described above, the warning device 100 includes an input / output part 105, a power supply part 106, and a control part 120. The input / output unit 105 is an interface for inputting and outputting data to and from an external device. The input / output can be performed in any manner, whether wired or wireless. Examples of external devices include other alert devices 100, vehicle detection units and person detection units provided externally, and remote controllers for operating and setting the alert device 100. The input / output unit 105 may include interfaces such as an operation unit and a display for directly receiving operations from a human or displaying an operating state.

[0040] The power supply unit 106 has a function of supplying power to each part of the alert device 100 and includes a storage battery. The storage battery may be a primary battery that is detachably attached to the alert device 100, or may be a secondary battery that is charged with power generated by a solar panel installed on the outer surface of the alert device 100, although not shown in FIGS. 2A and 2B.

[0041] In addition to the processor 121 and the memory 122 connected to the system bus 123, the control unit 120 includes interfaces (I / F) 131 to 136 for connecting the above-mentioned millimeter-wave radar 101, human sensor 102, lamp 103, actuator 104, input / output unit 105, and power supply unit 106 to the system bus 123 respectively so that they can be controlled from the processor 121.

[0042] The processor 121 realizes a function of controlling the operations of each part of the alert device 100 by executing a program stored in the memory 122 and executing processes such as those in FIG. 6 described later. The memory 122 stores the program and various data necessary for control. It is also possible to update the program and data via the input / output unit 105. Note that it is not essential to provide both a vehicle detection unit and a person detection unit in all alert devices 100 constituting the alert system 1.

[0043] As schematically shown in FIG. 5, the millimeter-wave radar 101, which is a vehicle detection unit, may be provided only in some of the alert devices 100 (alert device 100a in the example of FIG. 5). In this case, it is conceivable that the alert device 100a transmits the vehicle detection result to other alert devices 100b to 100x, and the transmitted detection result is used for determining whether an alert is required in the alert device that is the transmission destination. It is also conceivable to provide a first millimeter-wave radar for detecting a vehicle traveling from the back side to the front side of FIG. 1 toward the crosswalk 12 across the lane 10A and a second millimeter-wave radar for detecting a vehicle traveling from the front side to the back side of FIG. 1 toward the crosswalk 12 across the lane 10B in separate alert devices 100.

[0044] Since the human presence sensor 102 is for detecting a person passing near the alert device 100, it is preferably provided in each of the alert devices 100a to 100x. However, for example, the human presence sensor 102 may be provided only in every other or every two alert devices, and the alert device transmits the detection result of a person to other alert devices predetermined as a sharing range, and the transmitted detection result is used for determining whether an alert is required in the alert device that is the transmission destination.

[0045] Also, as will be described later as a modification example, when attempting to estimate the moving direction and moving speed of a person based on the detection state of the person in the human presence sensors 102 provided in the plurality of alert devices 100a to 100x, each of the alert devices 100a to 100x may transmit the detection result of the human presence sensor 102 to other alert devices in the same manner as the detection result of the millimeter-wave radar 101 described above. In FIG. 5, the transmission path connecting the alert devices 100a to 100x in series is indicated by an arrow, but it goes without saying that the connection form is not limited to this.

[0046] Next, the process for executing an alert performed by the processor 121 in the alert device 100 described above will be explained. FIG. 6 is a flowchart of this process. When the attention - calling device 100 is activated, the processor 121 starts the process shown in FIG. 6.

[0047] And, when the human - presence sensor 102 detects a person (Yes in S11), the millimeter - wave radar 101 detects a vehicle within a predetermined distance in front of the crosswalk 12 in the traveling direction (Yes in S12 and S13), and there is a moving vehicle within the predetermined distance (No in S14), the lamp 103 is lit to start attention - calling by the lamp 103, and at the same time, the arm part 111 is raised to the position shown by the broken line in FIGS. 1 and 3 to start attention - calling by the arm part 111.

[0048] Note that the detection results of the human - presence sensor 102 and / or the millimeter - wave radar 101 used for the determination from step S11 to S14 may be transmitted from another attention - calling device 100. Also, the transmission of the detection results only needs to be performed for information to the extent that these determinations can be made. Also, the predetermined distance in steps S13 and S14 is, for example, a value with a certain margin added to a distance at which a vehicle traveling on the road 10 at a standard speed reaches the stop line 13A or 13B before a pedestrian walking at a standard walking speed crosses the crosswalk 12.

