Approach monitoring system, approach monitoring method, and approach monitoring program

Abstract

To prevent a contact between a vehicle and a moving person existing in the periphery of the vehicle due to a rapid action change of the moving person by restricting the moving person from having a troublesome feeling.SOLUTION: An approach monitoring system 1 includes: a moving person detection section for detecting a moving person P existing in the periphery of a vehicle 100; a vehicle prediction course recognition section 12 for recognizing a vehicle prediction course; a moving person prediction course recognition section 13 for recognizing a moving person prediction course; a closest-approach distance calculation section 14 for calculating the closest approach distance being the distance between the vehicle and the moving person at the closest-approach time point at which the distance between the vehicle and the moving person is predicted to be closest on the vehicle prediction course and the moving person prediction course when the vehicle prediction course does not overlap with the moving person prediction course; and an attention calling section 18 for calling attention of the moving person P when the closest approach distance is equal to or less than a predetermined determination distance.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an approach monitoring system, an approach monitoring method, and an approach monitoring program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into preventive safety technologies to further improve road safety and convenience. For example, Patent Document 1 discloses a technology that determines, based on the predicted path of a vehicle and a pedestrian, that there is a possibility of a collision between the two when there is a possibility that the two will be in the same place at the same time, and notifies the pedestrian of a collision avoidance message. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-31443 Summary of the Invention [Problem to be solved by the invention]

[0004] In preventive safety technology, it is desirable to prevent pedestrians around a vehicle from colliding with the vehicle. However, the technology of Patent Document 1 does not issue a collision avoidance message if the vehicle's predicted path and the pedestrian's predicted path do not overlap, making it impossible to respond to sudden changes in the pedestrian's behavior, such as running into the roadway. It is also possible to increase the margin for collision avoidance and relax the conditions for implementing collision avoidance measures, but in this case, pedestrians may feel annoyed by frequent collision avoidance warnings being issued in situations where the possibility of collision is low. Therefore, the present application aims to prevent collisions between vehicles and moving people who are walking, bicycling, or other vehicles around the vehicle due to sudden changes in their behavior while minimizing the annoyance felt by the moving people. In order to solve the above-mentioned problems, the present application aims to provide an approach monitoring system, an approach monitoring method, and an approach monitoring program that can prevent contact between a vehicle and a moving person around the vehicle due to a sudden change in the moving person's behavior by suppressing annoyance felt by the moving person, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0005] A first aspect for achieving the above object is an approach monitoring system comprising: a moving person detection unit that detects moving people present in the vicinity of a vehicle; a vehicle predicted path recognition unit that recognizes a vehicle predicted path, which is the predicted path of the vehicle; a moving person predicted path recognition unit that recognizes a moving person predicted path, which is the predicted path of the moving person; a closest approach distance calculation unit that calculates, when the vehicle predicted path and the moving person predicted path do not overlap, a closest approach distance, which is the distance between the vehicle and the moving person at the closest approach point, which is the point at which the vehicle and the moving person are predicted to be closest on the vehicle predicted path and the moving person predicted path; and a warning unit that determines whether to issue a warning to the moving person based on the closest approach distance.

[0006] In the approach monitoring system, the warning unit may be configured to warn the moving person when the closest approach distance is equal to or shorter than a predetermined determination distance.

[0007] The approach monitoring system may further include a determination distance setting unit that sets the determination distance to a longer value as the moving speed of the moving person increases.

[0008] The approach monitoring system may further comprise a determination distance setting unit that sets the determination distance so that the time obtained by dividing the determination distance by the moving speed of the moving person is a first predetermined time.

[0009] The approach monitoring system may be configured to include a moving person attribute recognition unit that recognizes attributes of the moving person, and a judgment distance setting unit that sets the judgment distance based on the attributes of the moving person.

[0010] In the approach monitoring system, the warning unit may start the warning a second predetermined time before the closest approach point, and the second predetermined time may be set to be longer than the time obtained by dividing the judgment distance by the movement speed of the moving person.

[0011] In the approach monitoring system, the warning unit may be configured to issue the warning to the moving person when a time obtained by dividing the closest approach distance by the moving speed of the moving person is equal to or shorter than a first predetermined time.

[0012] In the approach monitoring system, the warning section may be configured to change the manner of the warning as the remaining time until the closest approach point decreases.

