Server, vehicle, and program

Abstract

To make it possible to reliably transmit a warning to a portable appliance owned or worn by a pedestrian detected by a vehicle.SOLUTION: A server (2) comprises: a communication unit (21) that communicates with a portable type terminal device (M) and a vehicle (1); a first reception control unit (231) that controls the communication unit to repeatedly receive terminal position information for indicating a position of the terminal device from the terminal device; a second reception control unit (232) that controls the communication unit to receive pedestrian position information for indicating a position of a dangerous pedestrian who is likely to come into contact with the vehicle from the traveling vehicle; and a transmission control unit (234) that controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information for indicating a position inside an area (R) which includes the position indicated by the pedestrian position information and has a predetermined extent in a horizontal direction among the most recently received terminal position information.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a server, a vehicle, and a program.

Background Art

[0002] Conventionally, various technologies have been proposed for warning pedestrians who are likely to come into contact with a vehicle. For example, in Patent Document 1 below, a warning device that is a terminal on the vehicle side, a portable device carried by a pedestrian, a sensor provided in the vehicle or the warning device that detects pedestrians within a predetermined range, and a signal transmission unit provided in the warning device that transmits a danger signal indicating danger to the portable device carried by the pedestrian detected by the sensor, and a notification unit provided in the portable device that notifies the pedestrian carrying the present portable device of danger when receiving the danger signal are described for a warning system.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prior art as described in Patent Document 1 above, there are cases where a danger signal cannot be transmitted to the portable device of the detected pedestrian. For example, when the portable device is a mobile phone and is configured to transmit a danger signal using a communication line, in order to transmit a danger signal from the vehicle to the portable device, it is necessary for the vehicle to acquire identification information from the portable device in advance. On the other hand, when the terminal device is, for example, a dedicated receiver, etc., and is configured to directly transmit a danger signal using a specific radio wave that interferes with the radio wave emitted by the mobile phone, the transmitted radio wave may interfere with other radio waves, and there is a possibility that the danger signal may not reach the portable device.

Means for Solving the Problems

[0005] A server according to one aspect of the present invention includes a communication unit that communicates with a portable terminal device held or worn by a pedestrian and a vehicle, a first reception control unit that controls the communication unit to repeatedly receive terminal position information indicating the position of the terminal device from the terminal device, a second reception control unit that controls the communication unit to receive pedestrian position information indicating the position of a dangerous pedestrian who is a pedestrian likely to come into contact with the vehicle from the vehicle while the vehicle is in motion, and a transmission control unit that controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a region having a predetermined spread in the horizontal direction and including the position indicated by the pedestrian position information among the terminal position information received most recently.

[0006] A vehicle according to another aspect of the present invention is a vehicle including a communication unit that communicates with a server capable of communicating with a portable terminal device held or worn by a pedestrian, an information acquisition unit that acquires information outside the vehicle, a detection unit that detects a dangerous pedestrian who is a pedestrian likely to come into contact with the vehicle based on the outside information using a detection model constructed by machine learning, and a transmission control unit that controls the communication unit to transmit pedestrian position information indicating the position of the dangerous pedestrian to the server when the dangerous pedestrian is detected.

[0007] Each aspect of the present invention may be implemented by a computer. In this case, a program for implementing the system on a computer by operating the computer as each part (software element) included in the above system, and a computer-readable recording medium recording the program also fall within the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

[0009] <First Invention: Vehicle> First, the vehicle 1 according to an embodiment of one aspect (first invention) of the present invention will be described.

[0010] [Configuration of Vehicle] As shown in FIG. 1, the vehicle 1 constitutes a vehicle approach notification system 100 (100A) together with a server 2 (2A) described later. This vehicle approach notification system 100 (100A) communicates with a plurality of portable terminal devices M respectively held or worn by a plurality of pedestrians. In the present invention, a pedestrian is a person located on the road in a state where a warning issued by the terminal device M can be confirmed, and includes a person riding a bicycle, a wheelchair, or the like. The vehicle 1 according to the present embodiment communicates with the server 2 (2A) in a cellular system (via the base station 3). Note that the vehicle 1 may be configured to communicate directly with the server 2 (2A) (without passing through the base station) using specific radio waves. The vehicle 1 according to the present embodiment includes an information acquisition unit 11, a second information acquisition unit 12, a vehicle-side communication unit 13 (communication unit), a vehicle-side storage unit 14, and a vehicle-side control unit 15, as shown in FIG. 2.

