Risk assessment device, risk assessment method, and program

Abstract

We provide a risk assessment device and the like that can provide safety support to users. [Solution] The risk determination device 2 is configured such that a first mobile body traveling in a traffic area outputs a signal to its surroundings, and the second mobile body, mounted on a second mobile body traveling in the traffic area, acquires the signal. The device comprises a communication terminal for acquiring the signal, a state calculation unit 26 that estimates the position and speed of the first mobile body based on the acquired signal, and calculates the time until the second mobile body overtakes or passes the first mobile body based on the estimated position and speed of the first mobile body and the previously acquired position and speed of the second mobile body, and a risk determination unit 24 that determines the risk level of the first mobile body to the second mobile body based on the calculation result of the state calculation unit 26, and outputs the determined risk level.

Description

Technical Field

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[0001] The present disclosure relates to a risk determination device, a risk determination method, and a program. In particular, it relates to a risk determination device for a moving body to move safely.

Background Art

[0002] In public transportation, moving bodies move at various speeds and directions. For example, Patent Document 1 discloses a traffic safety support system as a technology for improving the safety of moving bodies in public transportation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, it is difficult to predict the behavior of surrounding moving bodies, and there is a need for safety support to suppress the occurrence of accidents for users. <00000​​​​​​​​​The risk determination device according to this disclosure is configured such that a first mobile body traveling in a traffic area outputs a signal to its surroundings, and the device is mounted on a second mobile body, and the second mobile body traveling in the traffic area acquires the signal, and comprises: a communication terminal for acquiring the signal; a state calculation unit for estimating the position and speed of the first mobile body based on the acquired signal, and calculating the time until the second mobile body overtakes or passes the first mobile body based on the estimated position and speed of the first mobile body and the previously acquired position and speed of the second mobile body; and a risk determination unit for determining the risk level of the first mobile body to the second mobile body based on the calculation result of the state calculation unit, and outputting the determined risk level. [Effects of the Invention]

[0007] The risk assessment device and other devices described herein can provide safety support to users. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing a risk assessment system that includes a risk assessment device. [Figure 2] Figure 2 shows a first mobile unit equipped with a first communication terminal that emits signals, and a second mobile unit equipped with multiple second communication terminals. [Figure 3] Figure 3 shows the arrangement of multiple first and second moving objects. [Figure 4] Figure 4 shows the relationship between time and distance in Figure 3. [Figure 5A] Figure 5A is a diagram showing a database of road environments. [Figure 5B] Figure 5B is a diagram showing a database of driving environments. [Figure 5C] Figure 5C shows a database of vehicles parked on the street. [Figure 5D] Figure 5D shows a database of intersections. [Figure 5E]Figure 5E shows a database of the attributes of the first mobile entity. [Figure 5F] Figure 5F is a diagram showing a database of the number of times the first moving object and the second moving object pass each other. [Figure 6] Figure 6 shows the arrangement of multiple first and second mobile objects in a traffic area. [Figure 7] Figure 7 is a flowchart showing an example of the operation of the risk assessment device. [Figure 8A] Figure 8A shows the configuration of multiple first and second moving objects when an obstacle is present in the traffic area. [Figure 8B] Figure 8B shows the state of multiple first and second moving objects as time has passed since Figure 8A. [Figure 9] Figure 9 is a flowchart showing an example of the operation of a hazard assessment device when an obstacle is present in a traffic area. [Figure 10A] Figure 10A shows the configuration of multiple first and second moving objects at an intersection with a blind spot. [Figure 10B] Figure 10B shows the state of multiple first and second moving objects as time has passed since Figure 10A. [Figure 11] Figure 11 is a flowchart showing an example of the operation of a risk assessment device when blind spots exist in a traffic area. [Figure 12A] Figure 12A shows the relationship between multiple first and second moving objects in a traffic area with a narrow sidewalk and an obstacle. [Figure 12B] Figure 12B shows the state of multiple first and second moving objects as time has passed since Figure 12A. [Figure 13A] Figure 13A shows the relationship between time and distance between multiple first and second moving objects. [Figure 13B] Figure 13B shows the relationship between time and distance when the second moving object decelerates in a case involving multiple first moving objects and second moving objects. [Figure 14]FIG. 14 is another flowchart showing an operation example of the risk determination device when there is a dead angle in the traffic area. [Figure 15] FIG. 15 is a flowchart showing an operation example of changing the color of light emitted by the notification unit according to the time until the second moving body overtakes the first moving body or the time until they pass by each other.

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangements and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, the components not described in the independent claims are described as optional components.

[0010] Moreover, each figure is a schematic diagram and is not necessarily drawn precisely. Therefore, for example, the scales etc. in each figure do not necessarily match. Also, in each figure, substantially the same configurations are denoted by the same reference numerals, and overlapping descriptions are omitted or simplified.

[0011] Hereinafter, the embodiments will be specifically described while referring to the drawings.

[0012] (Embodiment) <Configuration> First, referring to FIGS. 1 to 5F, the risk determination system 1, risk determination method, and program having the risk determination device 2 in the present embodiment will be described.

[0013] Figure 1 is a block diagram showing a hazard determination system 1 having a hazard determination device 2. Figure 2 shows a first mobile body equipped with a first communication terminal 100 that emits signals, and a second mobile body equipped with multiple second communication terminals 11. Figure 3 shows the arrangement of multiple first mobile bodies and second mobile bodies. Figure 3(a) shows how the second communication terminal 11 of the second mobile body acquires signals from the first communication terminals 100 of the first mobile bodies P1 and P2. Figure 3(b) shows how the first mobile body and the second mobile body meet (for example, overtake or pass each other) after a predetermined period of time has elapsed since Figure 3(a). Figure 4 shows the relationship between time and distance in Figure 3. Figure 5A shows a database of road environments. Figure 5B shows a database of driving environments. Figure 5C shows a database of parked vehicles on the road. Figure 5D shows a database of intersections. Figure 5E shows a database of attributes of the first mobile bodies. Figure 5F is a diagram showing a database of the number of times the first moving object and the second moving object pass each other. In this embodiment, the symbols "P1, P2, P3, P4", etc. are omitted except when referring to a specific moving object relative to the first moving object.

[0014] As shown in Figure 1, the risk assessment system 1 is a system that can recognize a first moving object moving within a traffic area and notify the user of the risk level, taking into account the surrounding traffic environment. The traffic area is a road (roadway and / or sidewalk) where moving objects can travel, and intersections on the road. The risk level is an index that represents the possibility of a future collision or proximity between a second moving object, separate from the first moving object, and the first moving object hidden in a blind spot. For example, the risk level is set higher for children and the elderly, who tend to act impulsively and whose actions are difficult to predict, than for other age groups. The risk assessment device 2 can make the user aware of the future risk level by notifying them. The first and second moving objects include vehicles such as motorcycles, scooters, and automobiles, and people carrying mobile devices.

[0015] In this embodiment, the first moving object is a pedestrian or bicycle, and the second moving object is a vehicle equipped with the risk assessment device 2. In this embodiment, the vehicle in which the user is riding is sometimes referred to as the second moving object, and pedestrians or two-wheeled vehicles present around the second moving object are sometimes referred to as the first moving object.

[0016] The risk assessment system 1 comprises a first communication terminal 100 and a risk assessment device 2.

[0017] The first communication terminal 100 is a communication device mounted on the first mobile device. The first communication terminal 100 emits a signal to its surroundings, which the second communication terminal 11 mounted on the second mobile device can receive. The signal is, for example, a radio beacon or an optical beacon. The first communication terminal 100 may also be capable of bidirectional communication with the second communication terminal 11. The signal includes pre-registered attributes of the first mobile device. The attributes of the first mobile device indicate the characteristics and properties of the first mobile device, such as "type of vehicle (first mobile device) such as a two-wheeled vehicle, motorcycle, or automobile," "presence or absence of an electric motor," "age group of the person (first mobile device) possessing the first communication terminal 100, such as elderly, middle-aged, young adult, adolescent, child, or infant," and "gender." The first communication terminal 100 is an example of an equipment terminal.

[0018] The first communication terminal 100 is configured to emit signals to its surroundings in order to allow the second mobile object to know its position, speed, and direction of movement. Furthermore, by emitting signals to its surroundings at predetermined intervals, the first communication terminal 100 can allow the second mobile object to know its current position, speed, and direction of movement. The first communication terminal 100 may be a communication device owned by the first mobile object, such as a pedestrian or cyclist, or it may be a communication device that operates only when a vehicle is parked on the road, or it may be attached to an installation at an intersection.