[0049] For example, if the length of the crosswalk 12 is 8 meters, it takes 7.2 seconds for a pedestrian walking at 4 km / h to cross. When the standard speed of a vehicle traveling on the road is 50 km / h, it advances 100 m in 7.2 seconds. As an example, adding a 50% margin to this, the predetermined distance can be considered to be 150 m.

[0050] In actuality, since the attention - calling device 100 is arranged at a position slightly away from the stop lines 13A and 13B, the predetermined distance may be set to a value considering the distance to the stop lines 13A and 13B. Therefore, the determination from step S12 to S14 is substantially determining whether a vehicle approaching (without stopping) the crosswalk 12 or the stop lines 13A and 13B, which are predetermined target points, is within the predetermined distance.

[0051] Through the processes from step S11 to step S14 above, the alert device 100 can identify a situation with a high necessity for alert, where there is a pedestrian on the nearby sidewalk 20 and a vehicle is approaching on the roadway 10, and can alert the pedestrian. Therefore, it is possible to prompt a pedestrian attempting to cross the crosswalk 12 to carefully check both sides before crossing, and also to deter an act of attempting to cross in front of the crosswalk 12. A message to this effect may be displayed on the sidewalk 20 side by the light of the lamp 103.

[0052] In addition, since the lighting of the lamp 103 can also be visually recognized by vehicles running on the roadway 10, it is also possible to easily alert the vehicles that there is a pedestrian near the crosswalk, and to prompt a temporary stop or a situation check with reduced speed in front of the crosswalk 12. A message to this effect may be displayed on the roadway 10 side by the light of the lamp 103.

[0053] If the alert is triggered only by the presence of a pedestrian nearby or only by the approach of a vehicle, the alert will be frequently given, including cases where the risk of an accident is extremely low, and it is conceivable that the alert will become a routine and will no longer attract attention. However, as described here, by identifying a situation with a risk of an accident, such as when there is a pedestrian nearby and a vehicle is within a predetermined distance, especially when the vehicle is moving closer, and giving an alert, it is expected that the effect of the alert can be enhanced. Furthermore, when using an alert means that consumes relatively large amounts of energy, such as driving the arm part 111, reducing the number of alerts in this way can also have a significant energy-saving effect, and cost and size reduction can be achieved through downsizing of the battery, solar panels for power generation, etc.

[0054] In the process of FIG. 6, after step S15, the processor 121 sends a wake-up signal to other wake-up devices 100 constituting the wake-up system 1 via the input / output unit 105 (S16), and returns to step S11. This wake-up signal is a signal for forcibly executing wake-up regardless of the detection states of the human sensor 102 and the millimeter-wave radar 101.

[0055] That is, in the process of FIG. 6, if the processor 121 is No in any of steps S11 to S13 or Yes in step S14, and determines that wake-up is not required based on the detection states of the human sensor 102 and the millimeter-wave radar 101, in step S17, it is determined whether a wake-up signal is received from another wake-up device 100. If Yes, wake-up by the lamp 103 and the arm part 111 is started in the same manner as in step S15 (S18). If No, wake-up is stopped (S19). That is, the lamp 103 is turned off and the arm part 111 is lowered to the position shown by the solid line in FIGS. 1 and 3.

[0056] Therefore, when the wake-up device 100 receives a wake-up signal, wake-up will be forcibly executed. Thus, as long as the detection states of the human sensor 102 and the millimeter-wave radar 101 satisfy the conditions for wake-up in at least one wake-up device 100, all wake-up devices 100 will perform wake-up almost simultaneously.

[0057] For example, when a pedestrian is near the outermost warning device 100 in FIG. 1, the human presence sensor 102 of the innermost warning device 100 may not (be unable to) detect the pedestrian because the viewing angle and distance do not meet the detection conditions. However, by using the warning signal, if the outermost warning device 100 detects the pedestrian and the vehicle also meets the conditions from steps S12 to S14, all the warning devices 100 constituting the warning system 1 can be made to issue a warning. Therefore, even if the detection distance of each human presence sensor 102 is not increased significantly, it is possible to substantially issue a warning in response to the detection of pedestrians over a wide range of the sidewalk 20. In particular, the warning by the arm portion 111 can enhance the effect by multiple warning devices 100 acting in conjunction, not just one warning device 100.