[0013] The approach monitoring system may be provided with a protective fence presence / absence recognition unit that recognizes whether or not there is a protective fence separating the vehicle's driving area from the moving area of ​​the traveler, and the warning unit may be configured not to issue the warning when the vehicle is driving in a driving area in which the protective fence presence / absence recognition unit recognizes that there is a protective fence.

[0014] A second aspect for achieving the above object is an approach monitoring method executed by a computer, which includes a moving person detection step for detecting a moving person present in the vicinity of a vehicle, a vehicle predicted path recognition step for recognizing a vehicle predicted path, which is the predicted path of the vehicle, a moving person predicted path recognition step for recognizing a moving person predicted path, which is the predicted path of the moving person, a closest approach distance calculation step for calculating, when the vehicle predicted path and the moving person predicted path do not overlap, a closest approach distance, which is the distance between the vehicle and the moving person at the closest approach point, which is the point at which the vehicle and the moving person are predicted to be closest on the vehicle predicted path and the moving person predicted path, and a warning step for determining whether to issue a warning to the moving person based on the closest approach distance.

[0015] A third aspect for achieving the above object is an approach monitoring program that causes a computer to function as a moving person detection unit that detects moving people present in the vicinity of a vehicle, a vehicle predicted path recognition unit that recognizes the vehicle's predicted path, which is the predicted path of the vehicle, a moving person predicted path recognition unit that recognizes the moving person's predicted path, which is the predicted path of the moving person, a closest approach distance calculation unit that calculates, when the vehicle predicted path and the moving person predicted path do not overlap, a closest approach distance, which is the distance between the vehicle and the moving person at the closest approach point, which is the point at which the vehicle and the moving person are predicted to be closest on the vehicle predicted path and the moving person predicted path, and a warning unit that determines whether to issue a warning to the moving person based on the closest approach distance. [Effects of the Invention]

[0016] According to the above-mentioned approach monitoring system, approach monitoring method, and approach monitoring program, contact between a vehicle and a moving person due to a sudden change in the behavior of a moving person in the vicinity of the vehicle can be prevented in advance by suppressing the moving person from feeling annoyed. [Brief explanation of the drawings]

[0017] [Figure 1]FIG. 1 is a configuration diagram of an approach monitoring system. [Figure 2] FIG. 2 is an explanatory diagram of the timing of issuing a warning when the predicted vehicle path and the predicted person path do not overlap. [Figure 3] FIG. 3 is an explanatory diagram of the timing of issuing a warning when the predicted vehicle path and the predicted moving person path overlap. [Figure 4] FIG. 4 is a first flowchart of the approach monitoring process. [Figure 5] FIG. 5 is a second flowchart of the approach monitoring process. [Figure 6] FIG. 6 is a third flowchart of the approach monitoring process. DETAILED DESCRIPTION OF THE INVENTION

[0018] [1. Approach monitoring system configuration] The configuration of an approach monitoring system 1 of the present disclosure will be described with reference to Figures 1 to 3. As shown in Figure 1, the approach monitoring system 1 is a computer system configured with a processor 10, a memory 20, a communication unit 30, etc., and monitors the approach between a vehicle 100 traveling on a road and a moving person traveling on the road, and issues a warning to the moving person.

[0019] 1 to 3, a pedestrian P is shown as an example of a moving person. Moving persons include not only pedestrians but also people who move on non-motorized vehicles such as bicycles and kick scooters. The approach monitoring system 1 communicates with the vehicle 100, the communication terminal 50 used by the pedestrian P, the user information server 210, the road information server 211, the monitoring cameras 120 installed on the roadside, etc., via the communication network 200 using the communication unit 30. The user information server 210 provides attribute information UAi indicating the attributes (age, gender, etc.) of the users (including the pedestrian P) of the communication terminal 50. The road information server 211 provides road information RDi indicating the specifications of the road (type, traffic division, presence or absence of dividing fences such as guardrails, etc.).

[0020] The vehicle 100 is equipped with an ECU (Electronic Control Unit) that controls the operation of the vehicle 100, a communication unit 102 that communicates via a communication network 200, a GNSS (Global Navigation Satellite System) sensor 103 that detects the current position of the vehicle 100, a front camera 104 that photographs the area in front of the vehicle 100, and a front radar 105 that detects the position of an object in front of the vehicle 100.

