Information providing device, information providing method, and information providing system

Abstract

To provide an information providing device capable of surely notifying an automatic driving vehicle of an intention indication of a pedestrian.SOLUTION: An information providing device 10 is installed in a periphery of a pedestrian crossing PC. The information providing device 10 comprises a communication device 11 which receives an intention indication signal relating to crossing from a portable terminal 30 that a pedestrian PA carries, and a control device 12 which notifies an automatic driving vehicle VE of the reception of the intention indication signal via the communication device 11.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an information providing device, an information providing method, and an information providing system that notify an autonomous vehicle of a pedestrian crossing a road. [Background technology]

[0002] A publicly known notification system includes an information processing unit that communicates with an autonomous vehicle to grasp the behavior of the autonomous vehicle, and a notification unit that notifies information regarding the behavior of the autonomous vehicle obtained by the information processing unit, and is capable of notifying vehicles other than autonomous vehicles, pedestrians, etc., of whether they are able to pass or not, and issuing warnings (see Patent Document 1).

[0003] A mobile terminal carried by a pedestrian is known that includes a crossing request receiving unit that receives a crossing request at a pedestrian traffic light, a determination unit that determines whether the pedestrian has completed crossing the crosswalk based on intersection information at which the pedestrian traffic light is installed, and a transmission unit that, upon receiving a crossing request, transmits the crossing request until it is determined that the pedestrian has completed crossing the crosswalk (see Patent Document 2).

[0004] A driving assistance device is known that includes a pedestrian information receiver that receives information about pedestrians crossing the road ahead, a following vehicle information acquisition unit that acquires information about following vehicles, a system control ECU, and an information provision device, and when it is determined based on the following vehicle information, etc., that deceleration amplification propagation will not occur in the following vehicle when the vehicle stops in front of the pedestrian crossing the road, the information provision device notifies the driver of the vehicle of the pedestrian crossing information (see Patent Document 3).

[0005] In the method of Patent Document 1, a vehicle stops at a virtual stop line and an approaching vehicle is notified by a sign or the like, so a sensor for detecting pedestrians is an essential element of the system. In particular, when considering applications for persons with mobility restrictions, it becomes necessary to identify those persons as such.

[0006] Patent Document 2 describes a system that uses a mobile device to notify a traffic light of a crossing request and controls the traffic light, but does not disclose any communication between the mobile device and a vehicle. Even if a BLE roadside device provides information to a vehicle, it only provides information on traffic lights, and does not necessarily prompt the vehicle to stop. In particular, there is a problem that it cannot be used at intersections without traffic lights.

[0007] In the method of Patent Document 3, pedestrian information appears to be obtained using the GPS and map information of the mobile terminal, but the specific method of obtaining pedestrian information is not disclosed, and assuming that there are many vehicles and pedestrians, it will also be necessary to identify crosswalks, which is thought to place a heavy burden on the center and driving assistance devices in selecting and discarding information. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Publication No. 2023-50629 [Patent Document 2] Patent Publication No. 2021-174282 [Patent Document 3] Japanese Patent Application Laid-Open No. 2012-98872 Summary of the Invention

[0009] The present invention has been made in view of the above background, and aims to provide an information providing device etc. that can reliably notify an automatically driven vehicle of a pedestrian's expression of intent.

[0010] In order to achieve the above-mentioned object, the information providing device of the present invention is an information providing device installed in the vicinity of a crosswalk, and is equipped with a communication device that receives a signal indicating an intention to cross from a mobile terminal carried by a pedestrian, and a control device that notifies an autonomous vehicle of the reception of the intention indication signal via the communication device.

[0011] In the above-mentioned information providing device, the control device notifies the autonomous vehicle of the receipt of the intention expression signal via the communication device, so that the information providing device, which receives information directly from the mobile terminal, can notify the autonomous vehicle of the presence of a pedestrian intending to cross in a simple and reliable manner.

[0012] In order to achieve the above-mentioned objective, the information provision method of the present invention comprises receiving a signal indicating an intention to cross the street from a mobile terminal carried by a pedestrian by a communication device incorporated in an information provision device installed in the vicinity of a crosswalk, and notifying an autonomous vehicle of the receipt of the intention signal via the communication device.

[0013] In order to achieve the above-mentioned object, the information provision system of the present invention comprises an information provision device having a mobile terminal that transmits a signal indicating an intention to cross, a drive control device mounted on an autonomous vehicle, a communication device that is installed in the vicinity of a crosswalk and receives the intention signal from the mobile terminal, and a control device that notifies the drive control device of the reception of the intention signal via the communication device. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a conceptual diagram illustrating an installation state of an information providing system according to a first embodiment and information providing devices constituting the system. [Figure 2] FIG. 1 is a block diagram illustrating an example of the configuration of an information providing system. [Figure 3] FIG. 2 is a diagram illustrating the operation of the information providing device and the like according to the first embodiment. [Figure 4] FIG. 10 is a conceptual diagram illustrating an information providing system and an information providing device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] [First embodiment] An information providing device, an information providing method, and an information providing system according to a first embodiment of the present invention will be described below.

[0016] Fig. 1 is a conceptual diagram illustrating the installation state of an information providing device 10 according to the first embodiment and its surroundings. Fig. 2 is a block diagram illustrating an example of the configuration of an information providing system 100, which is a support system including the information providing device 10 and the like.

[0017] Referring to Figure 1, the information provision system 100 includes as its components an information provision device 10 provided in association with a road RA, a mobile terminal 30 carried by a pedestrian PA, and a drive control device 50 incorporated in an autonomous vehicle VE.

