Moving object monitoring device, moving object monitoring method, and program

Abstract

To enable a driver to be notified of places that have a risk of falling.SOLUTION: The present invention includes: position-attitude detection means for detecting a self vehicle position; topographic information acquiring means for acquiring the topographic information and fall hazard area information surrounding the self vehicle; display means; display topographic range information acquiring means for acquiring a display topographic range for being displayed on the display means; and surrounding video generation means for generating a video to be displayed on the display means in combination with the self vehicle position, the topographic information in the display topographic range, and the fall hazard area information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobile object monitoring device, a mobile object monitoring method, and a program. [Background technology]

[0002] In recent years, technologies that display surrounding images on a monitor and allow the driver to operate the vehicle while checking safety, have become widespread in self-propelled mobile objects such as passenger cars, agricultural machines, and construction machines. For example, systems such as around-view monitors and rearview monitors have been introduced that display surrounding images of the mobile object on a monitor so that the driver can check for safety, and there are an increasing number of cases in which the driver operates the mobile object while looking at the monitor.

[0003] In particular, construction machinery is being promoted with a construction technology known as ICT construction. ICT stands for Information and Communication Technology. ICT construction employs machine control technology that displays the results of 3D surveying conducted using drones and other equipment on a monitor, allowing the operator to operate the moving vehicle.

[0004] On the other hand, agricultural machinery and construction machinery move over rough terrain, which poses a high risk of tipping over or falling. For this reason, Non-Patent Document 1 proposes a rollover protection structure technology for protecting the driver in the event of a rollover. Patent Document 1 also discloses a technology that determines the risk from the current roll angle of the vehicle body and issues a warning to the driver. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-274214 [Non-patent literature]

[0006] [Non-Patent Document 1] Kenzo Tanaka, "Safety Measures for Construction Machinery Tipping Over: Protective Structure for Hydraulic Excavators Tipping Over", [online], Manuscript Accepted: January 30, 2009, Journal of the Japan Society for Precision Engineering, Vol. 75, No. 3, 2009, [Retrieved December 11, 2023], Internet<URL:https: / / www.jstage.jst.go.jp / article / jjspe / 75 / 3 / 75_3_341 / _pdf> Summary of the Invention [Problem to be solved by the invention]

[0007] However, with the conventional technology disclosed in Patent Document 1, there is a possibility that the driver may move the vehicle to a location where there is a risk of the vehicle tipping over.

[0008] The present invention aims to make it possible to notify a driver of a location where there is a risk of falling. [Means for solving the problem]

[0009] One embodiment of the mobile object monitoring device is characterized by comprising a position and attitude detection means for detecting the vehicle position, a terrain information acquisition means for acquiring terrain information and tip-over risk area information around the vehicle, a display means, a display terrain range information acquisition means for acquiring a display terrain range to be displayed on the display means, and a surrounding image generation means for combining the vehicle position with the terrain information and tip-over risk area information of the display terrain range to generate an image to be displayed on the display means. [Effects of the Invention]

[0010] According to the present invention, it is possible to notify the driver of a location where there is a risk of falling. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing the configuration of a moving object monitoring device according to a first embodiment of the present invention. [Figure 2] 10 is a diagram illustrating the relationship between vehicle position information, terrain information, tipping risk areas, and display terrain ranges and latitude and longitude. FIG. [Figure 3] 10A and 10B are diagrams illustrating examples of displays on a display unit 130. FIG. [Figure 4] 10A and 10B are diagrams illustrating examples of displays on a display unit 130. FIG. [Figure 5] 10A to 10C are diagrams illustrating the processing of the surrounding image generating unit 150. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following describes embodiments of the present invention with reference to the drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0013] First Embodiment A first embodiment of the present invention will be described below. Fig. 1 is a block diagram showing the configuration of a mobile object monitoring device according to the first embodiment of the present invention. Mobile object monitoring device 100 is a system that has a function of displaying area information where there is a risk of tipping or falling (hereinafter referred to as "tipping risk area information") together with the surrounding image on the display unit, thereby enabling the driver of the mobile object to check tipping risk areas.