[0021] The ECU 101 transmits to the approach monitoring system 1 vehicle position information CPi indicating the current position of the vehicle 100 detected by the GNSS sensor 103, and vehicle surroundings information CSi indicating the situation around the vehicle 100 recognized from the image captured by the front camera 104 and the detection signal of the front radar 105. The communication terminal 50 has a GNSS sensor 51, and transmits moving person position information PPi indicating the current position of a pedestrian P detected by the GNSS sensor 51 to the approach monitoring system 1. The monitoring camera 120 transmits a road image Rimg obtained by capturing an image of a surrounding road to the approach monitoring system 1.

[0022] An approach monitoring program 21 is stored in the memory 20 of the approach monitoring system 1. The approach monitoring program 21 may be read into the approach monitoring system 1 from a recording medium (optical disk, magnetic disk, semiconductor memory, etc.) and stored in the memory 20, or may be downloaded to the approach monitoring system 1 from an external server and stored in the memory 20. By reading and executing the approach monitoring program 21, the processor 10 functions as a moving person detection unit 11, a predicted vehicle path recognition unit 12, a predicted moving person path recognition unit 13, a closest approach distance calculation unit 14, a moving person attribute recognition unit 15, a judgment distance setting unit 16, a protective fence presence / absence recognition unit 17, and an attention alert unit 18.

[0023] The processing executed by the moving person detection unit 11 corresponds to the moving person detection step in the approach monitoring method of the present disclosure, the processing executed by the vehicle predicted path recognition unit 12 corresponds to the vehicle predicted path recognition step in the approach monitoring method of the present disclosure, the processing executed by the moving person predicted path recognition unit 13 corresponds to the moving person predicted path recognition step in the approach monitoring method of the present disclosure, and the distance calculation executed by the closest approach distance calculation unit 14 corresponds to the closest approach distance calculation step in the approach monitoring method of the present disclosure, and the processing executed by the attention calling unit 18 corresponds to the attention calling step in the approach monitoring method of the present disclosure.

[0024] The moving person detection unit 11 detects a moving person present in the vicinity in front of the vehicle 100 based on the vehicle position information CPi and vehicle surroundings information CSi transmitted from the vehicle 100, the moving person position information PPi transmitted from the communication terminal 50 carried by the pedestrian P, and the road image Rimg transmitted from the monitoring camera 120. In the example of FIG. 1, the moving person detection unit 11 detects the pedestrian P in front of the vehicle 100. Note that instead of using all of this information, for example, only the vehicle position information CPi and the moving person position information PPi may be used to detect a moving person present in the vicinity in front of the vehicle 100.

[0025] Based on the change in the position of the vehicle 100 recognized from the vehicle position information CPi, the predicted vehicle path recognition unit 12 recognizes a predicted vehicle path PCc, which is the predicted path of the vehicle 100 at the current time t0, as shown in speech bubble B1 in Fig. 2. CaL in Fig. 2 indicates the left edge position of the vehicle 100. A1 in Fig. 2 is the roadway on which the vehicle 100 travels, and A2 is the sidewalk on which the pedestrian P moves.

[0026] The moving person predicted path recognition unit 13 recognizes a moving person predicted path PCp1, which is the predicted path of the pedestrian P at the current time t0, as shown in balloon B2 in Fig. 2, based on the transition of the position of the pedestrian P recognized from the moving person position information PPi. The closest approach distance calculation unit 14 calculates the closest approach distance t0 between the vehicle predicted path PCc1 and the moving person predicted path PCp, as shown in balloon B3 in Fig. 2, at the time when the vehicle 100 and the pedestrian P are closest to each other (closest approach time) t nThe distance (closest approach distance) Ln between the vehicle 100 and the pedestrian P at the time of the vehicle 100 being detected is calculated.

[0027] Fig. 2 illustrates a case where the vehicle predicted path PCc and the moving object predicted path PCp1 do not overlap, and Fig. 3 illustrates a case where the vehicle predicted path PCc and the moving object predicted path PCp2 overlap (intersect). In Fig. 3, as shown in speech bubble B4, the vehicle predicted path PCc for the vehicle 100 at the current time t0 is recognized by the vehicle predicted path recognition unit 12, and as shown in speech bubble B5, the moving object predicted path PCp2 for the pedestrian P at the current time t0 is recognized by the moving object predicted path recognition unit 13.

[0028] The mover attribute recognition unit 15 recognizes the attributes of the pedestrian P by accessing the user information server 210 to acquire attribute information UAi about the pedestrian P, or from an image of the pedestrian P taken by the front camera 104 and included in the vehicle surroundings information CSi, or an image of the pedestrian P included in the road image Rimg. The judgment distance setting unit 16 sets a judgment distance Lth for determining whether to issue a warning to the pedestrian P about the approach of the vehicle 100.

