A system for mutual recognition between autonomous vehicles and pedestrians.

Abstract

This invention provides a novel mutual recognition system 1 that achieves a good balance between detection accuracy and detection processing speed, enabling both autonomous vehicles 60 and pedestrians H to ensure safety. [Solution] In the mutual recognition system 1 between an autonomous vehicle 60 and a pedestrian H, a beacon-embedded sensor unit 20 installed on the road 10 and an autonomous vehicle 60 equipped with a first beacon receiver 64 and an on-board device 66 are provided. When the beacon-embedded sensor unit 20 detects a pedestrian H, it transmits a beacon signal as detection information to the first beacon receiver 64. The first beacon receiver 64 receives the beacon signal from the beacon-embedded sensor unit 20 and notifies the on-board device 66 that it has received the beacon signal. The on-board device 66 then notifies the driver of the autonomous vehicle 60 based on the notified detection information.

Description

Technical Field

[0001] This disclosure relates to a mutual recognition system for autonomous vehicles and pedestrians.

Background Art

[0002] For example, in the driving support system disclosed in Patent Document 1, terminals of pedestrians and vehicles acquire GNSS position information, and when there is a risk of contact, the vehicle terminal issues a warning to the driver.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, pedestrian detection in conventional autonomous vehicles such as in Patent Document 1 has problems such as the accuracy limit of GNSS (such as GPS), the instability of detection accuracy due to environmental factors, and the assumption of pedestrian mobile terminals.

[0005] This disclosure has been made in consideration of such points, and provides a novel mutual recognition system that can achieve both detection accuracy and detection processing speed in a balanced manner, and enable both autonomous vehicles and pedestrians to ensure safety.

Means for Solving the Problems

[0006] The mutual recognition system of this disclosure is a mutual recognition system for autonomous vehicles and pedestrians, including a beacon-integrated sensor unit installed on a road, an autonomous vehicle equipped with a first beacon receiver and an in-vehicle device, and When the beacon-embedded sensor unit detects a pedestrian, it transmits a beacon signal to the first beacon receiver as detection information. The first beacon receiver receives a beacon signal from the beacon-embedded sensor unit and notifies the in-vehicle device that it has received the beacon signal. The in-vehicle device is characterized by notifying the driver of the autonomous vehicle based on the detected information that has been notified. It is characterized by the following:

[0007] In the mutual recognition system disclosed herein, The beacon-embedded sensor unit may transmit a beacon only when it detects a pedestrian.

[0008] In the mutual recognition system disclosed herein, The beacon-integrated sensor unit may be powered by a solar cell.

[0009] In the mutual recognition system disclosed herein, Multiple of the aforementioned beacon-embedded sensor units are installed before and in the middle of sidewalks and crosswalks. Each of the aforementioned beacon-embedded sensor units may include a motion sensor.

[0010] In the mutual recognition system disclosed herein, The in-vehicle device may also receive identification information of the beacon signal from the first beacon receiver and, based on the received identification information, notify the driver of the autonomous vehicle of the pedestrian's stopping or moving information.

[0011] In the mutual recognition system disclosed herein, The in-vehicle device may, when providing notification, request manual intervention from the driver through visual or auditory warnings.

[0012] In the mutual recognition system disclosed herein, The in-vehicle device may perform a safety check based on the reception status of the beacon signal after detecting the completion of the driver's manual intervention.

[0013] In the mutual recognition system of the present disclosure, When the reception of the beacon signal is interrupted for a predetermined time, the in-vehicle device may notify the driver of the release of the manual intervention.

[0014] In the mutual recognition system of the present disclosure, The in-vehicle device may perform the operation of the autonomous vehicle according to the received identification information.

[0015] In the mutual recognition system of the present disclosure, The in-vehicle device may perform deceleration control of the autonomous vehicle by the autonomous driving system based on the intensity change of the received beacon signal.

[0016] In the mutual recognition system of the present disclosure, When the reception intensity of the beacon signal exceeds a predetermined value, the in-vehicle device may execute a complete stop of the autonomous vehicle by the autonomous driving system.

[0017] In the mutual recognition system of the present disclosure, After the reception of the beacon signal is interrupted for a predetermined time, the in-vehicle device may perform an automatic restart of the autonomous vehicle after confirming the safety of the surroundings.

[0018] In the mutual recognition system of the present disclosure, The beacon built-in sensor unit may include a direction sensor and may detect the moving direction of a pedestrian.

[0019] In the mutual recognition system of the present disclosure, The autonomous vehicle includes a beacon transmitter, A second beacon receiver and a notification device are installed on the road, The beacon transmitter transmits a beacon signal as proximity information to the second beacon receiver, The second beacon receiver notifies the received proximity information to the notification device, When receiving the notification of the proximity information, the notification device may notify the pedestrian.

[0020] Furthermore, the mutual recognition system described in this disclosure is A mutual recognition system for autonomous vehicles and pedestrians, Autonomous vehicles equipped with beacon transmitters, A second beacon receiver and notification device installed on the road, Includes, The beacon transmitter transmits a beacon signal to the second beacon receiver as proximity information. The second beacon receiver notifies the notification device of the received proximity information, The aforementioned notification device is characterized by notifying pedestrians when it receives notification of approaching information.

[0021] In the mutual recognition system disclosed herein, The second beacon receiver may be powered by a solar cell.

[0022] In the mutual recognition system disclosed herein, The autonomous vehicle may include multiple beacon transmitters and control which of the multiple beacon transmitters to activate depending on the location of the road.

[0023] In the mutual recognition system disclosed herein, Multiple second beacon receivers may be installed, and the control unit of the notification device may determine the speed, position, or direction of travel of the autonomous vehicle.

[0024] In the mutual recognition system disclosed herein, The notification device may, after receiving a beacon signal from the autonomous vehicle, notify pedestrians of the approach of the autonomous vehicle by turning on or flashing lights installed on the road, or by using sound from a speaker.

[0025] In the mutual recognition system disclosed herein, If the second beacon receiver notifies the notification of a change in the received strength of the beacon signal, the notification device may terminate the notification to the pedestrian.

[0026] In the mutual recognition system disclosed herein, A beacon-embedded sensor unit is installed on the aforementioned road. The aforementioned autonomous vehicle includes a first beacon receiver and an on-board device, When the beacon-embedded sensor unit detects a pedestrian, it transmits a beacon signal to the first beacon receiver as detection information. The first beacon receiver receives a beacon signal from the beacon-embedded sensor unit and notifies the in-vehicle device that it has received the beacon signal. The in-vehicle device may notify the driver of the autonomous vehicle based on the detected information it has received.

[0027] In the mutual recognition system disclosed herein, Multiple second beacon receivers and multiple edge computers optimally positioned near them are installed on the aforementioned road. The plurality of second beacon receivers acquire information regarding the position and movement speed of multiple pedestrians by identifying the received strength of the beacon signal from the beacon-embedded sensor unit. The edge computer works in conjunction to reduce the size of the beacon signal, processes information from the multiple second beacon receivers through parallelization and load balancing, and makes a priority determination based on the information regarding the position and movement speed of multiple pedestrians from the multiple second beacon receivers. Based on the priority determination performed between the edge computers, the notification device may prioritize issuing the alarm with the highest priority.

