Roadside device, method, and system

Abstract

To improve a technique for providing traffic information assistance to object people.SOLUTION: A roadside device 20 includes a communication unit 21, a photographing unit 22, a notification unit 23, and a control unit 25. When a pedestrian heading toward a roadway is detected from a video captured by the photographing unit 22, the control unit 25 notifies the pedestrian via the notification unit 23 of first information indicating that the pedestrian is able to cross the roadway based on a condition of the roadway, and after the notification of the first information, notifies a driving assistant of a target vehicle 10, which is an automatic driving vehicle 10 approaching the roadside device 20, via the communication unit 21 of second information indicating the presence of the pedestrian.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a roadside device, method, and system.

Background Art

[0002] Conventionally, for example, technologies for assisting traffic information for target persons such as pedestrians and drivers or driving assistants of vehicles are known. For example, Patent Document 1 discloses a notification system that notifies vehicles or walking vehicles other than the automated driving vehicle of passability or warnings according to the behavior of an automated driving vehicle scheduled to pass through a predetermined traffic area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Improvement of technologies for assisting traffic information for target persons is desired.

[0005] In view of such circumstances, an object of the present disclosure is to improve technologies for assisting traffic information for target persons.

Means for Solving the Problems

[0006] A roadside device according to an embodiment of the present disclosure is a roadside device including a communication unit, a photographing unit, a notification unit, and a control unit, wherein the control unit when a pedestrian heading for a lane is detected from an image of the photographing unit, based on the situation of the lane, notifies the pedestrian of first information indicating that the lane can be crossed via the notification unit, After notifying the first information, the second information indicating the presence of the pedestrian is notified to the driver assistant of the target vehicle, which is an automated driving vehicle approaching the roadside device, via the communication unit.

[0007] A method according to an embodiment of the present disclosure is a method executed by a roadside device including a communication unit, a photographing unit, and a notification unit, when a pedestrian heading for the lane is detected from the video of the photographing unit, based on the situation of the lane, notifying the pedestrian of first information indicating that the lane can be crossed via the notification unit, and after notifying the first information, notifying second information indicating the presence of the pedestrian to the driver assistant of the target vehicle, which is an automated driving vehicle approaching the roadside device, via the communication unit.

[0008] A system according to an embodiment of the present disclosure is a system including a roadside device including a photographing unit and a notification unit, and an information processing device communicable with the roadside device, wherein the roadside device when a pedestrian heading for the lane is detected from the video of the photographing unit, based on the situation of the lane, notifies the pedestrian of first information indicating that the lane can be crossed via the notification unit, after notifying the first information, notifies second information indicating the presence of the pedestrian to the driver assistant of the target vehicle, which is an automated driving vehicle approaching the roadside device, via the information processing device.

Advantages of the Invention

[0009] According to an embodiment of the present disclosure, the technology for assisting traffic information to the target person is improved.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present disclosure will be described.

[0012] (Overview of Embodiment) With reference to FIG. 1, an overview of a system 1 according to an embodiment of the present disclosure will be described. The system 1 includes a vehicle 10, a roadside device 20, and an information processing device 30. The vehicle 10, the roadside device 20, and the information processing device 30 are communicably connected to a network 40 including, for example, a mobile communication network and the Internet.

[0013] The vehicle 10 is, for example, a gasoline vehicle, a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), or a fuel cell electric vehicle (FCEV), etc., but is not limited thereto and may be any vehicle that can be ridden by a human. The vehicle 10 may be, for example, a self-driving vehicle capable of level 1 to 5 of autonomous driving defined by the Society of Automotive Engineers (SAE). In the present embodiment, the vehicle 10 is capable of level 3 or 4 of autonomous driving, and a driving assistant can ride in the vehicle 10 or override the driving operation remotely. The system 1 may include any number of one or more vehicles 10.

[0014] The roadside device 20 is installed near, for example, an intersection or a crosswalk. In the present embodiment, the roadside device 20 can detect a pedestrian heading towards the roadway as a pedestrian attempting to cross the roadway from the video of the mounted camera. Further, when the roadside device 20 detects a pedestrian attempting to cross the roadway, it provides traffic information support by notifying the pedestrian and the driver or driving assistant of the vehicle 10 approaching the own device of predetermined information. The system 1 may include any number of one or more roadside devices 20.