[0011] [Information Acquisition Unit] The information acquisition unit 11 acquires information outside the vehicle 1. The information acquisition unit 11 according to the present embodiment is a camera that captures the outside of the vehicle 1 including the traveling direction of the vehicle 1 and generates an image. That is, the outside information acquired by the information acquisition unit 11 according to the present embodiment is an image. The information acquisition unit 11 according to the present embodiment stores the acquired outside information (the generated image) in the vehicle-side storage unit 14. Note that the camera may be one that captures a moving image of the outside of the vehicle 1 or one that captures a still image. Further, the information acquisition unit 11 may be various sensors other than the camera.

[0012] 〔Second Information Acquisition Unit〕 The second information acquisition unit 12 acquires vehicle position information indicating the position of the vehicle 1. The second information acquisition unit 12 according to the present embodiment is configured by a receiver of GNSS (Global Navigation Satellite System) or the like. Further, the second information acquisition unit 12 according to the present embodiment repeatedly acquires vehicle position information. The vehicle position information acquired by the second information acquisition unit 12 according to the present embodiment includes longitude, latitude, and the acquisition time thereof. The second information acquisition unit 12 according to the present embodiment stores the acquired vehicle position information in the vehicle-side storage unit 14.

[0013] 〔Vehicle-Side Communication Unit〕 The vehicle-side communication unit 13 communicates with servers 2 and 2A described later. The vehicle-side communication unit 13 according to the present embodiment is configured by a wireless communication module. That is, the vehicle-side communication unit 13 according to the present embodiment communicates wirelessly with the servers 2 and 2A.

[0014] 〔Vehicle-Side Storage Unit〕 The vehicle-side storage unit 14 is configured to be able to store at least outside information and vehicle position information. The vehicle-side storage unit 14 according to the present embodiment is configured by a semiconductor memory, a hard disk drive, or the like. Note that the vehicle-side storage unit 14 may be divided into one that stores outside information and one that stores vehicle position information.

[0015] 〔Vehicle-Side Control Unit〕 The vehicle - side control unit 15 controls each part of the vehicle 1. The vehicle - side control unit 15 according to the present embodiment includes a detection unit 151, an information generation unit 152, and a vehicle - side transmission control unit 153 (transmission control unit).

[0016] (Detection unit) The detection unit 151 detects a dangerous pedestrian based on external information. A dangerous pedestrian is a pedestrian who has a high possibility of coming into contact with the vehicle 1. The detection unit 151 according to the present embodiment detects a dangerous pedestrian based on an image generated by a camera. Thereby, a pedestrian can be easily detected compared with the case of using other means. Further, the detection unit 151 according to the present embodiment detects a dangerous pedestrian using a detection model constructed by machine learning. The detection model is, for example, one constructed by machine learning using an image of a road and a pedestrian (person) on the road as teacher data, and when an image of the road is input, it can output a determination result as to whether there is a pedestrian on the road. Then, the detection unit 151 detects, as a dangerous pedestrian, a pedestrian among the pedestrians shown in the image (existing in the traveling direction of the vehicle) whose distance from the lane where the vehicle 1 is scheduled to pass is equal to or less than a predetermined distance, or a pedestrian who is walking so as to approach the lane. Thereby, it is possible to narrow down the detection to pedestrians who have a particularly high possibility of coming into contact with the vehicle 1.

[0017] (Information generation unit) When the detection unit 151 detects a dangerous pedestrian, the information generation unit 152 generates pedestrian position information. The pedestrian position information is information indicating the position (longitude and latitude) of the dangerous pedestrian. Specifically, the information generation unit 152 calculates the longitude and latitude relative to the vehicle 1 of the detected dangerous pedestrian. Then, the detection unit 151 adds the calculated longitude and latitude to the longitude and latitude included in the vehicle position information obtained most recently (the latest one stored in the vehicle - side storage unit 14) to generate pedestrian position information.

[0018] (Vehicle - side transmission control unit) The vehicle - side transmission control unit 153 controls the vehicle - side communication unit 13 to transmit the pedestrian position information generated by the information generation unit 152 to the servers 2 and 2A.

[0019] [Vehicle's effects] According to the vehicle 1 according to the present embodiment described above, by transmitting the pedestrian position information to the servers 2 and 2A, the servers 2 and 2A can perform processing (for example, transmitting a warning from the servers 2 and 2A to the terminal device M held or worn by the pedestrian) for the dangerous pedestrian to take an action to avoid contact with the vehicle 1.