[0028] In the mutual recognition system disclosed herein, The aforementioned edge computers are interconnected using a high-speed data transfer protocol. If one edge computer fails to function, an adjacent edge computer may automatically take over processing.

[0029] In the mutual recognition system disclosed herein, On the aforementioned road, a second sensor is installed near the second beacon receiver. The second sensor may notify the autonomous vehicle and pedestrians if it detects a vehicle that is not equipped with a beacon transmitter.

[0030] In the mutual recognition system disclosed herein, If the second beacon receiver, the beacon-embedded sensor unit, the first beacon receiver, or the second sensor detects a priority signal from an emergency vehicle, the in-vehicle device may notify the driver of the approaching emergency vehicle with priority over other notifications.

[0031] In the mutual recognition system disclosed herein, If the second beacon receiver, the beacon-embedded sensor unit, the first beacon receiver, or the second sensor detects a priority signal from an emergency vehicle, the notification device may notify the pedestrian of the approaching emergency vehicle with priority over other notifications. [Effects of the Invention]

[0032] According to this disclosure, it is possible to provide a novel mutual recognition system that ensures the safety of both autonomous vehicles and pedestrians while achieving a good balance between detection accuracy and detection processing speed. [Brief explanation of the drawing]

[0033] [Figure 1] This diagram schematically shows the configuration of the mutual recognition system according to the embodiment of the disclosure. [Figure 2] This figure shows an example of the processing flow by each component of the mutual recognition system according to the embodiments of this disclosure. [Figure 3] This figure shows another example of the processing flow by each component of the mutual recognition system according to the embodiments of this disclosure. [Modes for carrying out the invention]

[0034] Existing autonomous vehicles operate using on-board LiDAR cameras, GNSS satellite positioning, and map information. These systems are prone to errors, which are corrected using magnetic markers or similar methods. Furthermore, to ensure safety, they may be linked with traffic signal information or acquire LiDAR information from smart poles. However, LiDAR has the drawback of reduced detection range under weather conditions such as fog and rain. As a result of diligent research into these issues, the inventors have conceived of a novel mutual recognition system that can reduce the impact of environmental factors by utilizing beacon signals, thereby achieving a good balance between detection accuracy and detection processing speed, and ensuring the safety of both autonomous vehicles and pedestrians. This is achieved by installing beacon transmitters, beacon receivers, and predetermined on-board devices on both the road and the autonomous vehicle, as described below.

[0035] In this specification, "beacon signal" refers to a signal that transmits location information, identification information, etc., using wireless technology such as light or radio waves. This differs from data transmission via Wi-Fi, etc., and also differs from GNSS, which receives radio waves from artificial satellites.

[0036] The beacon transmitters, such as the beacon-embedded sensor unit 20 and the beacon transmitter 62 described later, preferably transmit low-power Bluetooth low energy (BLE) signals (Bluetooth: registered trademark). These beacon transmitters can also transmit their own identification information (unique identification code, ID), and the signal strength can be adjusted by variably setting the transmission output. Furthermore, the transmission and propagation speed of the beacon signal can be adjusted. The transmission interval of the beacon signal can be set in the range of tens of milliseconds to several seconds to ensure stable detection while preventing collisions between multiple signals.

[0037] Furthermore, beacon receivers such as the first beacon receiver 64 and the second beacon receiver 30, described later, can recognize not only the presence or absence of a beacon signal, but also the identification information and signal strength of the beacon signal. It is preferable that the transmission and reception distance for beacon signals be 30 meters, as this is a sufficient distance and also in terms of transmission and reception accuracy, interference with other signals, and power consumption. By utilizing beacon signals in this way, a good balance between detection accuracy and detection processing speed can be achieved.

[0038] [Mutual Recognition System 1] The mutual recognition system 1 according to this disclosure is for mutual recognition between an autonomous vehicle 60 and a pedestrian H on a road 10. The mutual recognition system 1 shown in Figure 1 includes a road 10 and an autonomous vehicle 60. In one embodiment, a beacon-embedded sensor unit 20 is installed on the road 10, and a first beacon receiver 64 and an on-board device 66 are mounted on the autonomous vehicle 60. In another embodiment, a second beacon receiver 30 and a notification device 40 are installed on the road 10, and a beacon transmitter 62 is mounted on the autonomous vehicle 60. In the example shown in Figure 1, the road 10 includes a beacon-embedded sensor unit 20, a second beacon receiver 30, a notification device 40, and an edge computer 50, and the autonomous vehicle 60 includes a beacon transmitter 62, a first beacon receiver 64, and an on-board device 66.

[0039] In this specification, pedestrian H broadly includes people traveling on the road 10 (including within, along, and in the vicinity of the road), and includes not only people walking, but also people running, people standing still, wheelchair users, etc. Pedestrians (people) H that are the target of notification by the notification device 40 are detected by the beacon-embedded sensor unit 20 regardless of their state. However, considering the time from the transmission and reception of signals between the autonomous vehicle 60 and the device on the road 10 side to the notification, it is preferable to mainly target pedestrians.

[0040] <Road 10> In this specification, "road 10" has the same meaning as it normally does, referring to a path used by people and vehicles, and may include farm roads, forest roads, private roads, and airport exit passages. In the example shown in Figure 1, there are two lanes, but it may also be one lane and is not limited to that. The road may include bus stops, pedestrian crossings, etc., and may be equipped with traffic lights, guardrails, guard pipes, tactile paving, road studs, streetlights, etc.

[0041] If the areas in which autonomous vehicles, including the autonomous vehicle 60, can operate are limited to a specific area (hereinafter referred to as the "limited area"), the road 10 on which the mutual recognition system 1 is implemented is such a limited area.

[0042] (Beacon-equipped sensor unit 20) The beacon-integrated sensor unit 20 includes a beacon device that transmits a beacon signal (this may be called the "second beacon transmitter" in relation to the beacon transmitter 62 mounted on the autonomous vehicle 60). When the beacon-integrated sensor unit 20 detects a pedestrian H, it transmits a beacon signal as detection information to the first beacon receiver 64.

[0043] The beacon-embedded sensor unit 20 may be equipped with a solar cell 22 as a power source. In particular, when a BLE signal is transmitted, the power consumption of the beacon device is low, around several hundred μA, due to the characteristics of BLE (Bluetooth Low Energy), and the use of a solar cell 22 eliminates the need to replace the power source. The type of solar cell 22 is not particularly limited.

[0044] The beacon-embedded sensor unit 20 may also include a motion sensor 24. With such a motion sensor 24, the beacon-embedded sensor unit 20 can transmit a beacon only when it detects a pedestrian H. An example of the motion sensor 24 is an infrared sensor.

[0045] Furthermore, the beacon-embedded sensor unit 20 may include a direction sensor 26 that detects a specific direction of movement of a pedestrian H. The installation location of the beacon-embedded sensor unit 20, which transmits a beacon only when it detects a pedestrian H moving in a specific direction, can be determined according to the volume of pedestrian traffic. A specific example of the direction sensor 26 is a direction-discriminating microwave sensor, but it is not limited to that, and any known direction sensor can be used.

