Driving support device, and program

Abstract

To provide a driving support device which calls an attention with respect to a dead angle area while suppressing discomfort given to a driver, and a program.SOLUTION: A driving support device comprises a controller. The controller calls an attention to a driver of a vehicle with respect to a dead angle area on the rear lateral side of the other vehicle. In a case where the vehicle stays in the dead angle area on the rear lateral side of the other vehicle for a fixed time or longer, the controller stores travel information indicating a traveling state including position information of the vehicle which stays for the fixed time or longer. In a case where a present position of the vehicle is within a dangerous area in which a frequency to be the dead angle area is higher than a dangerous frequency in the stored travel information, the controller calls an attention to the driver of the vehicle.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device and a program. [Background technology]

[0002] BACKGROUND ART There is known a technique for alerting the driver of a vehicle when the vehicle travels behind another vehicle and enters a blind spot area of the other vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-221116 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, a driver of the vehicle is alerted every time the vehicle enters a blind spot of another vehicle, which may cause discomfort to the driver of the vehicle. Therefore, there is room for improvement in the conventional technology in terms of alerting the driver of the vehicle to the blind spot of another vehicle.

[0005] The present invention has been made in view of the above, and aims to draw the driver's attention to blind spots while minimizing discomfort to the driver. [Means for solving the problem]

[0006] A driving assistance device according to one aspect of the embodiment includes a controller. The controller alerts a driver of a vehicle to a blind spot area behind another vehicle. When the vehicle remains in the blind spot area behind another vehicle for a certain period of time or longer, the controller accumulates driving information indicating a driving state including position information of the vehicle that has remained in the blind spot area for the certain period of time or longer. When the current position of the vehicle is within a danger area in which the frequency of the blind spot occurring in the accumulated driving information is higher than the danger frequency, the controller alerts the driver of the vehicle. [Effects of the Invention]

[0007] According to one aspect of the embodiment, the driving assistance device can appropriately alert the driver of the vehicle by alerting the driver of the vehicle when the current position of the vehicle is within a danger area where the frequency of the blind spot is higher than the danger frequency. Therefore, the driving assistance device can appropriately alert the driver of the vehicle to the blind spot while suppressing discomfort to the driver. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a driving assistance system according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing the vehicle-mounted device according to the first embodiment. [Figure 3] FIG. 3 is a block diagram showing a server device according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an example of driving information indicating a blind spot stay state accumulated in the blind spot area database according to the first embodiment. [Figure 5] FIG. 5 is a flowchart illustrating the blind spot detection process according to the first embodiment. [Figure 6] FIG. 6 is a flowchart illustrating the attention-calling process according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing the updated travel information. [Figure 8] FIG. 8 is a flowchart showing a warning process according to a modified example. [Figure 9] FIG. 9 is a diagram showing an example of driving information stored in the blind spot area database according to the second embodiment. [Figure 10] FIG. 10 is a diagram showing an outline of a vehicle provided with an on-board device according to the third embodiment. [Figure 11] FIG. 11 is a flowchart illustrating the blind spot detection process according to the third embodiment. [Figure 12] FIG. 12 is a flowchart illustrating the attention-drawing process according to the fourth embodiment. [Figure 13] FIG. 13 is a diagram showing an example of an image when a vehicle catches up with another vehicle. [Figure 14] FIG. 14 is a diagram showing an example of an image when a vehicle is overtaken by another vehicle. [Figure 15] FIG. 15 is a flowchart illustrating a warning process according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a driving assistance device and a program according to an embodiment will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiment.

[0010] (First embodiment) A driving assistance system 1 according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing the driving assistance system 1 according to the first embodiment. The driving assistance system 1 is a system that alerts the driver of a vehicle when the vehicle enters a blind spot area of another vehicle. The blind spot area of another vehicle is a blind spot area that occurs to the rear side of the other vehicle.

[0011] The driving assistance system 1 includes an in-vehicle device 2, a server device 3, and a terminal device 4. The in-vehicle device 2 and the server device 3 are communicatively connected via a communication network W1 such as the Internet. The server device 3 and the terminal device 4 are communicatively connected via a communication network W2 such as the Internet. The driving assistance system 1 may be a system that does not include the terminal device 4.

[0012] The vehicle-mounted device 2 is provided in a vehicle. The vehicle-mounted device 2 executes a blind spot detection process, which will be described in detail later. The vehicle-mounted device 2 transmits the results of the blind spot detection process to the server device 3. When an attention alert signal is transmitted from the server device 3, the vehicle-mounted device 2 alerts the driver of the vehicle. The vehicle-mounted device 2 will be described in detail later.

[0013] The server device 3 is realized, for example, as a cloud server. The server device 3 executes an attention calling process, which will be described in detail later. When the server device 3 generates an attention calling signal through the attention calling process, the server device 3 transmits the attention calling signal to the in-vehicle device 2. As a result, the in-vehicle device 2 issues an attention calling to the driver of the vehicle. That is, the server device 3 issues an attention calling to the driver of the vehicle via the in-vehicle device 2. The server device 3 also transmits a result of the attention calling process to the terminal device 4. The server device 3 will be described in detail later.

[0014] The terminal device 4 includes, for example, a terminal device 4 owned by a vehicle manager and a terminal device owned by a vehicle driver. The terminal device 4 includes a PC (Personal Computer), a smartphone, etc. When the result of the attention calling process is transmitted from the server device 3, the terminal device 4 notifies the result of the attention calling process.

[0015] Next, the vehicle-mounted device 2 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the vehicle-mounted device 2 according to the first embodiment.

[0016] The vehicle-mounted device 2 includes a communication unit 10, a storage unit 11, and a controller 12. A camera 20, a GPS (Global Positioning System) device 21, a vehicle speed sensor 22, an illuminance sensor 23, a monitor 24, and a speaker 25 are connected to the vehicle-mounted device 2. The vehicle-mounted device 2 may include at least one of the camera 20, the GPS device 21, the vehicle speed sensor 22, the illuminance sensor 23, the monitor 24, and the speaker 25. The vehicle-mounted device 2 may include, for example, a drive recorder.