[0058] On the other hand, if the detection distance of the human presence sensor 102 is increased, a warning may be issued even when the pedestrian is at a position considerably away from the roadway 10 and the possibility of colliding with a vehicle running on the roadway 10 is low, which may result in the warning frequency becoming too high. However, such inconvenience can be prevented by using the warning signal. Also, the process in step S19 when the warning signal is not received is for preventing the issuance of a warning when the warning conditions are not met, and for ending the warning when the warning conditions are no longer met after the warning has started.

[0059] Typically, the latter process is performed in a case where a warning is started because a vehicle running in lane 10A of the roadway 10 approaches while a pedestrian is near the warning device 100, but the vehicle stops in front of the stop line 13A and does not detect any other moving vehicles, so it is determined that all vehicles within a predetermined distance have stopped and the warning is stopped.

[0060] In this state, since the pedestrian can safely cross the crosswalk 12, it can be determined that the necessity of the warning has decreased. However, for example, if a vehicle approaching from the opposite direction is still detected in the reverse lane 10B in this state, the situation requiring attention continues, and the attention-grabbing operation is not terminated. As described above, in the attention-grabbing system 1, when the processor 121 of each attention-grabbing device 100 executes the process of FIG. 6, it is possible to appropriately identify a situation with a high need for attention-grabbing according to the detection states of the vehicle and the pedestrian, and perform attention-grabbing.

[0061] 〔First Modification Example of the First Embodiment: FIG. 7〕 Next, a first modification example applicable to the first embodiment described above will be explained. This first modification example differs from the first embodiment only in that the processor 121 performs the process of FIG. 7 instead of the process of FIG. 6, so only this point will be explained. In the attention-grabbing system 1 of the first modification example, when the attention-grabbing device 100 is activated, the processor 121 provided in each attention-grabbing device 100 starts the process shown in FIG. 7.

[0062] The process of FIG. 7 differs from the process of FIG. 6 only in that the processes of steps S16, S17, and S18 are not included. Therefore, the attention-grabbing device 100 does not send out an attention-grabbing signal, and does not forcibly perform attention-grabbing by the attention-grabbing signal. Each attention-grabbing device 100 will perform attention-grabbing individually according to the detection results of the millimeter-wave radar 101 and the human presence sensor 102 that it references.

[0063] For this reason, for example, if a vehicle traveling on the lane 20 approaches in a state where there is a pedestrian near the frontmost attention-grabbing device 100 in FIG. 1, only, for example, the two frontmost attention-grabbing devices 100 that can detect the pedestrian by the human presence sensor 102 in that state will perform attention-grabbing. Assuming that the three rear attention-grabbing devices 100 do not detect (cannot detect) the pedestrian because the viewing angle and distance do not meet the detection conditions, in these three attention-grabbing devices, the determination in step S11 is No, so no attention-grabbing is performed.

[0064] After that, when the pedestrian moves in the direction of the crosswalk 12, the warning device 100 closer to the crosswalk 12 detects the pedestrian, and it is considered that the warning device 100 on the front side in FIG. 1 stops detecting the pedestrian. Then, accordingly, only the warning device 100 closer to the crosswalk 12 starts to give a warning.

[0065] That is, as the pedestrian moves, only the warning device 100 near the pedestrian gives a warning. Therefore, compared with the case of the first embodiment, it becomes easier to grasp the position of the pedestrian as seen from the vehicle side. For example, if the lighting position of the lamp 103 is moving in a direction approaching the crosswalk 12, it can be recognized that there may be a pedestrian near the crosswalk 12 trying to cross it. Conversely, if the lighting position of the lamp 103 is moving in a direction away from the crosswalk 12, it can be recognized that although there is a pedestrian nearby, the possibility of the pedestrian trying to cross the crosswalk 12 is low. Especially at night when visibility is poor, by enabling the vehicle side to recognize the presence and movement of the pedestrian in this way, it greatly contributes to traffic safety. Also, according to the above warning, it is easy for the pedestrian to grasp that a warning is given according to their own movement.

[0066] In addition to the warning device 100 that has detected the pedestrian, for example, one or more specific warning devices 100 determined in advance or based on a predetermined rule corresponding to the warning device 100 that has detected the pedestrian, such as those on both sides adjacent to it, may also be made to give a warning simultaneously. In this case, a warning signal may be sent only to the warning devices that are to give a warning, and a warning may be given in response to the reception of the warning signal in the same manner as the process in FIG. 6.