[0029] As shown in speech bubble B2 in FIG. 2, the judgment distance setting unit 16 recognizes the movement speed Vp of the walker P based on a change in the position of the walker P recognized from the moving person position information PPi. Then, the judgment distance setting unit 16 calculates the judgment distance Lth using the following formula (1). According to the following formula (1), the higher the movement speed Vp of the walker P, the longer the judgment distance Lth is set. Furthermore, when the judgment distance setting unit 16 recognizes that the walker P is a child or an elderly person based on the attributes of the walker P recognized by the moving person attribute recognition unit 15, it corrects the judgment distance Lth to be longer than the reference distance assumed for an adult. Lth / Vp=Tth1 (1) where Lth is the determination distance, Vp is the moving speed of the pedestrian P, and Tth1 is the first predetermined time. The first predetermined time Tth1 is set to, for example, a few seconds based on the estimated time it takes for a typical pedestrian to stop after receiving a warning while walking (the estimated time it takes for a pedestrian who has run out into the roadway to stop after receiving a warning).

[0030] The protective fence presence / absence recognition unit 17 recognizes the presence or absence of a protective fence separating the roadway A1 and the sidewalk A2 by accessing the road information server 211 to acquire road information RDi, or by searching for an image portion of the protective fence in the image of the road taken by the front camera 104 included in the vehicle surroundings information CSi or the road image Rimg taken by the monitoring camera 120. The protective fence may be, for example, a guardrail or a fence.

[0031] When there is an increased possibility that the vehicle 100 and the pedestrian P will come close to each other, the warning unit 18 issues a warning to the pedestrian P. Details of the warning process will be described later.

[0032] [2. Approach monitoring processing] The procedure of the approach monitoring process executed by the approach monitoring system 1 in the situations shown in Figures 1 to 3 will be described according to the flowcharts shown in Figures 4 to 6. The approach monitoring system 1 repeatedly executes the process according to the flowcharts shown in Figures 4 to 6.

[0033] In step S1 of Fig. 4, the moving person detection unit 11 searches for a moving person present in the vicinity in front of the vehicle 100. In the following step S2, if the moving person detection unit 11 detects a moving person, the process proceeds to step S3, and if the moving person detection unit 11 does not detect a moving person, the process proceeds to step S1. In the example of Figs. 1 to 3, the moving person detection unit 11 detects a pedestrian P and proceeds to step S3.

[0034] In step S3, the vehicle predicted path recognition unit 12 recognizes a vehicle predicted path PCc for the vehicle 100, as shown in Figures 2 and 3. In the following step S4, the moving person predicted path recognition unit 13 recognizes a moving person predicted path PCp (PCp1 in Figure 3, PCp2 in Figure 4) for the pedestrian P. In the next step S5, the judgment distance setting unit 16 recognizes the movement speed Vp of the pedestrian P (moving person). In the following step S6, the moving person attribute recognition unit 15 recognizes the attributes of the pedestrian P.

[0035] In the next step S7, the judgment distance setting unit 16 sets the judgment distance Lth as described above based on the movement speed Vp and attributes of the pedestrian P. In the following step S8, the attention calling unit 18 determines whether the predicted vehicle path PCc and the predicted moving person path PCp overlap. If the predicted vehicle path PCc and the predicted moving person path PCp overlap (as in FIG. 3), the attention calling unit 18 proceeds to step S20 in FIG. 6, and if the predicted vehicle path PCc and the predicted moving person path PCp do not overlap (as in FIG. 2), the attention calling unit 18 proceeds to step S9.

[0036] In step S9, the closest approach distance calculation unit 14 calculates the closest approach distance Ln as shown in Fig. 2. In the following step S10, the attention calling unit 18 determines whether the closest approach distance Ln exceeds the judgment distance Lth. If the closest approach distance Ln exceeds the judgment distance Lth, the attention calling unit 18 proceeds to step S16 in Fig. 6, in which case no attention is issued to the pedestrian P. On the other hand, if the closest approach distance Ln is equal to or less than the judgment distance Lth, the attention calling unit 18 proceeds to step S11 in Fig. 5.