[0015] The information processing device 30 is one or a plurality of computers capable of communicating with each other. The information processing device 30 can communicate with each vehicle 10 and each roadside device 20 via the network 40. In the present embodiment, the communication between the vehicle 10 and the roadside device 20 may be performed via the information processing device 30. Further, the information processing device 30 communicates with each vehicle 10 and continuously acquires vehicle information including, for example, the position of the vehicle 10.

[0016] First, the outline of the present embodiment will be described, and the details will be described later. When a pedestrian heading towards the roadway is detected, the roadside device 20 notifies the pedestrian of first information indicating that the roadway can be crossed based on the situation of the roadway. Then, after the notification of the first information, the roadside device 20 notifies the driving assistant of the target vehicle 10, which is the vehicle 10 approaching the own device (roadside device 20), of second information indicating the presence of the pedestrian.

[0017] According to the present embodiment, the second information indicating the presence of the pedestrian is notified to the driving assistant after the timing at which the first information indicating that the roadway can be crossed is notified to the pedestrian. Therefore, as described below, the certainty that the driving assistant pays attention to the presence of the pedestrian attempting to cross the roadway is increased.

[0018] In autonomous vehicles, generally, autonomous driving is given priority to pedestrians. On the other hand, from the perspective of safety, an override function that allows a driving assistant to drive manually while in the vehicle or remotely is adopted as described above. However, in a situation where, for example, a pedestrian starts to cross the road from a blind spot of an autonomous vehicle, neither the autonomous vehicle nor the driving assistant may be able to recognize the presence of the pedestrian, or the recognition may be delayed.

[0019] In contrast, consider, for example, when a pedestrian heading towards the road is detected, and an arbitrary notification is made to each of the pedestrian and the driving assistant. For example, when the notification to the pedestrian is made at a timing with a margin in the remaining time until the autonomous vehicle passes the roadside device 20, the notification can act as a so-called "green signal" indicating that the pedestrian can cross the road. Here, assuming an embodiment in which the notification to the pedestrian and the notification to the driving assistant of the autonomous vehicle are made simultaneously, the notification to the driving assistant can also act as a "green signal" indicating that the driving assistant can safely pass the roadside device 20, in the same way.

[0020] However, in this embodiment, considering unexpected situations such as, for example, a pedestrian falling while crossing the road or the pedestrian starting to cross after a certain time from when the notification to the pedestrian is made, as a result of the driving assistant determining that "it is possible to safely pass the roadside device 20" at a timing with a margin in the remaining time until the autonomous vehicle passes the roadside device 20, there is a possibility that subsequent attention may become lax. In other words, in this embodiment where the notification to the pedestrian and the notification to the driving assistant are made simultaneously, the timing of the notification to the driving assistant is too early, so there is a possibility that the subsequent attention of the driving assistant may become lax.

[0021] In contrast, according to the present embodiment, as described above, the second information indicating the presence of a pedestrian is notified to the driving assistant after the timing at which the first information indicating that the roadway can be crossed is notified to the pedestrian (that is, the timing when there is a margin in the remaining time until the automated vehicle passes the roadside device 20). Therefore, according to the present embodiment, the technology for assisting traffic information to the target person is improved in that the certainty that the driving assistant pays attention to the presence of a pedestrian attempting to cross the roadway is increased.

[0022] Next, each component of the system 1 will be described in detail.

[0023] (Configuration of the Vehicle) As shown in FIG. 2, the vehicle 10 includes a communication unit 11, a sensor unit 12, a memory unit 13, and a control unit 14.

[0024] The communication unit 11 includes one or more communication interfaces connected to the network 40. The communication interface corresponds to, for example, mobile communication standards such as 4G (4th Generation) and 5G (5th Generation), but is not limited thereto, and may correspond to any communication standard. In the present embodiment, the vehicle 10 communicates with the information processing device 30 via the communication unit 11 and the network 40.

[0025] The sensor unit 12 includes one or more sensors used for controlling the vehicle 10. The sensor is, for example, a position sensor corresponding to GPS (Global Positioning System), a geomagnetic sensor, a speed sensor, an acceleration sensor, or a gyro sensor, but is not limited thereto, and may be any sensor.

[0026] The storage unit 13 includes one or more memories. In the present embodiment, the "memory" is, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like, but is not limited thereto. Each memory included in the storage unit 13 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 13 stores any information used for the operation of the vehicle 10. For example, the storage unit 13 may store a system program, an application program, and embedded software, etc. The information stored in the storage unit 13 may be updated with information acquired from the network 40 via the communication unit 11, for example.