[0018] The information providing device 10 is installed on the shoulder or sidewalk of a road RA, which is a carriageway, around or near a pedestrian crossing PC that is provided independently.

[0019] On the illustrated road RA, where a pedestrian crossing PC is provided, there are also provided vehicle lights SV, which are signal lights for vehicles, and pedestrian lights SP, which are signal lights for pedestrians. The vehicle lights SV and pedestrian lights SP are also referred to as signal lights SG. The operation of the signal lights SG is controlled by a traffic signal controller 20. The signal lights SG and the traffic signal controller 20 are push-button traffic lights PS, which are provided with a push button (not shown) that requests the pedestrian lights SP to turn green.

[0020] At both ends of the crosswalk PC, there are a pair of connecting pedestrian areas Ja, Jb through which pedestrian PA waits in front of the crosswalk PC or passes when passing through the crosswalk PC. Between the pair of connecting pedestrian areas Ja, Jb is a crossing area AC where pedestrian PA may be present while crossing. The pair of connecting pedestrian areas Ja, Jb and the crossing area AC form a predetermined communication area CA that includes the periphery of the crosswalk PC. The predetermined communication area CA does not need to be strictly divided as shown in the figure; for example, the areas Ja, Jb, and AC may overlap each other.

[0021] In the example of Figure 1, in one connecting pedestrian area Ja, there is a pedestrian PA about to cross the crosswalk PC. Also, on the road RA, an autonomous vehicle VE, which is the vehicle to be assisted, is traveling and approaching the crosswalk PC and traffic lights SG.

[0022] An information providing device 10 provided near a traffic signal controller 20 is a component of an information providing system 100. The information providing device 10 communicates digital data with a mobile terminal 30 of a pedestrian PA via short-range two-way wireless communication. The information providing device 10 also communicates digital data with a drive control device 50 of an autonomous vehicle VE via two-way wireless communication. The information providing device 10 is a device designed for cases in which the pedestrian PA is, for example, a person with mobility restrictions, and the mobile terminal 30 is assumed to be carried by the person with mobility restrictions. Here, the concept of a person with mobility restrictions broadly includes people with visual impairments, the elderly, etc.

[0023] 2 is a block diagram illustrating the circuit structure of the information provision system 100. Of the information provision system 100, the information provision device 10 includes, for example, a microcomputer, and operates in cooperation with a mobile terminal 30 and a drive control device 50. The information provision device 10 provides various support information to a pedestrian PA carrying the mobile terminal 30 to assist them in crossing the pedestrian crossing PC, and also provides various traffic information to an autonomous vehicle VE, including the pedestrian PA's intention to cross.

[0024] The information providing device 10 includes a communication device 11 that enables wireless communication, and a control device 12 that performs necessary processing by transmitting and receiving data between the mobile terminal 30 and the drive control device 50 via the communication device 11. The control device 12 receives a signal indicating an intention to cross from the mobile terminal 30 via the communication device 11, and notifies the autonomously driven vehicle VE, i.e., the drive control device 50, of the reception of the signal indicating an intention to cross from the mobile terminal 30.

[0025] The communication device 11 includes a first communicator 11a that enables communication with the mobile terminal 30 using a short-range two-way wireless communication method, a second communicator 11b that enables communication with the autonomously driving vehicle VE using a wireless communication method using a communication network NT, and a third communicator 11c that enables wireless or wired communication with the traffic signal controller 20.

[0026] The first communicator 11a is a communicator that uses, for example, Bluetooth Low Energy (BLE) as a short-range bidirectional wireless communication method, but is not limited thereto. When the first communicator 11a is a BLE-based communicator, for example, the mobile terminal 30 serves as a central, which is a parent device, and the information providing device 10 serves as a peripheral, which is a child device, but the parent-child relationship may be reversed. In the BLE method, the 2.4 GHz band is divided into multiple channels and communication is performed by switching between the channels. Data communication is performed by the first communicator 11a of the information providing device 10 issuing a request to the mobile terminal 30. Specifically, in a first stage, the information providing device 10 performs one-way communication (broadcast communication) to recognize the information providing device 10, and the mobile terminal 30 searches for devices with which it can communicate by scanning the transmitted data. In a second stage, the mobile terminal 30 selects a connection target and issues a connection start request to the information providing device 10. Upon receiving the request, the information providing device 10 terminates the one-way communication and establishes a connection with the mobile terminal 30. Once the connection is established, data is exchanged over the data channel.

[0027] The first communicator 11a includes an antenna 11t and a signal detection circuit 11s, and enables the control device 12 to roughly estimate the direction and distance of the mobile terminal 30 relative to the information providing device 10. Note that incorporating multiple directional antennas 11t into the first communicator 11a facilitates estimation of the azimuth angle of radio waves, thereby improving the accuracy of detecting the direction and distance of the mobile terminal 30. In other words, the information providing device 10 can detect the approximate location of the mobile terminal 30. This allows the information providing device 10 to roughly determine whether the mobile terminal 30 is located within a predetermined communication area CA, and whether it is located within the connected walking areas Ja, Jb or the crossing area AC.

[0028] The second communicator 11b is a communicator that uses a short-range wireless communication method such as, but not limited to, LTE (Long Term Evolution) or DSRC (Dedicated Short-Range Communications). The second communicator 11b enables digital data communication between the information providing device 10 and the autonomously driven vehicle VE. If the second communicator 11b uses the LTE method, digital data communication using a wide-area communication network NT such as a mobile communication line becomes possible. If the second communicator 11b uses the DSRC method, digital data communication for direct ID authentication and communication between the information providing device 10 and the autonomously driven vehicle VE becomes possible. However, direct communication between the information providing device 10 and the autonomously driven vehicle VE is not required, and communication may be performed via the management server 102. In this case, the burden of selecting and discarding necessary information is reduced for the autonomously driven vehicle VE.