[0037] In step S11, the attention warning unit 18 calculates the remaining time Tr from the current time to the closest approach time. In the following step S12, the attention warning unit 18 determines whether the remaining time Tr is longer than a second predetermined time Tth2. If the remaining time Tr is longer than the second predetermined time Tth2, the attention warning unit 18 proceeds to step S16, in which case no attention is issued to the pedestrian P. On the other hand, if the remaining time Tr is equal to or shorter than the second predetermined time Tth2, the attention warning unit 18 proceeds to step S13. The second predetermined time Tth2 is set so that the relationship of the following equation (2) holds. Tth2>Lth / Vp (2) where Tth2 is the second predetermined time, Lth is the determination distance, and Vp is the moving speed of the pedestrian P.

[0038] In step S13, the guardrail presence / absence recognition unit 17 recognizes whether or not there is a guardrail separating the roadway A1 and the sidewalk A2. In the following step S14, if the guardrail presence / absence recognition unit 17 recognizes that there is a guardrail, the warning unit 18 proceeds to step S16, in which case no warning is issued to the pedestrian P. On the other hand, if the guardrail presence / absence recognition unit 17 recognizes that there is no guardrail, the warning unit 18 proceeds to step S15.

[0039] In step S15, the attention alert unit 18 transmits attention alert information ATi to the communication terminal 50 carried by the pedestrian P, notifying the pedestrian P that the vehicle 100 is approaching, as shown in FIG. 1 . The communication terminal 50 that has received the attention alert information ATi outputs an alarm sound and displays a screen on the display unit notifying the pedestrian P that the vehicle 100 is approaching. This alerts the pedestrian P to the vehicle 100, and can prevent the pedestrian P from running out onto the roadway and colliding with the vehicle 100. In this case, the intensity of the attention alert may be increased by, for example, performing processing such as increasing the volume of the alarm sound as the remaining time Tr becomes shorter.

[0040] As shown in FIG. 3, FIG. 6 illustrates a process corresponding to the case where the vehicle predicted path PCc for the vehicle 100 and the mover predicted path PCp2 for the pedestrian P overlap. In step S20 of FIG. 6, the alerting unit 18 calculates the shortest distance Lm (see FIG. 3) between the vehicle predicted path PCc and the mover predicted path PCp2 at the current time. The shortest distance Lm shortens as the vehicle 100 and the pedestrian P progress.

[0041] In the subsequent step S21, the alerting unit 18 determines whether the shortest distance Lm exceeds the determination distance Lth. When the shortest distance Lm exceeds the determination distance Lth, the alerting unit 18 proceeds to step S16 of FIG. 5, and in this case, no alert is given to the pedestrian P. On the other hand, when the shortest distance Lm is less than or equal to the determination distance Lth, the alerting unit 18 proceeds to step S22.

[0042] In step S22, as shown in FIG. 3, the alerting unit 18 calculates the remaining time TTC until the contact prediction time t, which is the time when the left - end line CaL corresponding to the vehicle predicted path PCc and the mover predicted path PCp2 overlap (intersect), as indicated by the balloon B6, from the current time. c In the subsequent step S23, the alerting unit 18 determines whether the remaining time TTC exceeds the first determination time TTC_th1.

[0043] When the remaining time TTC exceeds the first determination time TTC_th1, the alerting unit 18 proceeds to step S16 of FIG. 5, and in this case, no alert is given to the pedestrian P. On the other hand, when the remaining time TTC is less than or equal to the first determination time TTC_th1, the alerting unit 18 proceeds to step S24.

[0044] In step S24, the alerting unit 18 determines whether the remaining time TTC is less than or equal to the second determination time TTC_th2 (<TTC_th2). When the remaining time TTC is less than or equal to the second determination time TTC_th2, the alerting unit 18 proceeds to step S30, and when the remaining time TTC is longer than the second determination time TTC_th2, the alerting unit 18 proceeds to step S25.

[0045] In step S25, the attention alert unit 18 transmits attention alert information ATi notifying the pedestrian P of the approach of the vehicle 100 to the communication terminal 50 carried by the pedestrian P, as shown in speech bubble B7 in Fig. 3 . The communication terminal 50 that has received the attention alert information ATi outputs an alarm sound notifying the pedestrian P that the vehicle 100 is approaching, and displays a screen on the display unit notifying the pedestrian P that the vehicle 100 is approaching. This alerts the pedestrian P to pay attention to the vehicle 100, and prevents the pedestrian P from continuing in a direction that would lead to contact with the vehicle 100, thereby preventing the pedestrian P from colliding with the vehicle 100.