[0020] [Second invention: Server] Next, the server 2 according to the embodiment of another aspect (second invention) of the present invention will be described.

[0021] [Server configuration] As shown in FIG. 1, the server 2 constitutes a vehicle approach notification system 100 together with the vehicle 1. The server 2 according to the present embodiment communicates with the vehicle 1 and the terminal device M by a cellular method (via the base station 3). As shown in FIG. 3, the server 2 according to the present embodiment includes a server - side communication unit 21 (communication unit), a server - side storage unit 22, and a server - side control unit 23.

[0022] [Server - side communication unit] The server - side communication unit 21 communicates with the terminal device M and the vehicle 1. The server - side communication unit 21 according to the present embodiment is composed of a communication module and is connected to the base station 3. That is, the server - side communication unit 21 according to the present embodiment wirelessly communicates with the terminal device M and the vehicle 1 via the base station 3.

[0023] [Server - side storage unit] The server - side storage unit 22 stores a database 221. The server - side storage unit 22 according to the present embodiment is composed of a semiconductor memory, a hard disk drive, etc.

[0024] [Server - side control unit] The server - side control unit 23 includes a first reception control unit 231, a second reception control unit 232, a specifying unit 233, and a server - side transmission control unit 234 (transmission control unit).

[0025] (First Reception Control Unit) The first reception control unit 231 controls the server - side communication unit 21 to repeatedly receive terminal position information indicating the position of the terminal device M from the terminal device M. The terminal device M repeatedly transmits the terminal position information. Therefore, the first reception control unit 231 according to the present embodiment controls the server - side communication unit 21 to repeatedly receive the terminal position information. Also, the first reception control unit 231 according to the present embodiment accumulates the terminal position information received by the server - side communication unit 21 in the database 221. The terminal position information accumulated in the database 221 by the first reception control unit 231 according to the present embodiment includes, for example, as shown in FIG. 4, the identification information (Ped) of the terminal device M, the longitude (Lon) of the terminal device M, the latitude (Lat) of the terminal device M, and the acquisition time (GNSS Time) of these. Thereby, the movement of the pedestrian who holds or wears the terminal device M can be recorded. As a result, it becomes possible to verify the operation later.

[0026] (Second Reception Control Unit) The second reception control unit 232 controls the server - side communication unit 21 to receive pedestrian position information indicating the position of a dangerous pedestrian from the vehicle 1 in motion. The second reception control unit 232 according to the present embodiment accumulates the pedestrian position information received by the server - side communication unit 21 in the database 221.

[0027] (Specifying Unit) When the server - side communication unit 21 receives the pedestrian position information, the specifying unit 233 first sets the area R1. The area R1 is an area that includes the position indicated by the pedestrian position information and has a predetermined spread in the horizontal direction. The area R1 set by the specifying unit 233 according to the present embodiment is a circle with a predetermined radius r centered on the position indicated by the pedestrian position information. The size of r is a value determined according to the position measurement accuracy of the vehicle 1 and the terminal device M. Thereby, the specifying unit 233 can easily set the area R1.

[0028] Then, the specifying unit 233 specifies the terminal device M that has transmitted the terminal position information indicating a position inside the region R1 among the terminal position information most recently received from each terminal device M. As described above, the first reception control unit 231 accumulates the terminal position information received by the server-side communication unit 21 in the database 221. Therefore, the specifying unit 233 according to the present embodiment specifies the terminal device M that has transmitted the terminal position information indicating a position inside the region R1 among the latest terminal position information stored in the database 221. As described above, the region R1 set by the specifying unit 233 according to the present embodiment is circular. Therefore, the specifying unit 233 can easily specify the terminal device M that transmits a warning.

[0029] In addition, when the server-side communication unit 21 receives, from the vehicle 1, the pedestrian position information and the second pedestrian position information indicating the position of a second dangerous pedestrian who is likely to come into contact with the vehicle 1 but is different from the dangerous pedestrian (when there are a plurality of pedestrians who are likely to come into contact with the vehicle 1 at the same time), the specifying unit 233 according to the present embodiment specifies the terminal device M that has transmitted the terminal position information indicating a position inside the region R1 among the terminal position information most recently received, and also specifies the terminal device M that has transmitted the terminal position information indicating a position inside the second region R2 that includes the position indicated by the second pedestrian position information and has a predetermined spread in the horizontal direction among the terminal position information most recently received.