[0014] The mobile object monitoring device 100 includes a position and orientation detection unit 110, a terrain information acquisition unit 120, a display unit 130, a display terrain range information acquisition unit 140, and a surrounding image generation unit 150. The mobile object monitoring device 100 is an example of an information processing device. The mobile object monitoring device 100 is installed in a vehicle driven by a driver. A vehicle is an example of a mobile object.

[0015] The position and attitude detection unit 110 has a function of detecting the position and attitude of the host vehicle, which is the vehicle in which the mobile object monitoring device 100 is installed. The position and attitude detection unit 110 uses a positioning system that uses radio waves as a reference, such as GNSS, which is a satellite positioning system. GNSS is an abbreviation for Global Navigation Satellite System. The mobile object monitoring device 100 also detects attitude information using an inertial sensor or the like that can derive the Euler angles of the host vehicle.

[0016] The satellite positioning system uses, for example, GPS. GPS is an abbreviation for Global Positioning System. GPS receives signals from satellites and can detect location information (latitude information, longitude information, and altitude information) that indicates the vehicle's current location in a three-dimensional coordinate system. The latitude information and longitude information can be detected in units of, for example, degrees, minutes, and seconds.

[0017] The current position of the vehicle may be relatively determined from the position of a reference object in the stored topographical information and the results of a positioning system capable of measuring the distance between the reference object and the vehicle.

[0018] Inertial sensors can detect the acceleration and rotational speed of the vehicle using accelerometers, gyroscopes, etc. Euler angles can be detected, for example, by rotation relative to the horizontal plane (yaw angle), forward / backward tilt (pitch angle), and left / right tilt (roll angle).

[0019] The position and orientation detection unit 110 provides the detected position information and orientation information to the surrounding image production unit 150. As described above, the position and orientation detection unit 110 can detect the current position and orientation of the vehicle.

[0020] The terrain information acquisition unit 120 has a function of acquiring terrain information and tip-over hazard area information around the vehicle. The terrain information acquisition unit 120 acquires terrain data and tip-over hazard area data from a terrain database or a real-time information source. The terrain information acquired by the terrain information acquisition unit 120 is, for example, a captured image of the area around the vehicle.

[0021] The terrain database stores terrain information in the form of latitude and longitude coordinates and vector data, and map data containing attribute information and object information for each latitude and longitude is stored. The map data is, for example, terrain data that stores aerial photographs with 2D position information attached in advance, such as those taken by a drone, and position information in a 3D coordinate system. Fall risk area information is information in which position information is assigned a level according to the risk of falling, and is assigned attribute information that can be used to determine, for example, whether each latitude and longitude is a fall warning location or a location where a fall may occur.

[0022] Furthermore, if the map data is in a three-dimensional coordinate system, the tipping risk area information can be derived from the inclination of the map data and the attitude of the vehicle. For example, the change in height (the inclination of the map data) from the surroundings is derived for each latitude and longitude. The inclination of the map data is compared with a pre-set tipping inclination threshold for the vehicle (the tipping caution inclination of the vehicle, the threshold for tipping inclination) and, if the inclination of the map data is large, a tipping risk level can be assigned to the map data as attribute information. The tipping risk area information includes inclination information indicating the height of the terrain, and the surrounding image generator 150 may generate a surrounding image in which tipping risk areas are displayed with different identifications depending on the inclination relationship with the vehicle position. The tipping risk area information is identified where the inclination of the terrain around the vehicle is greater than the vehicle's tipping inclination threshold.

[0023] The preset inclination threshold may be changed in accordance with changes in the weight or center of gravity of the host vehicle, or changes in vehicle components such as the arms and loading platform that are arranged on the host vehicle and that operate on the host vehicle. Furthermore, when the load tipping inclination threshold is obtained, the load tipping inclination threshold can be used to determine the tipping region if it is lower than the host vehicle tipping inclination threshold.

[0024] The position and attitude detection unit 110 may acquire weight balance information of the vehicle body, and the topographical information acquisition unit 120 may have a plurality of pieces of tip-over risk area information corresponding to the weight balance information. In this case, the surrounding image generation unit 150 extracts the tip-over risk area information corresponding to the weight balance information and generates an image to be displayed on the display unit 130.

[0025] The position and attitude detection unit 110 may acquire weight balance information of the vehicle body, and the topographical information acquisition unit 120 may have a plurality of vehicle body tipping inclination thresholds corresponding to the weight balance information.