[0067] 〔Another configuration example of the warning unit: FIGS. 8 to 12〕 Next, as another modification applicable to the first embodiment described above, another configuration example of the warning unit will be described. In the alert device 100 of the first embodiment, the lamp 103 and the arm portion 111 are provided as the alert portions, but other configurations can also be adopted. FIGS. 8 to 12 show examples of various alert portions that can be considered to be provided in place of the arm portion 111 to alert a person passing near the alert device. These figures show the configuration of the alert device focusing on the operation of the alert portion, and illustration of other configurations is omitted. The configuration corresponding to the lamp 103 may or may not be provided.

[0068] In the alert device 140 shown in FIG. 8, expandable and contractible bodies 142 that can expand and contract laterally are provided on both sides of the middle portion of the pole-shaped main body portion 141. These expandable and contractible bodies 142 are made of an expandable material such as rubber and are configured to be contractible by an air pump or the like built into the main body portion 141. When the expandable and contractible bodies 142 are extended, they extend laterally so as to at least partially block the gap with other adjacent alert devices 140 as shown by the two-dot chain line. By doing so, an alert is given and it is possible to psychologically suppress a pedestrian from passing through between adjacent alert devices 140. Note that the expandable and contractible bodies 142 may expand and contract periodically as shown by the arrow C to suppress a pedestrian from passing through between adjacent alert devices 140. Also, only one expandable and contractible body 142 may be provided on the main body portion 141.

[0069] In the alert device 150 shown in FIG. 9, an inflatable body 152 is provided at the top of the pole-shaped main body portion 151. This inflatable body 152 is made of a flexible material such as resin and is configured to be inflatable by an air pump or the like built into the main body portion 151. The inflatable body 152 expands substantially spherically as shown by the two-dot chain line, narrowing the gap with other adjacent alert devices 150 and at least partially blocking it. By doing so, an alert is given and it is possible to psychologically suppress a pedestrian from passing through between adjacent alert devices 150. Note that the inflatable body 152 may repeatedly expand and contract periodically as shown by the arrow D to suppress a pedestrian from passing through between adjacent alert devices 150.

[0070] In the alert device 160 shown in FIG. 10, a bellows body 162 is provided on the upper side of a main body portion 161 corresponding to the base portion 112 of the alert device 100 in FIG. 2. The bellows body 162 is made of a flexible material such as resin and is configured to be extendable by an air pump or the like built in the main body portion 161. The bellows body 162 extends as shown by the two-dot chain line to give an alert and suppress a pedestrian from passing over the alert device 160.

[0071] Note that the bellows body 162 may repeatedly expand and contract periodically as shown by the arrow E to suppress a pedestrian from passing over the alert device 160. When the alert portion has the configuration shown in FIG. 10, the millimeter-wave radar 101 and the human presence sensor 102 are preferably provided on the non-deformable main body portion 161. For this reason, it is preferable to give the main body portion 161 a certain height.

[0072] In the alert device 170 shown in FIG. 11, an inflatable body 172 is provided on the upper side of a main body portion 171 corresponding to the base portion 112 of the alert device 100 in FIG. 2. The inflatable body 172 is made of a flexible material such as resin and is configured to be inflatable by an air pump or the like built in the main body portion 171. The inflatable body 172 inflates upward as shown by the two-dot chain line to give an alert and suppress a pedestrian from passing over the alert device 170.

[0073] Note that the inflatable body 172 may repeatedly expand and contract periodically as shown by the arrow F to suppress a pedestrian from passing over the alert device 170. Also when the alert portion has the configuration shown in FIG. 11, the millimeter-wave radar 101 and the human presence sensor 102 are preferably provided on the non-deformable main body portion 171. For this reason, it is preferable to give the main body portion 171 a certain height.

[0074] In the warning device 180 shown in FIG. 12, a vertically movable bar 182 is provided so as to straddle the main body portions 181 of the plurality of warning devices 180. The bar 182 is made of a flexible material such as resin, and can be moved up and down by an air pump, an actuator, etc. built in the main body portion 181 of at least one warning device 180. When the bar 182 is positioned upward as shown by the two-dot chain line, it is possible to give a warning and suppress a pedestrian from passing between adjacent warning devices 180.

[0075] Note that the bar 182 may repeatedly move up and down periodically as shown by the arrow G to suppress a pedestrian from passing between adjacent warning devices 180. In the above warning devices 160 to 180, in particular, a light source corresponding to the lamp 103 of the warning device 100 may be provided on the main body portions 161, 171, 181, the bellows body 162, the inflatable body 172, and the bar 182, so that warning by light can be performed together.