[0046] The beacon-embedded sensor unit 20 may include a notification means 28 that emits sound or light simultaneously with the transmission of a beacon signal when it detects a pedestrian H. Furthermore, this notification means 28 may prioritize notifying of the approach of an emergency vehicle when it detects a priority signal from an emergency vehicle. The beacon-embedded sensor unit 20 may be integrated with the human presence sensor 24 as described above, or it may be a combination of multiple components (connected by wiring, etc.).

[0047] In the mutual recognition system 1, multiple beacon-embedded sensor units 20 may be provided, and they can be installed on the sidewalk, before and in the middle of the crosswalk on the road 10 (see Figure 1). The beacon-embedded sensor units 20 may be embedded in the road 10, or they may be installed on the road curb, low poles (guard pipes, etc.). For example, if the driver of the autonomous vehicle 60 receives a beacon signal from a beacon-embedded sensor unit 20 installed on the sidewalk (20c in Figure 1), the driver can determine that the possibility of contact with the pedestrian H is relatively low (hereinafter referred to as "Case 1." Note that in Figure 1, an arrow indicates that pedestrian H2 is approaching the road 10 (crosswalk).). If the driver receives a beacon signal from a beacon-embedded sensor unit 20a installed before the crosswalk, the driver can determine that pedestrian H is about to cross the crosswalk (hereinafter referred to as "Case 2"). If the driver receives a beacon signal from a beacon-embedded sensor unit 20b installed in the middle of the crosswalk, the driver can determine that the possibility of contact with the pedestrian H is relatively high (hereinafter referred to as "Case 3").

[0048] Regardless of the shape or arrangement of pedestrian crossings, etc., multiple beacon-embedded sensor units 20 (20a, 20b, 20c, ...) can be placed on the road 10, and a correspondence between the meaning of the identification information contained in the beacon signals transmitted from the beacon-embedded sensor units 20 can be set. Based on the arrangement of the multiple beacon-embedded sensor units 20 and the correspondence between the identification information of these beacon-embedded sensor units 20, the first beacon receiver 64 of the autonomous vehicle 60 that receives the beacon signals can, for example, determine the position, direction of movement, and number of pedestrians H. Based on this information, the control unit of the in-vehicle device 66, described later, can be made to decide whether to notify the driver of the autonomous vehicle 60, etc. (Figure 2).

[0049] In one embodiment, multiple beacon-embedded sensor units 20 may be redundantly placed on the road 10, and if one beacon-embedded sensor unit 20 fails, the other beacon-embedded sensor units 20 will automatically take over its function and detect abnormalities by mutual monitoring among the sensors (backup function).

[0050] (Second beacon receiver 30) The second beacon receiver 30 receives proximity information from the beacon-embedded sensor unit 20 regarding the beacon transmitter 62, and notifies the notification device 40 of this received proximity information. The second beacon receiver 30 is not particularly limited.

[0051] The second beacon receiver 30 is installed on the road 10, but its specific location is not particularly limited; however, it is preferable to install it near the beacon-embedded sensor unit 20 in a location where pedestrians H are likely to pass. The same applies to the installation location of the notification device 40. The beacon-embedded sensor unit 20 and the second beacon receiver 30, and the second beacon receiver 30 and the notification device 40 are connected by wire or wireless so as to be able to communicate.

[0052] Like the beacon-embedded sensor unit 20, the second beacon receiver 30 may also be equipped with a solar cell as a power source. Furthermore, in the mutual recognition system 1, multiple second beacon receivers 30 (30a, 30b, 30c, ...) may be installed in a manner that allows them to communicate with one another.

[0053] As described above, the second beacon receiver 30 can identify the received strength of the beacon signal from the autonomous vehicle 60. The second beacon receiver 30 may also receive beacon signals from the beacon-embedded sensor unit 20 and identify their identification information and received strength. Based on this information, information regarding the position and speed of pedestrian H, and information regarding the speed, position, or direction of travel of the autonomous vehicle 60 can be obtained (calculated) (see edge computing described later).

[0054] (Notification device 40) When the notification device 40 receives a notification of approaching vehicle information from the second beacon receiver 30, it notifies the pedestrian H. In this way, the notification device 40 can inform pedestrian H who is near it of the approaching autonomous vehicle 60 (Figure 3).

[0055] The notification device 40 may be a light or a speaker, and can notify pedestrians H of the approach of the autonomous vehicle 60 by illuminating or flashing light, sound effects, or voice. In other words, after receiving a beacon signal from the autonomous vehicle 60, the notification device 40 can notify pedestrians H of the approach of the autonomous vehicle 60 by turning on or flashing lights installed on the road 10 and by using voice from a speaker.

[0056] If the second beacon receiver 30 notifies the notification device 40 of a change in the received strength of the beacon signal, the notification device 40 may also terminate the notification to the pedestrian H. For example, as shown in Figure 1, this can occur when the second beacon receiver 30a receives another beacon signal from an autonomous vehicle 60a at a different location. Also, as shown in Figure 1, if the notification device 40 receives an approach information notification from another second beacon receiver 30b after receiving an approach information notification from the second beacon receiver 30a, the notification device 40 may also terminate the notification to the pedestrian H. In other words, the notification device 40 can terminate the notification to the pedestrian H after the autonomous vehicle 60 has passed the beacon-embedded sensor unit 20, etc.

[0057] When the control unit of the notification device 40 (specifically, a computing device such as a CPU or GPU) makes a comprehensive decision based on information from multiple second beacon receivers 30, the notification device 40 can be instructed to decide whether or not to send a notification to pedestrians by implementing a priority determination algorithm as described later or by distributing processing using edge computing (implementation of a backup system) to prevent delays in notification to pedestrians. In addition, it is also possible to minimize delays through real-time processing.

[0058] (Second sensor) A second sensor (not shown) may be installed on the road 10 near the second beacon receiver 30. The second sensor detects vehicles that are not equipped with a beacon transmitter (in this case, it may be an autonomous vehicle or a general vehicle such as a light vehicle), and a known surveillance camera or infrared camera can be used as an example. The second sensor may have a notification means. When a vehicle not equipped with a beacon transmitter is detected, this may be notified to the autonomous vehicle 60 and / or pedestrian H via a notification device 40 or an on-board device 66 that is communicatively connected to the second sensor.

[0059] The second sensor may be a sound sensor or a light sensor that detects priority signals from emergency vehicles. Here, "emergency vehicle" refers to a vehicle that signals an emergency to the surroundings using a siren (sound) and warning lights, and includes ambulances, fire trucks, police vehicles, Self-Defense Forces vehicles, tow trucks, etc. "Priority signal" refers to the light from these sirens and warning lights, and is different from a beacon signal.

[0060] If the second sensor detects an emergency vehicle (or a priority signal from it), it may, either by itself or via the notification device 40 or the in-vehicle device 66, notify (warn) of the approaching emergency vehicle with priority over other notifications. The second beacon receiver 30, the beacon-embedded sensor unit 20, and the first beacon receiver 64 may also have similar functions.

[0061] <Autonomous Vehicle 60> An autonomous vehicle 60 refers to a vehicle that operates without driver intervention in principle. According to the SAE (Society of Automotive Engineers) autonomous driving levels, an autonomous vehicle 60 is preferably a Level 3 vehicle, but may also be a Level 4 vehicle. The term "vehicle" is not limited to four-wheeled vehicles such as passenger cars and buses, but can also include motorcycles and trams.