[0019] The risk assessment device 2 comprises a vehicle speed sensor 10, a second communication terminal 11, an illuminance sensor 12, a wiper drive state acquisition unit 13, an in-vehicle communication device 14, an in-vehicle camera 15, a GPS (Global Positioning System) device 16, a storage unit 17, a calculation unit 20, and a notification unit 30. Yes, they are.

[0020] The vehicle speed sensor 10 is a sensor that detects the speed of the second moving object. The vehicle speed sensor 10 is configured to output information indicating the detected speed of the second moving object to the calculation unit 20.

[0021] As shown in Figure 2, multiple second communication terminals 11 are mounted on the second mobile vehicle. In this embodiment, the second terminal devices 11 are located in three places on the second mobile vehicle: the central front end (behind the front bumper, etc.), the front right end (right end of the bumper, right door mirror, etc.), and the front left end (left end of the bumper, left door mirror, etc.). The placement of the second terminal devices 11 is not limited to this embodiment and may be located at the rear end of the vehicle (behind the rear bumper, etc.), on the roof of the second mobile vehicle, on the windshield, etc. Each of the multiple second communication terminals 11 is configured to receive signals emitted by the first communication terminal 100. For example, if the multiple second communication terminals 11 are connected in a one-to-one correspondence with multiple antennas, since the placement positions of each antenna are different, the multiple second communication terminals 11 can each estimate different arrival angles A, B, and C when receiving signals emitted by the first communication terminal 100. This difference in arrival angles is derived from the phase difference of the signals received by each of the multiple second communication terminals 11.

[0022] As shown in Figure 1, each of the multiple second communication terminals 11 is configured to receive a signal emitted by the first communication terminal 100 and output information such as the radio wave strength indicated by the signal and the attributes of the first mobile object to the calculation unit 20. Each of the multiple second communication terminals 11 may also be configured to emit a signal similar to the signal emitted by the first communication terminal 100. The second communication terminal 11 is an example of a communication terminal.

[0023] A parked vehicle stopped around the second mobile body may be configured, for example, to transmit using an on-board communication device, or to periodically transmit a signal along with the activation of the parking brake and hazard lights when it becomes a parked vehicle. Here, a parked vehicle means a vehicle that is continuously stopped on the road, a vehicle that is stopped for loading or unloading goods for more than 5 minutes, or a vehicle that is stopped with the driver away from it.

[0024] The illuminance sensor 12 is a sensor that detects the illuminance around the second moving object. The illuminance sensor 12 is configured to output information indicating the detected illuminance around the second moving object to the calculation unit 20.

[0025] The wiper drive state acquisition unit 13 is an information acquisition unit that acquires the drive state of the wipers mounted on the second moving body. The wiper drive state acquisition unit 13 is configured to output information indicating the drive state of the wipers of the second moving body to the calculation unit 20.

[0026] The in-vehicle communication device 14 is a communication device that acquires information indicating the driving environment around the second mobile object. Information indicating the driving environment includes, for example, the weather, precipitation, and rainfall in the area where the second mobile object is located. The in-vehicle communication device 14 is configured to output information indicating the driving environment of the second mobile object to the calculation unit 20.

[0027] The in-vehicle camera 15 is a camera sensor that detects information about the first moving object present around the second moving object. The information about the first moving object includes the number of first moving objects present around the second moving object. The in-vehicle camera 15 is configured to output the information about the first moving object to the calculation unit 20.

[0028] The GPS device 16 is a device that acquires information indicating the position of the second mobile object. The GPS device 16 is configured to output information indicating the position of the second mobile object to the calculation unit 20. The GPS device 16 may also be configured to acquire information indicating the speed of movement of the second mobile object and information indicating the direction of movement of the second mobile object.

[0029] The memory unit 17 is a memory that stores map information and the like. The memory unit 17 is configured to output map information in response to a request from the arithmetic unit 20.

[0030] As shown in Figure 3, the calculation unit 20 can estimate the position and speed of the first mobile object and determine the degree of danger based on signals emitted by the first communication terminal 100 of the first mobile object located in the traffic area.

[0031] The calculation unit 20 includes a state calculation unit 26 and a risk determination unit 24.

[0032] The state calculation unit 26 can obtain information such as the radio wave intensity indicated by the signal emitted by the first communication terminal 100 and the attributes of the first mobile object from each of the multiple second communication terminals 11, and estimate the position and speed of the first mobile object.

[0033] For example, the state calculation unit 26 can estimate the distance from the second mobile object to the first mobile object based on the signal strength of the signals received by each of the multiple second communication terminals 11. Alternatively, the state calculation unit 26 may estimate the distance from the second mobile object to the first mobile object by obtaining the round-trip time between the first communication terminal 100 and the second communication terminal 11 from the first communication terminal 100.

[0034] Furthermore, since there is only one signal source (first communication terminal 100), the state calculation unit 26 can estimate the arrival angle of each signal relative to the direction of travel of the second mobile body. In other words, the state calculation unit 26 can estimate the arrival angle of each signal by the phase difference of the received signals. For example, as shown in Figure 2, the state calculation unit 26 can estimate the arrival angle A of the second communication terminal 11 located at the central front end of the second mobile body, the arrival angle B of the second communication terminal 11 located at the front right end, and the arrival angle C of the second communication terminal 11 located at the front left end. Since the placement positions of each of the multiple second communication terminals 11 are different, the arrival angles of each signal will also be different. The direction of travel of the second mobile body may be obtained from an ECU or GPS sensor mounted on the second mobile body.

[0035] Furthermore, since the second communication terminal 11 acquires signals from the first communication terminal 100 at predetermined intervals, the state calculation unit 26 can estimate the position of the first mobile object based on the estimated distance from the second mobile object to the first mobile object and the estimated arrival angle of the signal from the first mobile object. If the position of the first mobile object indicated by the arrival angle, etc., is outside the traffic area, it is considered that the second communication terminal 11 is receiving reflected waves reflected by surrounding structures, and therefore the state calculation unit 26 may estimate the position of the first mobile object from the reflection position. In addition, the state calculation unit 26 may acquire signals emitted by the first communication terminal 100 from some of the multiple second communication terminals 11 and estimate the position of the first mobile object. For example, the state calculation unit 26 may estimate the position of the first mobile object by adopting the signal with the highest radio wave strength, or a signal with a radio wave strength of a predetermined value or higher.

[0036] Furthermore, the state calculation unit 26 estimates the movement speed of the first moving body in accordance with the changes in the positions of the first and second moving bodies over time. The above-mentioned signal may include information indicating the movement speed of the first moving body.

[0037] The state calculation unit 26 can then indicate the position and speed of the first mobile object in the map information based on the map information in the storage unit 17 and the estimated position and speed of the first mobile object.

[0038] Furthermore, the state calculation unit 26 can calculate the time until the second moving object meets, i.e., overtakes or passes by, the first moving object, based on the estimated position and speed of the first moving object and the position and speed of the second moving object.

[0039] The calculated time can be represented as shown in Figure 4. Figure 4 shows the time until the second mobile object passes the first mobile object P1, the time until the second mobile object overtakes the first mobile object P2, and the relationship between the distance from the meeting point to the first mobile object and the distance from the meeting point to the second mobile object. The time point in Figure 3(a) is shown by the dashed line in Figure 4. The movement speeds of the first mobile objects P1 and P2, and the movement speed of the second mobile object are represented by arrows pointing from the first mobile objects P1 and P2, and the second mobile object, to the meeting point.

[0040] More specifically, the state calculation unit 26 includes a first determination unit 21, a second determination unit 22, a street parking identification unit 25, and a third determination unit 23.

[0041] As shown in Figure 1, the first determination unit 21 is configured to determine whether the second moving object will overtake or pass the first moving object based on information indicating the time calculated by the state calculation unit 26, information indicating the estimated position of the first moving object, and information indicating the estimated speed of the first moving object. If the first determination unit 21 determines that the second moving object will overtake or pass the first moving object which is located ahead in the near future, it calculates the time until the second moving object overtakes or passes the first moving object and outputs information indicating the time until overtaking or the time until passing to the risk determination unit 24. If the first determination unit 21 determines that the second moving object will not overtake or pass the first moving object, it repeats the process. The near future could be, for example, several tens of seconds or several seconds later.