[0076] 〔Second Embodiment: FIGS. 13 and 14〕 Next, a warning device 200 which is a second embodiment of the present invention will be described. This warning device 200 is greatly different from the warning device 100 in the first embodiment in that it does not include the arm portion 111 as hardware, but is otherwise common to the warning device 100.

[0077] FIG. 13 shows a side view of the warning device 200 corresponding to FIG. 2A. As shown in FIG. 13, the warning device 200 has a configuration in which a millimeter-wave radar 201, a human sensor 202, and a lamp 203 are provided on a columnar main body portion 210. The main body portion 210 is fixed to the ground by an anchor or the like via a base portion 212. The configuration and function of each of these parts are the same as the corresponding configuration in the warning device 100 described in the first embodiment.

[0078] Fig. 14 shows the state where this alert system 1 is arranged near the boundary between the sidewalk and the roadway. In Fig. 14, the same reference numerals are used for the parts corresponding to those in Fig. 1. The alert device 200 can be considered to be arranged and used, for example, near a crosswalk 12, near the boundary between the roadway 20 and the sidewalk 10. In the example of Fig. 14, it is assumed that the alert device 200 is operated alone without being combined with other alert devices. It is arranged near the crosswalk 12 because it is considered particularly useful for ensuring traffic safety to notify pedestrians of the presence of approaching vehicles in this area and to notify approaching vehicles of the presence of pedestrians.

[0079] The configuration of the control unit included in the alert device 200 is the same as that of the control unit 120 shown in Fig. 4 in the first embodiment. And the processing executed by the processor is generally the same as the processing shown in Fig. 7, and the only difference is that the processing related to the arm part is not performed in steps S15 and S19. By performing the above processing, the alert device 200 can, in the same way as the alert device 100 in the first embodiment, identify a situation where there are pedestrians on the nearby sidewalk 20 and a vehicle is approaching on the roadway 10, which has a high need for alert, and alert the pedestrians. Also, when the vehicle stops in front of the crosswalk 12 and no other vehicles are detected, the alert can be terminated.

[0080] When using the columnar alert device 200 alone in this way, the effect of suppressing the progress of pedestrians is smaller than when using physical suppression means such as the arm part 110, but the alert effect by the lamp 203 can be obtained in the same way as in the case of the alert device 100 in the first embodiment, both for pedestrians passing on the sidewalk 20 and for vehicles passing on the roadway 10.

[0081] 〔Other Modification Examples〕 The description of the embodiments ends here, but in this invention, the specific structures, shapes, quantities, materials, arrangements, purposes of use, processing procedures, etc. of each part of the system and device are not limited to those described in the above embodiments. For example, it goes without saying that the installation purpose of the alert system 1, the number of alert devices 100, the arrangement direction, the installation position, etc. are not limited to those shown in FIG. 1 and FIG. 14.

[0082] It is not essential to install the alert system 1 or the alert device 200 near the crosswalk 12 either. The installation of the alert system 1 or the alert device 200 on the road itself is not essential. Even on a traffic route other than a road, where there is a first area where vehicles pass and a second area where pedestrians pass, and in a case where it is useful to prevent pedestrians from entering the first area from the second area, by arranging and operating the alert system 1 or the alert device 200 near the boundary between the first area and the second area, the same effects as those described in the above embodiments can be obtained. In addition, as an alert method of the alert unit, in addition to light and shape changes, it is also conceivable to use a warning sound or a message. The message may be by voice, by display on a display, or formed by projection onto the ground or the like.

[0083] Regarding the predetermined distance used in steps S13 and S14 of FIG. 6, for example, if it is detected that a vehicle detected farther than a preset predetermined distance is moving at a speed clearly slower than a standard speed based on the amount of distance change per unit time, it is also conceivable to recalculate the predetermined distance based on the detected speed and use the value for the determination in steps S13 and S14. By doing so, when a relatively slow vehicle such as a bicycle or a motorized bicycle approaches, it is possible to prevent unnecessary early alerting from a point farther away.

[0084] Conversely, if it is detected that a vehicle is moving at a speed clearly faster than a standard speed, the predetermined distance may be recalculated in the same way. By doing so, when a speeding vehicle approaches, alerting can be started from a farther point to prevent accidents. In addition, as the moving distance of the pedestrian used for estimating the predetermined distance exemplified in the description of FIG. 6, a value obtained by adding the length of the crosswalk 12 and the distance from the position of each warning device 100 to the crosswalk 12 may be used. In this case, the farther the warning device 100 is from the crosswalk 12, the larger the value of the predetermined distance used in the processes of steps S13 and S14 becomes. Thus, even when the warning device 100 is located somewhat away from the crosswalk 12, it is possible to identify a case where it is estimated that a vehicle is nearby when the pedestrian reaches the crosswalk 12 and perform a warning.