[0062] (Beacon transmitter 62) The beacon transmitter 62 transmits a beacon signal to the second beacon receiver 30 as proximity information.

[0063] The autonomous vehicle 60 may include multiple beacon transmitters 62, and it may control which of the multiple beacon transmitters 62 is activated depending on the location on the road 10. In this way, for example, the transmission and deactivation of beacons can be controlled according to the route, such as east, west, north, or south, within a limited area.

[0064] (First beacon receiver 64) The first beacon receiver 64 receives a beacon signal from the beacon-embedded sensor unit 20 and notifies the in-vehicle device 66 that it has received the beacon signal. As mentioned above, the first beacon receiver 64 can also recognize the identification information of the beacon signal.

[0065] The first beacon receiver 64 is not particularly limited, and a portable device such as a smartphone with a program (app) that enables the reception of beacon signals installed can also be used.

[0066] (In-vehicle device 66) The in-vehicle device 66 notifies the driver of the autonomous vehicle 60 based on the detected information it has received. The in-vehicle device 66 has a control unit (a computing device such as a CPU or GPU) and can perform various information processing tasks.

[0067] The in-vehicle device 66 also receives identification information (ID) of the beacon signal from the first beacon receiver 64, and based on the received identification information, can notify the driver of the autonomous vehicle 60 of whether pedestrian H is stopped or moving. If pedestrian H is stopped (Case 2), the driver may be notified by voice, "A person (H, H1) is waiting," in Case 3, "A person is crossing," and in Case 1, "A person (H2) is heading towards the crosswalk." In addition, in predetermined cases, notification by light may also be provided.

[0068] The form of the in-vehicle device 66 is not particularly limited; it may be a portable device with a program (app) installed that can perform the above-described functions, or it may be incorporated into a navigation system. Since the installation location of the beacon-embedded sensor unit 20 is fixed, the navigation system may be made to perform a predetermined operation according to that location.

[0069] The first beacon receiver 64 and the in-vehicle device 66 described above may be physically separate or integrated, and the specific implementation form is not limited as long as it can realize the functions from receiving the beacon signal to notifying the driver.

[0070] (Autonomous driving systems 68, others) The autonomous vehicle 60 is equipped with an autonomous driving system 68. The autonomous driving system 68 may include, but is not limited to, a sensor system such as a LiDAR sensor (for example, 3D spatial mapping and object detection), a radar sensor (for object detection in adverse weather conditions), a camera sensor (for object recognition in a 360-degree field of view), an ultrasonic sensor (for object detection at close range), and a processing system such as a sensor fusion unit (for data integration from multiple sensors), a central processing unit (CPU) (for high-speed data processing), and a GPU (for image recognition processing).

[0071] In the case of autonomous driving level 3, the in-vehicle device 66, in cooperation with the autonomous driving system 68, can, upon notification (after receiving a beacon when a pedestrian H is detected), request manual intervention from the driver through visual or auditory warnings. As a visual warning, predetermined characters or images indicating a request for manual intervention may be displayed on the display of the navigation system mounted on the autonomous vehicle 60, and as an auditory warning, for example, a clear voice message or a predetermined sound effect may be played to the driver.

[0072] Furthermore, after detecting the completion of the driver's manual intervention, the in-vehicle device 66 can perform a safety check based on the reception status of the beacon signal. However, the driver's manual intervention (driving the autonomous vehicle 60) is the primary method, and the safety check by the in-vehicle terminal is only in a supplementary role. In addition, if the reception of the beacon signal is interrupted for a predetermined period of time, the in-vehicle device 66 can also notify the driver that the manual intervention has been canceled. The method of this "notification" is not particularly limited as long as the driver is aware that the manual intervention has been canceled, and may include a predetermined sound or voice message, or the display of predetermined characters on the display.

[0073] In the case of autonomous driving level 4, the in-vehicle device 66 may, in cooperation with the autonomous driving system 68, or as the autonomous driving system 68 itself, cause the autonomous vehicle 60 to perform actions in accordance with the identification information received from the first beacon receiver 64. Examples of actions of the autonomous vehicle 60 include deceleration, stopping, and changing the direction of travel (steering operation).

[0074] More specifically, the on-board device 66 may perform deceleration control of the autonomous vehicle 60 by the autonomous driving system 68 based on the change in the intensity of the received beacon signal. Since the on-board device 66 is in close proximity to the beacon-embedded sensor unit 20, it can change the degree of deceleration based on the rate of change in intensity. Prediction results obtained by machine learning can be used.

[0075] Furthermore, if the beacon signal reception strength exceeds a predetermined value, the on-board device 66 may cause the automated driving system 68 to completely stop the automated driving vehicle 60. The "predetermined value (of the beacon signal reception strength)" is the reception strength value that is judged to be more urgent and dangerous to pedestrian H than to slow down the automated driving vehicle 60. Examples include when the distance between the automated driving vehicle 60 and pedestrian H is short or when the walking speed is fast. Prediction results obtained by machine learning can also be used for this predetermined value.

[0076] If the autonomous vehicle 60 is stopped, the onboard device 66 may, after a predetermined period of time during which the reception of beacon signals is interrupted, perform a safety check of the surroundings using cameras and sensors installed in the autonomous vehicle 60, and then automatically restart the autonomous vehicle 60.

[0077] The thresholds for control, notification, and warning by the in-vehicle device 66 described above can be dynamically adjusted according to environmental conditions.

[0078] [Operation Flow 1] As an embodiment of the mutual recognition system 1 described above, the operation flow 1 will be explained with reference to Figure 2. Operation flow 1 is an example in which the autonomous vehicle 60 is notified of the presence of a pedestrian H crossing a road (road 10).

[0079] When the autonomous vehicle 60 is approaching a pedestrian crossing (this distance is within approximately 30 meters), pedestrian H is detected by a beacon-equipped sensor unit 20 installed on the pedestrian crossing (approach of autonomous vehicle 60, detection of pedestrian H). Here, the beacon-equipped sensor unit 20 may be installed on guard pipes, tactile paving blocks, road studs, etc.

[0080] After detecting a pedestrian H, the beacon-embedded sensor unit 20 transmits a beacon signal as detection information to the first beacon receiver 64 (beacon transmission).

[0081] Next, the first beacon receiver 64 mounted on the autonomous vehicle 60 receives and detects the beacon signal (beacon reception). As mentioned above, the beacon signal may include unique identification information of the beacon-embedded sensor unit 20, and the information from which beacon-embedded sensor unit 20 originates is identified by the identification information (ID).

[0082] The received information is transmitted from the first beacon receiver 64 to the in-vehicle device 66 (smartphone or navigation system) via wired or wireless connection (information transmission).

[0083] Subsequently, the on-board device 66 performs predetermined processing. For example, the on-board device 66 notifies the driver of the autonomous vehicle 60 of the presence of a pedestrian (person) H at the crosswalk ahead. The driver of the autonomous vehicle 60 then determines whether manual intervention is necessary based on the notified information (driver's judgment).

[0084] Alternatively, along with or in lieu of notification by the on-board device 66, the on-board device 66 may cause the automated driving vehicle 60 to perform actions (for example, decelerating, stopping, or changing direction of travel) in accordance with the identification information received from the first beacon receiver 64 (autonomous driving level 4).