[0017] The communication unit 10 is, for example, a device for communicating data with the server device 3. The communication unit 10 is, for example, an in-vehicle communication module capable of wireless communication. The wireless communication is performed by, for example, Wi-Fi (registered trademark), LTE (Long Term Evolution), BLE (Bluetooth (registered trademark) Low Energy), Zigbee (registered trademark), UWB (Ultra Wide Band), etc.

[0018] The storage unit 11 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory. The storage unit 11 stores, for example, an image recognition AI (Artificial Intelligence) model. The image recognition AI model is an AI model for image recognition, such as a DNN model trained using a machine learning algorithm. Specifically, the image recognition AI model is a model that can detect other vehicles on the side of the vehicle from image data captured by the camera 20 and detect the entry of a vehicle into the blind spot of the detected other vehicle. The storage unit 11 stores a vehicle ID. The vehicle ID is an identifier set for each vehicle.

[0019] The controller 12 is a component equivalent to a so-called processor or control unit. The controller 12 is realized by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like executing various programs stored in the storage unit 11 using RAM as a work area. The controller 12 can also be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0020] The controller 12 is connected to the communication unit 10, the camera 20, the GPS device 21, the vehicle speed sensor 22, the illuminance sensor 23, the monitor 24, and the speaker 25. The communication unit 10, the camera 20, the GPS device 21, the vehicle speed sensor 22, the illuminance sensor 23, the monitor 24, and the speaker 25 are connected to the controller 12, for example, by an in-vehicle network. The in-vehicle network includes, for example, a CAN (Controller Area Network) and an AVCLAN (Audio Visual Communication Local Area Network).

[0021] The camera 20 is installed inside the vehicle cabin. The camera 20 captures images of the front and sides of the vehicle. The camera 20 is installed, for example, on the windshield or dashboard, and captures images of a predetermined imaging range of the front and sides of the vehicle. The captured image data is transmitted to the controller 12.

[0022] The GPS device 21 receives radio waves transmitted from GPS satellites and acquires vehicle position information based on the received radio waves. The acquired vehicle position information is transmitted to the controller 12.

[0023] The vehicle speed sensor 22 measures the speed of the vehicle (hereinafter referred to as "vehicle speed"). Information on the measured vehicle speed is transmitted to the controller 12. The vehicle speed may be measured based on vehicle position information acquired by the GPS device 21.

[0024] The illuminance sensor 23 measures the illuminance around the vehicle. Information on the measured illuminance is sent to the controller 12.

[0025] The monitor 24 displays, for example, an image captured by the camera 20. The monitor 24 may also be capable of displaying buttons for operating the in-vehicle device 2. For example, the monitor 24 is a touch panel. When a warning is issued against entering a blind spot area of another vehicle, the monitor 24 displays a warning message.

[0026] When a warning is issued against another vehicle entering a blind spot, the speaker 25 outputs a warning sound. The monitor 24 and the speaker 25 can notify the driver of the vehicle of the warning against another vehicle entering a blind spot.

[0027] The controller 12 executes a blind spot detection process, which will be described in detail later. By executing the blind spot detection process, the controller 12 transmits driving information indicating the driving state of the vehicle when the vehicle stays in a blind spot area of another vehicle for a certain period of time or more (hereinafter referred to as a "blind spot stay state") to the server device 3 via the communication unit 10. The controller 12 links the driving information indicating the blind spot stay state to the vehicle ID and transmits it to the server device 3.

[0028] The certain period of time is a predetermined period of time during which a collision between a vehicle and another vehicle is likely to occur when the vehicle is in the blind spot of the other vehicle.

[0029] The blind spot stay state includes the vehicle's position information when the vehicle stays in the blind spot area of another vehicle for a certain period of time or more, and the stay time when the vehicle stays in the blind spot area of another vehicle for a certain period of time or more. The blind spot stay state also includes the time period when the vehicle stays in the blind spot area of another vehicle for a certain period of time or more, and the vehicle speed when the vehicle stays in the blind spot area of another vehicle for a certain period of time or more. The blind spot stay state may include the illuminance when the vehicle stays in the blind spot area of another vehicle for a certain period of time or more, instead of the time period when the vehicle stays in the blind spot area of another vehicle for a certain period of time or more.

[0030] Furthermore, the controller 12 receives an attention alert signal from the server device 3 via the communication unit 10. When the controller 12 receives the attention alert signal, the controller 12 issues an alert to the driver of the vehicle using at least one of the monitor 24 and the speaker 25.

[0031] Next, the server device 3 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the server device 3 according to the first embodiment.

[0032] The server device 3 includes a communication unit 30, a storage unit 31, and a controller 32.

[0033] The communication unit 30 is, for example, a device for communicating data between the in-vehicle device 2 and the terminal device 4. Similar to the communication unit 10 of the in-vehicle device 2, the communication unit 30 is, for example, a communication module capable of wireless communication.

[0034] The storage unit 31 is realized by, for example, a semiconductor memory element such as RAM or flash memory. The storage unit 31 has a blind spot area database 33. The blind spot area database 33 stores driving information indicating the blind spot stay state. The blind spot area database 33 stores driving information indicating the blind spot stay state for multiple vehicles for each vehicle. The blind spot area database 33 stores driving information indicating the blind spot stay state, divided into the items shown in FIG. 4. FIG. 4 is a diagram showing an example of driving information indicating the blind spot stay state stored in the blind spot area database 33 according to the first embodiment. FIG. 4 shows driving information for a vehicle with a vehicle ID of "XYZ". Note that the items in the blind spot area database 33 shown in FIG. 4 are merely examples and are not limited to these.

[0035] The blind spot area database 33 stores the cumulative number of entries and cumulative duration for each vehicle ID.

[0036] The cumulative number of entries is the cumulative number of times a vehicle has stayed in the blind spot of another vehicle for a certain period of time or more. The number of times a vehicle has stayed in the blind spot of another vehicle for a certain period of time or more is the number of times a vehicle has continuously stayed in the blind spot of another vehicle for a certain period of time or more.

[0037] For example, if a vehicle stays in the blind spot area of another vehicle for a certain period of time or more, then exits the blind spot area of the other vehicle and then enters the blind spot area of the same other vehicle and stays there for a certain period of time or more, the number of times the vehicle has stayed in the blind spot area of another vehicle for a certain period of time or more will be counted as two.