[0029] The second communicator 11b is not limited to one that uses LTE or DSRC, but may also use a mid-band wireless communication method typified by wireless LAN, a 700 MHz band wireless communication system, etc. Also, 4G or 5G may be used instead of LTE.

[0030] The third communication device 11c is specifically a wired line that enables commands and data to be sent and received between the information providing device 10 and the traffic signal controller 20. For example, when the control device 12 of the information providing device 10 receives a signal indicating an intention to cross from the mobile terminal 30, it needs to operate the push-button traffic signal PS so that the pedestrian PA can safely pass through the crosswalk PC. Upon receiving the intention signal, the control device 12 outputs a signal to the traffic signal controller 20 via the third communication device 11c, requesting that the pedestrian light SP be changed to a green light and requesting that the vehicular light SV be changed from a green light to a yellow light and then to a red light. When the control device 12 determines that the pedestrian PA has passed the crosswalk PC, it transmits a request cancellation signal to the traffic signal controller 20, allowing the push-button traffic signal PS to return to its original state.

[0031] The control device 12 has an arithmetic unit 12a and a storage device 12b. The arithmetic unit 12a includes a central processing unit (CPU) and the like. The storage device 12b stores various programs and data for operating the information providing device 10. Specifically, the storage device 12b stores basic data for operating the information providing device 10, data related to the crosswalk PC, data for operating in cooperation with the mobile terminal 30, the drive control device 50, and the like. The storage device 12b stores an information providing program 112a that receives a crossing intention signal from a mobile terminal carried by a pedestrian via the communication device 11 and notifies the autonomously driven vehicle of the reception of the intention signal via the communication device 11. The information providing program 112a includes a program for establishing communication with the mobile terminal 30, the drive control device 50, and the like, a program for providing data including traffic information and the like to the autonomously driven vehicle VE, a program for transmitting a response signal to the autonomously driven vehicle VE in response to the reception of the intention signal from the mobile terminal 30, and the like.

[0032] The storage device 12b is used as a non-transitory tangible storage medium for storing the information provision program 112a. The information provision program 112a may be provided as a computer program product recorded on a computer-readable storage medium RM, or may be provided as a computer program product downloadable from a server.

[0033] The arithmetic unit 12a reads and executes the information provision program 112a from the storage device 12b and performs various data processing operations to operate in cooperation with the mobile terminal 30, the drive control device 50, and the like. The arithmetic unit 12a functions as a determination unit 12c that makes various determinations based on information received from the mobile terminal 30 and the like, and provides necessary information to the autonomously driven vehicle VE and the mobile terminal 30. Specifically, the determination unit 12c receives a signal indicating an intention to cross from the mobile terminal 30, transmits a stop request signal corresponding to the intention signal to the autonomously driven vehicle VE, and, upon confirming that the pedestrian PA has completed crossing, transmits a stop request cancellation signal to the autonomously driven vehicle VE. At this time, the determination unit 12c can attach information regarding the general location of the pedestrian PA at the crosswalk PC and its surroundings to the stop request cancellation signal. The transmission of the stop request signal by the determination unit 12c may be a broadcast transmission or notification of information that does not specify the other party, such as information provision via the management server 102 described below. In this case, the autonomously driven vehicle VE selects and discards the necessary information.

[0034] The control device 12 or the determination unit 12c can determine that the pedestrian PA has started crossing or passed the crosswalk PC based on the detection output of the first communicator 11a. Specifically, when the determination unit 12c determines that the mobile terminal 30 is present in the connected pedestrian area Ja for the first time, the determination unit 12c starts wireless communication with the mobile terminal 30, tracks the movement of the mobile terminal 30, and receives an intention signal from the mobile terminal 30. When the mobile terminal 30 moves from the connected pedestrian area Ja to the crossing area AC, the determination unit 12c determines that the pedestrian PA has started crossing. Furthermore, when the mobile terminal 30 moves from the crossing area AC to the connected pedestrian area Jb, the determination unit 12c determines that the pedestrian PA has passed the crosswalk PC.

[0035] The storage device 12b stores, as crosswalk information to be provided to the autonomously driven vehicle VE, information identifying the crosswalk PC and information specifying the predetermined driving area AO that should be the target of a decision on whether to stop relative to the crosswalk PC. The determination unit 12c transmits the information identifying the crosswalk PC and information specifying the predetermined driving area AO that should be the target of a decision on whether to stop relative to the crosswalk PC to the autonomously driven vehicle VE as crosswalk information. The information identifying the crosswalk PC includes the ID information of the crosswalk PC and coordinate information or location information such as latitude and longitude. The information specifying the predetermined driving area AO is, for example, the ID information of the crosswalk PC plus coordinate information (plane or point) that defines the area. The predetermined driving area AO is set around the crosswalk PC and is set to an area of ​​the road RA that includes the traffic lights SG and the lanes leading to the crosswalk PC. In the example shown in FIG. 1, a road RA with one lane in each direction is shown, but in the case of a road RA with two lanes in each direction, the predetermined driving area AO will have a width of two lanes. Furthermore, the length of the predetermined driving area AO can be set taking into consideration the speed limit of the road RA, etc. Information identifying the crosswalk PC and crosswalk information specifying the predetermined driving area AO may be provided widely without specifying the recipient of the information in advance, or may be provided together with transmitting a stop request signal to the autonomously driven vehicle VE. The autonomously driven vehicle VE can select and discard the information necessary for its own vehicle based on the crosswalk information related to the crosswalk PC and the predetermined driving area AO, and can selectively receive only response signals related to the autonomously driven vehicle VE, such as stop request signals and stop request cancellation signals.