[0027] The control unit 14 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for specific processing, but is not limited thereto. The programmable circuit is, for example, an FPGA (Field-Programmable Gate Array), but is not limited thereto. The dedicated circuit is, for example, an ASIC (Application Specific Integrated Circuit), but is not limited thereto. The control unit 14 controls the operation of the entire vehicle 10.

[0028] For example, in the present embodiment, the control unit 14 transmits the position information of the host vehicle detected by the sensor unit 12 to the information processing device 30 via the communication unit 11. The transmission of the position information may be executed, for example, periodically or each time a predetermined event occurs. Further, when the control unit 14 is traveling according to the route information indicating the searched travel route, for example, the control unit 14 may transmit the route information to the information processing device 30.

[0029] (Configuration of the roadside device) As shown in FIG. 3, the roadside device 20 includes a communication unit 21, a photographing unit 22, a notification unit 23, a storage unit 24, and a control unit 25.

[0030] The communication unit 21 includes one or more communication interfaces for connecting to the network 40. The communication interface corresponds to, for example, a mobile communication standard or a wireless LAN (Local Area Network) standard, but is not limited thereto and may correspond to any communication standard. In the present embodiment, the roadside device 20 communicates with the information processing device 30 via the communication unit 21 and the network 40.

[0031] The photographing unit 22 includes one or more cameras capable of photographing the surrounding scenery. In the present embodiment, the roadside device 20 is installed, for example, near the boundary between a sidewalk and a roadway so that the photographing unit 22 can photograph pedestrians moving from the sidewalk to the roadway.

[0032] The notification unit 23 includes one or more notification devices for notifying the surrounding pedestrians of information. The notification device is, for example, a speaker, an electronic display board, or a display, but is not limited thereto and may be any notification device.

[0033] The storage unit 24 includes one or more memories. Each memory included in the storage unit 24 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 24 stores any information used for the operation of the roadside device 20. For example, the storage unit 24 may store a system program, an application program, embedded software, and map information, etc. The information stored in the storage unit 24 may be updated with information acquired from the network 40 via the communication unit 21, for example.

[0034] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 25 controls the overall operation of the roadside device 20. Details of the operation of the roadside device 20 will be described later.

[0035] (Configuration of the information processing device) As shown in FIG. 4, the information processing device 30 includes a communication unit 31, a storage unit 32, and a control unit 33.

[0036] The communication unit 31 includes one or more communication interfaces connected to the network 40. The communication interface may conform to, for example, a wired LAN standard or a wireless LAN standard, but is not limited thereto and may conform to any communication standard. In the present embodiment, the information processing apparatus 30 communicates with the vehicle 10 and the roadside apparatus 20 via the communication unit 31 and the network 40, respectively.

[0037] The storage unit 32 includes one or more memories. Each memory included in the storage unit 32 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores any information used for the operation of the information processing apparatus 30. For example, the storage unit 32 may store a system program, an application program, embedded software, map information, and the like. In the present embodiment, the storage unit 32 stores information indicating the installation position of each roadside apparatus 20.

[0038] The control unit 33 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 33 controls the overall operation of the information processing apparatus 30. Details of the operation of the information processing apparatus 30 will be described later.

[0039] (Operation flow of roadside apparatus) With reference to FIG. 5, the operation flow of the roadside apparatus 20 according to the present embodiment will be described.

[0040] S100: The control unit 25 of the roadside apparatus 20 detects a pedestrian heading towards the road from the video of the imaging unit 22.

[0041] Specifically, the control unit 25 detects the pedestrian reflected in the video by any object recognition process and specifies the moving direction from the change in the position of the pedestrian. The control unit 25 detects, for example, a pedestrian moving towards the road on the video as a pedestrian about to cross the road.

[0042] S101: The control unit 25 monitors the remaining time until each vehicle 10 approaching the own device (roadside apparatus 20) passes the roadside apparatus 20.

[0043] Specifically, first, the control unit 25 transmits a request for acquiring the position information of each vehicle 10 to the information processing device 30 via the communication unit 21. The control unit 25 receives, via the communication unit 21, the position information of each vehicle 10 continuously transmitted from the information processing device 30 in response to the acquisition request.

[0044] Subsequently, the control unit 25 estimates the travel route of each vehicle 10 based on the change in the position of each vehicle 10 and the map information stored in the storage unit 24. Alternatively, the control unit 25 may transmit a request for acquiring the travel route of each vehicle 10 to the information processing device 30 and receive information indicating the travel route of each vehicle 10 from the information processing device 30.