[0038] The cumulative stay time is the cumulative time that a vehicle stays in the blind spot area of another vehicle for a certain period of time or more.

[0039] For example, a vehicle with ID "XYZ" has been in the blind spot of another vehicle for more than a certain period of time "45 times." Also, a vehicle with ID "XYZ" has been in the blind spot of another vehicle for more than a certain period of time "3045 seconds."

[0040] Furthermore, the blind spot area database 33 stores, for each vehicle ID, the location information, the number of times a vehicle has entered the blind spot area of another vehicle, and the duration of the stay when the vehicle has stayed in the blind spot area of another vehicle for a certain period of time or longer. The number of times the vehicle has entered the blind spot area and the duration of the stay are stored for each piece of location information.

[0041] For example, a vehicle with a vehicle ID of "XYZ" has stayed in the blind spot of other vehicles for a certain period of time or more "10 times" on a road with location information "abc." The location information is information that identifies a section set for each road. Also, a vehicle with a vehicle ID of "XYZ" has stayed in the blind spot of other vehicles for a certain period of time or more "210 seconds" on a road with location information "abc."

[0042] The blind spot area database 33 also stores, for each vehicle ID, the number of times a vehicle entered the blind spot area of another vehicle for a certain period of time or longer, and the duration of time a vehicle stayed in the blind spot area of another vehicle for a certain period of time or longer. The number of times a vehicle entered the blind spot area of another vehicle for a certain period of time or longer and the duration of time a vehicle stayed in the blind spot area of another vehicle for a certain period of time or longer are stored for each piece of location information.

[0043] For example, a vehicle with vehicle ID "XYZ" stayed in the blind spot of another vehicle for a certain period of time or more "four times" between "10:30 and 10:59" on a road with location information "abc." Also, a vehicle with vehicle ID "XYZ" stayed in the blind spot of another vehicle for a certain period of time or more "56 seconds" between "10:30 and 10:59" on a road with location information "abc."

[0044] Furthermore, the blind spot area database 33 stores the number of times a speed region occurs for each vehicle ID. The speed region includes a plurality of speed regions. For example, the speed region includes a first speed region and a second speed region. The first speed region is a region equal to or greater than a first vehicle speed and less than a second vehicle speed. The second speed region is a region equal to or greater than a second vehicle speed. The first vehicle speed and the second vehicle speed are set in advance. The first vehicle speed is a low vehicle speed that is set in advance. The first vehicle speed is, for example, 10 km / h. The second vehicle speed is a high vehicle speed that is set in advance. The second vehicle speed is, for example, 60 km / h. The number of times a speed region occurs is stored for each piece of position information and for each time period.

[0045] For example, a vehicle with vehicle ID "XYZ" on a road with location information "abc" stayed in the blind spot of other vehicles for a certain period of time or more "three times" in the first speed range and "once" in the second speed range during the time period "10:30-10:59."

[0046] 3, the controller 32 is a component equivalent to a processor or a control unit. The controller 32 is realized by a CPU, an MPU, or the like executing various programs stored in the storage unit 31 using the RAM as a work area. The controller 32 can also be realized by an integrated circuit such as an ASIC or an FPGA.

[0047] The controller 32 executes an attention calling process, which will be described in detail later. When an attention calling signal is generated by the attention calling process, the controller 32 transmits the attention calling signal to the in-vehicle device 2 via the communication unit 30. In addition, the controller 32 transmits a result of the attention calling process to the terminal device 4 via the communication unit 30.

[0048] Next, the blind spot detection process according to the first embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the blind spot detection process according to the first embodiment. The blind spot detection process is executed by the controller 12 of the vehicle-mounted device 2. For example, the blind spot detection process is started when the start switch or ignition switch is turned on. After one blind spot detection process has ended, the blind spot detection process is executed again when a preset processing interval (for example, 10 ms) has elapsed.

[0049] The controller 12 detects the current position of the vehicle (S100). The controller 12 detects the current position of the vehicle based on the vehicle position information received from the GPS device 21.

[0050] The controller 12 determines whether or not the vehicle has been in a blind spot area of another vehicle for a certain period of time or more (S101).

[0051] Specifically, the controller 12 performs image processing using an image recognition AI model on the image data captured by the camera 20 to determine whether the vehicle is entering a blind spot area of another vehicle.

[0052] For example, when another vehicle is detected in front of and to the side of the vehicle in an image captured by camera 20 and the position of the side mirror of the other vehicle is within a predetermined mirror area in the image, controller 12 determines that the vehicle is entering the blind spot of the other vehicle. The mirror area may be set according to the shape of the detected other vehicle.

[0053] Note that controller 12 may determine that the vehicle is entering the blind spot area of another vehicle when another vehicle is detected in an image captured by camera 20 and a side mirror and one wheel of the other vehicle are detected. Also, controller 12 may determine that the vehicle is entering the blind spot area of another vehicle when another vehicle is detected in an image captured by camera 20 and a predetermined percentage of the front side of the other vehicle is detected. The predetermined percentage may be set according to the shape of the other vehicle detected.

[0054] In this way, the entry of another vehicle into the blind spot area is detected from image data captured by the camera 20 provided on the vehicle.

[0055] The vehicle-mounted device 2 can detect the entry of other vehicles into blind spot areas from image data captured by a camera 20 installed in the vehicle, and detect the blind spot areas of other vehicles depending on the type of other vehicles, etc.

[0056] When the controller 12 determines that the vehicle is entering the blind spot area of the other vehicle, the controller 12 measures the time that the vehicle continuously stays in the blind spot area of the other vehicle and determines whether the measured time is equal to or longer than a certain time.

[0057] When the controller 12 determines that the measured stay time is equal to or longer than the certain time, the controller 12 determines whether the vehicle speed is equal to or higher than a first vehicle speed. The vehicle speed is detected based on a signal received from the vehicle speed sensor 22.