[0026] The position and orientation detection unit 110 may obtain a load tipping inclination threshold, and the tipping risk area information may be specified by a location where the terrain inclination around the vehicle is greater than the load tipping inclination threshold.

[0027] The real-time information source is, for example, map data generated in real time from data obtained by ranging technology and location information. Data obtained by ranging technology is, for example, map data in a three-dimensional coordinate system obtained using LiDAR technology, which uses laser light to measure the distance between surrounding objects and the vehicle, or stereo camera technology, which measures the distance between surrounding objects and the vehicle by photographing the surrounding objects with a camera from multiple directions. LiDAR is an abbreviation for Light Detection And Ranging. Location information is data in a three-dimensional coordinate system obtained using GPS technology. In this way, data obtained by ranging technology and the measurement results of location information technology can be used as topographical data of the real-time information source. The topographical information obtained by the topographical information obtaining unit 120 may be map information obtained by measuring the surroundings of the vehicle using a ranging sensor.

[0028] The terrain information can also be map data combined with camera images, for example, using MMS technology. MMS is an abbreviation for Mobile Mapping System. When using MMS technology, camera images can be used to display the surrounding terrain information and tip-over risk area information. When deriving tip-over risk area information, the level of the vehicle's posture can be taken into consideration, and the tip-over risk level can be determined by comparing it with the aforementioned tip-over inclination threshold of the vehicle.

[0029] The topographical information acquiring unit 120 provides the acquired topographical information to the surrounding image generating unit 150. As described above, the topographical information acquiring unit 120 can collect information such as topographical features, road characteristics, and dangerous locations.

[0030] The display unit 130 has a function of displaying images and information. The display unit 130 is a display device that visually displays information and images. The display unit 130 is a display device such as a display, monitor, or projector that is configured using a liquid crystal display (LCD) method that controls transmitted light or an organic light-emitting display (OLED) that controls self-emitting pixels. LCD is an abbreviation for Liquid Crystal Display. OLED is an abbreviation for Organic Light-Emitting Diode.

[0031] The display unit 130 may be a monitor attached to the vehicle, such as a back monitor, around-view monitor, room mirror, or side mirror, or may be an external monitor installed for remote operation. The timing of display on the display unit 130 may be when a user commands display, or may be displayed on a display monitor during specific work such as construction work, backing up, or arm movement. The timing of display on the display unit 130 may be set to display when there is a risk of tipping over in the vicinity.

[0032] The display unit 130 displays the image data obtained from the surrounding image generation unit 150. As described above, the display unit 130 can display the generated image and information.

[0033] The display terrain range information acquisition unit 140 has a function of acquiring information on the terrain range to be displayed. The display terrain range information acquisition unit 140 acquires terrain range data to be displayed on the display unit 130 from a terrain range database. Different settings of the terrain range data are stored in the terrain range database for each display device or display mode. For example, in the around view mode, the terrain range database stores terrain range data that displays 20 m in front, behind, left and right directions from the vehicle position, and in the forward view mode, stores terrain range data that displays 20 m in front, left and right directions and 40 m in front.

[0034] Furthermore, when the surrounding terrain information (display image source) of the terrain information acquisition unit 120 is a camera image, the camera image range can also be stored in the terrain range database as terrain range data. The display terrain range information acquisition unit 140 acquires terrain range data in accordance with the display device, display mode, and display image source of the mobile monitoring device 100.

[0035] The display topographical range information acquiring unit 140 provides the acquired topographical range information to be displayed to the surrounding image generating unit 150. As described above, the display topographical range information acquiring unit 140 can acquire the topographical range information to be displayed.

[0036] The surrounding image generating unit 150 has the function of generating an image by combining the vehicle position with topographical information of the displayed topographical range and information on tipping-over hazard areas. The surrounding image generating unit 150 is composed of an information processing device such as a CPU and an image processing device. CPU is an abbreviation for Central Processing Unit. The surrounding image generating unit 150 determines the topographical range to be displayed on the display unit 130 from the vehicle position information, obtains the topographical information of the topographical range and information on tipping-over hazard areas, and generates a display image. When the topographical information is three-dimensional coordinate data, the surrounding image generating unit 150 performs mapping processing to generate an image.