[0036] The information providing device 10 can be communicatively connected to a management server 102 via a communication network NT, can transmit management information including the operating status of the information providing device 10 to the management server 102, and can receive information necessary for operation from the management server 102. The management information can include ID information of the information providing device 10, crosswalk information related to the crosswalk PC and the predetermined driving area AO, information about the intentions of pedestrians PA, as well as information about the position and orientation of the mobile terminal 30, for example. Information necessary for operation of the information providing device 10 includes, for example, information about the crosswalks managed by the information providing device 10 and the positions of autonomously driven vehicles VE present in the vicinity thereof.

[0037] Here, the management server 102 functions as a relay between the information providing device 10 and the drive control device 50 to send and receive necessary information between them, but it may also provide shared information to the information providing device 10 and the drive control device 50 to assist in sending and receiving necessary information directly between the information providing device 10 and the drive control device 50.

[0038] The mobile terminal 30 is a terminal device carried by a pedestrian PA, a user of the information provision system 100, and is specifically a computer called a smartphone or tablet PC. It receives commands from the pedestrian PA and provides information to the pedestrian PA. The mobile terminal 30 is basically intended to be carried by a person with mobility restrictions, such as a visually impaired person or the elderly. The mobile terminal 30 includes a control unit 31, a communication unit 32, a direction identification unit 33, a position detection unit 34, a user interface unit 35, and a storage unit 39.

[0039] The control unit 31 comprehensively controls the operations of the communication unit 32, the direction identification unit 33, the position detection unit 34, the user interface unit 35, and the storage unit 39, and causes the mobile terminal 30 to function.

[0040] The communication unit 32 enables the mobile terminal 30 to connect to an external network via a wireless access network, core network, etc. (not shown), and enables calls with other mobile terminals, etc., and downloads information from websites. The communication unit 32 also supports the BLE system, enabling wireless data communication with the information providing device 10 via the BLE system. In other words, the communication unit 32 enables the mobile terminal 30 to receive information related to a pedestrian crossing PC present in its vicinity, specifically, the presence of an autonomous vehicle VE approaching the pedestrian crossing PC, and signal information (specifically, the light color) of a signal lamp SG associated with the pedestrian crossing PC.

[0041] The orientation identification unit 33 includes a magnetic sensor that detects geomagnetism and a detection circuit that processes the output from the magnetic sensor, and can detect the direction of the tip of the mobile terminal 30 held by the pedestrian PA as its own orientation. The own orientation detected by the orientation identification unit 33 corresponds to an azimuth angle on a map. The own orientation is an indicator of the direction in which the pedestrian PA is heading.

[0042] The position detection unit 34 includes a receiver that receives radio waves transmitted from, for example, GPS, GNSS, or other satellite positioning systems, and a signal processing circuit that processes signals output from the receiver, and detects the current position of the mobile terminal 30 as a coordinate position (latitude and longitude). The current position of the mobile terminal 30 detected by the position detection unit 34 can be used to confirm the position of the pedestrian PA in the vicinity of the information providing device 10, or the position of the pedestrian PA in the connecting walking areas Ja, Jb or the crossing area AC.

[0043] The user interface unit 35 includes a display unit 35a such as a touch panel, an audio unit 35b including a speaker and a microphone, and a vibration unit 35c that generates vibrations in a desired pattern. The display unit 35a is used to detect gestures using one or more fingers. The audio unit 35b is used to provide audio guidance to the pedestrian PA and to receive audio instructions from the pedestrian PA.

[0044] The storage unit 39 stores various programs and data for operating the mobile terminal 30. Specifically, the storage unit 39 stores a program for establishing communication with an information providing device 10 present in the vicinity of the mobile terminal 30 and acquiring support information related to a crosswalk PC, a program for notifying a pedestrian PA of the presence of a crosswalk PC when one is present, a program for confirming whether the pedestrian PA wishes to cross and accepting an indication of intention to cross, a program for transmitting an indication of intention to cross to the information providing device 10, and the like. These programs or the application software corresponding thereto are provided as, for example, computer program products that can be downloaded from a server, but are not limited to this.

[0045] The autonomously driven vehicle VE includes a drive control device 50, a drive mechanism 61, and a measurement device 62. The drive control device 50 includes a user IF device 51, a communication device 52, and a control device 53.

[0046] In the drive control device 50, the user IF device 51 includes a touch panel display, a speaker, a microphone, etc. The communication device 52 communicates digital data with the information providing device 10 via the communication network NT. The control device 53 communicates with the outside world and controls the drive mechanism 61, which includes the engine, steering, brakes, turn signals, etc., to perform appropriate driving operations. In particular, to enable autonomous driving control, the control device 53 includes an autonomous driving control unit 53a that accelerates, decelerates, and adjusts the steering angle of the autonomous vehicle VE via the drive mechanism 61. The autonomous driving control unit 53a can generate future position information about the autonomous vehicle VE itself, for example. The autonomous driving control unit 53a can also compare the future position information of the autonomous vehicle VE with predicted position information of a moving object ahead and determine whether there will be a collision between the autonomous vehicle VE and the moving object ahead. The measurement device 62 includes a positioning device using GNSS, various sensors such as LiDAR and cameras, a signal processing circuit, etc. The measurement device 62 allows the autonomous driving control unit 53a to determine not only its own position but also the position of the moving object ahead. The forward moving body is a preceding vehicle, a pedestrian, etc. The control device 53 receives a response signal including a stop request signal and crosswalk information regarding a crosswalk PC, etc., that exists ahead in the path via the communication device 52. When the control device 53 receives a stop request signal from the information providing device 10, it determines that a pedestrian PA, who is a movement restricted person, exists on or near the path, and performs a stopping operation in response to the stop request signal.