[0058] Then, when the vehicle speed is equal to or greater than a first vehicle speed, the controller 12 determines that the vehicle has been in the blind spot area of another vehicle for a certain period of time or more. When the vehicle speed is less than a first predetermined vehicle speed, the controller 12 determines that the vehicle has not been in the blind spot area of another vehicle for a certain period of time or more. That is, the controller 12 determines that the vehicle has been in the blind spot area of another vehicle for a certain period of time or more, provided that the vehicle speed is equal to or greater than the first vehicle speed.

[0059] When the controller 12 determines that the vehicle has not been in the blind spot area of another vehicle for a certain period of time or longer (S101: No), the controller 12 ends the current processing.

[0060] When the controller 12 determines that the vehicle has been in a blind spot area of another vehicle for a certain period of time or more (S101: Yes), the controller 12 transmits driving information indicating the vehicle's stay in a blind spot state to the server device 3 via the communication unit 10 (S102). The driving information indicating the vehicle's stay in a blind spot state is linked to the vehicle ID and transmitted to the server device 3. Note that when the vehicle speed is less than a first vehicle speed, the driving information indicating the vehicle's stay in a blind spot state is not transmitted to the server device 3.

[0061] Next, the attention calling process according to the first embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating the attention calling process according to the first embodiment. The attention calling process is executed by the controller 32 of the server device 3. The attention calling process is executed when traveling information indicating a blind spot status transmitted from the in-vehicle device 2 is received.

[0062] The controller 32 accumulates the received driving information indicating the blind spot status (S200). That is, the controller 32 accumulates the driving information indicating the blind spot status when the vehicle has stayed in the blind spot area of another vehicle for a certain period of time or more.

[0063] Specifically, the controller 32 reads out, from the storage unit 31, travel information that matches the vehicle ID linked to the received travel information indicating the vehicle being in a blind spot. The controller 32 then adds the received travel information indicating the vehicle being in a blind spot to the read travel information and stores the combined information. That is, the controller 32 updates the travel information of the vehicle ID linked to the received travel information indicating the vehicle being in a blind spot.

[0064] For example, suppose that the vehicle ID associated with the received travel information indicating the blind spot stay state is "XYZ," the location information is "abc," the stay time is "10 seconds," the time period is "10:30-10:59," and the vehicle speed is "45 km / h." Also, suppose that the travel information of the vehicle ID "XYZ" stored in the storage unit 31 is in the state shown in FIG. 4.

[0065] In this case, the travel information is updated as shown in Figure 7. Figure 7 is a diagram showing the travel information after updating. Note that in Figure 7, updated items are hatched for ease of explanation. As shown in Figures 4 and 7, the cumulative number of entries is changed from "45 times" to "46 times." In addition, the cumulative stay time is changed from "3045 seconds" to "3055 seconds."

[0066] In addition, the number of entries at the location information "abc" is changed from "10 times" to "11 times." In addition, the stay time at the location information "abc" is changed from "210 seconds" to "220 seconds."

[0067] Additionally, the number of entries per time period from 10:30 to 10:59 for location information "abc" is changed from "4 times" to "5 times." Additionally, the duration of stay per time period from 10:30 to 10:59 for location information "abc" is changed from "56 seconds" to "66 seconds." Additionally, the number of entries into the first speed zone from 10:30 to 10:59 for location information "abc" is changed from "3 times" to "4 times."

[0068] 6, the controller 32 determines whether the current position of the vehicle is within a danger area (S201). A danger area is an area that is more likely to become a blind spot in the travel information stored in the storage unit 31 than the danger frequency.

[0069] For example, the frequency of a blind spot area is the number of times a vehicle enters the blind spot area. In this case, a dangerous area is an area where the number of times a vehicle enters the blind spot area is equal to or exceeds a predetermined number of dangerous times (danger frequency) that has been set in advance. For example, if the predetermined number of dangerous times is "10 times," the location information "abc" is a dangerous area in the travel information shown in FIG. 4 and FIG. 7.

[0070] The frequency of a blind spot may be the duration of time spent in the blind spot. In this case, a dangerous area is an area where the duration of time spent in the blind spot is equal to or longer than a predetermined duration (danger frequency). For example, if the predetermined duration is "40 seconds," the location information "abc" is a dangerous area in the travel information shown in FIG. 4 and FIG. 7.

[0071] The frequency of a blind spot may be the number of times a vehicle enters the blind spot and the time spent in the blind spot. In this case, the danger area is an area where the number of times the vehicle enters the blind spot is equal to or exceeds a predetermined danger number and the time spent in the blind spot is equal to or exceeds a predetermined time.

[0072] Returning to FIG. 6, if the controller 32 determines that the current position of the vehicle is not within the danger area (S201: No), the controller 32 ends this processing.

[0073] When the controller 32 determines that the current position of the vehicle is within the danger area (S201: Yes), the controller 32 determines whether the frequency of other vehicles entering the blind spot area is equal to or greater than the warning frequency (S202).

[0074] The frequency of entry into the blind spot area of another vehicle includes at least one of the cumulative number of entries into the blind spot area of another vehicle and the cumulative time spent in the blind spot area of another vehicle. For example, the frequency of entry into the blind spot area of another vehicle is the cumulative number of entries and the cumulative time spent in the blind spot area of another vehicle.

[0075] For example, if the cumulative number of entries is equal to or greater than a predetermined upper limit number and the cumulative stay time is equal to or greater than a predetermined upper limit stay time, the controller 32 determines that the frequency of entry into the blind spot area of other vehicles is equal to or greater than the attention warning frequency. If the cumulative number of entries is less than the upper limit number or the cumulative stay time is less than the upper limit stay time, the controller 32 determines that the frequency of entry into the blind spot area of other vehicles is less than the attention warning frequency.

[0076] Furthermore, the frequency of entry into the blind spot area of another vehicle may include the time period during which the vehicle entered the blind spot area of another vehicle. For example, when the cumulative number of entries is equal to or greater than an upper limit number and the cumulative stay time is equal to or greater than a preset upper limit stay time, the controller 32 may determine that the frequency of entry into the blind spot area of another vehicle is equal to or greater than the warning frequency.

[0077] When the controller 32 determines that the frequency of other vehicles entering the blind spot area is lower than the attention-calling frequency (S202: No), the controller 32 ends the current processing.

[0078] When the controller 32 determines that the frequency of other vehicles entering the blind spot area is equal to or greater than the warning frequency (S202: Yes), the controller 32 warns the driver of the vehicle (S203).