[0085] Further, the warning device 100 may be configured to distinguish between a vehicle traveling in the lane 10A and a vehicle traveling in the lane 10B based on the direction in which the millimeter-wave radar 101 detects the vehicle or the direction of change in the position where the vehicle is detected. Then, as the predetermined distance in the processes of steps S13 and S14 in FIGS. 6 and 7, a predetermined distance corresponding to the lane may be applied.

[0086] This point will be described with reference to FIG. 15. FIG. 15 is a plan view schematically showing an example of a warning device and the traffic situation around it. In the example of FIG. 15, the same arrangement as that shown in FIG. 1 is shown, and the five warning devices constituting the warning system are labeled 100a to 100e in order from the closest to the crosswalk 12. The center line 11 corresponds to the boundary separating the lane 10A, which is the first traffic lane, and the lane 10B, which is the second traffic lane. In the lane 10A and the lane 10B, the directions in which the vehicles should travel are different from each other.

[0087] Here, assuming that the warning device 100a is equipped with a millimeter-wave radar 101, vehicles 40a and 40b traveling in the lane 10A toward the crosswalk 12 are detected in the direction within the angular range generally indicated by the symbol x. In addition, the vehicle 40c traveling in the lane B toward the crosswalk 12 is detected in the direction within the angular range generally indicated by the symbol y.

[0088] Therefore, the warning device 100a can identify which lane the detected vehicle is passing through based on the direction in which the vehicle traveling towards the crosswalk 12 is detected. Here, even a vehicle passing through lane 10A can be detected in the direction of the angular range y after passing the crosswalk 12, and even a vehicle passing through lane 10B can be detected in the direction of the angular range x after passing the crosswalk 12. However, a vehicle traveling away from the crosswalk 12 can be ignored in lane discrimination.

[0089] Also, when the field of view angle of the millimeter-wave radar 101 is wide and the vehicle and its position can be detected in a range including both the angular range x and the angular range y, based on the change over time of the position where the vehicle is detected, it is possible to identify which lane the detected vehicle is passing through. For example, when the position where the vehicle is detected is changing from the right side to the left side in the figure, it can be determined that the vehicle is traveling in lane 10A, and conversely, when it is changing from the left side to the right side, it can be determined that the vehicle is traveling in lane 10A.

[0090] Next, the predetermined distance in the processes of steps S13 and S14 in FIGS. 6 and 7 will be described. When the vehicle is traveling in lane 10B, for example, in order for step S13 to become Yes when the vehicle is detected within 150 m in front of the stop line 13B, a value of approximately 150 m can be used as the predetermined distance. This is because the positions of the stop line 13B and the warning device 100a are substantially the same in the traveling direction of the vehicle, and the difference in the position in the direction crossing the lane 10 is negligible even at a distance of 150 m.

[0091] However, when the vehicle is passing through lane 10A, in order for step S13 to become Yes when the vehicle is detected within 150 m in front of the stop line 13A in the same way, it is necessary to use a value larger than 150 m as the predetermined distance. This is because the positions of the stop line 13A and the warning device 100a are significantly different in the traveling direction of the vehicle. For example, if this difference is 10 m, the predetermined distance should be 150 m plus 10 m, which is 160 m.

[0092] In this way, by setting the value of the predetermined distance to different values according to the lane in which the detected vehicle is traveling, it is possible to more accurately identify a situation where there is a high need to issue a warning. This effect is particularly significant when the warning device 100e (or a vehicle detection unit such as the millimeter-wave radar 101) is arranged at a position away from the position serving as a reference for distance measurement, such as the stop lines 13A and 13B or the crosswalk 12, like in the warning device 100e. It is advisable to store in advance in the memory 122 the predetermined distance corresponding to each lane and the correction amount of the predetermined distance for each lane.

[0093] Also, as yet another modification, in step S14 of FIGS. 6 and 7, for each lane, if the vehicle at the closest position in front of the stop lines 13A and 13B (predetermined target points) has stopped near the stop lines 13A and 13B, it may be determined as Yes. In this case, even if there is a vehicle moving behind, it is considered that the vehicle will stop in front of the stopped vehicle, and it is assumed that the possibility of posing a danger to pedestrians is extremely low. Therefore, it is considered that the warning can be terminated. For example, as shown in FIG. 15, when the vehicle 40a traveling in lane 10A has stopped at a position immediately in front of the stop line 13A, even if another vehicle 40b is approaching from behind, it is considered that the vehicle 40b will stop behind the vehicle 40a, etc.