[0045] Subsequently, the control unit 25 identifies each vehicle 10 on which the own device (roadside device 20) is installed on the travel route as each vehicle 10 approaching the own device (roadside device 20). Then, the control unit 25 continuously monitors the remaining time of each vehicle 10 until each vehicle 10 passes the roadside device 20 by continuously estimating the remaining time based on the change in the position of each identified vehicle 10.

[0046] S102: The control unit 25 determines whether there is at least one vehicle 10 whose remaining time is less than a predetermined first threshold. If it is determined that there is at least one vehicle 10 whose remaining time is less than the first threshold (S102 - Yes), the process proceeds to S106. On the other hand, if it is determined that there is no vehicle 10 whose remaining time is less than the first threshold (in other words, the remaining time of all vehicles 10 is equal to or greater than the first threshold) (S102 - No), the process proceeds to S103.

[0047] The "first threshold" is, for example, 60 seconds, but is not limited thereto, and can be any time at which it is considered that a pedestrian can cross the road with a margin.

[0048] S103: When it is determined that there is no vehicle 10 whose remaining time is less than the first threshold in S102 (S102 - No), the control unit 25 notifies the pedestrian of the first information indicating that the vehicle lane can be crossed via the notification unit 23.

[0049] Specifically, the control unit 25 notifies the pedestrian of the first information by outputting the first information via the display or speaker of the notification unit 23. Here, "there is no vehicle 10 whose remaining time is less than the first threshold" implies a situation where there is time margin until the vehicle 10 approaching the roadside device 20 passes the roadside device 20. Therefore, the pedestrian who receives the notification of the first information can recognize such a situation and also recognize that their presence has been normally detected on the system 1 side, so they can cross the vehicle lane with confidence.

[0050] S104: The control unit 25 determines whether the remaining time of the vehicle 10 has reached a second threshold that is less than the first threshold. When it is determined that the remaining time of the vehicle 10 has reached the second threshold (S104 - Yes), the process proceeds to S105. On the other hand, when it is determined that the remaining time of the vehicle 10 is more than the second threshold (S104 - No), the process repeats S104.

[0051] The "second threshold" is, for example, 30 seconds, but is not limited to this, and can be any time considered to enable the driver assistant to maintain the attention that should be paid for traffic safety until the vehicle 10 passes the roadside device 20. Hereinafter, the vehicle 10 for which it is determined that the remaining time has reached the second threshold is also referred to as the "target vehicle 10".

[0052] S105: When it is determined in S104 that the remaining time of the vehicle 10 has reached the second threshold (S104 - Yes), the control unit 25 notifies the driver assistant of the target vehicle 10, which is the vehicle 10 approaching the own vehicle (roadside device 20), of the second information indicating the presence of the pedestrian via the communication unit 21.

[0053] Specifically, the control unit 25 notifies the second information to the driver assistant of the target vehicle 10 by transmitting a request for notification of the second information to the information processing device 30 via the communication unit 21. In response to the reception of the notification request, the control unit 33 of the information processing device 30 notifies the second information to the driver assistant by transmitting the second information to the target vehicle 10 or the terminal device used by the driver assistant. That is, in the present embodiment, the roadside device 20 and the information processing device 30 cooperate to notify the second information to the driver assistant of the target vehicle 10.

[0054] In this way, since the second information is notified when the remaining time of the vehicle 10 reaches the second threshold value, the probability that the driver assistant can maintain the attention to be paid for traffic safety until the vehicle 10 passes the roadside device 20 is increased.

[0055] S106: When it is determined in S102 that there is at least one vehicle 10 whose remaining time is less than the first threshold value (S102 - Yes), the control unit 25 notifies the third information indicating the restriction regarding crossing of the lane to the pedestrians via the notification unit 23, and at the same time, notifies the above-described second information to the driver assistants of the respective vehicles 10 whose remaining time is less than the first threshold value.

[0056] Specifically, the control unit 25 notifies the third information to the pedestrians by outputting the third information via the display or the speaker of the notification unit 23. Here, the "third information" includes, for example, a message such as "The autonomous vehicle will stop temporarily for the priority of pedestrians, but please pay attention to the surroundings when crossing the lane", but is not limited thereto, and may include any message that notifies the pedestrians of the restriction of paying attention to the surroundings when crossing the lane. Alternatively, the "third information" includes, for example, a message such as "An autonomous vehicle is approaching, so please cross the lane after the autonomous vehicle has passed for safety", but is not limited thereto, and may include any message that notifies the pedestrians of the restriction of withholding crossing the lane until the autonomous vehicle has passed.