[0079] Specifically, the controller 32 generates an attention-calling signal and transmits the generated attention-calling signal to the in-vehicle device 2 via the communication unit 30. As a result, the in-vehicle device 2 issues an attention-calling signal to the driver of the vehicle via at least one of the monitor 24 and the speaker 25. For example, the attention-calling signal is a signal that causes the monitor 24 of the in-vehicle device 2 to display a message such as "Entering blind spot" and causes the speaker 25 of the in-vehicle device 2 to output a voice message such as "Entering blind spot. Please be careful."

[0080] In this way, the controller 32 issues a warning to the driver of the vehicle when the current position of the vehicle is within the danger area and the frequency of other vehicles entering the blind spot area is equal to or greater than the warning frequency.

[0081] As a result, the server device 3 can issue a warning to the driver of the vehicle when the vehicle is traveling in a dangerous area and frequently enters the blind spot area of another vehicle. Therefore, the server device 3 can prevent accidents caused by the vehicle entering the blind spot area of another vehicle. Furthermore, the server device 3 can prevent the driver of the vehicle from being warned when the current position of the vehicle is not within the dangerous area. Furthermore, the server device 3 can prevent the driver of the vehicle from being warned when the frequency of the vehicle entering the blind spot area of another vehicle is low. Therefore, the server device 3 can prevent the driver from feeling uncomfortable.

[0082] For example, the controller 32 alerts the driver of the vehicle when the current position of the vehicle is within a dangerous area and at least one of the following conditions is met: the cumulative number of entries is equal to or greater than the upper limit number of entries; and the cumulative stay time is equal to or greater than the upper limit stay time.

[0083] As a result, the server device 3 can issue a warning to the driver of the vehicle when the vehicle is traveling in a dangerous area, for example, when the vehicle frequently enters the blind spot area of another vehicle and / or spends a long time in the blind spot area of another vehicle. Therefore, the server device 3 can prevent accidents caused by the vehicle entering the blind spot area of another vehicle. Furthermore, the server device 3 can prevent the driver of the vehicle from being warned when the number of times the vehicle enters the blind spot area of another vehicle is small. Furthermore, the server device 3 can prevent the driver of the vehicle from being warned when the vehicle spends a short time in the blind spot area of another vehicle. Therefore, the server device 3 can prevent the driver from feeling uncomfortable.

[0084] When the vehicle speed is less than the first vehicle speed, the in-vehicle device 2 does not transmit driving information indicating the vehicle is in a blind spot to the server device 3. When the vehicle speed is less than the first vehicle speed, the server device 3 does not execute the attention calling process and therefore does not generate an attention calling signal. Therefore, when the vehicle speed is less than the first vehicle speed, no attention is called to the driver of the vehicle.

[0085] When the vehicle speed is less than the first vehicle speed and the driver of the vehicle has enough time to check the safety of the surroundings, the server device 3 does not issue a warning to the driver of the vehicle. Therefore, the server device 3 can prevent the driver from feeling uncomfortable.

[0086] Furthermore, the controller 32 may execute an attention calling process shown in Fig. 8. Fig. 8 is a flowchart showing an attention calling process according to a modified example. In the attention calling process according to the modified example, the process of step S202 in the flowchart shown in Fig. 6 is not performed. If the current position of the vehicle is within a danger area (S201: Yes), the controller 32 calls the attention of the driver of the vehicle (S203).

[0087] As a result, the server device 3 can appropriately issue a warning to the vehicle driver by issuing a warning to the vehicle driver when the current position of the vehicle is in a danger area where the frequency of the vehicle becoming a blind spot is higher than the danger frequency. Therefore, the server device 3 can issue a warning to the blind spot area. Therefore, the server device 3 can prevent accidents caused by entering a blind spot area. Furthermore, for example, if the current position of the vehicle is in an area where the frequency of the vehicle becoming a blind spot is lower than the danger frequency, the server device 3 does not issue a warning to the vehicle driver. Therefore, the server device 3 can prevent the driver from feeling uncomfortable.

[0088] The danger area may also be set based on at least one of the number of entries per time period, the duration of stay per time period, the number of entries in the first speed area, and the number of entries in the second speed area. For example, the danger area may be an area where the number of entries into the blind spot area is equal to or greater than a predetermined number of dangerous entries per time period, and the number of entries per time period is equal to or greater than a predetermined number of dangerous entries per time period. This allows the server device 3 to alert the driver of the vehicle according to the detailed condition of the vehicle.

[0089] The blind spot area database 33 may store the cumulative number of entries for each time period regardless of the vehicle's position information. The controller 32 may issue a warning to the vehicle driver when the time period included in the received travel information indicating the blind spot stay state satisfies a time period condition in which the time period is equal to or exceeds a preset upper limit for the cumulative number of entries for each time period. For example, the controller 32 issues a warning to the vehicle driver when the current position of the vehicle is within a danger area, the frequency of other vehicles entering the blind spot area is equal to or exceeds the warning frequency, and the time period condition is satisfied. This allows the server device 3 to issue a warning to the vehicle driver according to the detailed condition of the vehicle.

[0090] Furthermore, the controller 32 may issue a warning to the driver of the vehicle when the vehicle speed included in the received travel information indicating the blind spot status satisfies a speed condition of being in a second vehicle speed range (second vehicle speed or higher). For example, the controller 32 issues a warning to the driver of the vehicle when the current position of the vehicle is in a danger zone, the frequency of other vehicles entering the blind spot zone is equal to or higher than the warning frequency, and the speed condition is satisfied. This allows the server device 3 to issue a warning to the driver of the vehicle according to the detailed status of the vehicle.

[0091] When the vehicle position is detected in step S100 of the blind spot detection process, the in-vehicle device 2 may transmit information related to the detected vehicle position to the server device 3 via the communication unit 10. The information related to the vehicle position is linked to the vehicle ID and transmitted to the server device 3. When the server device 3 does not receive driving information indicating a blind spot stay state within a predetermined determination time after receiving the information related to the vehicle position, the server device 3 may determine that another vehicle has not entered the blind spot area at the received vehicle position. The predetermined determination time is longer than a certain period of time. When the number of times at a position where it has been determined that another vehicle has not entered the blind spot area reaches a predetermined non-entry count, the server device 3 may reduce the number of entries at the position where it has been determined that another vehicle has not entered the blind spot area.