[0042] The second determination unit 22 recognizes obstacles installed along the traffic area based on map information and their locations. Based on the attributes of the recognized obstacles, their locations, and information indicating the location of the second mobile body obtained from the GPS device 16, it identifies blind spots where the first mobile body is hidden by the obstacles. Obstacles include, for example, buildings and installations not shown on the map, and vehicles that emit signals similar to those of the first mobile body, such as parked vehicles. The second determination unit 22 may also identify blind spots based on map information, images acquired by the in-vehicle camera 15, signals transmitted by the first mobile body, etc.

[0043] The second determination unit 22 is configured to determine whether or not the first moving object is hidden in the identified blind spot, based on the identified blind spot, information indicating the estimated position of the first moving object, information indicating the estimated movement speed of the first moving object, information indicating the position of the second moving object, and information indicating the movement speed of the second moving object. In other words, the second determination unit 22 is configured to perform a "Visible determination" when the first moving object is not hidden in the blind spot, and an "Invisible determination" when the first moving object is hidden in the blind spot. If the second determination unit 22 determines that the first moving object is hidden in the blind spot, it calculates the time until the second moving object overtakes or passes by the first moving object hidden in the blind spot, and outputs information indicating the time until overtaking or the time until passing to the risk determination unit 24. Furthermore, if the second determination unit 22 determines that the first moving object is not hidden in a blind spot, it outputs the time until the second moving object overtakes or passes by the first moving object to the risk determination unit 24.

[0044] The on-street parking identification unit 25 is configured to identify the presence of an on-street parked vehicle in the direction of travel of the second mobile object, based on information about the first mobile object obtained from the in-vehicle camera 15, information indicating the position of the second mobile object obtained from the GPS device 16, and map information obtained from the storage unit 17. The on-street parking identification unit 25 outputs to the risk determination unit 24 that an on-street parked vehicle is present.

[0045] In this embodiment, the on-street parked vehicle may be configured to emit a signal, similar to the first mobile device. In this case, the second mobile device can acquire the signal emitted by the on-street parked vehicle. The signal transmitted from the on-street parked vehicle includes the attributes of the on-street parked vehicle. The attributes of the on-street parked vehicle include characteristics and properties such as "vehicle size (large, medium, small, etc.)", "height", "overall length", "overall width", and "location of the first communication terminal".

[0046] Regardless of whether or not there is a blind spot, after the time it takes for the second moving object to overtake or pass the first moving object has been calculated, the third determination unit 23 is configured to determine whether or not the speed of the second moving object has changed based on information indicating the speed of the second moving object obtained from the vehicle speed sensor 10.

[0047] For example, if the third determination unit 23 determines that the speed of the second moving object has changed, the third determination unit 23 recalculates the time until the second moving object overtakes or passes the first moving object based on the determination result, the estimated position of the first moving object, the estimated speed of the first moving object, the position of the second moving object after the speed change, and the speed of the second moving object after the speed change. The third determination unit 23 then outputs the recalculated time until the second moving object overtakes or passes the first moving object to the risk determination unit 24.

[0048] Furthermore, if the third determination unit 23 determines that the movement speed of the second moving object has not changed, the third determination unit 23 outputs to the danger determination unit 24 the time until the second moving object overtakes or passes the first moving object.

[0049] The risk determination unit 24 is configured to determine the degree of risk posed by the first moving object to the second moving object based on information indicating the time until overtaking or the time until passing, the presence of a parked vehicle on the road (information indicating the estimated position of the first moving object), and information indicating the estimated speed of the first moving object, that is, based on the calculation results of the state calculation unit 26. The degree of risk is an indicator of the degree to which the second moving object is likely to collide with or come into close proximity to the first moving object in the near future.

[0050] Furthermore, the risk determination unit 24 is configured to determine the degree of danger posed by the first mobile object to the second mobile object by taking into account information indicating the illuminance around the second mobile object detected by the illuminance sensor 12, information indicating the wiper drive state of the second mobile object acquired by the wiper drive state acquisition unit 13, and information indicating the driving environment of the second mobile object acquired by the in-vehicle communication device 14. The risk determination unit 24 outputs the determined risk level to the notification unit 30.

[0051] The notification unit 30 consists of an acoustic unit 31 such as a speaker mounted on the second mobile unit, a display unit 32 such as a monitor mounted on the second mobile unit, and a vibration unit 33 that transmits vibrations to the user. The notification unit 30 notifies the first mobile unit of the "time until the second mobile unit overtakes or passes the first mobile unit," which is the result of the determination by the first determination unit 21, the second determination unit 22, or the third determination unit 23, as well as the "degree of danger" determined by the danger determination unit 24, and the "blind spot created by the presence of parked vehicles" identified by the on-street parking identification unit 25.

[0052] Furthermore, the risk assessment system 1, risk assessment method, and program having the risk assessment device 2 of this embodiment may determine the risk level according to weighting corresponding to the surrounding environment of the vehicle.

[0053] For example, the memory unit 17 may store a database for the risk determination unit 24 to determine the degree of risk. The surrounding environment of the vehicle includes the road environment in the traffic area, the driving environment in the traffic area, parked vehicles on the road in the traffic area, the presence or absence of installations at intersections, the attributes of the first moving object, the number of times the first moving object and the second moving object pass each other, etc.

[0054] As shown in Figure 5A, the road environment includes "road width" and "presence or absence of sidewalks" and is included in the map information. For "road width," the score is set so that the narrower the road width, the higher the score. For "presence or absence of sidewalks," the score is set so that the narrower the sidewalk, the higher the score. All weightings for the road environment are set to "1". However, for the road environment, the weighting values ​​may be increased in the event of adverse weather conditions such as snowfall or heavy rain.

[0055] As shown in Figure 5B, the driving environment includes "time" within a day, and this "time" is linked to a "target illuminance." The "time" includes, for example, sunrise, early morning, 8:00 to 9:00, noon, 14:00 to 16:00, evening, sunset, and nighttime. The "target illuminance" includes 300 lx at sunrise, 1000 lx or more in early morning, 2000 lx or more from 8:00 to 9:00, 2000 lx or more at noon, 1000 lx from 14:00 to 16:00, 1000 lx in the evening, 300 lx at sunset, and less than 300 lx at night. The score for early morning is set to "4," the score for noon is set to "3," and all other scores are set to "5." In the driving environment, the weighting is set to "1" for all. Note that in the driving environment, the weighting values ​​may be increased in case of bad weather such as snowfall or heavy rain.

[0056] As shown in Figure 5C, on-street parked vehicles include the vehicle types "regular cars" and "delivery vehicles," and "regular cars" and "delivery vehicles" are linked to "overall height," "overall length," "overall width," and "engine displacement." For "regular cars," the higher the "overall height" and the longer the "overall length," the higher the score. Similarly, for "delivery vehicles," the higher the "overall height," the longer the "overall length" and "overall width," and the larger the "engine displacement," the higher the score. All weightings for on-street parked vehicles are set to "2."

[0057] As shown in Figure 5D, the presence or absence of an installation at an intersection includes both "present" and "absent." "Present" is assigned a lower score than "absent." All weightings for the presence or absence of installations at intersections are set to "2."

[0058] As shown in Figure 5E, the attributes of the first moving object include "pedestrian" and "bicycle," and "direction of travel" and "attributes of the first moving object" are linked to "pedestrian" and "bicycle." "Direction of travel" includes "same direction," "opposite direction," and "T-junction," and "attributes" include "elderly," "under 15 years old," and "other." The scoring and weighting include "Visible judgment" (not hidden in a blind spot) and "Invisible judgment" (hidden in a blind spot). The scoring and weighting are set so that "Visible judgment" is lower than "Invisible judgment." When the "attribute" is "other," the score is set lower compared to "elderly" and "under 15 years old." The weighting for "Visible judgment" is set to "1" for all, and the weighting for "Invisible judgment" is set to "2" for all.

[0059] As shown in Figure 5F, the number of times the first and second moving objects pass each other includes "Visible judgment" and "Invisible judgment". The score for "Visible judgment" is set to be lower than that for "Invisible judgment". The weighting for both "Visible judgment" and "Invisible judgment" is set to "5".

[0060] When the risk assessment unit 24 determines the risk level, it can calculate a total score using the database in the storage unit 17. The total score is calculated by summing the values ​​obtained by multiplying the "score" by the "weighting". The risk assessment unit 24 may determine that the risk level is high if the total score is above a predetermined threshold. The notification unit 30 may also adjust the color, font size, etc., when notifying the user according to the score.