[0030] (Server-side transmission control unit) The server-side transmission control unit 234 controls the server-side communication unit 21 to transmit a warning to the terminal device M specified by the specifying unit 233. The content of the warning is that the vehicle 1 is approaching, there is a high possibility of contact with the vehicle 1, and the like. Note that the server-side transmission control unit 234 may be configured to perform control for transmitting instructions such as look around and stop on the spot instead of the warning. The server-side transmission control unit 234 according to the present embodiment controls the server-side communication unit 21 to transmit the warning to the terminal device M by a cellular method. Thereby, unlike the prior art that uses radio waves that interfere with the radio waves emitted by the mobile phone, communication is performed using the same radio waves as those emitted by the mobile phone, so that no interference occurs.

[0031] Further, when the specifying unit 233 specifies two or more terminal devices M that have transmitted the terminal position information indicating the position inside the region R1 and the terminal position information indicating the position inside the second region R2, the server-side transmission control unit 234 according to the present embodiment controls the server-side communication unit 21 to transmit a warning to all of these terminal devices M. Thereby, even when a plurality of dangerous pedestrians are detected simultaneously, it is possible to warn each dangerous pedestrian in advance that there is a possibility of contact with the vehicle 1.

[0032] [Effects of the server] According to the server 2 described above, as shown in FIG. 5, the server 2 transmits a warning to all the terminal devices M located in the area R1 based on the pedestrian position information (it does not transmit to the terminal devices M located outside the area R1). Usually, there is a deviation between the position of the terminal device based on the terminal position information and the position of the pedestrian detected by the vehicle 1. However, by setting all the terminal devices M inside the area R1 as the warning transmission targets, the terminal device M of the dangerous pedestrian can be surely included in the transmission targets. As a result, even if the vehicle 1 does not have the function of identifying the terminal device M, it is possible to warn the dangerous pedestrian in advance that there is a possibility of contact with the vehicle 1. Also, according to the server 2 described above, the vehicle 1 and the terminal device M will communicate with each other using various position information via the server 2. For this reason, it is no longer necessary for the vehicle 1 and the terminal device M to directly communicate using a specific radio wave (for example, a radio wave that interferes with the radio wave emitted by a mobile phone). Therefore, the risk that the transmitted radio wave interferes with other radio waves and the warning does not reach the terminal device can be reduced. Thus, according to the server 2 described above, a warning can be more surely transmitted to the portable device carried or worn by the pedestrian detected by the vehicle. As a result, the dangerous pedestrian can take actions to avoid contact with the vehicle 1.

[0033] <Third Invention: Server> First, the server 2A according to the embodiment of another aspect (third invention) of the present invention will be described.

[0034] [Configuration of Server] As shown in FIG. 1, the server 2A constitutes a vehicle approach notification system 100A together with the vehicle 1. The server 2A according to the present embodiment includes a server-side control unit 24 in addition to the server-side communication unit 21 (communication unit) and the server-side storage unit 22 similar to the server 2 as shown in FIG. 6.

[0035] [Server-Side Control Unit] The server-side control unit 24 includes a first information reception control unit 241, a signal transmission control unit 242, and a second information reception control unit 243, in addition to the identification unit 233 and the server-side transmission control unit 234 similar to those of the server-side control unit 23 of the server 2 above.

[0036] (First Information Reception Control Unit) Similar to the second reception control unit 232 of the server 2 above, the first information reception control unit 241 controls the server-side communication unit 21 to receive pedestrian position information from the vehicle 1 in motion. The first information reception control unit 241 according to the present embodiment stores the pedestrian position information received by the server-side communication unit 21 in the database 221.

[0037] (Signal Transmission Control Unit) Triggered by receiving the pedestrian position information, the signal transmission control unit 242 controls the server-side communication unit 21 to transmit a request signal requesting the transmission of the terminal position information to the terminal device M.

[0038] (Second Information Reception Control Unit) The second information reception control unit 243 controls the server-side communication unit 21 to receive the terminal position information from the terminal device M. The second information reception control unit 243 according to the present embodiment stores the terminal position information received by the server-side communication unit 21 in the database 221.

[0039] [Effects of the Server] According to the server 2A described above, the same effects as those of the server 2 can be obtained. Further, according to the server 2A, since it is not necessary to repeatedly transmit and receive the terminal position information, the power consumption of the vehicle 1 can be reduced.