[0092] This allows the server device 3 to update the information on the number of times of entry stored in the blind spot area database 33 in accordance with the driving situation of the vehicle driver. For example, when the driver drives safely to avoid entering the blind spot area of another vehicle, the server device 3 can update the information on the number of times of entry stored in the blind spot area database 33 in accordance with the driver's behavior.

[0093] The danger area may be set based on the travel information of a plurality of vehicles. For example, the danger area may be set to an area that has been frequently entered based on the travel information of the plurality of vehicles.

[0094] As a result, even if the vehicle is traveling on a road for the first time, in a place where there are many entries into blind spots, the server device 3 can alert the driver of the vehicle based on the traveling information of other vehicles.

[0095] (Second embodiment) Next, a driving assistance system 1 according to a second embodiment will be described. Here, differences from the first embodiment will be described. Explanations of configurations that are the same as those in the first embodiment will be omitted.

[0096] When the same other vehicle is detected in front of the vehicle in multiple consecutive images, the controller 12 of the in-vehicle device 2 detects it as one other vehicle. That is, the controller 12 tracks and detects the other vehicle. When the same other vehicle is once undetected and then detected again, the controller 12 detects it as two different other vehicles, that is, as two other vehicles.

[0097] When a vehicle that has been detected as an other vehicle is no longer detected, the controller 12 generates a detection signal of the other vehicle and transmits it to the server device 3 via the communication unit 10. The controller 12 transmits the detection signal of the other vehicle to the server device 3 by linking it to the vehicle ID.

[0098] The blind spot area database 33 in the storage unit 31 of the server device 3 stores driving information as shown in Fig. 9, for example. Fig. 9 is a diagram showing an example of driving information stored in the blind spot area database 33 according to the second embodiment. The number of detections is stored as driving information. The number of detections is the number of times another vehicle has been detected in front of and to the side of the vehicle.

[0099] When the controller 32 receives a detection signal of another vehicle, the controller 32 reads out, from the storage unit 31, travel information that matches the vehicle ID linked to the detection signal of the other vehicle. Then, the controller 32 updates the number of detections in the read travel information. Specifically, the controller 32 increments the number of detections by "1."

[0100] The controller 32 notifies the driver of the vehicle of the blind spot entry rate. Specifically, when the controller 32 issues a warning to the driver of the vehicle in the attention alert processing, the controller 32 notifies the driver of the blind spot entry rate. The blind spot entry rate is calculated by dividing the cumulative number of entries by the number of detections. The blind spot entry rate may also be calculated as a percentage. Specifically, the controller 32 includes a signal notifying the blind spot entry rate in an attention alert signal and transmits the signal to the in-vehicle device 2. Upon receiving the attention alert signal, the in-vehicle device 2 displays the blind spot entry rate on the monitor 24, for example.

[0101] By notifying the driver of the vehicle of the blind spot entry rate, the server device 3 can alert the driver to the blind spot area and notify the driver of the driver's driving performance regarding entry into the blind spot. Therefore, the server device 3 can improve the driver's awareness of safe driving.

[0102] (Third embodiment) Next, a driving assistance system 1 according to a third embodiment will be described. Here, differences from the first embodiment will be described. Explanations of configurations that are the same as those in the first embodiment will be omitted.

[0103] A first camera 20a and a second camera 20b are connected to the vehicle-mounted device 2 according to the third embodiment, as shown in Fig. 10. Fig. 10 is a diagram showing an outline of a vehicle provided with the vehicle-mounted device 2 according to the third embodiment.

[0104] The first camera 20a captures images of the front and sides of the vehicle, while the second camera 20b captures images of the rear and sides of the vehicle.

[0105] The storage unit 11 of the in-vehicle device 2 stores a first model and a second model as image recognition AI models. The first model is a model that can detect other vehicles on the side of the vehicle from image data captured by the first camera 20a and detect the intrusion of a vehicle into a blind spot of the detected other vehicle. In other words, the first model is the image recognition AI model in the first embodiment.

[0106] The second model is a model that can detect congestion in the lane in which the vehicle is traveling (hereinafter referred to as the "traveling lane") from the image data captured by the first camera 20a and the image data captured by the second camera 20b. The second model is also a model that can detect congestion in a lane adjacent to the lane in which the vehicle is traveling (hereinafter referred to as the "adjacent traveling lane") from the image data captured by the first camera 20a and the image data captured by the second camera 20b. The second model is a model that can detect other vehicles for each lane and detect the inter-vehicle distance in the vehicle's traveling direction for each lane. The adjacent traveling lane is a lane in the same direction as the vehicle's traveling direction.

[0107] Next, the blind spot detection process according to the third embodiment will be described with reference to Fig. 11. Fig. 11 is a flowchart illustrating the blind spot detection process according to the third embodiment.

[0108] The controller 12 of the vehicle-mounted device 2 detects the position of the vehicle (S100). Next, the controller 12 determines whether the vehicle has been in a blind spot of another vehicle for a certain period of time or more (S101).

[0109] When the controller 12 determines that the vehicle has not been in the blind spot area of another vehicle for a certain period of time or longer (S101: No), the controller 12 ends the current processing.

[0110] When the controller 12 determines that the vehicle has been in a blind spot area of another vehicle for a certain period of time or more (S101: Yes), the controller 12 determines whether the traveling lane is congested (S300).

[0111] Specifically, the controller 12 performs image processing using the second model on the image data captured by the first camera 20a to determine whether or not there is another vehicle ahead on the driving lane that is within a predetermined distance from the vehicle. The predetermined distance is a preset distance, which is the maximum distance that can occur when traffic is congested.

[0112] In addition, the controller 12 performs image processing using a second model on the image data captured by the second camera 20b to determine whether there is another vehicle behind the vehicle on the driving lane at a distance less than a predetermined distance from the vehicle.