[0094] Also, as yet another modification, based on the difference in the timing when the human sensor 102 provided in each of the warning devices 100a to 100e detects a person, it is possible to estimate the traveling direction and speed of the person passing through the sidewalk 20, and reflect the result in the presence or absence of a warning. Here, it is assumed that the ranges in which the human sensors 102 included in the respective alert devices 100a to 100e can detect a person are generally indicated by the broken lines 102a to 102e in FIG. 15. Then, a pedestrian 50a who advances toward the crosswalk 12 in the direction indicated by the arrow 51a near each of the alert devices 100a to 100e will be detected by the alert devices 100e to 100a in this order at gradually shifted timings. Conversely, a pedestrian 50b who advances away from the crosswalk 12 in the direction indicated by the arrow 51b will be detected by the alert devices 100a to 100e in this order at gradually shifted timings.

[0095] Therefore, based on the difference in the timings at which the alert devices 100a to 100e detect a person, the direction in which the person is advancing can be estimated. This estimation can be performed by a processor 121 that functions as a traveling direction estimation unit by executing a required program. Even without collecting the detection timings from all the alert devices other than itself, if there is information on the detection timing in at least one other alert device whose positional relationship with itself is known, the traveling direction can be estimated.

[0096] This information on the traveling direction is, for example, reflected in the alert processing in such a way that when a person is advancing toward the crosswalk 12, an alert is issued by the processing shown in FIG. 6 or FIG. 7, and conversely, when a person is advancing away from the crosswalk 12, since the possibility of crossing the roadway 20 is low and the necessity is relatively small, no alert is issued regardless of the detection state of vehicles and people.

[0097] Also, by dividing the value of the difference in the timings at which at least two alert devices 100 detect a person by the distance between those alert devices 100 (more precisely, the amount of deviation in the detectable ranges of the human sensors 102 included in those alert devices 100), the speed at which the person is advancing can also be estimated. This estimation can be performed by a processor 121 that functions as a traveling speed estimation unit by executing a required program. For example, the value of the predetermined distance used in steps S13 and S14 as described in the first embodiment may be determined based on this estimated speed. By doing so, when the speed of the pedestrian is slow, even if the vehicle is farther away, there is a risk of an accident, so it becomes possible to issue a warning according to the speed of the pedestrian, such as issuing a warning.

[0098] Also, as yet another modification, a light detection unit for detecting the ambient brightness may be provided in the warning device 100 or the warning device 200, and the value of the predetermined distance used in steps S13 and S14 may be determined according to the detected ambient brightness. For example, when the surroundings are dark, the risk of an accident increases, so it is conceivable to increase the predetermined distance and issue a warning even when the vehicle is farther away.

[0099] Also, as yet another modification, different values may be used as the predetermined distance in steps S13 and S14. Also, as yet another modification, a warning device that is provided with neither a vehicle detection unit nor a person detection unit and only issues a warning in response to a warning signal sent from another warning device 100 may be included in the warning system 1.

[0100] Also, the configurations of the embodiments and modifications described above can be arbitrarily combined and implemented as long as they do not contradict each other, and of course, it is also possible to implement only a part of them.

Explanation of Reference Numerals

[0101] 1...attention warning system, 10...roadway, 10A, 10B...lane, 11...center line, 12...crosswalk, 13A, 13B...stop line, 20...sidewalk, 20A, 20B...sidewalk part, 40a to 40c...vehicle, 50a, 50b...pedestrian, 51a, 51b...arrow indicating the direction of pedestrian movement, 100, 100a to 100e, 100x, 140, 150, 160, 170, 180, 200...attention warning device, 101, 201...millimeter wave radar (vehicle detection unit), 102, 202...human sensor (human detection unit), 102a to 102e...human sensor 103, 203...lamp, 104...actuator, 105...input / output unit, 106...power supply unit, 110, 141, 151, 161, 171, 181, 210...main body, 111...arm, 112, 212...base, 113...groove, 114...bracket, 115...rotation axis, 120...control unit, 121...processor, 122...memory, 123...system bus, 131-136...interface, 142...telescopic body, 152, 172...expansion body, 162...bellows body, 182...bar, x, y...angle range corresponding to lane

Claims

1. A plurality of warning devices arranged near the boundary between a first area where vehicles pass on a traffic road and a second area where pedestrians pass, A vehicle detection unit that detects vehicles passing through the first area and their positions, A person detection unit provided in at least one of the warning devices, which detects a person passing near the warning device in the second area, A warning unit provided in at least one of the warning devices, which warns a person passing near the warning device, A warning system comprising a control unit that causes the warning unit to issue a warning when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit detects a person.