[0037] The surrounding image generating unit 150 receives the position information, posture information, display terrain range information, terrain information, and fall risk area information obtained by each component, and provides image data to the display unit 130. In this way, the surrounding image generating unit 150 can generate an image for visually presenting the surrounding situation.

[0038] The relationship between the vehicle's position information, terrain information, tipping hazard areas, displayed terrain range, and latitude and longitude will be described in detail using FIG. 2. FIG. 2 is a diagram illustrating the relationship between the vehicle's position information, terrain information, tipping hazard areas, displayed terrain range, and latitude and longitude. FIG. 2 is a diagram displaying an example of the range of map data acquired by the terrain information acquisition unit 120. FIG. 2 is a diagram illustrating the relationship between any latitude and longitude (reference latitude + N, reference longitude + E) = (N, E) when the latitude and longitude coordinates of the reference map data are (reference latitude, reference longitude) = (0, 0). For example, if the latitude and longitude of the reference map data are (35 degrees 34 minutes 0.2418 seconds, 139 degrees 40 minutes 55.923 seconds), the latitude and longitude of (N, E) = (2, 2) is (35 degrees 34 minutes 2.2418 seconds, 139 degrees 40 minutes 57.923 seconds). The map data in FIG. 2 also has attribute information of (N, E) = {height, danger level}, allowing users to check the height and fall danger areas of any terrain information.

[0039] Here, the vehicle position and the displayed terrain range will be explained using an example. The vehicle position (N1, E1) detected by the position and orientation detection unit 110 is assumed to be the black dot at (2, 2), and the range of map data to be displayed on the display unit 130 is assumed to be the range (N1±1, E1±1). In this case, the displayed terrain range is the range (1, 1) (1, 3) (3, 3) (3, 1) surrounded by dashed lines in Figure 2.

[0040] An example of the display on the display unit 130 will be described in detail with reference to Figures 3 and 4. Figure 3 shows an example of an around-view screen that displays the vehicle at the center and topographical information for the surrounding displayed topographical range (the area surrounded by the dashed line in Figure 2), and highlights areas at risk of tipping over within the display area.

[0041] In the example of Fig. 3, the display unit 130 displays a two-dimensional representation of three-dimensional data with a crawler-equipped vehicle positioned at the center and slope change points indicated by solid lines at the bottom of the screen. Also, in the example of Fig. 3, the display unit 130 displays an image in which diagonal lines are drawn in areas at risk of tipping over so that the areas at risk of tipping over can be visually identified.

[0042] Instead of displaying three-dimensional data in two dimensions, the display unit 130 may extract an image of the displayed terrain range from camera images captured in advance or in real time and combine the extracted image with the fall risk area image. The display method for enabling the driver to visually identify the fall risk area may not only be a diagonal line display, but also a method that calls attention to the fall risk area. For example, at least one of the following may be used: a display method that changes the brightness or color of the area; a display method that highlights the periphery of the enclosed area with lines or the like; and a method that clearly indicates the direction of the fall risk area with an arrow. Furthermore, the fall risk area information may include danger level information indicating the level of danger, and the surrounding image generator 150 may generate a surrounding image with differently distinguished displays of the fall risk area depending on the danger level. That is, the display unit 130 may change the display method depending on the fall risk level. For example, a method may be used in which the brightness of the fall risk area display is the highest to distinguish it from the brightness of the fall caution area, or a method may be used in which the color saturation is changed. Furthermore, information about the height of the fall risk area, which is difficult to discern in a two-dimensional display, may be displayed. For example, an image may be displayed in a different manner, such as red for an uphill slope where there is a risk of falling, and blue for a downhill slope.

[0043] Fig. 4(A) is an example of a front view mode screen that displays terrain information for the surrounding displayed terrain range (an area shifted by 1 second of latitude from the dashed line area in Fig. 2) with the vehicle at the center below and a wide area ahead, highlighting tip-over risk areas from the display area. In the example of Fig. 4(A), the display unit 130 displays the vehicle equipped with crawlers at the center below, and displays three-dimensional data in two dimensions with slope change points indicated by solid lines at the top of the screen. Also, Fig. 4(A) displays an image on the display unit 130 in which diagonal lines are drawn in the tip-over risk areas to make them visible.