[0061] The scoring and weighting described above are merely examples and are not limited to this embodiment.

[0062] <Operation> Referring to Figures 6 and 7, an example of the operation of the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program will be described.

[0063] Figure 6 shows the arrangement of multiple first and second moving objects in a traffic area. Figure 7 is a flowchart showing an example of the operation of the hazard assessment device 2.

[0064] Figure 6(a) shows the time when the second communication terminal 11 of the second mobile body receives a signal from the first communication terminal 100 of the first mobile body P2. Figure 6(b) shows the time when the second communication terminal 11 of the second mobile body receives a signal from the first communication terminal 100 of the first mobile body P1. Figure 6(c) shows the time when the next signal from the first communication terminal 100 of the first mobile body P2 is received from the time shown in Figure 6(a). Figure 6(d) shows the time when the next signal from the first communication terminal 100 of the first mobile body P1 is received from the time shown in Figure 6(b). Figures 6 and 7 illustrate a second mobile body and first mobile bodies P1 and P2 located in the traffic area, in the direction of travel of the second mobile body. It is assumed that the first mobile body P2 and the second mobile body are traveling in the same first direction, and the first mobile body P1 is facing the second mobile body and traveling in a second direction opposite to the first direction.

[0065] First, as shown in Figure 7, the state calculation unit 26 acquires the signal emitted by the first communication terminal 100 from each of the multiple second communication terminals 11 and acquires the attributes of the first mobile entity contained in the signal (S11).

[0066] Next, the status calculation unit 26 determines whether or not it has acquired the signal emitted by the first communication terminal 100 two or more times within a predetermined period (S12). If the status calculation unit 26 determines that it has not acquired the signal emitted by the first communication terminal 100 two or more times within the predetermined period (NO in S12), the risk determination device 2 returns to step S11. Here, the predetermined period is, for example, a pre-set period, such as one second or a few seconds.

[0067] On the other hand, if the state calculation unit 26 determines that it has acquired signals emitted by the first communication terminal 100 two or more times within a predetermined period (YES in S12), it estimates the position and speed of the first mobile object (S13).

[0068] Specifically, the state calculation unit 26 estimates the distance from the second mobile object to the first mobile object and the arrival angle of each signal relative to the direction of travel of the second mobile object, based on the first signal emitted by the first communication terminal 100. Furthermore, the state calculation unit 26 acquires information indicating the attributes of the first mobile object contained in the signal. Next, the state calculation unit 26 estimates the position of the first mobile object and the distance from the second mobile object to the first mobile object, based on the next signal emitted by the first communication terminal 100.

[0069] The state calculation unit 26 may estimate the position of the first mobile object and the distance from the second mobile object to the first mobile object as the average value of the position of the first mobile object and the average value of the distance from the second mobile object to the first mobile object, based on signals acquired three or more times within a predetermined period. Alternatively, the state calculation unit 26 may estimate the position of the first mobile object and the distance from the second mobile object to the first mobile object based on signals acquired two times most recently.

[0070] Next, if the first determination unit 21 determines that the second moving object will overtake or pass the first moving object which is located ahead, the state calculation unit 26 calculates the time until the second moving object overtakes or passes the first moving object based on the estimated position and speed of the first moving object and the position and speed of the second moving object (S14).

[0071] As shown in Figures 3(a) and (b), if L1 is the distance between the first mobile object P1 and the second mobile object, L2 is the distance between the point of overtaking or passing (meeting point) and the second mobile object, V1 is the speed of movement of the first mobile object P1, V2 is the speed of movement of the first mobile object P2, and V is the speed of movement of the second mobile object, then the time "T-VRU" until the first mobile object P1 and the first mobile object P2 pass each other is calculated as (L1-L2) / (V1+V2). Also, the time "T-Car_en" until the first mobile object P1 and the second mobile object pass each other is calculated as L1 / (V+V1), and the time "T-Car_ov" until the second mobile object overtakes the first mobile object P2 is calculated as L2 / (V-V2).

[0072] In Figures 6(b) and (d), the time "T-Car_en" until the second moving object passes the first moving object P1 is calculated as L4×cosθ4 / (V1+V).

[0073] in this case, (V+V1)=V+(L2×cosθ2-L4×cosθ4+V×transmission cycle) / transmission cycle This is shown as follows. In Figure 6(b), L2 is the straight-line distance between the first moving body P1 and the second moving body, and θ2 is the angle of the line connecting the first moving body P1 and the second moving body with respect to the direction of travel of the second moving body. In Figure 6(d), L4 is the straight-line distance between the first moving body P1 and the second moving body, and θ4 is the angle of the line connecting the first moving body P1 and the second moving body with respect to the direction of travel of the second moving body.

[0074] In Figures 6(a) and (c), the time "T-Car_ov" until the second moving object passes the first moving object P2 is calculated as L3 × cosθ3 / (V-V2).

[0075] in this case, (V-V2)=V-(L3×cosθ3+V×transmission period-L1×cosθ1) / transmission period. In Figure 6(c), L3 is the straight-line distance between the first mobile body P2 and the second mobile body, and θ3 is the angle of the line connecting the first mobile body P2 and the second mobile body with respect to the direction of travel of the second mobile body. In Figure 6(a), L1 is the straight-line distance between the first mobile body P2 and the second mobile body, and θ1 is the angle of the line connecting the first mobile body P2 and the second mobile body with respect to the direction of travel of the second mobile body.

[0076] Furthermore, three times are calculated: "T-VRU" (the time until the first mobile object P1 and the second mobile object pass each other), "T-Car_en" (the time until the second mobile object passes the first mobile object P1), and "T-Car_ov" (the time until the second mobile object overtakes the first mobile object P2). If the time difference between "T-VRU" and "T-Car_ov", "T-VRU" and "T-Car_en", or "T-Car_ov" and "T-Car_en" is less than or equal to a reference value, then the first mobile object P1, the first mobile object P2, and the second mobile object will pass each other almost simultaneously. The reference value may be, for example, 0.5 milliseconds.

[0077] Strictly speaking, distance L1 is the distance between the first communication terminal 100 of the first mobile body P1 and the second communication terminal 11 of the second mobile body, and distance L2 is strictly speaking the distance between the meeting point and the second communication terminal 11 of the second mobile body. However, in this embodiment, the first mobile bodies P1, P2, and the second mobile body may be used for explanation.

[0078] In this embodiment, the example shown is one in which distances L1 to L4 are replaced with the distance when the first moving object and the second moving object are placed on the same straight line.

[0079] Next, as shown in Figure 7, the state calculation unit 26 determines whether or not time "T-Car_en" or time "T-Car_ov" exists (S15). If the state calculation unit 26 determines that neither time "T-Car_en" nor time "T-Car_ov" exists (NO in S15), the risk determination device 2 returns to step S13, but may also return to step S11.

[0080] On the other hand, if the state calculation unit 26 determines that time "T-Car_en" or time "T-Car_ov" exists (YES in S15), it estimates that the second moving object will overtake or pass the first moving object based on information indicating the time until overtaking or passing, the presence of a parked vehicle on the road (information indicating the estimated position of the first moving object), and information indicating the estimated speed of the first moving object (S16).

[0081] The status calculation unit 26 outputs to the risk determination unit 24 the time until the second moving object overtakes or passes the first moving object (S17). The risk determination unit 24 notifies the notification unit 30 of the time until the second moving object overtakes or passes the first moving object. This allows the user of the second moving object to be aware of the time.

[0082] Next, the risk determination unit 24 determines the degree of risk posed by the first mobile object to the second mobile object based on information indicating the time until overtaking or the time until passing, the presence of a parked vehicle on the road (information indicating the estimated position of the first mobile object), and information indicating the estimated speed of the first mobile object (S18). The risk determination unit 24 outputs the determined degree of risk to the notification unit 30. The notification unit 30 notifies the user of the second mobile object of the degree of risk posed by the first mobile object to the second mobile object. This allows the user of the second mobile object to understand the degree of risk.

[0083] Figures 3 and 4 illustrate a scenario in which three objects, the first moving object P1, P2, and the second moving object, simultaneously overtake and pass each other at the meeting point. In this case, the degree of danger is assumed to be high. For this reason, the first determination unit 21 may notify the user, via the danger determination unit 24 and the notification unit 30, that it will change the speed of the second moving object (in this embodiment, decelerate the second moving object) so that, for example, the second moving object passes the first moving object P1 and then overtakes the first moving object P2.