[0047] 3A and 3B are diagrams illustrating the operation of the information providing system 100 including the information providing device 10 of the first embodiment. Fig. 3A shows the operation of the mobile terminal 30, Fig. 3B shows the operation of the information providing device 10, and Fig. 3C shows the operation of the drive control device 50.

[0048] 3A, when the mobile terminal 30 is started, the control unit 31 reads and executes a pedestrian assistance program. The control unit 31 checks in advance using the communication unit 32 whether BLE communication is possible, i.e., whether the mobile terminal 30 is within a predetermined communication area (step S11). If BLE communication is possible, i.e., if the mobile terminal 30 is within the predetermined communication area (Yes in step S11), the control unit 31 (1) executes a presence notification to the information providing device 10 and (2) displays a display confirming the pedestrian PA's intention to cross (step S12). Specifically, the control unit 31 transmits information such as its own ID, location (current location), and current time to the information providing device 10 via the communication unit 32. The control unit 31 also notifies the information providing device 10 of the presence of the pedestrian crossing PC and asks the pedestrian PA to confirm their intention to cross the crosswalk, as audio information, via the audio unit 35b of the user interface unit 35. At this time, the display unit 35a of the user interface unit 35 displays or provides audio guidance such as "Crossing" or "Crossing Notification," and accepts an input of the pedestrian PA's intention to cross, such as tapping the "Crossing" display area or uttering "Crossing." At this time, the control unit 31 may also include a selection or input of information regarding the crossing direction (e.g., "Toward XX"). If the pedestrian PA indicates his / her intention to cross (Yes in step S13), the control unit 31 notifies the pedestrian PA that the indication of intention has been received and transmits an intention indication signal corresponding to the pedestrian PA's intention to cross to the information providing device 10 (step S14). In this case, the display unit 35a displays "Crossing," and the audio unit 35b outputs audio guidance such as "You have been notified that you are crossing." Note that if the pedestrian PA does not indicate his / her intention to cross (No in step S13), the control unit 31 returns to the beginning and checks whether or not the pedestrian PA is within the predetermined communication area (step S11). If the pedestrian PA is already within the predetermined communication area and BLE communication has been established, the control unit 31 maintains the BLE communication. After transmitting the intention indication signal to the information providing device 10 in step S14, the control unit 31 checks whether the pedestrian PA has passed through the crosswalk PC based on the location determination result using the first communicator 11a and the current location information provided from the mobile terminal 30 (step S15).If the pedestrian PA has not passed through the crosswalk PC (No in step S15), the process returns to step S12 to notify the pedestrian PA of his / her presence and to display a message confirming his / her intention. The above process (steps S12 to S15) is repeated as necessary. For example, in step S12, the message confirmation can be omitted if the number of times reaches a predetermined number of times (one or more).

[0049] When the information provision device 10 is started, the control device 12 reads and executes the information provision program 112a. When the information provision program 112a is executed, the control device 12, i.e., the arithmetic device 12a, performs initial processing and then starts the assistance processing shown in Fig. 3(B). As initial processing, the control device 12 provides, in advance to the autonomously driven vehicle VE and the management server 102, as crosswalk information, ID information that identifies the crosswalk PC and information that specifies a predetermined traveling area AO that should be the target for determining whether to perform a stopping operation for the crosswalk PC.

[0050] In the assistance process shown in FIG. 3(B), the control device 12 starts broadcast communication using the first communicator 11a (step S21). Thereafter, the control device 12 checks whether BLE communication is possible, that is, whether there is a terminal response (step S22). If BLE communication is possible, that is, if there is a terminal response (Yes in step S22), the control device 12 receives information such as the ID, current location, and current time of the mobile device 30 from the mobile device 30 via the first communicator 11a. Thereafter, the control device 12 checks whether a signal indicating an intention to stop the mobile device 30 is received from the mobile device 30 (step S23). If the signal indicating an intention is received from the mobile device 30 (Yes in step S23), the control device 12 transmits a stop request signal to the drive control device 50 of the autonomously driven vehicle VE (step S24). At this time, the control device 12 adds information identifying the crosswalk PC to the stop request signal and transmits it to the autonomously driven vehicle VE. The control device 12 can also add a position where the autonomously driven vehicle VE should stop to the information identifying the crosswalk PC. This allows the autonomously driven vehicle VE to avoid the pedestrian PA and stop at an appropriate position. The control device 12 can also add information specifying the predetermined driving area AO to the information identifying the crosswalk PC. This makes it easy for the autonomously driven vehicle VE to selectively receive only the relevant stop request signal. In parallel with the above, when the control device 12 receives a signal indicating an intention to cross from the mobile terminal 30, it outputs a signal requesting that the pedestrian lights SP be changed to a green light and that the vehicular lights SV be changed from a green light to a yellow light and then to a red light. Next, the control device 12 checks whether the mobile terminal 30 has passed the crosswalk PC (step S25), and if the mobile terminal 30 has not passed the crosswalk PC (No in step S25), it repeats the same check. When mobile terminal 30 has passed crosswalk PC (Yes in step S25), specifically, when it is determined that mobile terminal 30 has moved from crossing area AC to connecting walking area Jb, or when the level of the response signal from mobile terminal 30 gradually drops to a predetermined level or below, control device 12 transmits a stop request cancellation signal to drive control device 50 of autonomously driven vehicle VE (step S26). This causes autonomously driven vehicle VE to resume its scheduled travel.At this time, the control device 12 returns the pedestrian lights SP and the vehicle lights SV to their original state of blue lighting, etc. The above processing (steps S21 to S26) is repeated as necessary.