[0057] Further, the control unit 25 notifies the second information to the driving assistants of each vehicle 10 whose remaining time is less than the first threshold value by transmitting a request for notification of the second information to the information processing device 30 via the communication unit 21. In response to the reception of the notification request, the control unit 33 of the information processing device 30 notifies the second information to each driving assistant by transmitting the second information to each vehicle 10 whose remaining time is less than the first threshold value or to each terminal device used by each driving assistant. That is, in the present embodiment, the roadside device 20 and the information processing device 30 cooperate to notify the second information to the driving assistants of each vehicle 10 whose remaining time is less than the first threshold value.

[0058] As described above, when a pedestrian heading for the lane is detected, the roadside device 20 according to the present embodiment notifies the pedestrian of the first information indicating that the lane can be crossed based on the situation of the lane. Then, after the notification of the first information, the roadside device 20 notifies the driving assistant of the target vehicle 10, which is the vehicle 10 approaching the own device (roadside device 20), of the second information indicating the presence of the pedestrian.

[0059] According to such a configuration, as described above, the second information indicating the presence of the pedestrian is notified to the driving assistant after the timing at which the first information indicating that the lane can be crossed is notified to the pedestrian (that is, the timing when there is a margin in the remaining time until the automated vehicle passes the roadside device 20). Therefore, according to the present embodiment, the technology for assisting traffic information to the target person is improved in that the certainty that the driving assistant pays attention to the presence of the pedestrian trying to cross the lane is increased.

[0060] Although the present disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions etc. included in each component or each step etc. can be rearranged so as not to be logically contradictory, and a plurality of components or steps etc. can be combined into one or divided.

[0061] For example, in the above-described embodiment, an embodiment in which a part of the operations performed by the roadside device 20 is performed by the information processing device 30 is also possible. With reference to FIG. 6, a modification of the embodiment in which the information processing device 30 performs a part of the operations will be described.

[0062] S200: The control unit 25 of the roadside device 20 detects a pedestrian heading towards the road from the video of the imaging unit 22. The operation of S200 is the same as that of S100 in the above-described embodiment.

[0063] S201: The control unit 25 transmits a request for acquiring information indicating whether a vehicle 10 whose remaining time until passing through the own device (roadside device 20) is less than a first threshold value exists on the road, to the information processing device 30 via the communication unit 21.

[0064] S202: When the control unit 33 of the information processing device 30 receives the acquisition request of S201, it monitors the remaining time of each vehicle 10 approaching the roadside device 20 until passing through the roadside device 20. The operation of S202 is the same as that of S101 in the above-described embodiment.

[0065] S203: The control unit 33 determines whether there is at least one vehicle 10 whose remaining time is less than the first threshold value. The operation of S203 is the same as that of S102 in the above-described embodiment. Also, based on the determination result, the control unit 33 transmits information indicating the presence or absence of a vehicle 10 whose remaining time is less than the first threshold value to the roadside device 20 via the communication unit 31.

[0066] S204: When the control unit 25 of the roadside device 20 receives the information of S203 from the information processing device 30, it notifies the pedestrian via the notification unit 23 of first information indicating that the road can be crossed or third information indicating a restriction regarding crossing the road, according to the presence or absence of a vehicle 10 whose remaining time is less than the first threshold value.

[0067] Specifically, when there is no vehicle 10 whose remaining time is less than the first threshold value, the control unit 25 notifies the pedestrian of the first information. On the other hand, when there is a vehicle 10 whose remaining time is less than the first threshold value, the control unit 25 notifies the pedestrian of the third information. The operation of notifying the first information or the third information in S204 is the same as S103 or S106 in the above-described embodiment.

[0068] S205: The roadside device 20 and the information processing device 30 cooperate to notify the driver assistant of the target vehicle 10, which is the vehicle 10 approaching the roadside device 20, of the second information indicating the presence of the pedestrian.

[0069] Note that when the first information is notified to the pedestrian in the immediately preceding S204, the notification of the second information to the driver assistant in S205 is performed when the remaining time of the target vehicle 10 reaches the second threshold value. The operation of notifying the second information when the remaining time of the target vehicle 10 reaches the second threshold value is the same as S104 and S105 in the above-described embodiment.

[0070] On the other hand, when the third information is notified to the pedestrian in the immediately preceding S204, the notification of the second information to the driver assistant in S205 is performed immediately. The operation of immediately notifying the second information is the same as S106 in the above-described embodiment.