[0084] Therefore, the user can change the speed of the second mobile body to avoid collision or proximity with the first mobile bodies P1 and P2. For example, as shown by the dashed arrow in Figure 4, by slowing down the second mobile body, its arrival at the meeting point is delayed, thus preventing the three mobile bodies P1, P2, and the second mobile body from overtaking and passing each other simultaneously at the meeting point.

[0085] Next, the first determination unit 21 determines whether the second moving object has overtaken or passed by the first moving object (S19). In other words, the first determination unit 21 continues to perform the determination in step S19 until the time until overtaking or passing becomes 0. If the first determination unit 21 determines that the second moving object has not overtaken or passed by the first moving object (NO in S19), the risk determination device 2 returns to step S17.

[0086] On the other hand, if the first determination unit 21 determines that the second moving object has overtaken or passed the first moving object (YES in S19), the risk determination device 2 terminates the processing shown in the flowchart of Figure 7. The risk determination device 2 may return to step S11 and repeat the processing shown in the flowchart of Figure 7.

[0087] Although the movement speeds of the first and second moving objects are expected to change over time, the process shown in the flowchart in Figure 7 is repeated, so even if the movement speeds of the first and second moving objects change over time, the risk level can be determined in real time in response to these changes.

[0088] Furthermore, with reference to Figures 8A to 9, another example of operation of the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program will be described.

[0089] For processes identical to those shown in the example of operation in Figure 7, the same reference numerals are used, and explanations are omitted as appropriate.

[0090] Figure 8A shows the arrangement of multiple first and second mobile units when an obstacle is present in the traffic area. Figure 8B shows the arrangement of multiple first and second mobile units after some time has passed since Figure 8A. In Figures 8A and 8B, T=a indicates the time when the second communication terminal 11 of the second mobile unit first receives a signal, T=b indicates the time when it receives a signal after a predetermined period, and T=c indicates the time when it receives a signal after yet another predetermined period. The blind spots formed by the obstacle at T=a are shown as blind spot a (grid-like diagonal hatching), blind spot b (left-upward diagonal hatching), and blind spot c (right-upward diagonal hatching). The blind spots formed by the obstacle at T=b are shown as blind spot b (left-upward diagonal hatching) and blind spot c (right-upward diagonal hatching). The blind spot formed by the obstacle at T=c is shown as blind spot c (right-upward diagonal hatching). Figure 9 is a flowchart showing an example of the operation of the hazard assessment device 2 when an obstacle is present in the traffic area.

[0091] In the traffic areas shown in Figures 8A and 8B, there are parked vehicles on the road. Figures 8A and 8B show straight roads, and assume a traffic area where blind spots are formed by parked vehicles stopped on the straight road. For example, in Figures 8A and 8B, these parked vehicles create blind spots, making it difficult for the second moving object to see the first moving object P1 and P3 hidden in the blind spots.

[0092] This parked vehicle is equipped with a first communication terminal 100. The signal emitted by the first communication terminal 100 installed in this parked vehicle includes the attributes of the parked vehicle.

[0093] In this case, if the signal emitted by the first communication terminal 100 of the first mobile body is a radio beacon, it will be reflected by structures such as walls or facilities located along the traffic area, so the second communication terminal 11 can receive the signal emitted by the first communication terminal 100.

[0094] First, the status calculation unit 26 acquires the signal emitted by the first communication terminal 100 from each of the multiple second communication terminals 11 and acquires the attributes of the first mobile object included in the signal. Furthermore, the status calculation unit 26 acquires the signal emitted by the first communication terminal 100 of the on-street parked vehicle from each of the multiple two communication terminals 11 and acquires the attributes of the on-street parked vehicle included in the signal. Furthermore, the on-street parking identification unit 25 identifies that there is an on-street parked vehicle stopped in the direction of travel of the second mobile object based on the information about the first mobile object acquired from the in-vehicle camera 15, the information indicating the position of the second mobile object acquired from the GPS device 16, and the map information acquired from the storage unit 17 (S11).

[0095] Next, after step S12, the state calculation unit 26 estimates the position of the parked vehicle based on the signal acquired from the parked vehicle, and further maps the position of the parked vehicle to the map information (S12a). According to this embodiment, the position of the parked vehicle can be estimated without further mounting of a camera and radar on the second mobile body. In other words, in this embodiment, it can operate as a separate system from ADAS (Advanced Driver Assistance System) which is capable of calculating position using a camera and radar. The terrain determination device 2 is useful as a fail-safe function for ADAS. The state calculation unit 26 may acquire information about the first mobile object from the in-vehicle camera 15, information indicating the position of the second mobile object from the GPS device 16, and map information from the storage unit 17, and map the position of the second mobile object and the positions of the first mobile object surrounding the second mobile object to the map information.

[0096] Next, after step S13, the second determination unit 22 acquires the attributes of the parked vehicle from the signal obtained from the parked vehicle stopped in the traffic area, and identifies a blind spot where the first moving body is hidden by the parked vehicle based on the attributes of the parked vehicle included in the signal, information indicating the position of the parked vehicle, and information indicating the position of the second moving body. Based on the identified blind spot, the estimated information indicating the position of the first moving body, the estimated information indicating the movement speed of the first moving body, the information indicating the position of the second moving body, and the information indicating the movement speed of the second moving body, the second determination unit 22 determines whether or not the first moving body is hidden in the identified blind spot (S13a).

[0097] If there is no first moving object hidden by a parked vehicle on the road, the second communication terminal 11 cannot receive a signal, and therefore the state calculation unit 26 can determine that there is no first moving object hidden by a parked vehicle on the road (NO in S13a). In this case, the risk determination device 2 returns to step S12a.

[0098] On the other hand, when the second communication terminal 11 receives a signal emitted by the first communication terminal 100, the state calculation unit 26 can determine that the first moving object is hidden behind a parked vehicle on the road (YES in S13a).

[0099] Next, the process of the flowchart in Figure 9 is completed after going through steps S14 to S19. If the risk assessment device 2 is No in S15, it returns to S12a. Alternatively, the risk assessment device 2 may return to step S11 and repeat the process of the flowchart in Figure 9.

[0100] Furthermore, with reference to Figures 10A to 11, another example of operation of the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program will be described.

[0101] For processes identical to those shown in the example of operation in Figure 9, the same reference numerals are used, and explanations are omitted as appropriate.

[0102] Figure 10A shows the positions of multiple first and second moving objects at an intersection with a blind spot. Figure 10B shows the positions of multiple first and second moving objects after some time has passed since Figure 10A. Figure 11 is a flowchart showing an example of the operation of the hazard assessment device 2 when a blind spot exists in the traffic area.

[0103] In the traffic areas shown in Figures 10A and 10B, there are installed structures. These structures include convex mirrors and other similar objects installed in the traffic areas. The traffic areas in Figures 10A and 10B are assumed to consist of intersections such as T-junctions or crossroads where blind spots are formed by obstacles such as walls and facilities, and structures such as convex mirrors installed at the intersections. In Figures 10A and 10B, these obstacles create blind spots, making it impossible for the second moving object to see the first moving object hidden in the blind spot.

[0104] The installed object is equipped with a first communication terminal 100. The signal emitted by the first communication terminal 100 installed on the installed object includes the attributes of the installed object. The attributes of the installed object indicate characteristics and properties such as the size of the installed object, the function of the installed object (number of mirrors in the case of a convex mirror), the height of the installed object, and the orientation of the installed object.

[0105] In this case, the signal emitted by the first communication terminal 100 of the first mobile device is reflected by an installation such as a convex mirror or the surrounding outer wall, so that the second communication terminal 11 can receive the signal emitted by the first communication terminal 100.

[0106] First, the status calculation unit 26 acquires the signal emitted by the first communication terminal 100 from each of the multiple second communication terminals 11 and acquires the attributes of the first mobile object included in the signal. Furthermore, the status calculation unit 26 acquires the signal emitted by the first communication terminal 100 of an installation installed in the traffic area from each of the multiple second communication terminals 11 and acquires the attributes of the installation and the location of the installation included in the signal (S11a).