[0051] Referring to FIG. 3(C), in the drive control device 50, the control device 53 controls the drive mechanism 61 to perform appropriate driving operations, causing the automatically driven vehicle VE to drive along a planned route. The control device 53 checks the situation ahead, and in this embodiment, in particular, collects information about a predetermined driving area AO where a stopping operation is required for the road RA on which the automatically driven vehicle VE is traveling. The control device 53 checks whether information about the predetermined driving area AO has been acquired, and whether the automatically driven vehicle VE is present within the predetermined driving area AO (step S31). If the automatically driven vehicle VE is not present within the predetermined driving area AO (No in step S31), the control device 53 repeats the same check. If the control device 53 acquires information about the predetermined driving area AO and determines that the automatically driven vehicle VE is present within the predetermined driving area AO (Yes in step S31), the control device 53 responds to the information providing device 10 by transmitting information about the presence of the automatically driven vehicle together with information identifying the automatically driven vehicle to the information providing device 10 (step S32). This allows the information providing device 10 to monitor whether the automatically driven vehicle VE is currently within the predetermined driving area AO. Next, the control device 53 checks whether or not it has received a stop request signal from the information providing device 10 (step S33). If the control device 53 has not received a stop request signal (No in step S33), it returns to step S31 to check whether or not the automatically driven vehicle VE is within the predetermined driving area AO. However, if the control device 53 has received a stop request signal (Yes in step S33), it determines whether or not to execute a stopping action in response to the stop request signal (step S34). For example, if the distance to the crosswalk PC is shorter than the braking distance, if a following vehicle is nearby, or if stopping the vehicle would be inconvenient and cause an accident, the control device 53 determines not to execute a stopping action. If the control device 53 determines not to execute a stopping action (No in step S34), it returns to step S31. However, if the control device 53 determines to execute a stopping action (Yes in step S34), it stops the driving operation of the drive mechanism 61 (step S35). At this time, the control device 53 uses the measuring device 62 to stop the automatically driven vehicle VE in front of the stop line just before the crosswalk PC, or, if there is a preceding vehicle, stops the automatically driven vehicle VE after ensuring an appropriate distance behind the preceding vehicle.In parallel with such stopping operation or preparation for stopping, the control device 53 transitions its driving operation to an alert mode in which safety standards for the processing of driving speed and sensor output are increased, assuming the approach of a movement-restricted person. The control device 53 also displays on the user IF device 51 that a movement-restricted pedestrian PA is on or near the path, and notifies the user of a stop before the crosswalk PC. The control device 53 then checks whether a stop request cancellation signal has been received from the information providing device 10 (step S36). The control device 53 waits until the stop request cancellation signal is received (No in step S36). If the stop request cancellation signal is received (Yes in step S36), the control device 53 cancels the stop of the autonomously driven vehicle VE and resumes the scheduled travel of the autonomously driven vehicle VE (step S37). The above processing (steps S31 to S37) is repeated as necessary. Although not described above, the control device 53 monitors the state of the vehicle lights SV, and if the vehicle lights SV are lit in at least red, the control device 53 executes a stop of the autonomously driven vehicle VE. At this time, the control device 53 prioritizes following the stop request signal from the information providing device 10 over the display state of the vehicle lights SV. For example, even if the vehicle lights SV are still in a blue lighting state, the control device 53 stops the automatically driven vehicle VE when it receives the stop request signal.

[0052] In the above, the predetermined communication area CA is divided into connected walking areas Ja, Jb and crossing area AC, but such divisions may also be eliminated. In this case, for example, when mobile terminal 30 enters the predetermined communication area CA, control device 12 becomes able to communicate with mobile terminal 30 via communication device 11 and receives an intention expression signal from mobile terminal 30. Furthermore, when mobile terminal 30 leaves the predetermined communication area CA, control device 12 can no longer detect a response from mobile terminal 30 via communication device 11. Therefore, control device 12 determines that the pedestrian PA of interest has completed passage across the crosswalk PC, and transmits a stop request cancellation signal to automatically driven vehicle VE.

[0053] Furthermore, the control device 12 can also use information about the current position, i.e., the coordinate position, acquired from the mobile terminal 30, without using the position detection function of the communication device 11. In this case, if the coordinate position acquired from the mobile terminal 30 is within the opposite area of ​​the crosswalk PC (connected walking area Jb in the case of FIG. 2), it is determined that the mobile terminal 30 has reached the opposite area of ​​the crosswalk PC, and that completion of passage of the pedestrian PA across the crosswalk PC has been detected.

[0054] Furthermore, although the above description has been given of a crosswalk PC accompanied by a push-button traffic light PS, the push-button traffic light PS is not essential and can be omitted. In this case as well, when the information providing device 10 receives a signal indicating an intention to cross from the mobile terminal 30, it transmits a stop request signal or the like to the automatically driven vehicle VE approaching the crosswalk PC.

[0055] Even when a sensor-based traffic light or a time-difference traffic light is provided instead of the push-button traffic light PS, the information provision device 10 and the information provision system 100 of the above embodiment can be applied to notify the automatically driven vehicle VE of the receipt of an intention signal from the mobile terminal 30. The vehicle lighting device SV is not limited to a state in which it changes from a lit green to a lit yellow to a lit red, but may also be in a flashing yellow state, and in this case too, the information provision device 10 can notify the automatically driven vehicle VE of the receipt of an intention signal from the mobile terminal 30.