[0040] <Fourth Invention: Vehicle Proximity Warning Method> Next, a vehicle proximity warning method according to an embodiment of another aspect (fourth invention) of the present invention will be described.

[0041] [Flow of the Vehicle Proximity Warning Method] As shown in FIG. 7, the vehicle approach warning method includes a measurement step S1, a first notification step S2, a detection step S3, a first specification step S4, a second notification step S5, a second specification step S6, and a warning step S7.

[0042] (Measurement step) In the initial measurement step S1, the position of the terminal device carried or worn by the pedestrian is measured. This measurement step S1 can be performed, for example, by the terminal device M measuring its own position. In the vehicle approach warning method according to this embodiment, this measurement step S1 is repeatedly performed at a predetermined cycle.

[0043] (First notification step) After the terminal device measures the position, it proceeds to the first notification step S2. In the first notification step S2, the position of the terminal device is notified to the server. This first notification step S2 can be performed, for example, by the terminal device M transmitting terminal position information and the server 2 receiving it. In the vehicle approach warning method according to this embodiment, this first notification step S2 is performed every time the terminal device measures the position. That is, this first notification step S2 is repeatedly performed. Note that this first notification step S2 may be performed not repeatedly but when there is a request for position notification.

[0044] (Detection step) In parallel with the repetition of steps S1 and S2 above, the detection step S3 is performed. In the detection step S3, dangerous pedestrians are detected. This detection step S3 can be performed, for example, by the vehicle 1 detecting dangerous pedestrians based on external information. In the vehicle approach warning method according to this embodiment, this measurement step S1 is repeatedly performed.

[0045] (First specification step) After detecting a dangerous pedestrian, it proceeds to the first specification step S4. In the first specification step S4, the position of the dangerous pedestrian is specified. This first specification step S4 can be performed, for example, by the vehicle 1 generating pedestrian position information.

[0046] (Second notification step) After the position of the dangerous pedestrian is identified, the process proceeds to a second notification step S5. In the second notification step S5, the position of the dangerous pedestrian is notified to the server. This second notification step S5 can be performed, for example, by the vehicle 1 transmitting pedestrian position information, which is then received by the server 2. After this second notification step S5, the terminal device M may be requested to notify the position.

[0047] (Second Identification Step) After notifying the dangerous pedestrian's location, the process proceeds to a second identification step S6. In the second identification step S6, the terminal device M that has notified the location inside the region R1 among the terminal device locations that have been notified most recently is identified. Note that, if a request is made to the terminal device M to notify its location after the second notification step S5, the second identification step S6 may be performed when the terminal device M notifies its location.

[0048] (Warning step) After identifying the terminal device inside the area R1, the process proceeds to a warning step S7. In the warning step S7, a warning is issued to a pedestrian carrying or wearing the identified terminal device M. This warning step S7 can be performed, for example, by the server 2 transmitting a warning, which is then received and output by the terminal device.

[0049] [Effects of the vehicle approach warning method] According to the vehicle approach warning method described above, as shown in FIG. 5, all pedestrians located within the area R1 are warned (pedestrians located outside the area R1 are not warned). Usually, there is a discrepancy between the position of the terminal device measured in step S1 and the position of the dangerous pedestrian identified in step S4. However, by setting all terminal devices M inside the area R1 as the warning targets, the terminal devices M of dangerous pedestrians can be more reliably included in the warning targets. Therefore, according to the vehicle approach warning method described above, dangerous pedestrians can be more reliably warned. As a result, the dangerous pedestrian can take action to avoid contact with the vehicle 1.

[0050] <First to Fourth Inventions and Others> The functions of the vehicle 1 and the servers 2 and 2A (hereinafter referred to as the devices) can be realized by a program for causing a computer to function as the device, and can be realized by a program for causing a computer to function as each control block of the device (particularly each part included in the vehicle-side control unit 15 and the server-side control units 23 and 24). In this case, the device includes a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory) as hardware for executing the program. By executing the program by this control device and storage device, each function described in the above embodiment is realized. The program may be recorded on one or more computer-readable recording media, not temporarily. This recording medium may or may not be provided in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0051] Also, part or all of the functions of each of the above control blocks can also be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each of the above control blocks is formed is also included in the scope of the present invention. In addition to this, for example, it is also possible to realize the functions of each of the above control blocks by a quantum computer.