[0107] Next, after going through steps S12 to S13, the second determination unit 22 recognizes obstacles and their positions along the traffic area based on map information. The second determination unit 22 may also recognize obstacles along the traffic area from the in-vehicle camera 15. Based on the attributes of the recognized obstacles, the position of the obstacles, and information indicating the position of the second moving body, the second determination unit 22 identifies blind spots where the first moving body will be hidden by the obstacles. The second determination unit 22 may further identify blind spots where the first moving body will be hidden by the obstacles by taking into account the direction of travel of the second moving body.

[0108] The second determination unit 22 determines whether or not the first moving object is hidden in the identified blind spot based on the identified blind spot, information indicating the estimated position of the first moving object, information indicating the estimated speed of the first moving object, information indicating the position of the second moving object, and information indicating the speed of the second moving object (S13a).

[0109] If the answer in step S13a is NO, the risk assessment device 2 returns to step S12a.

[0110] On the other hand, if the answer to S13a is YES, the state calculation unit 26 calculates the time until the second moving body overtakes or passes the first moving body based on the estimated position and speed of the first moving body and the position and speed of the second moving body (S14).

[0111] Next, the process of the flowchart in Figure 11 is completed after going through steps S17 to S19. Alternatively, the risk assessment device 2 may return to step S11 and repeat the process of the flowchart in Figure 11.

[0112] Furthermore, with reference to Figures 12A to 13B, the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program will be described.

[0113] Figure 12A shows the configuration of multiple first and second mobile units in a traffic area with a narrow sidewalk and obstructive parked vehicles. Figure 12B shows the configuration of multiple first and second mobile units after some time has passed since Figure 12A. In Figures 12A and 12B, T=a indicates the time when the second communication terminal 11 of the second mobile unit first receives a signal, T=b indicates the time when it receives a signal after a predetermined period, and T=c indicates the time when it receives a signal after yet another predetermined period. The blind spots formed by the parked vehicles at T=a are shown as blind spot a (grid-shaped hatching), blind spot b (left-upward diagonal hatching), and blind spot c (right-upward diagonal hatching). The blind spots formed by the parked vehicles at T=b are shown as blind spot b (left-upward diagonal hatching) and blind spot c (right-upward diagonal hatching). The blind spot formed by the parked vehicles at T=c is shown as blind spot c (right-upward diagonal hatching). Figure 13A shows the relationship between time and distance in a group of first and second moving objects. Figure 13B shows the relationship between time and distance in a group of first and second moving objects when the second moving object decelerates.

[0114] Figures 12A to 13B assume that five vehicles—first moving vehicles P1, P2, P3, and P4, and second moving vehicles—simultaneously overtake and pass each other at a meeting point. The traffic area in Figures 12A to 13B includes both a roadway and a sidewalk. On the sidewalk, first moving vehicles P1 and P3 are moving in the second direction, while first moving vehicles P2 and P4 are moving in the first direction. First moving vehicle P3 is in front of first moving vehicle P1, first moving vehicle P4 is in front of first moving vehicle P2, and first moving vehicle P2 is in front of second moving vehicle. On the roadway, second moving vehicle is moving in the first direction, and a parked vehicle is stopped in front of second moving vehicle. Furthermore, the attributes of the first mobile entity P1 are that of a young person riding a bicycle, the attributes of the first mobile entity P2 are that of a young person running, the attributes of the first mobile entity P3 are that of an elderly person walking, and the attributes of the first mobile entity P4 are that of a child walking. The first mobile entity P3 is hidden in the blind spot created by a parked vehicle stopped on the roadway.

[0115] For example, it is assumed that the first moving object P1 moves from the sidewalk to the roadway near the meeting point in order to avoid the first moving object P3 which is on the sidewalk. In this case, the first moving object P1 may be hidden by a blind spot created by a parked vehicle on the road. In such a case, the degree of danger is considered high. For this reason, the first determination unit 21 notifies the user via the danger determination unit 24 and the notification unit 30 that the time until the second moving object overtakes or passes the first moving objects P1, P2, P3, and P4, and that the speed of the second moving object should be changed (for example, decelerated). As a result, as shown in Figure 13B, the user can change the speed of the second moving object (in this embodiment, decelerate the second moving object) and avoid collision or proximity with the first moving objects P1, P2, P3, and P4.

[0116] Furthermore, if there are no first moving bodies P2 and P4 on the sidewalk, it is assumed that the first moving body P1 will continue to travel along the sidewalk. For this reason, the first determination unit 21 notifies the user, via the risk determination unit 24 and the notification unit 30, of the time until the second moving body overtakes or passes the first moving bodies P1 and P3, but does not notify the user to change the speed of the second moving body (for example, decelerate).

[0117] Furthermore, for example, it is conceivable that the first moving objects P2 and P4 may move from the sidewalk to the roadway near the meeting point in order to avoid the first moving object P3 which is on the sidewalk. In this case, the user of the second moving object can directly see the first moving objects P2 and P4. However, the first moving object P1 may move from the sidewalk to the roadway near the meeting point in order to avoid the first moving object P3 which is on the sidewalk, and will be hidden by a blind spot created by parked vehicles on the road, making it difficult for the user of the second moving object to see it. For this reason, the first determination unit 21 notifies the user via the danger determination unit 24 and the notification unit 30 of the time until the second moving object overtakes or passes the first moving objects P1, P2, P3, and P4, and the intention to change the speed of the second moving object (for example, decelerate). As a result, the user can avoid collision or proximity with the first moving objects P1, P2, P3, and P4 near the meeting point by changing the speed of the second moving object.

[0118] Furthermore, with reference to Figure 14, another example of operation of the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program will be described.

[0119] Figure 14 is another flowchart showing an example of the operation of the risk assessment device 2 when blind spots exist in the traffic area.

[0120] For processes identical to those shown in the example of operation in Figure 9, the same reference numerals are used, and explanations are omitted as appropriate.

[0121] First, after going through steps S11, S12, S12a, and S13, the second determination unit 22 acquires the attributes of the parked vehicles from signals obtained from parked vehicles stopped in the traffic area, and identifies blind spots where the first mobile body is hidden by the parked vehicles based on the attributes of the parked vehicles included in the signals. In other words, the second determination unit 22 determines whether there are blind spots that result in a "Visible" or "Invisible" determination based on the attributes of the parked vehicles included in signals obtained from parked vehicles stopped in the traffic area (S13b). If the second determination unit 22 determines that there are no blind spots (NO in S13b), it makes a "Visible" determination and determines whether the intervals at which the second communication terminal 11 receives signals emitted by the first mobile body are continuous (S21). If the second determination unit 22 determines that the intervals at which the second communication terminal 11 receives signals emitted by the first mobile body are not continuous (NO in S21), it proceeds to step S25, which is an "Invisible" determination. The term "continuous interval" means that a signal cannot be received at predetermined intervals, and does not mean that a signal is being received completely at all times. For example, in Figure 8A, the first moving objects that are "Visible" at time T=a are P2 and P4, and the first moving objects that are "Invisible" are P1 and P3.

[0122] If the second determination unit 22 determines that the interval between the signals emitted by the first mobile object and the reception of the second communication terminal 11 is continuous (YES in S21), it makes a "Visible determination" (S22), and the first determination unit 21 determines whether the second mobile object has overtaken or passed by the first mobile object (S23).

[0123] If the first determination unit 21 determines that the second moving object has not overtaken or passed the first moving object (NO in S23), the risk determination device 2 returns to step S22.

[0124] On the other hand, if the first determination unit 21 determines that the second moving object has overtaken or passed the first moving object (YES in S23), the risk determination device 2 terminates the processing shown in the flowchart of Figure 14. Alternatively, the risk determination device 2 may return to step S11 and repeat the processing shown in the flowchart of Figure 14.

[0125] Returning to S13b, the second determination unit 22 determines that there is a blind spot which is classified as "Invisible". If it is determined that the first moving object is hidden in a blind spot (YES in S13b), it is determined whether or not the first moving object is hidden in a blind spot (S24). If the second determination unit 22 determines that the first moving object is not hidden in a blind spot (NO in S24), the process returns to step S12a.

[0126] If the second determination unit 22 determines that the first moving object is not hidden in a blind spot (YES in S24), it makes an "Invisible determination" (S25), and the first determination unit 21 determines the second moving object relative to the first moving object. Determine whether the body has overtaken or passed by the other body (S26).

[0127] If the first determination unit 21 determines that the second moving object has not overtaken or passed the first moving object (NO in S26), the risk determination device 2 returns to step S25.