[0046] In step S25, the attention alert unit 18 transmits attention alert information ATi warning of the approach of the vehicle 100 to the communication terminal 50 carried by the pedestrian P at time t2 when the remaining time TTC becomes equal to or less than the second judgment time TTC_th2, as shown in speech bubble B8 in Fig. 3 . The communication terminal 50 that has received the attention alert information ATi outputs an alarm sound warning that the vehicle 100 is approaching closely, and displays a screen on the display unit notifying that the vehicle 100 is approaching closely. This urges the pedestrian P to stop moving forward, making it possible to prevent contact between the pedestrian P and the vehicle 100.

[0047] 3. Other Embodiments In the above embodiment, a judgment distance setting unit 16 was provided, and the judgment distance Lth used to determine whether or not to issue a warning to pedestrian P was set according to the movement speed Vp of pedestrian P, but the judgment distance setting unit 16 may be omitted and the judgment distance Lth may be set to a fixed value.

[0048] In the above embodiment, the moving person attribute recognition unit 15 was provided, and the judgment distance setting unit 16 set the judgment distance Lth based on the attributes of the pedestrian P, but the moving person attribute recognition unit 15 may be omitted, and the judgment distance Lth may not be set based on the attributes of the pedestrian P.

[0049] In the above embodiment, the protective fence presence / absence recognition unit 17 is provided, and when there is a protective fence separating the roadway A1 and the sidewalk A2, the warning unit 18 does not issue a warning to the pedestrian P. In another embodiment, the protective fence presence / absence recognition unit 17 may be omitted, and a configuration may be adopted in which the judgment of whether to issue a warning based on the presence or absence of a protective fence is not made.

[0050] In the above embodiment, the attention warning unit 18 issues a warning to the pedestrian P when it is determined in step S10 of Fig. 4 that the closest approach distance Ln is equal to or less than the judgment distance Lth. In another embodiment, the attention warning may be issued to the pedestrian P when the condition of the following formula (3) is satisfied. Ln / Vp≦Tth1 (3) where Ln is the closest distance, Vp is the moving speed of the pedestrian P, and Tth1 is the first predetermined time (see the above formula (1)).

[0051] 1 is a schematic diagram showing the configuration of approach monitoring system 1 divided by main processing content to facilitate understanding of the present invention, but the configuration of approach monitoring system 1 may also be divided into other categories. Furthermore, the processing of each component may be executed by one hardware unit or multiple hardware units. Furthermore, the processing of each component shown in FIGS. 4 to 6 may be executed by one program or multiple programs.

[0052] 4. Configurations supported by the above embodiments The above embodiment is a specific example of the following configuration.

[0053] (Configuration 1) An approach monitoring system comprising: a moving person detection unit that detects moving people present in the vicinity of a vehicle; a vehicle predicted path recognition unit that recognizes a vehicle predicted path, which is the predicted path of the vehicle; a moving person predicted path recognition unit that recognizes a moving person predicted path, which is the predicted path of the moving person; a closest approach distance calculation unit that calculates, when the vehicle predicted path and the moving person predicted path do not overlap, a closest approach distance, which is the distance between the vehicle and the moving person at the closest approach point, which is the point at which the vehicle and the moving person are predicted to be closest on the vehicle predicted path and the moving person predicted path; and a warning unit that determines whether to issue a warning to the moving person based on the closest approach distance. The approach monitoring system of Configuration 1 can prevent contact between a vehicle and a moving person due to a sudden change in the behavior of the moving person around the vehicle by suppressing annoyance to the moving person. Moving people include pedestrians and people traveling on non-motorized vehicles such as bicycles and kick scooters.

[0054] (Configuration 2) The approach monitoring system according to Configuration 1, wherein the warning unit issues the warning to the moving person when the closest approach distance is equal to or shorter than a predetermined judgment distance. According to the approach monitoring system of configuration 2, it is possible to determine whether or not to issue a warning depending on the determined distance.

[0055] (Configuration 3) The approach monitoring system according to Configuration 2, further comprising a determination distance setting unit that sets the determination distance to a longer value as the moving speed of the moving person increases. According to the approach monitoring system of configuration 3, it is predicted that the faster the moving speed of the moving person, the shorter the time between the moving person's sudden change in direction toward the vehicle and the moving person coming into contact with the vehicle will be. Therefore, by setting the judgment distance longer as the moving speed of the moving person increases, it is possible to issue a warning to avoid contact with ample time.