[0044] Figure 4(B) is an example of a forward view mode screen that displays a composite image of a camera mounted on the vehicle and an image of a fall risk area. In the example of Figure 4(B), the display unit 130 displays information about the surrounding terrain and the fall risk area according to the display mode.

[0045] The processing of the surrounding image generating unit 150 will be described in detail using Figure 5. Figure 5 is a diagram illustrating the processing of the surrounding image generating unit 150. Figure 5 is a diagram illustrating a control flow in which the surrounding image generating unit 150 generates an image by combining the vehicle position, topographical information of the displayed topographical range, and tipping risk area information. The processing of Figure 5 will be described assuming that it is performed sequentially by the CPU of the surrounding image generating unit 150 executing a computer program in the main memory.

[0046] Step S501 is a process that starts in response to an instruction to display a surrounding image on the display unit 130. In step S501, the surrounding image generation unit 150 obtains information on a display mode such as an around-view mode or a forward-view mode.

[0047] Step S502 is processing for obtaining position information and orientation information of the host vehicle from the position and orientation detection unit 110. In step S502, the surrounding image generation unit 150 obtains the latitude and longitude, Euler angles, and traveling direction information of the host vehicle. For example, the explanation will continue assuming that the latitude and longitude of the host vehicle is the position (2,2) of the black dot in Figure 2, the Euler angles are horizontal with no tilt, and the traveling direction is north.

[0048] Step S503 is a process of obtaining display terrain range information to be displayed on the display unit 130 from the display terrain range information obtaining unit 140. In step S503, the surrounding image generating unit 150 obtains display terrain range information that matches the host vehicle's position information, traveling direction information, and display mode information. For example, based on the host vehicle's position information and traveling direction information obtained in step S502, the surrounding image generating unit 150 sets the dashed line area in FIG. 2 as the display terrain range information when the display mode is around view mode. For example, based on the host vehicle's position information and traveling direction information obtained in step S502, the surrounding image generating unit 150 sets the area moved one second north from the dashed line area in FIG. 2 as the display terrain range information when the display mode is forward view mode.

[0049] Step S504 is a process of obtaining terrain information and tip-over hazard area information to be displayed on the display unit 130 from the terrain information obtaining unit 120. In step S504, the surrounding image generation unit 150 obtains terrain information and tip-over hazard area information that match the display terrain range information obtained in step S503. For example, when the display mode is around view mode, the surrounding image generation unit 150 obtains three-dimensional data and tip-over hazard area information for the area enclosed by the dashed line in FIG. 2. For example, when the display mode is forward view mode, the surrounding image generation unit 150 obtains three-dimensional data and tip-over hazard area information for an area moved one second north from the dashed line area in FIG. 2. Note that the terrain information may not only be three-dimensional data but also camera images with matching latitude and longitude. The terrain information obtaining unit 120 obtains information about the traveling direction of the host vehicle, and the surrounding image generation unit 150 widens the traveling direction of the host vehicle in a specific range of the terrain area based on the host vehicle position to be displayed based on the detection results by the position and orientation detection unit 110 compared to areas other than the traveling direction.

[0050] Step S505 is a process for visualizing the topographical information and fall risk area information. In step S505, the surrounding image generation unit 150 visualizes the topographical information and fall risk area information obtained in step S504. For example, when the display mode is around view mode, the surrounding image generation unit 150 generates an image such as that shown in FIG. 3. For example, when the display mode is forward view mode, the surrounding image generation unit 150 generates an image such as that shown in FIG. 4(A). Note that when the display mode is forward view mode and the topographical information is not only three-dimensional data but also camera images with matching latitude and longitude, the surrounding image generation unit 150 generates an image such as that shown in FIG. 4(B).

[0051] Surrounding image generating unit 150 repeats the processing from step S502 to step S505 to repeatedly perform the above-described imaging processing in accordance with the position of the host vehicle.

[0052] Step S506 is a process of displaying the generated image on display unit 130. In step S506, surrounding image generation unit 150 outputs the image generated in step S505 to display unit 130. As a result, for example, images such as those shown in FIGS. 3, 4(A), and 4(B) are displayed on display unit 130.

[0053] As described above, the mobile object monitoring device 100 can display area information about areas where there is a risk of tipping or falling along with the surrounding image on the display unit 130, allowing the driver of the mobile object to drive while checking for the risk of tipping or falling.