[0128] On the other hand, if the first determination unit 21 determines that the second moving object has overtaken or passed the first moving object (YES in S26), the risk determination device 2 terminates the processing shown in the flowchart of Figure 14. The risk determination device 2 may return to step S11 and repeat the processing shown in the flowchart of Figure 14.

[0129] Although the movement speeds of the first and second moving objects are expected to change over time, the process shown in the flowchart in Figure 14 is repeated, so even if the movement speeds of the first and second moving objects change over time, the risk level can be determined in real time in response to these changes.

[0130] Furthermore, with reference to Figure 15, another example of operation of the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program will be described.

[0131] Figure 15 is a flowchart illustrating an example of operation in which the color of the light emitted by the notification unit 30 is changed according to the time it takes for the second moving object to overtake or pass by the first moving object.

[0132] For processes identical to those shown in the example operation in Figure 15, the same reference numerals are used, and explanations are omitted as appropriate.

[0133] In Figure 15, when the notification unit 30 notifies the user of the second moving vehicle that it will decelerate, the user decelerates the second moving vehicle. In this case, if the deceleration is large, the user will feel uncomfortable. Therefore, the notification unit 30 is configured to change the notification method according to the magnitude of the deceleration.

[0134] First, the notification unit 30 notifies the user of the time remaining until the second moving vehicle overtakes or passes the first moving vehicle, and that the second moving vehicle should slow down (S31).

[0135] Next, the first determination unit 21 determines whether the time until overtaking or passing is 4 seconds or more and 12 seconds or less (S32). If the first determination unit 21 determines that the time until overtaking or passing is not 4 seconds or more and 12 seconds or less (NO in S32), the process returns to step S31.

[0136] On the other hand, if the first determination unit 21 determines that the time until overtaking or passing is 4 seconds or more and 12 seconds or less (YES in S32), the display unit 32 of the notification unit 30 lights up with a green light (S33) or indicates the time in green.

[0137] Next, the third determination unit 23 determines whether the second moving body has decelerated based on the information indicating the moving speed of the second moving body obtained from the vehicle speed sensor 10 (S34). If the third determination unit 23 determines that the second moving body has decelerated (YES in S34), it terminates the process shown in the flowchart of Figure 15.

[0138] On the other hand, if the third determination unit 23 determines that the second moving object is not decelerating (NO in S34), the display unit 32 of the notification unit 30 lights up with yellow light (S35) or indicates the time in yellow.

[0139] Next, if the first determination unit 21 determines that the time until overtaking or passing is 2 seconds or more but less than 4 seconds (S36), the third determination unit 23 determines whether the second moving object has decelerated based on the information indicating the moving speed of the second moving object obtained from the vehicle speed sensor 10 (S37). If the third determination unit 23 determines that the second moving object has decelerated (YES in S37), it terminates the process of the flowchart in Figure 15.

[0140] On the other hand, if the third determination unit 23 determines that the second moving object is not decelerating (NO in S37), and the time until overtaking or passing is less than 2 seconds (S38), the display unit 32 of the notification unit 30 lights up with a red light (S39) or indicates the time in red.

[0141] Next, the first determination unit 21 determines whether the second moving object has overtaken or passed the first moving object (S40).

[0142] If the first determination unit 21 determines that the second moving object has not overtaken or passed the first moving object (NO in S40), the risk determination device 2 returns to step S39.

[0143] On the other hand, if the first determination unit 21 determines that the second moving object has overtaken or passed the first moving object (YES in S40), the risk determination device 2 terminates the processing shown in the flowchart of Figure 15. The risk determination device 2 may return to step S31 and repeat the processing shown in the flowchart of Figure 15.

[0144] Furthermore, the display unit 32 may not only change the color but also the brightness of the light it emits. Alternatively, the display unit 32 may be an interior light installed in the vehicle. In this case, the interior light may illuminate when it is necessary to illuminate with yellow light or when it is necessary to illuminate with red light.

[0145] Although the speeds of the first and second moving objects are expected to change over time, the process shown in the flowchart of Figure 15 is repeated. Therefore, even if the speeds of the first and second moving objects change over time, and the time until overtaking or passing each other changes, the color of the indicator light on the notification unit 30 can be changed in real time according to these changes.

[0146] <Effects and Effects> Next, the effects of the risk assessment system 1 having the risk assessment device 2, the risk assessment method, and the program in this embodiment will be described.

[0147] As described above, the risk determination device 2 of Technology 1 according to this embodiment is a risk determination device 2 configured such that a first mobile body traveling in a traffic area outputs a signal to its surroundings, and the second mobile body, mounted on a second mobile body traveling in the traffic area, acquires the signal. The device 2 comprises a communication terminal for acquiring the signal, a state calculation unit 26 that estimates the position and speed of the first mobile body based on the acquired signal, and calculates the time until the second mobile body overtakes or passes the first mobile body based on the estimated position and speed of the first mobile body and the previously acquired position and speed of the second mobile body, and a risk determination unit 24 that determines the risk level of the first mobile body to the second mobile body based on the calculation result of the state calculation unit 26, and outputs the determined risk level.

[0148] According to this, the degree of danger posed by the first mobile object to the second mobile object can be determined, allowing the user of the second mobile object to understand the level of danger.

[0149] Therefore, this risk assessment device 2 can provide safety support to the user.

[0150] Furthermore, the risk determination device 2 of Technology 2 according to this embodiment further includes a state calculation unit 26 which comprises a first determination unit 21 that determines whether a second moving object will overtake or pass a first moving object that is in front of it, and if the first determination unit 21 determines that a second moving object will overtake or pass a first moving object that is in front of it, it calculates the time until the second moving object overtakes or passes the first moving object that is in front of it, which is the risk determination device 2 of Technology 1.

[0151] According to this, the user can determine the time it takes for the second moving object to overtake or pass the first moving object. Therefore, the user can take action such as changing the speed of the second moving object.

[0152] Furthermore, in the risk determination device 2 of Technology 3 according to this embodiment, the state calculation unit 26 includes a second determination unit 22 that, when a parked vehicle obstructing the movement of the first and second moving objects is stopped in a traffic area, outputs a signal to its surroundings, identifies a blind spot where the first moving object is hidden by the parked vehicle, and determines whether or not the first moving object is hidden in the identified blind spot. If the second determination unit 22 determines that the first moving object is hidden in the blind spot, it calculates the time until the second moving object overtakes or passes the first moving object hidden in the blind spot.

[0153] According to this, blind spots can be identified, and signals can be obtained from the first moving object hidden in the blind spot. As a result, the user can determine the time it takes for the second moving object to overtake or pass the first moving object hidden in the blind spot. Therefore, the user can take measures such as changing the speed of the second moving object.

[0154] Furthermore, the risk determination device 2 of Technology 4 according to this embodiment includes a notification unit 30 mounted on the second moving body, and the notification unit 30 outputs the time until the second moving body overtakes or passes the first moving body, and the risk level of the first moving body relative to the second moving body determined by the risk determination unit 24, which is the risk determination device 2 described in Technology 2 or 3.

[0155] According to this, the user can understand the time it takes for the second moving object to overtake or pass the first moving object, as well as the degree of danger. Therefore, the user can take measures such as changing the speed of the second moving object.

[0156] Furthermore, the risk determination device 2 of technology 5 according to this embodiment further includes a state calculation unit 26 which, after time has been calculated, includes a third determination unit 23 that determines whether or not the speed of the second moving body has changed based on the speed of the second moving body. If the third determination unit 23 determines that the speed of the second moving body has changed, the third determination unit 23 calculates the result of the determination and the time until the second moving body overtakes or passes the first moving body.

[0157] According to this, even if the speed of the second moving object changes, the change in the speed of the second moving object can be taken into account, and the time until the second moving object overtakes or passes the first moving object, as well as the level of danger, can be output.

[0158] Furthermore, the risk determination device 2 of Technology 6 according to this embodiment is mounted on the second moving body and includes a notification unit 30 that outputs information output from the risk determination unit 24. The risk determination unit 24 outputs to the notification unit 30 the time until the second moving body overtakes or passes the first moving body, and the risk level of the first moving body relative to the second moving body determined by the risk determination unit 24, when the third determination unit 23 determines that the moving speed of the second moving body has changed.

[0159] According to this, the user can understand the time it takes for the second moving object to overtake or pass the first moving object, taking into account the change in the second moving object's speed, as well as the degree of danger. Therefore, the user can take measures such as changing the speed of the second moving object.