[0056] (Configuration 4) The approach monitoring system according to Configuration 2, further comprising a judgment distance setting unit that sets the judgment distance so that the time obtained by dividing the judgment distance by the moving speed of the moving person is a first predetermined time. According to the approach monitoring system of configuration 4, when it is assumed that the direction of movement of the moving person changes toward the vehicle, a warning can be issued if the predicted time until the moving person comes into contact with the vehicle is less than or equal to a first predetermined time.

[0057] (Configuration 5) The approach monitoring system according to configuration 2, comprising: a moving person attribute recognition unit that recognizes the attributes of the moving person; and a judgment distance setting unit that sets the judgment distance based on the attributes of the moving person. According to the approach monitoring system of configuration 5, it is possible to set a judgment distance that suits a moving person according to the moving person's behavioral characteristics, reaction speed, agility, etc., which are estimated from the moving person's attributes.

[0058] (Configuration 6) An approach monitoring system described in any one of configurations 2 to 5, wherein the warning unit starts the warning a second predetermined time before the closest approach point, and the second predetermined time is set to be longer than the time obtained by dividing the judgment distance by the movement speed of the moving person. According to the approach monitoring system of configuration 6, even if the direction of movement of the moving person changes toward the vehicle, a predetermined time can be set so that a warning is issued to ensure time for the moving person to stop moving toward the vehicle and avoid contact with the moving person in the vehicle.

[0059] (Configuration 7) The approach monitoring system according to Configuration 1, wherein the warning unit issues the warning to the moving person when the time obtained by dividing the closest approach distance by the moving speed of the moving person is equal to or less than a first predetermined time. According to the approach monitoring system of configuration 7, it is possible to determine whether or not to issue a warning depending on the first predetermined time.

[0060] (Configuration 8) The approach monitoring system according to any one of configurations 1 to 7, wherein the warning unit changes the manner of the warning as the remaining time until the closest approach point decreases. According to the approach monitoring system of configuration 8, the manner of warning can be changed to make the moving person aware of the increasing possibility of contact with a vehicle.

[0061] (Configuration 9) An approach monitoring system described in any one of configurations 1 to 8, which includes a protective fence presence / absence recognition unit that recognizes the presence or absence of a protective fence separating the vehicle's driving area from the moving area of ​​the traveler, and the warning unit does not issue the warning when the vehicle is driving in a driving area in which the protective fence presence / absence recognition unit recognizes that there is a protective fence. According to the approach monitoring system of configuration 9, when the presence of a protective fence prevents a moving person from moving in the direction toward the vehicle, it is possible to avoid issuing unnecessary warnings to the moving person.

[0062] (Configuration 10) An approach monitoring method executed by a computer, comprising: a moving person detection step for detecting a moving person present in the vicinity of a vehicle; a vehicle predicted path recognition step for recognizing a vehicle predicted path, which is the predicted path of the vehicle; a moving person predicted path recognition step for recognizing a moving person predicted path, which is the predicted path of the moving person; a closest approach distance calculation step for calculating, when the vehicle predicted path and the moving person predicted path do not overlap, a closest approach distance, which is the distance between the vehicle and the moving person at the closest approach point, which is the point at which the vehicle and the moving person are predicted to be closest on the vehicle predicted path and the moving person predicted path; and a warning step for determining whether to issue a warning to the moving person based on the closest approach distance. By executing the approach monitoring method of configuration 10 by a computer, the same effects as those of the approach monitoring system of configuration 1 can be obtained.

[0063] (Configuration 11) An approach monitoring program that causes a computer to function as a moving person detection unit that detects moving people present in the vicinity of a vehicle, a vehicle predicted path recognition unit that recognizes the vehicle's predicted path, which is the predicted path of the vehicle, a moving person predicted path recognition unit that recognizes the moving person's predicted path, which is the predicted path of the moving person, a closest approach distance calculation unit that calculates, when the vehicle predicted path and the moving person predicted path do not overlap, the closest approach distance, which is the distance between the vehicle and the moving person at the closest approach point, which is the point at which the vehicle and the moving person are predicted to be closest on the vehicle predicted path and the moving person predicted path, and a warning unit that determines whether to issue a warning to the moving person based on the closest approach distance. The approach monitoring system of configuration 1 can be realized by executing the approach monitoring program of configuration 11 by a computer. [Explanation of symbols]

[0064] 1...Approach monitoring system, 10...Processor, 11...Moving person detection unit, 12...Vehicle predicted path recognition unit, 13...Moving person predicted path recognition unit, 14...Closest approach distance calculation unit, 15...Moving person attribute recognition unit, 16...Judgment distance setting unit, 17...Protective fence presence / absence recognition unit, 18...Warning unit, 20...Memory, 21...Approach monitoring program, 50...Communication terminal, 51...GNSS sensor, 100...Vehicle, 101...ECU, 102...Communication unit, 103...GNSS sensor, 104...Front camera, 105...Front radar, 120...Surveillance camera, 200...Communication network, 210...User information server, 211...Road information server, P...Pedestrian, PCc...Vehicle predicted path, PCp1, PCp2...Moving person predicted path, Ln...Closest approach distance.