[0054] Although the present invention has been described in detail above based on preferred embodiments thereof, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. Parts of the above-described embodiments may be combined as appropriate.

[0055] The present invention also includes cases where a software program that realizes the functions of the above-described embodiments is supplied to a system or device having a computer that can execute the program directly from a recording medium or via wired / wireless communication, and the program is executed.

[0056] Therefore, the program code itself that is supplied to and installed on a computer to realize the functional processing of the present invention also realizes the present invention. In other words, the computer program itself for realizing the functional processing of the present invention is also included in the present invention. In this case, the form of the program does not matter, as long as it has the program functions, such as object code, a program executed by an interpreter, or script data supplied to an OS. OS is an abbreviation for Operating System.

[0057] The recording medium for supplying the program may be, for example, a hard disk, a magnetic recording medium such as a magnetic tape, an optical / magneto-optical storage medium, or a non-volatile semiconductor memory.

[0058] As a method of supplying the program, a method is also conceivable in which the computer program forming the present invention is stored in a server on a computer network, and a connected client computer downloads the computer program and programs it.

[0059] (Other embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0060] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and various modifications and changes are possible within the scope of the gist of the present invention.

[0061] The disclosure of this embodiment includes the following configuration, method, and program. (Configuration 1) a position and attitude detection means for detecting the position of the vehicle; a terrain information acquisition means for acquiring terrain information and tip-over risk area information around the vehicle; A display means; a display topographical range information acquisition means for acquiring a display topographical range to be displayed on the display means; a surrounding image generating means for generating an image to be displayed on the display means by combining the vehicle position, the topographical information of the displayed topographical range, and the tipping risk area information; A mobile object monitoring device comprising: (Configuration 2) The fall risk area information includes risk level information indicating the level of risk, and the surrounding image generating means generates a surrounding image in which the fall risk area is displayed with different identification depending on the risk level. 2. The moving object monitoring device according to configuration 1, (Configuration 3) The mobile object monitoring device according to configuration 1 or 2, wherein the tip-over risk area information includes slope information indicating the height of the terrain, and the surrounding image generating means generates the surrounding image with different identification displays of the tip-over risk area depending on the slope relationship with the vehicle position. (Configuration 4) The topographical information obtaining means obtains information on the traveling direction of the vehicle, The surrounding image generating means widens the area in the traveling direction of the vehicle within a specific range of the topographical area based on the vehicle position, which is displayed based on the detection result by the position and attitude detecting means, compared with the area other than the traveling direction. 4. The moving object monitoring device according to any one of configurations 1 to 3. (Configuration 5) 5. The mobile object monitoring device according to any one of configurations 1 to 4, wherein the topographical information acquired by the topographical information acquiring means is a captured image of the surroundings of the vehicle. (Configuration 6) 6. The mobile object monitoring device according to claim 1, wherein the topographical information acquired by the topographical information acquiring means is map information obtained by measuring the surroundings of the vehicle with a distance measuring sensor. (Configuration 7) 7. The moving object monitoring device according to any one of configurations 1 to 6, wherein the tip-over risk area information is identified as a location where the terrain slope around the host vehicle is greater than a tip-over slope threshold value for the host vehicle. (Configuration 8) The position and attitude detection means obtains weight balance information of the vehicle body, the topographical information obtaining means has a plurality of pieces of tip-over risk area information corresponding to the weight balance information, The surrounding image generating means extracts information about a region at risk of tipping over that corresponds to the weight balance information, and generates an image to be displayed on the display means. 8. The moving object monitoring device according to any one of configurations 1 to 7. (Configuration 9) The position and attitude detection means obtains weight balance information of the vehicle body, The terrain information obtaining means has a plurality of vehicle body tipping inclination thresholds corresponding to the weight balance information. 8. The moving object monitoring device according to configuration 7. (Configuration 10) The position and attitude detection means obtains a load tipping inclination threshold value; The tipping risk area information is identified at a location where the terrain slope around the vehicle is greater than the load tipping slope threshold. 10. The moving object monitoring device according to configuration 7 or 9. (Method 1) a position and attitude detection step for detecting the position of the vehicle; a topographical information obtaining step of obtaining topographical information and tipping risk area information around the vehicle; a display topography range information acquisition step for acquiring a display topography range to be displayed on the display means; a surrounding image generating step of generating an image to be displayed on the display means by combining the vehicle position, the topographical information of the displayed topographical range, and the tipping risk area information; A mobile object monitoring method comprising: (Program 1) Computer, position and attitude detection means for detecting the position of the vehicle; a terrain information acquisition means for acquiring terrain information and tip-over risk area information around the vehicle; a display terrain range information acquisition means for acquiring a display terrain range to be displayed on the display means; and a surrounding image generating means for generating an image to be displayed on the display means by combining the vehicle position, the topographical information of the displayed topographical range, and the tipping risk area information; A program characterized by functioning as [Explanation of symbols]