[0160] Furthermore, the risk determination device 2 of Technology 7 according to this embodiment is a risk determination device 2 according to any one of Technology 1 to 6, in which the signal includes attributes of the first mobile body that indicate the characteristics and properties of the first mobile body.

[0161] According to this method, the degree of risk can be determined by considering the attributes of the first moving object, allowing users to grasp the degree of risk with greater accuracy.

[0162] Furthermore, in the risk assessment device 2 of Technology 8 according to this embodiment, the signal output by the on-street parked vehicle includes attributes of the on-street parked vehicle that indicate the characteristics and properties of the on-street parked vehicle, as described in any one of Technologies 1 to 7.

[0163] According to this, by considering the attributes of parked vehicles on the street, it is possible to identify the presence of a first moving object hidden in a blind spot, and then determine the degree of danger of a second moving object by taking into account the presence of the identified first moving object. As a result, users can grasp the degree of danger with greater accuracy.

[0164] Furthermore, in the risk assessment device 2 of Technology 9 according to this embodiment, an installation is installed in the traffic area, the installation is equipped with an installation terminal that outputs a signal to the surrounding area, and the signal output by the installation terminal includes attributes of the installation that indicate the characteristics and properties of the installation, as described in any one of Technologies 1 to 8.

[0165] According to this, by considering the attributes of the installed object, it is possible to identify the presence of a first moving object hidden in a blind spot, and then determine the risk level of a second moving object by taking into account the presence of the identified first moving object. As a result, users can grasp the risk level with greater accuracy.

[0166] Furthermore, the risk determination method of technology 10 according to this embodiment is a risk determination method configured such that a first mobile body traveling in a traffic area outputs a signal to its surroundings, which is applied to a second mobile body, and the second mobile body traveling in the traffic area acquires the signal, and includes the acquisition of the signal by a communication terminal, the estimation of the position and speed of the first mobile body by a state calculation unit 26 based on the acquired signal, the calculation unit 26 calculates the time until the second mobile body overtakes or passes the first mobile body based on the estimated position and speed of the first mobile body and the previously acquired position and speed of the second mobile body, and the determination of the risk level of the first mobile body to the second mobile body based on the calculation result of the state calculation unit 26, and the risk determination unit 24 outputs the determined risk level.

[0167] This method also produces the same effects as described above.

[0168] Furthermore, the program of technology 11 according to this embodiment is a program for a computer to implement the risk assessment method described in technology 10.

[0169] This program also produces the same effects as described above.

[0170] (Other variations) The risk assessment device relating to this disclosure has been described above based on the embodiments described above, but this disclosure is not limited to these embodiments. Various modifications to the embodiments that a person skilled in the art can conceive of may also be included within the scope of this disclosure, as long as they do not deviate from the spirit of this disclosure.

[0171] For example, the state calculation unit of the risk assessment device according to the above embodiment is typically implemented as an LSI, which is an integrated circuit. These may be individually integrated into a single chip, or some or all of them may be integrated into a single chip.

[0172] Furthermore, integrated circuit implementation is not limited to LSIs; it may also be achieved using dedicated circuits or general-purpose processors. Field-Programmable Gate Arrays (FPGAs), which can be programmed after LSI manufacturing, or reconfigurable processors, which allow for the reconfiguration of the connections and settings of circuit cells within the LSI, may also be used.

[0173] In each of the above embodiments, each component may be implemented by dedicated hardware or by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0174] Furthermore, all figures used above are illustrative to illustrate the present disclosure, and the embodiments of this disclosure are not limited to the figures exemplified.

[0175] Furthermore, the division of functional blocks in the block diagram is just one example; multiple functional blocks can be implemented as a single functional block, a single functional block can be divided into multiple parts, or some functions can be moved to other functional blocks. In addition, the functions of multiple functional blocks with similar functions can be processed in parallel or time-sharing by a single piece of hardware or software.

[0176] Furthermore, the order in which each step in the flowchart is performed is illustrative for the purpose of specifically illustrating this disclosure, and may be in a different order. Also, some of the above steps may be performed simultaneously (in parallel) with other steps.

[0177] Furthermore, this disclosure also includes forms obtained by applying various modifications to the embodiments that a person skilled in the art could conceive, and forms realized by arbitrarily combining the components and functions of the embodiments without departing from the spirit of this disclosure. [Industrial applicability]

[0178] This disclosure is applicable to vehicles such as motorcycles, electric motorcycles, and automobiles, as well as personal mobile devices. [Explanation of Symbols]

[0179] 2. Risk Assessment Device 11. Second communication terminal (communication terminal) 21 1st Judgment Section 22 Second Judgment Section 23 Third Judgment Section 24. Risk Assessment Department 26 State Calculation Unit 30 Notification Department 100 First communication terminal (installed terminal)

Claims

1. A risk assessment device is configured such that a first mobile body traveling in a traffic area outputs a signal to its surroundings, and a second mobile body is mounted on it, and the second mobile body traveling in the traffic area acquires the signal, A communication terminal that acquires the aforementioned signal, A state calculation unit estimates the position and speed of the first moving object based on the acquired signal, and calculates the time until the second moving object overtakes or passes the first moving object based on the estimated position and speed of the first moving object and the previously acquired position and speed of the second moving object. The system includes a risk determination unit that determines the degree of danger posed by the first moving body to the second moving body based on the calculation results of the state calculation unit, and outputs the determined degree of danger. Risk assessment device.

2. The state calculation unit includes a first determination unit that determines whether the second moving body overtakes or passes by the first moving body that is located in front of it. If the first determination unit determines that the second moving object will overtake or pass the first moving object which is located ahead, it calculates the time until the second moving object overtakes or passes the first moving object which is located ahead. The risk determination device according to claim 1.

3. The state calculation unit, If a parked vehicle is stopped in the traffic area that obstructs the movement of the first and second mobile bodies, the parked vehicle emits the signal to its surroundings. Furthermore, the system includes a second determination unit that identifies blind spots where the first mobile object is hidden by the parked vehicle and determines whether or not the first mobile object is hidden in the identified blind spots. If the second determination unit determines that the first moving object is hidden in the blind spot, it calculates the time until the second moving object overtakes the first moving object hidden in the blind spot, or the time until they pass each other. The risk determination device according to claim 1.

4. The second mobile unit is equipped with a notification unit, The notification unit outputs the time until the second moving object overtakes the first moving object or the time until they pass each other, and the risk level for the second moving object determined by the risk level determination unit. The risk determination device according to claim 2 or 3.

5. The state calculation unit includes a third determination unit that, after the time has been calculated, determines whether or not the speed of the second moving body has changed based on the moving speed of the second moving body. When the third determination unit determines that the moving speed of the second moving body has changed, The third determination unit calculates the result of the determination and the time until the second moving object overtakes the first moving object or the time until they pass each other. A risk determination device according to any one of claims 1 to 3.

6. The second mobile unit is equipped with a notification unit that outputs information output from the risk determination unit, When the third determination unit determines that the speed of the second moving body has changed, the risk determination unit outputs to the notification unit the time until the second moving body overtakes or passes the first moving body, and the risk level for the second moving body determined by the risk determination unit. The risk determination device according to claim 5.

7. The signal includes attributes of the first mobile body that indicate the characteristics and properties of the first mobile body. A risk determination device according to any one of claims 1 to 3.

8. The signal output by the on-street parked vehicle includes attributes of the on-street parked vehicle that indicate its characteristics and properties. The risk determination device according to claim 3.

9. In the aforementioned traffic area, installations are installed. The aforementioned installation is equipped with an installation terminal that outputs signals to the surrounding area. The signal output by the aforementioned installation terminal includes attributes of the installation that indicate the characteristics and properties of the installation. A risk determination device according to any one of claims 1 to 3.

10. A risk determination method comprising a first mobile body traveling in a traffic area that outputs a signal to its surroundings, which is applied to a second mobile body, and the second mobile body traveling in the traffic area that acquires the signal, The communication terminal acquires the aforementioned signal, Based on the acquired signal, the state calculation unit estimates the position and speed of the first moving object, and based on the estimated position and speed of the first moving object and the previously acquired position and speed of the second moving object, the state calculation unit calculates the time until the second moving object overtakes or passes the first moving object. The process includes determining the degree of danger posed by the first moving body to the second moving body based on the calculation results of the state calculation unit, and outputting the determined degree of danger from the danger determination unit. Method for determining the level of risk.

11. A computer that can implement the risk assessment method described in claim 10. program.

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