[0085] [Operation Flow 2] Next, as another embodiment of the mutual recognition system 1, operation flow 2 will be described with reference to Figure 3. Operation flow 2 is an example in which the approach of an autonomous vehicle 60 is notified to a pedestrian H who is standing before a crosswalk (road 10).

[0086] As mentioned above, the autonomous vehicle 60 is equipped with a beacon transmitter 62, which transmits a specific signal as proximity information (beacon signal transmission).

[0087] A second beacon receiver 30, installed before the pedestrian crossing, receives beacon signals from the autonomous vehicle 60 within a range of, for example, 30 meters (beacon signal reception).

[0088] The second beacon receiver 30 transmits information about the approach of the autonomous vehicle 60 to the pedestrian crossing notification device 40, for example, via a wired connection (information transmission).

[0089] If the notification device 40 is a light, it will turn on or flash; if it is a speaker, it will notify pedestrians H of the approach of the autonomous vehicle 60 with a voice (pedestrian notification).

[0090] When the autonomous vehicle 60 passes a pedestrian crossing, the second beacon receiver 30 (30a in Figure 1), installed before the pedestrian crossing, detects the vehicle's passage by a change in the beacon's signal strength (passage detection). Alternatively, if another second beacon receiver 30 (30b), installed on the side of the road, receives a beacon signal with the same identification information, it may be detected that the autonomous vehicle 60 has passed the pedestrian crossing. To recognize whether a beacon signal with the same identification information has been received, each autonomous vehicle 60 (or beacon transmitter 62) can be assigned a unique ID, and the system can be configured to transmit a beacon signal containing that ID.

[0091] After detecting the passage of the autonomous vehicle 60, and for example after being notified of a change in the reception strength of the beacon signal from the second beacon receiver 30, the notification device 40 terminates the notification by sound or light (termination of notification).

[0092] [Other embodiments] (Edge computing, distributed processing) An edge computer 50 may be installed near the second beacon receiver 30 on the road 10. If multiple second beacon receivers 30 are installed on the road 10, multiple edge computers 50 may be installed in the vicinity of each, optimally positioned. Here, "nearby" and "optimal positioning" ideally mean positioning so that the processing time by the edge computer 50 is minimized, but this is not strictly limited as the installation location of the edge computer 50 is restricted by the road 10, its installed objects, terrain, etc. Also, the second beacon receiver 30 and the edge computer 50 may be installed together. The edge computer 50 is not particularly limited as long as it can perform the following functions.

[0093] As described above, the multiple second beacon receivers 30 can obtain information on the location and speed of multiple pedestrians H by identifying the received strength of beacon signals from the multiple beacon-embedded sensor units 20. In this case, the edge computer 50 works in cooperation to reduce the size of the beacon signals and processes the information from the multiple second beacon receivers 30 through parallelization and load balancing, and makes a priority determination based on the information on the location and speed of multiple pedestrians H from the multiple second beacon receivers 30. Based on the priority determination made among the edge computers 50, the notification device 40 sends out the highest priority alarm first.

[0094] Furthermore, multiple second beacon receivers 30 (30a, 30b, 30c, etc.) can acquire information regarding the position and speed of multiple autonomous vehicles 60 (60a, 60b, etc.) by identifying the reception strength and identification information of beacon signals from multiple autonomous vehicles 60. In this case as well, the edge computer 50 works in cooperation to reduce the size of the beacon signals and processes information from multiple second beacon receivers 30 through parallelization and load balancing. Based on the information regarding the position and speed of multiple autonomous vehicles 60 from the multiple second beacon receivers 30, the notification device 40 makes a priority determination and transmits the highest priority warning.

[0095] Here, "priority determination" refers to the process of determining the urgency of notification based on the positional relationship between multiple pedestrians H and the autonomous vehicle 60. For example, priority is set in the following order: pedestrian in the middle of a crosswalk (Case 3), pedestrian waiting before the crosswalk (Case 2), and pedestrian on the sidewalk (Case 1). This priority determination can be performed based on the following information: - Pedestrian H's position and speed - Position and speed of the autonomous vehicle 60 - Relative distance between pedestrian H and autonomous vehicle 60 - The relationship between the direction of movement of pedestrian H and the direction of travel of the autonomous vehicle 60.

[0096] To speed up the process from detecting a pedestrian H to issuing a notification (for example, within 10 milliseconds), the following technical measures will be implemented: - Optimal placement of the edge computer 50 near the second beacon receiver 30 to reduce processing delay - Distributed processing using multiple edge computers 50 - Parallelization and load balancing of processing to improve throughput - Sensor data optimization process to reduce communication load - Optimization of the priority determination algorithm to improve processing efficiency - Implementation of high-speed communication protocols to minimize transmission delay. These technological measures shorten the processing time from detection to notification, enabling a highly real-time pedestrian detection system.

[0097] The edge computers 50 are preferably interconnected using a high-speed data transfer protocol, and if one edge computer 50 fails to function, an adjacent edge computer 50 automatically takes over processing (backup function).

[0098] (Characteristics of pedestrian H) People (pedestrians) have unique movement speed patterns and movement trajectory data, and it is possible to determine the characteristics of pedestrians based on these patterns. In other words, if beacon signals can be transmitted from multiple beacon-embedded sensor units 20 arranged to match each pattern, the in-vehicle device 66 and notification device 40 (CPU) can be made to determine the characteristics of pedestrians via the first beacon receiver 64 and the second beacon receiver 30, and a function can be activated to select a warning method according to the determination result.

[0099] In other words, the mutual recognition system 1 can recognize the characteristics of pedestrians H (elderly, children, disabled, etc.) and provide a warning method appropriate for each. For example, for elderly people, a low-frequency warning sound may be used, and LED lights that flash slowly may be displayed on the road 10. For visually impaired people, tactile displays installed on both sides of the road 10 may vibrate to indicate the approach of the autonomous vehicle 60. At the same time, a voice guidance system may provide detailed situational information (not only approach information, but also estimated vehicle speed, etc.). For hearing-impaired people, a dedicated smartwatch or smartphone app may be used to notify them of the approach of the autonomous vehicle 60 with vibration or sound. In addition, a warning message may be displayed in large letters on an electronic billboard installed around the road 10. For children, it is also possible to display animated characters on an LED display installed on a traffic light near the road 10 to encourage easy and safe crossing.

[0100] In one embodiment, the movement of each pedestrian H identified by multiple beacon-embedded sensor units 20 is predicted by an edge computer 50 and an in-vehicle device 66. Based on the predicted movement of pedestrian H, the notification device 40 and the in-vehicle device 66 can decide whether to issue a notification or request manual intervention.

[0101] A machine learning model generated by machine learning can be used for this prediction. As an example of training, past behavior patterns of pedestrian H are collected, and information about the placement of beacon-embedded sensor units 20 that emit beacon signals, such as distance, is used as "input," and past behavior patterns of pedestrian H corresponding to these placements are used as "output" to train a machine learning model. In this way, the in-vehicle device 66 that receives the beacon signal can predict the movement of pedestrian H from the position (distance) of the beacon-embedded sensor units 20 between two points.