[0071] According to this modification, similar to the above-described embodiment, the timing at which the second information indicating the presence of the pedestrian is notified to the driver assistant is after the timing at which the first information indicating that the lane can be crossed is notified to the pedestrian (i.e., the timing when there is a margin in the remaining time until the automated vehicle passes the roadside device 20). Therefore, according to this modification, similar to the above-described embodiment, the technology for assisting traffic information to the target person is improved in that the certainty that the driver assistant pays attention to the presence of the pedestrian trying to cross the lane is increased.

[0072] For example, an embodiment is also possible in which a general-purpose computer functions as the information processing apparatus 30 according to the above-described embodiment. Specifically, a program describing the processing content for realizing each function of the information processing apparatus 30 according to the above-described embodiment is stored in the memory of the computer, and the program is read and executed by the processor of the computer. Therefore, the present disclosure can also be realized as a program executable by a processor or a non-transitory computer-readable medium storing the program.

[0073] Some embodiments of the present disclosure will be exemplified below. However, note that the embodiments of the present disclosure are not limited to these. [Appendix 1] A roadside device including a communication unit, a photographing unit, a notification unit, and a control unit, wherein the control unit, when a pedestrian heading for the lane is detected from the video of the photographing unit, based on the situation of the lane, notifies the pedestrian via the notification unit of first information indicating that the lane can be crossed, and after the notification of the first information, notifies a driving assistant of a target vehicle, which is an automated driving vehicle approaching the roadside device, of second information indicating the presence of the pedestrian via the communication unit. [Appendix 2] The roadside device according to Appendix 1, wherein the control unit, when the pedestrian is detected from the video, notifies the pedestrian of the first information when there is no automated driving vehicle on the lane whose remaining time until passing the roadside device is less than a first threshold value. [Appendix 3] The roadside device according to Appendix 1 or 2, wherein the control unit, when at least one automated driving vehicle whose remaining time is less than the first threshold value is present on the lane, notifies the pedestrian via the notification unit of third information indicating a restriction regarding crossing of the lane. [Appendix 4] The roadside device according to any one of Appendices 1 to 3, wherein the control unit, Monitoring the remaining time of each automated driving vehicle approaching the roadside device, A roadside device that determines the automated driving vehicle as the target vehicle when the remaining time of the automated driving vehicle reaches a second threshold value less than the first threshold value. [Appendix 5] The roadside device according to any one of Appendices 1 to 4, wherein the control unit, estimates the travel route of the automated driving vehicle based on the change in the position of each automated driving vehicle existing on the lane and the map information, A roadside device that monitors the remaining time of each automated driving vehicle on which the roadside device is installed on the travel route. [Appendix 6] The roadside device according to any one of Appendices 1 to 5, wherein the control unit acquires information indicating the travel routes of each automated driving vehicle existing on the lane from an information processing device via the communication unit, A roadside device that monitors the remaining time of each automated driving vehicle on which the roadside device is installed on the travel route. [Appendix 7] The roadside device according to any one of Appendices 1 to 6, wherein the control unit, when the pedestrian is detected from the video, transmits a request for acquiring information indicating whether there is an automated driving vehicle with a remaining time less than the first threshold value on the lane to the information processing device via the communication unit, A roadside device that receives the information from the information processing device via the communication unit. [Appendix 8] A method executed by a roadside device including a communication unit, a photographing unit, and a notification unit, when a pedestrian heading for the lane is detected from the video of the photographing unit, notifying the pedestrian of first information indicating that the lane can be crossed based on the situation of the lane via the notification unit, and after notifying the first information, notifying, via the communication unit, a driving assistant of a target vehicle, which is an automated driving vehicle approaching the roadside device, of second information indicating the presence of the pedestrian A method including [Appendix 9] The method according to Appendix 8, wherein when the pedestrian is detected from the video and there is no automated vehicle on the lane whose remaining time until passing the roadside device is less than a first threshold value, the roadside device notifies the pedestrian of the first information. [Appendix 10] The method according to Appendix 8 or 9, wherein when at least one automated vehicle whose remaining time is less than the first threshold value exists on the lane, the method further includes notifying the pedestrian of third information indicating restrictions regarding crossing the lane via the notification unit. [Appendix 11] The method according to any one of Appendices 8 to 10, wherein monitoring the remaining time of each approaching automated vehicle of the roadside device, and when the remaining time of the automated vehicle reaches a second threshold value less than the first threshold value, determining the automated vehicle as the target vehicle The method further including [Appendix 12] The method according to any one of Appendices 8 to 11, wherein the method further includes estimating a travel route of the automated vehicle based on a change in the position of each automated vehicle existing on the lane and map information, and the roadside device monitors the remaining time of each automated vehicle on whose travel route the roadside device is installed. [Appendix 13] The method according to any one of Appendices 8 to 12, wherein the method further includes obtaining information indicating travel routes of each automated vehicle existing on the lane from an information processing device via the communication unit, and the roadside device monitors the remaining time of each automated vehicle on whose travel route the roadside device is installed. [Appendix 14] The method according to any one of Appendices 8 to 13, wherein When the pedestrian is detected from the video, send a request for information indicating whether an automated vehicle with the remaining time less than the first threshold exists on the road to the information processing device via the communication unit, and receive the information from the information processing device via the communication unit A method further comprising. [Appendix 15] A system comprising a roadside device including a photographing unit and a notification unit, and an information processing device capable of communicating with the roadside device, The roadside device, When a pedestrian heading for the road is detected from the video of the photographing unit, based on the situation of the road, notify the pedestrian of first information indicating that the road can be crossed via the notification unit, After the notification of the first information, notify a driving assistant of a target vehicle, which is an automated vehicle approaching the roadside device, of second information indicating the presence of the pedestrian via the information processing device. A system. [Appendix 16] The system according to Appendix 15, When the pedestrian is detected from the video, the roadside device notifies the pedestrian of the first information if no automated vehicle with the remaining time until passing the roadside device less than the first threshold exists on the road. A system. [Appendix 17] The system according to Appendix 15 or 16, When at least one automated vehicle with the remaining time less than the first threshold exists on the road, the roadside device notifies the pedestrian of third information indicating a restriction regarding crossing the road via the notification unit. A system. [Appendix 18] The system according to any one of Appendices 15 to 17, The roadside device or the information processing device, monitor the remaining time of each automated vehicle approaching the roadside device, When the remaining time of the automated vehicle reaches a second threshold less than the first threshold, determine the automated vehicle as the target vehicle. A system. [Appendix 19] The system according to any one of Appendices 15 to 18, wherein the roadside device or the information processing device estimates a travel route of the self-driving vehicle based on changes in the positions of the self-driving vehicles existing on the road and map information, and monitors the remaining time of the self-driving vehicles on which the roadside device is installed on the travel route. [Appendix 20] The system according to any one of Appendices 15 to 19, wherein when the pedestrian is detected from the video, the roadside device transmits a request for acquiring information indicating whether there is a self-driving vehicle on the road whose remaining time is less than the first threshold value to the information processing device, and the information processing device transmits the information to the roadside device in response to receiving the acquisition request.