[0056] The information providing device 10 of the first embodiment described above is an information providing device 10 installed in the vicinity of a crosswalk PC, and includes a communication device 11 that receives a signal indicating an intention to cross from a mobile terminal 30 carried by a pedestrian PA, and a control device 12 that notifies the autonomously driven vehicle VE of the reception of the intention signal via the communication device 11.

[0057] In the above-mentioned information providing device 10, the control device 12 notifies the automatically driven vehicle VE of the receipt of the intention expression signal via the communication device 11, so that the information providing device 10, which receives information directly from the mobile terminal 30, can notify the automatically driven vehicle VE of the presence of a pedestrian PA intending to cross in a simple and reliable manner.

[0058] Second Embodiment The following describes the information providing device and the like according to the second embodiment. In the second embodiment, descriptions of matters similar to those in the first embodiment and the like will be omitted.

[0059] Referring to FIG. 4, an information providing device 10 of the second embodiment is installed adjacent to an intersection CS where roads RA intersect.

[0060] Of the roads RA, one extending in the vertical direction of the drawing is referred to as the main road RA1, and the other road intersecting the main road RA1 is referred to as the secondary road RA2. At the intersection CS, there are vehicle lights SVa, which are signal lights for vehicles, and pedestrian lights SPa, which are signal lights for pedestrians, for the main road RA1. At the intersection CS, there are vehicle lights SVb and pedestrian lights SPb, which are signal lights for the secondary road RA2. The vehicle lights SVa, SVb and the pedestrian lights SPa, SPb are also referred to as signal lights SG.

[0061] Intersection CS has four islands Ia, Ib, Ic, and Id, which are intended as waiting areas (at the foot of the crosswalk) for pedestrians PA before crossing main road RA1 or secondary road RA2. Pedestrian lights SPa are installed at the first crosswalk PCa, which connects the two islands Ia and Ib on either side of main road RA1, and the second crosswalk PCb, which connects the two islands Ic and Id. Pedestrian lights SPb are installed at the crosswalk PCc, which connects the two islands Ia and Ic on either side of secondary road RA2, and the crosswalk PCd, which connects the two islands Ib and Id.

[0062] In this case, the four islands Ia, Ib, 1c, and Id correspond to the connected walking areas Ja and Jb in Figure 1, and the four islands Ia, Ib, 1c, and Id are connected by four crosswalks PCa, PCb, PCc, and PCd or the crossing area AC. In other words, the predetermined communication area CA includes the islands Ia, Ib, 1c, and Id and the crossing area AC.

[0063] Although only two predetermined driving areas AO corresponding to the main road RA1 are shown in FIG. 4, predetermined driving areas AO are set for each of the four lanes approaching the intersection CS.

[0064] As shown in the figure, when pedestrian PA is on island Ia, pedestrian PA may cross crosswalk PCa or cross crosswalk PCc. Furthermore, when autonomously driven vehicle VE is approaching intersection CS on main road RA1 from the left side of the figure, autonomously driven vehicle VE may plan to take straight-through route C0, left-turn route C1, or right-turn route C2. Therefore, if pedestrian PA intends to cross crosswalk PCa, regardless of the state of traffic lights SG, a collision can occur only if autonomously driven vehicle VE plans to take straight-through route C0. Therefore, a stop request signal should be transmitted to autonomously driven vehicle VE only if such a condition is met (e.g., if the corresponding crossing direction is selected). Furthermore, if pedestrian PA intends to cross crosswalk PCc, even if autonomously driven vehicle VE follows the state of traffic lights SG, a collision can occur if autonomously driven vehicle VE plans to take left-turn route C1 .... Furthermore, when pedestrian PA is on island Ib and intends to cross crosswalk PCd, a collision may occur if the autonomous vehicle VE plans to take right-turn route C2, so a stop request signal should be sent to the autonomous vehicle VE only in such a case.

[0065] Pedestrian PA can decide whether to cross the crosswalk PCa or the crosswalk PCc based on the specific situation. When pedestrian PA has multiple options for crosswalks PCa and PCc, which crosswalk PCa or PCc to select can be determined, for example, by (1) confirming the pedestrian's intention by making an inquiry interactively via mobile terminal 30, (2) estimating the pedestrian's orientation detected by mobile terminal 30 or the planned route, which is route information recorded in mobile terminal 30, or (3) determining whether the coordinate position of mobile terminal 30 is closer to the island Ia side of crosswalk PCa or the island Ia side of crosswalk PCc on island Ia.

[0066] If it is not clear which crosswalk the pedestrian PA will select, information about multiple crosswalks where the pedestrian PA may cross can be transmitted to the autonomously driven vehicle VE, either alone or together with a stop request signal.As a specific example of operation, for example, in the initial stage, information identifying two crosswalks PCa and PCc can be transmitted to the autonomously driven vehicle VE, and once the crossing route has been determined, information identifying one of the crosswalks PCa can be transmitted to the autonomously driven vehicle VE together with a stop request signal.

[0067] To determine whether a situation requires the information providing device 10 to transmit a stop request signal to the automatically driven vehicle VE, the information providing device 10 can acquire information about the planned route from the automatically driven vehicle VE, and transmit a stop request signal to the automatically driven vehicle VE only when there is an intersection between the route of the pedestrian PA and the route of the automatically driven vehicle VE. Furthermore, if the information providing device 10 determines that the pedestrian PA has started crossing, it can also transmit a stop request signal to the automatically driven vehicle VE along with a signal specifying which of the crosswalks PCa, PCb, PCc, or PCd the pedestrian PA is crossing. In this case, the automatically driven vehicle VE will select and discard information related to its own route.