[0102] As another example of learning, we collect past behavioral patterns of pedestrians H and driving data of autonomous vehicle 60, as follows. • Speed ​​data and location information of 60 autonomous vehicles • Relative distance between autonomous vehicle 60 and pedestrian H • Characteristics of pedestrian H (e.g., elderly, child, disabled) • Pedestrian H's body orientation (8 directions) • Data on the distance traveled by pedestrians across the road. From the collected information, training (input) data for a machine learning model is created. Specifically, by combining past driving data with the behavior patterns of pedestrian H, the history of the positional relationship (relative distance) between the autonomous vehicle 60 and pedestrian H can be used as training data, and behavior patterns can be extracted to predict changes in pedestrian H's behavior, such as the start of crossing. Then, as part of the training of the predictive model (machine learning model), by analyzing the movement of pedestrian H in multiple local areas (within the detection area of ​​the beacon-embedded sensor unit 20), it is possible to learn behavior patterns according to the characteristics of pedestrian H. It is also possible to learn the reaction patterns of pedestrian H to the approach of the autonomous vehicle 60.

[0103] In one embodiment, when multiple pedestrians H are crossing a crosswalk, multiple beacon-embedded sensor units 20 embedded in the crosswalk individually detect each pedestrian H and transmit their respective location information via beacon signals. In this way, mutual complementarity by multiple sensors can be achieved. Furthermore, the autonomous vehicle 60 (onboard device 66) can comprehensively analyze this information and perform optimal driving control to ensure the safety of all pedestrians H.

[0104] (Anonymization process, protection of pedestrian H's personal information) Preferably, the in-vehicle device 66 has a function to immediately hash the identified pedestrian data, quantize the location information to prevent personal identification, and automatically delete the processed data after a certain period of time. Furthermore, the beacon signal (identification information) may be encrypted. In this way, personal information can be anonymized and reflected in safety controls.

[0105] (Operation at night or in bad weather) Even in poor visibility conditions such as at night or in rainy weather, the beacon-equipped sensor unit 20 can accurately detect pedestrians H and transmit signals. Therefore, even when the performance of visual sensors such as cameras and LiDAR is reduced, the autonomous vehicle 60 can recognize the presence of pedestrians H through the beacon signal, enabling it to continue safe driving.

[0106] In one embodiment, the mutual recognition system 1 functions accurately even under environmental conditions such as nighttime, bad weather, or backlighting, and the sensor sensitivity of the beacon-embedded sensor unit 20 is automatically adjusted to improve detection accuracy.

[0107] In one embodiment, the frequency of warnings issued by the notification device 40 may be automatically adjusted according to weather conditions.

[0108] (Optimization of energy efficiency) In one embodiment, the beacon-embedded sensor unit 20 is powered by a solar cell 22 and transmits a beacon signal only when it detects a pedestrian H. This enables high energy efficiency, long-term maintenance-free operation, and improved system sustainability.

[0109] In one embodiment, the beacon-embedded sensor unit 20, second beacon receiver 30, notification device 40, and edge computer 50 on the road 10 side are equipped with a hybrid power supply system combining a solar power generation panel and a vibration power generation element, enabling a stable power supply day and night.

[0110] (others) In one embodiment, the beacon-embedded sensor unit 20 notifies the autonomous vehicle 60 if it detects that pedestrian H suddenly falls or makes a sudden movement of pedestrian H due to the approach of an emergency vehicle.

[0111] In one embodiment, the beacon-embedded sensor unit 20 and the second sensor preferably have the following functions: a) Backup sensor that activates if part of the sensor fails. b) A function that automatically detects sensor malfunctions and switches to an alternative sensor. c) A function to periodically diagnose the health of the entire system (including not only sensors, but also the second beacon receiver 30, notification device 40, and edge computer 50) and notify the administrator of any abnormalities.

[0112] The beacon-embedded sensor unit 20 may work in conjunction with a pedestrian H's terminal (smartphone) that has downloaded a specific app, and notify the pedestrian terminal of the approach of the autonomous vehicle 60 through vibration or sound.

[0113] The notification device 40 may work in conjunction with traffic signals to automatically adjust the speed of the autonomous vehicle 60 according to the status of the beacon signal. For example, in order to alert the autonomous vehicle 60 to danger and automatically adjust its speed, the notification device 40 may work in conjunction with traffic signals to emergency illuminate a red light. As a result, the onboard device 66 or the autonomous driving system 68 can automatically adjust the speed of the autonomous vehicle 60.

[0114] In one embodiment, communication may occur between multiple autonomous vehicles 60 regarding beacon signals (detection information) from a beacon-embedded sensor unit 20. In this way, the location information of pedestrians H can be shared among multiple autonomous vehicles 60, enabling wider-area safety assurance.

[0115] In the mutual recognition system 1 of this disclosure, which has the configuration described above, the mutual recognition system 1 between an autonomous vehicle 60 and a pedestrian H is provided, and includes a beacon-embedded sensor unit 20, a second beacon receiver 30, and a notification device 40 installed on a road 10, and an autonomous vehicle 60 equipped with a beacon transmitter 62, a first beacon receiver 64, and an on-board device 66. When the beacon-embedded sensor unit 20 detects a pedestrian H, it transmits a beacon signal as detection information to the first beacon receiver 64. The first beacon receiver 64 receives the beacon signal from the beacon-embedded sensor unit 20 and notifies the on-board device 66 that it has received the beacon signal. Based on the notified detection information, the on-board device 66 notifies the driver of the autonomous vehicle 60. Meanwhile, the beacon transmitter 62 transmits a beacon signal as proximity information to the second beacon receiver 30. The second beacon receiver 30 notifies the notification device 40 of the proximity information it has received. When the notification device 40 receives a notification of approaching information from the second beacon receiver 30, it notifies the pedestrian H.

[0116] Such a mutual recognition system 1 offers the following advantages: First, it enables two-way safety by issuing warnings not only to the autonomous vehicle 60 but also to pedestrians H. This is a more comprehensive approach compared to many prior technologies, which focus on warnings from the vehicle side (two-way safety). Second, the mutual recognition system 1 is applicable not only to crosswalks but also to various traffic environments. This can improve traffic safety throughout the city (flexible applicability). Third, the use of beacon signals enables low latency, high reliability, server downtime countermeasures, and overall system simplicity.

[0117] Furthermore, in one embodiment of the mutual recognition system 1 of this disclosure, a beacon-embedded sensor unit 20 installed on a road 10 and an autonomous vehicle 60 equipped with a first beacon receiver 64 and an on-board device 66 are provided. When the beacon-embedded sensor unit 20 detects a pedestrian H, it transmits a beacon signal as detection information to the first beacon receiver 64. The first beacon receiver 64 receives the beacon signal from the beacon-embedded sensor unit 20 and notifies the on-board device 66 that it has received the beacon signal. Based on the notified detection information, the on-board device 66 notifies the driver of the autonomous vehicle 60.

[0118] In another embodiment of the mutual recognition system 1 of this disclosure, an autonomous vehicle 60 equipped with a beacon transmitter 62 and a second beacon receiver 30 and a notification device 40 installed on the road 10 are provided. The beacon transmitter 62 transmits a beacon signal to the second beacon receiver 30 as proximity information. The second beacon receiver 30 notifies the notification device 40 of the received proximity information. Upon receiving notification of the proximity information, the notification device 40 notifies the pedestrian H.