Explanation of Reference Numerals

[0074] 1 System 10 Vehicle 11 Communication Unit 12 Sensor Unit 13 Storage Unit 14 Control Unit 20 Roadside Device 21 Communication Unit 22 Imaging Unit 23 Notification Unit 24 Storage Unit 25 Control Unit 30 Information Processing Device 31 Communication Unit 32 Storage Unit 33 Control Unit 40 Network

Claims

1. A roadside device comprising a communication unit, a photographing unit, a notification unit, and a control unit, wherein the control unit: when a pedestrian heading towards the road lane is detected from the video of the photographing unit, based on the situation of the road lane, notifies the pedestrian of first information indicating that the pedestrian can cross the road lane via the notification unit; after notifying the first information, notifies, via the communication unit, a driving assistant of a target vehicle, which is an autonomous vehicle approaching the roadside device, of second information indicating the presence of the pedestrian.

2. The roadside device according to claim 1, wherein the control unit notifies the pedestrian of the first information when, after the pedestrian is detected from the video, there is no autonomous vehicle on the road lane whose remaining time until passing the roadside device is less than a first threshold value.

3. The roadside device according to claim 2, wherein the control unit notifies the pedestrian, via the notification unit, of third information indicating a restriction regarding crossing of the road lane when there is at least one autonomous vehicle on the road lane whose remaining time is less than the first threshold value.

4. The roadside device according to claim 2 or 3, wherein the control unit: monitors the remaining time of each autonomous vehicle approaching the roadside device; when the remaining time of an autonomous vehicle reaches a second threshold value that is less than the first threshold value, determines the autonomous vehicle as the target vehicle.

5. The roadside device according to claim 4, wherein the control unit: estimates a travel route of each autonomous vehicle on the road lane based on a change in the position of each autonomous vehicle existing on the road lane and map information; monitors the remaining time of each autonomous vehicle on the travel route on which the roadside device is installed.