Claims

1. a moving person detection unit that detects a moving person present around the vehicle; a vehicle predicted path recognition unit that recognizes a vehicle predicted path, which is a predicted path of the vehicle; a mover predicted path recognition unit that recognizes a mover predicted path, which is a predicted path of the mover; a closest approach distance calculation unit that calculates, when the predicted vehicle path and the predicted moving person path do not overlap, a closest approach distance that is a distance between the vehicle and the moving person at a closest approach point that is a point in time when the vehicle and the moving person are predicted to be closest to each other on the predicted vehicle path and the predicted moving person path; an alert unit that determines whether to issue an alert to the moving person based on the closest approach distance; An approach surveillance system comprising:

2. The warning unit issues the warning to the moving person when the closest approach distance is equal to or shorter than a predetermined determination distance. The proximity monitoring system of claim 1 .

3. a judgment distance setting unit that sets the judgment distance to be longer as the moving speed of the moving person is higher; Equipped with The proximity monitoring system according to claim 2 .

4. a determination distance setting unit that sets the determination distance so that a time obtained by dividing the determination distance by a moving speed of the moving person becomes a first predetermined time; Equipped with The proximity monitoring system according to claim 2 .

5. a traveler attribute recognition unit that recognizes the attributes of the traveler; a judgment distance setting unit that sets the judgment distance based on attributes of the mover; The proximity monitoring system according to claim 2 , comprising:

6. the warning unit starts the warning a second predetermined time before the closest approach point, The second predetermined time is set to be longer than the time obtained by dividing the determination distance by the moving speed of the moving person. The approach monitoring system according to any one of claims 2 to 5.

7. The warning unit issues the warning to the moving person when a time obtained by dividing the closest approach distance by a moving speed of the moving person is equal to or shorter than a first predetermined time. The proximity monitoring system of claim 1 .

8. The warning unit changes the manner of the warning as the remaining time until the closest approach point decreases. The approach monitoring system according to any one of claims 1 to 5 and 7.

9. a protective fence presence / absence recognition unit that recognizes the presence or absence of a protective fence separating a driving area of ​​the vehicle from a moving area of ​​the traveler, The warning unit does not issue the warning when the vehicle is traveling in a traveling area in which the presence of the protective fence is recognized by the protective fence presence / absence recognition unit. The approach monitoring system according to any one of claims 1 to 5 and 7.

10. 1. A computer-implemented method of proximity monitoring, comprising: a moving person detection step of detecting a moving person present around the vehicle; a predicted vehicle path recognition step of recognizing a predicted vehicle path, which is a predicted path of the vehicle; a mover's predicted path recognition step of recognizing a mover's predicted path, which is a predicted path of the mover; a closest approach distance calculation step of calculating, when the predicted vehicle path and the predicted moving person path do not overlap, a closest approach distance which is a distance between the vehicle and the moving person at a closest approach point which is a point in time when the vehicle and the moving person are predicted to come closest to each other on the predicted vehicle path and the predicted moving person path; an alert step of determining whether to issue an alert to the moving person based on the closest approach distance; A method of close surveillance including:

11. Computer, a moving person detection unit that detects a moving person present around the vehicle; a vehicle predicted path recognition unit that recognizes a vehicle predicted path, which is a predicted path of the vehicle; a mover predicted path recognition unit that recognizes a mover predicted path, which is a predicted path of the mover; a closest approach distance calculation unit that calculates, when the predicted vehicle path and the predicted moving person path do not overlap, a closest approach distance that is a distance between the vehicle and the moving person at a closest approach point that is a point in time when the vehicle and the moving person are predicted to be closest to each other on the predicted vehicle path and the predicted moving person path; an alert unit that determines whether to issue an alert to the moving person based on the closest approach distance; Approach surveillance program that functions as a

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