[0119] Furthermore, in the mutual recognition system 1 of this disclosure, it is preferable that the beacon-embedded sensor unit 20 transmits a beacon only when it detects a pedestrian H. By designing the system to transmit beacons only when necessary, unnecessary energy consumption is prevented, energy efficiency is improved, and long-term operating costs can be reduced. This is a significant advantage compared to other systems that operate continuously (energy-efficient and easy-to-maintain system design).

[0120] Furthermore, in the mutual recognition system 1 of this disclosure, the beacon-embedded sensor unit 20 may be driven by a solar cell 22. In this way, autonomous operation without requiring an external power source is possible.

[0121] Furthermore, in the mutual recognition system 1 of this disclosure, multiple beacon-embedded sensor units 20 are installed on sidewalks, before and during crosswalks, and each beacon-embedded sensor unit 20 may include a human presence sensor 24. By installing beacon-embedded sensor units 20 at multiple points such as before, during, and at waiting areas for crosswalks, the movement of pedestrians H can be understood in more detail (multiple detection points). In addition, by integrating information from multiple sensor points, the movement of pedestrians H can be understood in real time, enabling more accurate risk prediction (real-time situation understanding). Moreover, since pedestrians H can be detected from the stage when they approach the crosswalk, it is possible to issue warnings at an earlier stage. This is a more preventative approach compared to many prior art systems that issue warnings only after detecting direct danger (early warning system).

[0122] Furthermore, in the mutual recognition system 1 of this disclosure, the in-vehicle device 66 also receives identification information of a beacon signal from the first beacon receiver 64, and based on the received identification information, notifies the driver of the autonomous vehicle 60 of the stopping or moving information of the pedestrian H, as described in claim 4.

[0123] Furthermore, in the mutual recognition system 1 of this disclosure, the in-vehicle device 66 can request manual intervention from the driver via visual or auditory warnings when notification is received. In addition, after detecting the completion of the driver's manual intervention, the in-vehicle device 66 can perform a safety check based on the reception status of the beacon signal. Furthermore, if the reception of the beacon signal is interrupted for a predetermined period of time, the in-vehicle device 66 can notify the driver to cancel the manual intervention. In this way, an early warning system is realized, and the safety of pedestrians H can be ensured.

[0124] Furthermore, in the mutual recognition system 1 of this disclosure, the on-board device 66 can perform operations on the autonomous vehicle 60 in accordance with the received identification information. Specifically, the on-board device 66 can perform deceleration control of the autonomous vehicle 60 by the autonomous driving system 68 based on changes in the strength of the received beacon signal. In addition, if the received strength of the beacon signal exceeds a predetermined value, the on-board device 66 can perform a complete stop of the autonomous vehicle 60 by the autonomous driving system 68. Moreover, after the reception of the beacon signal is interrupted for a predetermined time, the on-board device 66 can automatically restart the autonomous vehicle 60 after confirming the safety of the surroundings. Thus, the mutual recognition system 1 can be applied to an autonomous vehicle 60 of autonomous driving level 4.

[0125] Furthermore, in the mutual recognition system 1 of this disclosure, the beacon-embedded sensor unit 20 includes a direction sensor 26 that can detect the direction of movement of pedestrian H. The direction sensor 26 can determine whether the pedestrian is approaching or moving away from the crosswalk. In addition, by transmitting a beacon signal only when movement in a certain direction is detected, unnecessary signal transmission can be suppressed, and power saving can be achieved.

[0126] Furthermore, in the mutual recognition system 1 of this disclosure, the second beacon receiver 30 may be powered by a solar cell. In this way, autonomous operation without requiring an external power source is possible.

[0127] Furthermore, in the mutual recognition system 1 of this disclosure, the autonomous vehicle 60 may include multiple beacon transmitters 62, and control which of the multiple beacon transmitters 62 is activated according to the location on the road 10. In this way, the transmission and deactivation of beacons can be controlled by using multiple beacon transmitters 62 in accordance with the location within a limited area.

[0128] Furthermore, in the mutual recognition system 1 of this disclosure, multiple second beacon receivers 30 may be installed, and the control unit of the notification device 40 may be used to determine the speed, position, or direction of travel of the autonomous vehicle 60. In addition, optimal notification to pedestrians H can be achieved even when multiple autonomous vehicles 60 are approaching.

[0129] Furthermore, in the mutual recognition system 1 of this disclosure, the notification device 40 may, after receiving a beacon signal from the autonomous vehicle 60, notify pedestrians H of the approach of the autonomous vehicle 60 by turning on or flashing lights installed on the road 10, or by sound from a speaker. As described above, the notification can be tailored to the characteristics of pedestrians H.

[0130] Furthermore, in the mutual recognition system 1 of this disclosure, if the second beacon receiver 30 notifies the notification device 40 of a change in the reception strength of the beacon signal, the notification device 40 can terminate notification to the pedestrian H. In this way, energy efficiency can be improved.

[0131] Furthermore, in the mutual recognition system 1 of this disclosure, a plurality of second beacon receivers 30 and a plurality of edge computers 50 optimally positioned near them may be installed on the road 10. The plurality of second beacon receivers 30 acquire information on the position and speed of multiple pedestrians H by identifying the reception strength of beacon signals from the beacon-embedded sensor unit 20. The edge computers 50 work together to lighten the beacon signals and process the information from the plurality of second beacon receivers 30 through parallelization and load balancing. Based on the information on the position and speed of multiple pedestrians H from the plurality of second beacon receivers 30, a priority determination is made. Based on the priority determination made among the edge computers 50, the notification device 40 can transmit the highest priority warning preferentially. In this way, notification delays due to information processing in the mutual recognition system 1 can be suppressed and prevented.

[0132] Furthermore, in the mutual recognition system 1 of this disclosure, the edge computers 50 may be interconnected using a high-speed data transfer protocol, and if one edge computer 50 fails to function, an adjacent edge computer 50 can automatically take over processing (backup function).

[0133] Furthermore, in the mutual recognition system 1 of this disclosure, a second sensor may be installed on the road 10 near the second beacon receiver 30, and when this second sensor detects a vehicle that is not equipped with a beacon transmitter, it can notify the autonomous vehicle 60 and pedestrian H of this. In addition, if the second beacon receiver 30, the beacon-embedded sensor unit 20, the first beacon receiver 64, or the second sensor detects a priority signal from an emergency vehicle, the on-board device 66 and the notification device 40 may, respectively, notify the driver and pedestrian H of the approach of the emergency vehicle with priority over other notifications. In this way, a more comprehensive safety can be ensured.

[0134] Furthermore, the mutual recognition system 1 described herein is not limited to the embodiments or combinations described above, and can be modified in various ways.

[0135] For example, in the mutual recognition system 1, it is assumed that the autonomous vehicle 60 is traveling on the road 10. However, instead of the autonomous vehicle 60, it is also possible to equip a vehicle without autonomous driving capabilities (such as a car or bicycle) with a beacon transmitter 62, a first beacon receiver 64, an on-board device 66, etc., and achieve mutual recognition with pedestrians H via the beacon-embedded sensor unit 20 and the second beacon receiver 30.