6. The roadside device according to claim 4, wherein the control unit acquires, from an information processing device via the communication unit, information indicating a travel route of each autonomous vehicle existing on the road lane; monitors the remaining time of each autonomous vehicle on the travel route on which the roadside device is installed.

7. The roadside device according to claim 2 or 3, wherein the control unit: when the pedestrian is detected from the video, transmits a request for acquiring information indicating whether or not there is an autonomous vehicle on the road lane whose remaining time is less than the first threshold value to the information processing device via the communication unit; receives the information from the information processing device via the communication unit.

8. A method executed by a roadside device including a communication unit, a photographing unit, and a notification unit, comprising: When a pedestrian heading towards the roadway is detected from the video of the photographing unit, based on the situation of the roadway, notifying the pedestrian via the notification unit of first information indicating that it is possible to cross the roadway, and After notifying the first information, notifying, via the communication unit, a driving assistant of a target vehicle, which is an autonomous vehicle approaching the roadside device, of second information indicating the presence of the pedestrian A method including the above.

9. The method according to claim 8, wherein When the pedestrian is detected from the video, the roadside device notifies the pedestrian of the first information if there is no autonomous vehicle on the roadway whose remaining time until passing the roadside device is less than a first threshold.

10. The method according to claim 9, further comprising: When there is at least one autonomous vehicle on the roadway whose remaining time is less than the first threshold, notifying the pedestrian via the notification unit of third information indicating a restriction regarding crossing the roadway.

11. The method according to claim 9 or 10, further comprising: Monitoring the remaining time of each autonomous vehicle approaching the roadside device, and When the remaining time of the autonomous vehicle reaches a second threshold that is less than the first threshold, determining the autonomous vehicle as the target vehicle. A method further including the above.

12. The method according to claim 11, further comprising: Estimating the travel route of the autonomous vehicle based on the change in the position of each autonomous vehicle present on the roadway and map information, and The roadside device monitors the remaining time of each autonomous vehicle on whose travel route the roadside device is installed.

13. The method according to claim 11, further comprising: Obtaining, from an information processing device via the communication unit, information indicating the travel route of each autonomous vehicle present on the roadway, and The roadside device monitors the remaining time of each autonomous vehicle on whose travel route the roadside device is installed.

14. The method according to claim 9 or 10, further comprising: When the pedestrian is detected from the video, transmitting, via the communication unit, a request for obtaining information indicating whether there is an autonomous vehicle on the roadway whose remaining time is less than the first threshold to an information processing device, and Receiving the information from the information processing device via the communication unit. A method further comprising

15. A system comprising a roadside device including a photographing unit and a notification unit, and an information processing device capable of communicating with the roadside device, wherein the roadside device when a pedestrian heading towards the lane is detected from the video of the photographing unit, based on the situation of the lane, notifies the pedestrian via the notification unit of first information indicating that the lane can be crossed, a system that, after the notification of the first information, notifies, via the information processing device, a driving assistant of a target vehicle, which is an automated driving vehicle approaching the roadside device, of second information indicating the presence of the pedestrian.

16. The system according to claim 15, wherein the roadside device, when the pedestrian is detected from the video, notifies the pedestrian of the first information if there is no automated driving vehicle on the lane whose remaining time until passing the roadside device is less than a first threshold value.

17. The system according to claim 16, wherein the roadside device, when at least one automated driving vehicle whose remaining time is less than the first threshold value is present on the lane, notifies the pedestrian via the notification unit of third information indicating a restriction regarding crossing of the lane.

18. The system according to claim 16 or 17, wherein the roadside device or the information processing device monitors the remaining time of each automated driving vehicle approaching the roadside device, and determines the automated driving vehicle as the target vehicle when the remaining time of the automated driving vehicle reaches a second threshold value that is less than the first threshold value.

19. The system according to claim 18, wherein the roadside device or the information processing device estimates the driving route of each automated driving vehicle based on the change in the position of each automated driving vehicle present on the lane and map information, and monitors the remaining time of each automated driving vehicle on whose driving route the roadside device is installed.

20. The system according to claim 16 or 17, wherein the roadside device, when the pedestrian is detected from the video, transmits a request for obtaining information indicating whether there is an automated driving vehicle on the lane whose remaining time is less than the first threshold value to the information processing device, and the information processing device transmits the information to the roadside device in response to the reception of the acquisition request.

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