[0052] Also, according to each aspect of the present invention described above, by exhibiting the above-described operational effects, it becomes possible to reduce the number of casualties due to contact accidents between a vehicle and a pedestrian. As a result, it is possible to contribute to the achievement of Goal 3, "Good health and well-being for all", of the Sustainable Development Goals (SDGs) proposed by the United Nations.

[0053] Also, the present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

Explanation of Reference Numerals

[0054] 100 Vehicle Approach Notification System 1 Vehicle 11 Information Acquisition Unit 12 Second Information Acquisition Unit 13 Vehicle-side Communication Unit 14 Vehicle-side Memory Unit 15 Vehicle-side Control Unit 151 Detection Unit 152 Information Generation Unit 153 Vehicle-side Transmission Control Unit 2, 2A Server 21 Server-side Communication Unit (Communication Unit) 22 Server-side Memory Unit 221 Database 23 Server-side Control Unit 231 First Reception Control Unit 232 Second Reception Control Unit 233 Identification Unit 234 Server-side Transmission Control Unit (Transmission Control Unit) 3 Base Station 100A Vehicle Approach Notification System 2A Server 24 Server-side Control Unit 241 First Information Reception Control Unit 242 Signal Transmission Control Unit 243 Second Information Reception Control Unit R1 Region

Claims

1. A portable terminal device carried or worn by a pedestrian, a communication unit that communicates with a vehicle, a first reception control unit that controls the communication unit to repeatedly receive terminal position information indicating the position of the terminal device from the terminal device, a second reception control unit that controls the communication unit to receive pedestrian position information indicating the position of a dangerous pedestrian, who is a pedestrian highly likely to come into contact with the vehicle, from the vehicle while it is in motion, a transmission control unit that controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a region that includes the position indicated by the pedestrian position information and has a predetermined spread in the horizontal direction among the terminal position information received most recently, comprising when the communication unit receives the pedestrian position information and second pedestrian position information indicating the position of a second dangerous pedestrian, who is a pedestrian highly likely to come into contact with the vehicle but is different from the dangerous pedestrian, from the vehicle, the transmission control unit controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a region that includes the position indicated by the pedestrian position information and has a predetermined spread in the horizontal direction among the terminal position information received most recently, and controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a second region that includes the position indicated by the second pedestrian position information and has a predetermined spread in the horizontal direction among the terminal position information received most recently, the region forms a circle with a predetermined radius centered on the position indicated by the pedestrian position information, the size of the predetermined radius is determined according to the position measurement accuracies of the vehicle and the terminal device, Server.

2. The first reception control unit accumulates the received terminal position information in a database, the transmission control unit controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside the region among the latest terminal position information accumulated in the database, The server according to Claim 1.

3. The transmission control unit controls the communication unit to transmit the warning to the terminal device by a cellular method, The server according to Claim 1.

4. A portable terminal device carried or worn by a pedestrian, a communication unit that communicates with a vehicle, A first information reception control unit that controls the communication unit to receive pedestrian position information indicating the position of a dangerous pedestrian who is a pedestrian highly likely to come into contact with the vehicle from the moving vehicle; A signal transmission control unit that controls the communication unit to transmit a request signal for requesting transmission of terminal position information indicating the position of the terminal device, triggered by receiving the pedestrian position information, to the terminal device; A second information reception control unit that controls the communication unit to receive the terminal position information from the terminal device; A transmission control unit that controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a region having a predetermined spread in the horizontal direction and including the position indicated by the pedestrian position information among the received terminal position information; Comprising; When the communication unit receives the pedestrian position information and second pedestrian position information indicating the position of a second dangerous pedestrian who is highly likely to come into contact with the vehicle but is different from the dangerous pedestrian, from the vehicle, the transmission control unit Controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a region having a predetermined spread in the horizontal direction and including the position indicated by the pedestrian position information among the most recently received terminal position information, and Controls the communication unit to transmit a warning to the terminal device that has transmitted the terminal position information indicating a position inside a second region having a predetermined spread in the horizontal direction and including the position indicated by the second pedestrian position information among the most recently received terminal position information, The region forms a circle with a predetermined radius centered on the position indicated by the pedestrian position information, The size of the predetermined radius is determined according to the position measurement accuracy of the vehicle and the terminal device, Server.

5. A program for causing a computer to function as the server according to claim 1, A program for causing a computer to function as the communication unit, the first reception control unit, the second reception control unit, and the transmission control unit.

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