[0062] 100 Mobile monitoring device 110 Position and orientation detection unit 120 Terrain information acquisition department 130 Display section 140 Displayed terrain range information acquisition unit 150 Surrounding image generation unit

Claims

1. a position and attitude detection means for detecting the position of the vehicle; a terrain information acquisition means for acquiring terrain information and tip-over risk area information around the vehicle; A display means; a display topographical range information acquisition means for acquiring a display topographical range to be displayed on the display means; a surrounding image generating means for generating an image to be displayed on the display means by combining the vehicle position, the topographical information of the displayed topographical range, and the tipping risk area information; A mobile object monitoring device comprising:

2. The fall risk area information includes risk level information indicating the level of risk, and the surrounding image generating means generates a surrounding image in which the fall risk area is displayed with different identification depending on the risk level.

2. The mobile object monitoring device according to claim 1.

3. The mobile object monitoring device according to claim 1, characterized in that the tipping danger area information includes slope information indicating the height of the terrain, and the surrounding image generating means generates a surrounding image with different identification displays of the tipping danger area depending on the slope relationship with the vehicle position.

4. The topographical information obtaining means obtains information on the traveling direction of the vehicle, The surrounding image generating means widens the area in the traveling direction of the vehicle within a specific range of the topographical area based on the vehicle position, which is displayed based on the detection result by the position and attitude detecting means, compared with the area outside the traveling direction.

2. The mobile object monitoring device according to claim 1.

5. 2. The mobile object monitoring device according to claim 1, wherein the topographical information acquired by the topographical information acquiring means is a photographed image of the surroundings of the vehicle.

6. 2. A mobile object monitoring device according to claim 1, wherein the topographical information acquired by said topographical information acquiring means is map information obtained by measuring the surroundings of the vehicle with a distance measuring sensor.

7. The moving object monitoring device according to claim 1 , wherein the tip-over risk area information is specified by a location where the terrain gradient around the vehicle is greater than a tip-over gradient threshold value for the vehicle.

8. The position and attitude detection means obtains weight balance information of the vehicle body, the topographical information obtaining means has a plurality of pieces of tip-over risk area information corresponding to the weight balance information, The surrounding image generating means extracts information about a region at risk of tipping over that corresponds to the weight balance information, and generates an image to be displayed on the display means.

2. The mobile object monitoring device according to claim 1.

9. The position and attitude detection means obtains weight balance information of the vehicle body, The terrain information obtaining means has a plurality of vehicle body tipping inclination thresholds corresponding to the weight balance information.

8. The mobile object monitoring device according to claim 7.

10. The position and attitude detection means obtains a load tipping inclination threshold value; The tipping risk area information is identified at a location where the terrain slope around the vehicle is greater than the load tipping slope threshold.

8. The mobile object monitoring device according to claim 7.

11. a position and attitude detection step for detecting the position of the vehicle; a topographical information acquisition step of acquiring topographical information and tipping risk area information around the vehicle; a display topography range information acquisition step for acquiring a display topography range to be displayed on the display means; a surrounding image generating step of generating an image to be displayed on the display means by combining the vehicle position, the topographical information of the displayed topographical range, and the tipping risk area information; A mobile object monitoring method comprising:

12. Computer, position and attitude detection means for detecting the position of the vehicle; a terrain information acquisition means for acquiring terrain information and tip-over risk area information around the vehicle; a display terrain range information acquisition means for acquiring a display terrain range to be displayed on the display means; and a surrounding image generating means for generating an image to be displayed on the display means by combining the vehicle position, the topographical information of the displayed topographical range, and the tipping risk area information; A program characterized by functioning as

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