[0068] Although detailed explanation will be omitted, when sending a stop request signal to the autonomous vehicle VE, a request can be sent to the traffic signal controller 20 to change the display state so as not to interfere with the walking of the pedestrian PA.

[0069] The above explanation has been given of an example in which a traffic light SG is installed at an intersection CS, but even if there is no traffic light SG at the intersection CS, the information providing device 10 operates in cooperation with the mobile terminal 30 and the autonomously driven vehicle VE.

[0070] In the information provision device 10 of the second embodiment described above, when there are multiple crosswalk options, the determination unit of the control device confirms the pedestrian's intention by inquiring about the options from the mobile terminal via the communication device, or determines the actual behavior from the coordinate position, etc. In this case, a stop request signal can be transmitted only when the path of the pedestrian PA and the path of the autonomously driven vehicle VE intersect, eliminating the need to respond excessively to stop request signals.

[0071] 〔others〕 The present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit and scope of the present invention.

[0072] The intersection CS to which the information providing device 10 is applied is not limited to a four-way intersection, but may be a three-way intersection, a five-way intersection, or the like.

[0073] In the above explanation, it is assumed that the pedestrian PA, who is a person with restricted mobility, carries the mobile terminal 30. However, it is also conceivable that a caregiver is present. In this case, the mobile terminal carried by the caregiver can be provided with the same functions as the mobile terminal 30 of the pedestrian PA. The information providing device 10 can treat the mobile terminal carried by the caregiver and the mobile terminal 30 carried by the pedestrian PA equally. In this case, if either of the two mobile terminals outputs an intention expression signal, the information providing device 10 transmits a stop request signal to the automatically driven vehicle VE. [Explanation of symbols]

[0074] 10...information providing device, 11...communication device, 11s...signal detection circuit, 11t...antenna, 12...control device, 12a...arithmetic device, 12b...storage device, 12c...judgment unit, 20...traffic signal controller, 30...portable terminal, 31...control unit, 32...communication unit, 33...orientation identification unit, 34...position detection unit, 35...user interface unit, 35a...display unit, 35b...audio unit, 35c...vibration unit, 39...memory unit, 50...drive control device, 51...user IF device, 52...communication device, 53...control device, 53a...automatic driving control unit, 61...drive mechanism, 62...measuring device, 100... Information provision system, 102... management server, 112a... information provision program, AC... crossing area, AO... predetermined driving area, C0... straight route, C1... left turn route, C2... right turn route, CA... predetermined communication area, CS... intersection, Ia, Ib, 1c, Id... island, Ja, Jb... connected walking area, NT... communication network, PA... pedestrian, PC... crosswalk, PCa, PCb, PCc, PCd... crosswalk, PS... traffic light, RA... road, RM... storage medium, SG... signal light, SV, SVa, SVb... vehicle light, SP, SPa, SPb... pedestrian light, VE... autonomously driven vehicle

Claims

1. An information providing device installed near a pedestrian crossing, a communication device that receives a signal indicating an intention to cross from a mobile device carried by a pedestrian; a control device that notifies the autonomous driving vehicle of receipt of the intention expression signal via the communication device; An information providing device comprising:

2. The determination unit of the control device adds information specifying the crosswalk to the intention expression signal and transmits it. The information providing device according to claim 1 .

3. the determination unit of the control device designates a predetermined travel area that is defined for the crosswalk and is a target for stopping, and notifies the reception of the intention expression signal. The information providing device according to claim 1 .

4. The communication device performs direct wireless communication with the mobile terminal located within a predetermined communication area including the periphery of the crosswalk. The information providing device according to claim 1 .

5. the communication device comprises a plurality of antennas; 5. The information providing device according to claim 4.

6. The intention signal is a request to stop the autonomously driven vehicle. The information providing device according to claim 1 .

7. the determination unit of the control device detects that the mobile terminal has completed passing through the crosswalk as the completion of passage, and when the completion of passage is detected, cancels the stop request corresponding to the intention expression signal.

7. The information providing device according to claim 6.

8. the communication device performs short-range two-way wireless communication with the mobile terminal; the determination unit of the control device determines that the passage has been completed when the communication device is no longer able to detect a response from the mobile terminal. The information providing device according to claim 7.

9. The determination unit of the control device acquires information about coordinate positions from the mobile device via the communication device, and determines that the passage has been completed when the mobile device reaches an opposite area of ​​the pedestrian crossing. The information providing device according to claim 7.

10. When there are multiple options for the crosswalk, the determination unit of the control device inquires about the options to the mobile terminal via the communication device. The information providing device according to claim 1 .

11. the determination unit of the control device, when there are multiple options for the crosswalk, refers to the spatial information acquired from the mobile device and selects a specific crosswalk; The information providing device according to claim 1 .

12. The spatial information includes at least one of coordinate position, orientation, and route information of the mobile device. The information providing device according to claim 11.

13. A communication device incorporated in an information providing device installed around the crosswalk receives a signal indicating an intention to cross from a mobile device carried by a pedestrian; notifying the autonomous driving vehicle of receipt of the intention expression signal via the communication device; An information providing method comprising:

14. a mobile terminal that transmits a signal indicating intention to cross; a drive control device mounted on an autonomous driving vehicle; an information providing device that is installed in the vicinity of the crosswalk and includes a communication device that receives the intention expression signal from the mobile terminal, and a control device that notifies the drive control device of the reception of the intention expression signal via the communication device; An information provision system comprising:

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