[0113] The controller 12 determines that the driving lane is congested if there is another vehicle ahead of the vehicle on the driving lane that is within a predetermined distance from the vehicle, and if there is another vehicle behind the vehicle on the driving lane that is within the predetermined distance from the vehicle. The controller 12 determines that the driving lane is not congested if there is no other vehicle ahead of the vehicle on the driving lane that is within the predetermined distance from the vehicle. The controller 12 also determines that the driving lane is not congested if there is no other vehicle behind the vehicle on the driving lane that is within the predetermined distance from the vehicle.

[0114] If the controller 12 determines that the driving lane is congested (S300: Yes), the controller 12 ends the current processing.

[0115] When the controller 12 determines that the driving lane is not congested (S300: No), the controller 12 determines whether the adjacent driving lane is congested (S301).

[0116] Specifically, the controller 12 performs image processing using the second model on the image data captured by the first camera 20a and the image data captured by the second camera 20b. As a result, the controller 12 determines whether or not a predetermined number of other vehicles are present in succession in the adjacent driving lane at a predetermined inter-vehicle distance or less. The predetermined number is a preset number, for example, three vehicles. The predetermined number may also be four or more vehicles.

[0117] The controller 12 determines that the adjacent driving lane is congested when a predetermined number or more of other vehicles are consecutively present in the adjacent driving lane at a predetermined inter-vehicle distance or less. The controller 12 determines that the adjacent driving lane is not congested when a predetermined number or more of other vehicles are consecutively present in the adjacent driving lane at a predetermined inter-vehicle distance or less.

[0118] If the controller 12 determines that the adjacent driving lane is congested (S301: Yes), the controller 12 ends the current processing.

[0119] When it is determined that the adjacent driving lane is not congested (S301: No), the controller 12 transmits driving information indicating the blind spot staying state to the server device 3 via the communication unit 10 (S102).

[0120] When at least one of the driving lane and the adjacent driving lane is congested, the controller 12 does not transmit driving information indicating the vehicle being in a blind spot to the server device 3. When at least one of the driving lane and the adjacent driving lane is congested, the server device 3 does not execute the attention alert process and therefore does not generate an attention alert signal. Therefore, when at least one of the driving lane and the adjacent driving lane is congested, no attention alert is issued to the driver of the vehicle.

[0121] When at least one of the driving lane and the adjacent driving lane is congested and the driver of the vehicle and the drivers of other vehicles have sufficient time to check the surrounding safety, the server device 3 does not issue a warning to the driver of the vehicle. Therefore, the server device 3 can suppress frequent warnings to the driver of the vehicle and prevent the driver from feeling uncomfortable.

[0122] (Fourth embodiment) Next, a driving assistance system 1 according to a fourth embodiment will be described. Here, differences from the first embodiment will be described. Explanations of the same configurations as the first embodiment will be omitted.

[0123] The controller 12 of the vehicle-mounted device 2 detects the current position of the vehicle, and links the detected vehicle position information and current image data captured by the camera 20 to the vehicle ID and transmits them to the server device 3 via the communication unit 10.

[0124] The storage unit 31 of the server device 3 stores an image recognition AI model similar to that of the storage unit 11 of the in-vehicle device 2. The image recognition AI model is a model that can detect other vehicles on the side of the vehicle from received image data and detect when a vehicle enters a blind spot of the detected other vehicle.

[0125] The server device 3 executes a process of accumulating the driving state and a process of calling attention to the driving state. The process of accumulating the driving state is the process of step S200 in the process of calling attention to the driving state (FIG. 6) in the first embodiment.

[0126] Next, the attention calling process of the fourth embodiment will be described with reference to Fig. 12. Fig. 12 is a flowchart illustrating the attention calling process of the fourth embodiment. The attention calling process is executed when the vehicle position information and image data transmitted from the vehicle-mounted device 2 are received.

[0127] The controller 32 determines whether the current position of the vehicle is within a danger area (S201). If the controller 32 determines that the current position of the vehicle is not within a danger area (S201: No), the controller 32 ends this processing.

[0128] When the controller 32 determines that the current position of the vehicle is within the danger zone (S201: Yes), the controller 32 determines whether it is time to issue a warning (S400). The warning warning timing is the timing when the vehicle enters the blind spot of another vehicle. For example, the warning warning timing is the timing immediately before the vehicle enters the blind spot of another vehicle.

[0129] The controller 32 performs image processing on the received image data using an image recognition AI model to determine whether it is time to issue a warning.

[0130] Specifically, the controller 32 detects other vehicles beside the vehicle through image processing. The controller 32 also determines whether the vehicle is in a state of catching up with another vehicle or whether the vehicle is in a state of being overtaken by another vehicle. The controller 32 determines whether the vehicle is in a state of catching up with another vehicle or whether the vehicle is in a state of being overtaken by another vehicle by tracing the position of the same other vehicle detected from the multiple pieces of image data received. That is, the controller 32 tracks and detects the other vehicle, and determines whether the vehicle is in a state of catching up with another vehicle or whether the vehicle is in a state of being overtaken by another vehicle from a change in the position of the other vehicle in the image.

[0131] The controller 32 determines that it is time to issue a warning when the vehicle has caught up with another vehicle and a portion of the rear of the other vehicle is no longer detected in the image. The controller 32 determines that it is time to issue a warning when the vehicle has caught up with another vehicle and, for example, two wheels of the other vehicle are detected and a predetermined rear area behind the other vehicle is not detected. The rear area is, for example, an area including the brake lights of the other vehicle. Note that the controller 32 determines that the vehicle is entering the blind spot of the other vehicle when a side mirror and one wheel of the other vehicle are detected.

[0132] When the vehicle catches up with another vehicle and three images are captured at times t1 to t3 as shown in FIG. 13, the entire other vehicle D and its brake lights 100 are detected in the image at time t1. Therefore, the controller 32 determines that time t1 is not the timing to issue a warning. Furthermore, two wheels 101 of the other vehicle D are detected in the image at time t1. Therefore, the controller 32 determines that the vehicle has not entered the blind spot area of the other vehicle D at time t1. FIG. 13 is a diagram showing an example of an image when the vehicle has caught up with the other vehicle D.

[0133] In the image at time t2, the brake lights 100 of the other vehicle D are not detected, and two wheels 101 of the other vehicle D are detected. Therefore, the controller 32 determines that time t2 is the timing for issuing an attention call.