[0136] Furthermore, by using the GPS function, communication system, etc., provided by the autonomous vehicle 60 as an auxiliary tool, the efficiency of beacon signal processing in the mutual recognition system 1 can be improved. For example, the GPS function may be used to transmit the direction of travel and route information of the autonomous vehicle 60 to the second beacon receiver 30 on the roadside, so that the notification device 40 is activated only in response to beacon signals from the autonomous vehicle 60 moving in the desired direction. [Explanation of symbols]

[0137] 1. Mutual Recognition System 10 road 20 (20a, 20b, 20c) Sensor unit with built-in beacon 22 Power source (solar battery) 24 motion sensors 26-directional sensor 28. Notification methods 30 (30a, 30b, 30c) Second beacon receiver 40. Notification device 50 Edge Computers 60 (60a, 60b) Autonomous Vehicles 62 Beacon Transmitter 64. First Beacon Receiver 66 On-vehicle equipment 68 Autonomous Driving Systems H(H1, H2) Pedestrian

Claims

1. A mutual recognition system for autonomous vehicles and pedestrians, A sensor unit with a built-in beacon installed on the road, An autonomous vehicle equipped with a first beacon receiver and an on-board device, Includes, When the beacon-embedded sensor unit detects a pedestrian, it transmits a beacon signal to the first beacon receiver as detection information. The first beacon receiver receives a beacon signal from the beacon-embedded sensor unit and notifies the in-vehicle device that it has received the beacon signal. The in-vehicle device is a mutual recognition system characterized by notifying the driver of the autonomous vehicle based on the notified detection information.

2. The mutual recognition system according to claim 1, characterized in that the beacon-embedded sensor unit transmits a beacon only when it detects a pedestrian.

3. The mutual recognition system according to claim 1, characterized in that the beacon-embedded sensor unit is driven by a solar cell.

4. Multiple of the aforementioned beacon-embedded sensor units are installed before and in the middle of sidewalks and crosswalks. The mutual recognition system according to claim 1, characterized in that each of the beacon-embedded sensor units includes a human presence sensor.

5. The mutual recognition system according to claim 4, characterized in that the in-vehicle device also receives identification information of the beacon signal from the first beacon receiver and, based on the received identification information, notifies the driver of the autonomous vehicle of the pedestrian stopping or moving.

6. The mutual recognition system according to claim 1 or 5, characterized in that the in-vehicle device, when providing notification, requests manual intervention from the driver by visual or auditory warning.

7. The mutual recognition system according to claim 6, characterized in that the in-vehicle device performs a safety check based on the reception status of the beacon signal after detecting the completion of the driver's manual intervention.

8. The mutual recognition system according to claim 7, characterized in that the in-vehicle device notifies the driver to cancel the manual intervention when the reception of the beacon signal is interrupted for a predetermined period of time.

9. The mutual recognition system according to claim 5, characterized in that the in-vehicle device performs the operation of the autonomous vehicle in accordance with the received identification information.

10. The mutual recognition system according to claim 9, characterized in that the in-vehicle device performs deceleration control of the autonomous vehicle by the autonomous driving system based on changes in the intensity of the received beacon signal.

11. The mutual recognition system according to claim 10, characterized in that the in-vehicle device executes a complete stop of the automated driving vehicle by the automated driving system when the reception strength of the beacon signal exceeds a predetermined value.

12. The mutual recognition system according to claim 11, characterized in that the in-vehicle device automatically restarts the autonomous vehicle after confirming the safety of the surroundings following a predetermined interruption in the reception of beacon signals.

13. The mutual recognition system according to claim 1, characterized in that the beacon-embedded sensor unit includes a direction sensor and detects the direction of movement of a pedestrian.

14. The aforementioned autonomous vehicle includes a beacon transmitter, A second beacon receiver and a notification device are installed on the aforementioned road. The beacon transmitter transmits a beacon signal to the second beacon receiver as proximity information. The second beacon receiver notifies the notification device of the received proximity information. The mutual recognition system according to claim 1, characterized in that the notification device notifies a pedestrian when it receives notification of approaching information.

15. A mutual recognition system for autonomous vehicles and pedestrians, Autonomous vehicles equipped with beacon transmitters, A second beacon receiver and notification device installed on the road, Includes, The beacon transmitter transmits a beacon signal to the second beacon receiver as proximity information. The second beacon receiver notifies the notification device of the received proximity information. The aforementioned notification device is a mutual recognition system characterized by notifying pedestrians when it receives notification of approaching information.

16. The mutual recognition system according to claim 15, characterized in that the second beacon receiver is powered by a solar cell.

17. The mutual recognition system according to claim 15, characterized in that the autonomous vehicle includes a plurality of beacon transmitters and controls which of the plurality of beacon transmitters to activate according to the location of the road.

18. The mutual recognition system according to claim 17, characterized in that a plurality of the second beacon receivers are installed, and the control unit of the notification device determines the speed, position, or direction of travel of the autonomous vehicle.

19. The mutual recognition system according to claim 15, characterized in that the notification device, after receiving a beacon signal from the autonomous vehicle, notifies pedestrians of the approach of the autonomous vehicle by turning on or flashing lights installed on the road, or by sound from a speaker.

20. The mutual recognition system according to claim 15, characterized in that when the second beacon receiver notifies the notification device of a change in the received strength of the beacon signal, the notification device terminates notification to the pedestrian.

21. A beacon-embedded sensor unit is installed on the aforementioned road. The aforementioned autonomous vehicle includes a first beacon receiver and an on-board device, When the beacon-embedded sensor unit detects a pedestrian, it transmits a beacon signal to the first beacon receiver as detection information. The first beacon receiver receives a beacon signal from the beacon-embedded sensor unit and notifies the in-vehicle device that it has received the beacon signal. The mutual recognition system according to claim 15, characterized in that the in-vehicle device notifies the driver of the autonomous vehicle based on the notified detection information.

22. Multiple second beacon receivers and multiple edge computers optimally positioned near them are installed on the aforementioned road. The plurality of second beacon receivers acquire information regarding the position and speed of multiple pedestrians by identifying the received strength of the beacon signal from the beacon-embedded sensor unit. The edge computers work together to process the beacon signals to reduce their size, and process the information from the multiple second beacon receivers through parallelization and load balancing, and make priority decisions based on the information regarding the positions and movement speeds of multiple pedestrians from the multiple second beacon receivers. The mutual recognition system according to claim 21, characterized in that the notification device transmits the highest priority alarm based on the priority determination performed between the edge computers.

23. The aforementioned edge computers are interconnected using a high-speed data transfer protocol. The mutual recognition system according to claim 22, characterized in that if one edge computer fails to function, an adjacent edge computer automatically takes over processing.

24. On the aforementioned road, a second sensor is installed near the second beacon receiver. The mutual recognition system according to claim 14 or 21, characterized in that when the second sensor detects a vehicle that is not equipped with a beacon transmitter, it notifies the autonomous vehicle and pedestrians via the notification device and the in-vehicle device.

25. The mutual recognition system according to claim 24, characterized in that when the second beacon receiver, the beacon-embedded sensor unit, the first beacon receiver, or the second sensor detects a priority signal from an emergency vehicle, the in-vehicle device notifies the driver of the approach of the emergency vehicle with priority over other notifications.

26. The mutual recognition system according to claim 24, characterized in that when the second beacon receiver, the beacon-embedded sensor unit, the first beacon receiver, or the second sensor detects a priority signal from an emergency vehicle, the notification device notifies the pedestrian of the approach of the emergency vehicle with priority over other notifications.

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