2. The warning system according to claim 1, wherein the control unit causes the warning unit to issue a warning when the vehicle detection unit detects a vehicle within a predetermined distance and moving towards a predetermined target point, and the person detection unit provided in any one of the warning devices detects a person.

3. The warning system according to claim 2, wherein the control unit causes the warning unit to end the warning when the vehicle detection unit detects that the vehicle at the position closest to the predetermined target point has stopped near the predetermined target point.

4. The warning system according to claim 1, wherein the person detection unit and the warning unit are respectively provided in a plurality of the warning devices, and the control unit causes the warning unit provided in the warning device to issue a warning when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit provided in any one of the warning devices detects a person.

5. The warning system according to claim 1, wherein the control unit causes the warning unit to end the warning when the vehicle detection unit detects that all vehicles within the predetermined distance have stopped.

6. The warning system according to claim 1, wherein the first area includes a plurality of traffic lanes divided by boundaries. The control unit uses, as the predetermined distance, a value corresponding to the traffic lane in which the detected vehicle is traveling among the plurality of traffic lanes determined according to the direction in which the vehicle detection unit has detected a vehicle. A warning system characterized by this.

7. The warning system according to claim 1, wherein the first area includes a plurality of traffic lanes in which the traveling directions of vehicles are different from each other, the control unit uses, as the predetermined distance, a value corresponding to the traffic lane in which the detected vehicle is traveling among the plurality of traffic lanes determined according to the change over time of the position where the vehicle detection unit has detected a vehicle. A warning system characterized by this.

8. The warning system according to claim 1, wherein the person detection unit is provided in two or more of the plurality of warning devices, a traveling direction estimation unit that estimates the traveling direction of a person passing near each of those warning devices based on the difference in the timing at which the person detection units provided in those warning devices have detected a person is provided, when the traveling direction is estimated to be a specific direction, the control unit causes the warning unit not to give a warning regardless of the vehicle detection state by the vehicle detection unit and the person detection state by the person detection unit. A warning system characterized by this.

9. The warning system according to claim 1, wherein the person detection unit is provided in two or more of the plurality of warning devices, a traveling speed estimation unit that estimates the traveling speed of a person passing near each of those warning devices based on the difference in the timing at which the person detection units provided in those warning devices have detected a person is provided, the control unit determines the value of the predetermined distance based on the estimated traveling speed. A warning system characterized by this.

10. The warning system according to claim 1, wherein a light detection unit that detects the ambient brightness is provided, the control unit determines the value of the predetermined distance according to the detected ambient brightness. A warning system characterized by this.

11. The warning system according to claim 1, wherein the warning unit gives a warning to a person passing near the warning device and at the same time gives a warning to a vehicle passing through the first area. A warning system characterized by this.

12. The warning system according to claim 1, wherein The attention - calling system is characterized in that the attention - calling unit is a means for performing the attention - calling by deforming the attention - calling device so as to prevent a person from passing through between adjacent attention - calling devices.

13. An attention - calling device installed near the boundary between a first area where vehicles pass in a traffic route and a second area where pedestrians pass, a vehicle detection unit that detects a vehicle passing through the first area and the position of the vehicle, a person detection unit that detects a person passing near the attention - calling device in the second area, an attention - calling unit that calls the attention of a person passing near the attention - calling device, and a control unit that causes the attention - calling unit to perform attention - calling when the vehicle detection unit detects a vehicle within a predetermined distance and the person detection unit detects a person. The attention - calling device is characterized by this.

14. The attention - calling device according to Claim 13, wherein the control unit causes the attention - calling unit to end the attention - calling when the vehicle detection unit no longer detects a vehicle within the predetermined distance or the person detection unit no longer detects a person. The attention - calling device is characterized by this.

15. The attention - calling device according to Claim 13, wherein the control unit causes the attention - calling unit to end the attention - calling when the vehicle detection unit detects that all vehicles within the predetermined distance have stopped. The attention - calling device is characterized by this.

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