[0134] In the image at time t3, the side mirror 102 of the other vehicle D is detected, and one wheel 101 of the other vehicle D is detected. Therefore, the controller 32 determines that the vehicle is entering the blind spot area of the other vehicle D at time t3.

[0135] The controller 32 determines that it is time to issue a warning when the vehicle is overtaken by another vehicle and a part of the front side of the other vehicle is detected in the image. The controller 32 determines that it is time to issue a warning when the vehicle is overtaken by another vehicle and, for example, one wheel of the other vehicle is detected and more than half of the wheel is detected.

[0136] When the vehicle is overtaken by another vehicle and three images are captured at times T1 to T3 as shown in FIG. 14, one wheel 101 of the other vehicle D is detected in the image at time T1. However, the detected wheel 101 is less than half of the total number of wheels 101. Therefore, the controller 32 determines that time T1 is not the timing to issue a warning. Furthermore, the side mirror of the other vehicle D is not detected in the image at time T1. Therefore, the controller 32 determines that the vehicle has not entered the blind spot area of the other vehicle D at time T1. FIG. 14 is a diagram showing an example of an image when the vehicle is overtaken by the other vehicle D.

[0137] In the image at time T2, one wheel 101 of the other vehicle D is detected, and more than half of the wheel 101 is detected. Therefore, the controller 32 determines that time T2 is the timing for issuing an attention alert.

[0138] In the image at time T3, the side mirror 102 of the other vehicle D is detected, and one wheel 101 of the other vehicle D is detected. Therefore, the controller 32 determines that the vehicle is entering the blind spot area of the other vehicle D at time T3.

[0139] The conditions for determining the timing of issuing a warning are not limited to the above conditions, and may include, for example, the proportion of other vehicles detected.

[0140] Returning to FIG. 12, if the controller 32 determines that it is not time to issue a warning (S400: No), the controller 32 ends the current processing.

[0141] When it is determined that it is time to issue a warning (S400; Yes), the controller 32 issues a warning to the driver of the vehicle (S203).

[0142] The controller 32 alerts the driver of the vehicle when the current position of the vehicle is within a danger area and the vehicle is entering a blind spot area of another vehicle.

[0143] This allows the server device 3 to warn the driver of the vehicle in advance before the vehicle enters the blind spot area of another vehicle. Specifically, the server device 3 can warn the driver of the vehicle immediately before the vehicle enters the blind spot area of another vehicle. Therefore, the server device 3 can prevent accidents and the like that occur when the vehicle enters the blind spot area of another vehicle.

[0144] When the controller 32 determines that the current position of the vehicle is within the danger area (S201: Yes), the controller 32 may determine whether the frequency of other vehicles entering the blind spot area is equal to or greater than the attention frequency (S202), as shown in Fig. 15. Fig. 15 is a flowchart illustrating an attention-calling process according to a modified example.

[0145] In the above embodiment, an example in which the attention calling process is executed by the server device 3 has been described. However, the attention calling process may be executed by the vehicle-mounted device 2.

[0146] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0147] 1. Driving assistance systems 2 On-vehicle device 3 Server device (driving assistance device) 12 Controllers 20 Camera 21 GPS device 22 Vehicle speed sensor 23 Illuminance sensor 24 monitors 25 speakers 32 Controller 33 Blind Spot Database

Claims

1. A controller is provided to alert the driver of the vehicle to blind spots on the rear sides of other vehicles, The controller When the vehicle stays in a blind spot area behind another vehicle for a certain period of time or more, accumulating driving information indicating a driving state including position information of the vehicle that stayed for the certain period of time or more; A driving assistance device that alerts a driver of the vehicle when the current position of the vehicle is within a danger area where the frequency of the blind spot occurring in the accumulated driving information is higher than the danger frequency.

2. 2. The driving assistance device according to claim 1, wherein the controller issues a warning to the driver of the vehicle when the current position of the vehicle is within the danger area and the frequency of another vehicle entering the blind spot area to the rear side is equal to or greater than a warning frequency.

3. the frequency of entry into the blind spot area on the rear side of the other vehicle includes at least one of a cumulative number of entries into the blind spot area on the rear side of the other vehicle and a cumulative time spent in the blind spot area on the rear side of the other vehicle; 3. The driving assistance device according to claim 2, wherein the controller issues a warning to the driver of the vehicle when the current position of the vehicle is within the danger zone and at least one of the following conditions is satisfied: the cumulative number of entries is equal to or greater than an upper limit number; and the cumulative stay time is equal to or greater than an upper limit time.

4. 2. The driving assistance device according to claim 1, wherein the controller notifies the driver of the vehicle of a blind spot entry rate calculated by dividing a cumulative number of times another vehicle has entered a blind spot area on a rear side of the vehicle by a number of times another vehicle has been detected on a front side of the vehicle.

5. 2. The driving assistance device according to claim 1, wherein when at least one of a lane adjacent to the lane in which the vehicle is traveling and in which another vehicle is traveling and the lane in which the vehicle is traveling is congested, no warning is given to the driver of the vehicle.

6. The driving assistance device according to claim 1 , wherein when the vehicle is traveling at a low speed, no attention is given to the driver of the vehicle.

7. The driving assistance device according to claim 1 , wherein the danger area is set based on driving information of a plurality of vehicles.

8. 2. The driving assistance device according to claim 1, wherein the controller issues a warning to a driver of the vehicle when a current position of the vehicle is within the danger area and the vehicle is about to enter a blind spot area on a rear side of another vehicle traveling beside the vehicle.

9. 2. The driving assistance device according to claim 1, wherein the entry of another vehicle into a blind spot area on a rear side of the other vehicle is detected from image data captured by a camera provided on the vehicle.

10. a step of accumulating, when a vehicle has stayed in a blind spot area behind another vehicle for a certain period of time or more, travel information indicating a travel state including position information of the vehicle that has stayed in the blind spot area for the certain period of time or more; a step of alerting a driver of the vehicle when the current position of the vehicle is within a danger area in which the frequency of the vehicle becoming a blind spot area in the accumulated travel information is higher than the danger frequency; A program that causes a computer to execute the following.

Images