Notification device

Abstract

To provide a notification device capable of maintaining an appropriate warning even in a case where a mobile having risk moves to a dead angle of a monitoring camera.SOLUTION: A notification device 10 comprises an information processing device 18 by which an attention mobile V11 having risk is detected in a detection area DA based on data obtained from measurement devices 11 additionally provided along roads A1 and A2, output of warning information is started on a stage where the attention mobile V11 enters the detection area DA, and the output of warning information is continued over a warning continuation time T in which the continuation of the risk is predicted after the attention mobile V11 moves outside of the detection area DA.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a notification device that monitors vehicles having potential risks at intersections, merging points, etc. and notifies warning information, and particularly relates to a notification device that enables driving support in a scene where an autonomous vehicle passes through an intersection or the like.

Background Art

[0002] As a notification system, it is known to image the images of a plurality of oncoming moving objects traveling through an intersection with a camera, determine the presence or absence of a blind spot moving object that cannot be seen from the right-turn waiting position within the intersection, and notify the driver of a right-turning vehicle within the intersection of the determined blind spot moving object (Patent Document 1).

[0003] Also, intersection image data obtained by overlooking the situation of an intersection from above is acquired. For example, when a blind spot vehicle is extracted from the intersection image data, the intersection image data is converted into image data viewed from the target vehicle side, and support information including the existence position of the blind spot vehicle and the distance from the intersection is transmitted to the target vehicle. This is known (Patent Document 2).

[0004] Also, when there is an oncoming right-turning vehicle turning right in the oncoming lane of a right-turning vehicle and a dark oncoming vehicle that becomes a blind spot due to the oncoming right-turning vehicle, physical quantities related to the intersection of these vehicles are acquired and transmitted to the right-turning vehicle, and the in-vehicle device of the right-turning vehicle displays an image of the dark oncoming vehicle by making the oncoming right-turning vehicle transparent at the intersection corresponding to the driver's field of view (Patent Document 3).

[0005] Also, when image information that may be a blind spot for the driver of a vehicle is transmitted from a roadside camera installed near an intersection to the vehicle, it is known that the vehicle support device displays this image information on a display as driving support information (Patent Document 4).

[0006] In Patent Documents 1 to 4 mentioned above, it is premised on imaging and informationizing a moving object or vehicle existing in the blind spot for the driver. However, when a blind spot is formed by a preceding vehicle or the like, a situation is assumed where it becomes a blind spot for the monitoring camera and the moving object cannot be captured.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

[0008] The present invention has been made in view of the above background, and an object thereof is to provide a notification device capable of maintaining an appropriate warning even when a moving object having a risk moves into the blind spot of a monitoring camera.

[0009] To achieve the above object for The notification device detects a target moving object having a risk in a detection area based on data obtained from a measuring device provided along a road, starts outputting warning information when the target moving object enters the detection area, and outputs warning information for a warning maintenance time during which the risk is predicted to continue after the target moving object exits the outside of the detection area. Here, when the target moving object exits the outside of the detection area means that the entire target moving object exits the detection area. Further, the target moving object is not limited to a general automobile driven by a passenger, and is a concept including a manned autonomous vehicle, an unmanned autonomous vehicle, a two-wheeled vehicle, a bicycle, a mobile robot, and the like.

[0010] In the above notification device, when the information processing device detects that the target moving object having a risk enters the detection area, it starts outputting warning information, and outputs the warning information for a warning maintenance time during which the continuation of the risk is predicted after the target moving object exits the outside of the detection area. Therefore, even in a situation where the risk cannot be determined in real time due to a blind spot formed behind the target moving object, an appropriate warning regarding the risk can be given.

[0011] According to a specific aspect of the present invention, in the above notification device, the information processing device sets the warning maintenance time so as to reflect the timing at which it is estimated that the blind spot associated with the target moving object exits the detection area based on the measurement device and the situation of the target moving object. Thereby, from the viewpoint of maintaining the output of the warning information until the blind spot formed behind the target moving object exits the detection area, the setting of the warning maintenance time becomes appropriate.

[0012] According to another aspect of the present invention, the information processing device periodically calculates and updates the passing time of the target length considering the target moving object and the blind spot in a situation where the target moving object exists in the detection area, and calculates the warning maintenance time based on the passing time of the target length immediately before the target moving object exits the detection area. In this case, it means that a prediction when the target moving object exits the detection area is prepared at a stage where the target moving object exists in the detection area, and the accuracy of the warning information can be enhanced while outputting the warning information promptly.

[0013] According to still another aspect of the present invention, when the leading part of the target moving object exits the detection area, the information processing device determines that the target moving object has exited the detection area, and starts a process of subtracting the elapsed time since exiting the detection area from the warning maintenance time. The leading part of the target moving object is an easy-to-detect part, and it is easy to make the countdown of the warning maintenance time more appropriate.

[0014] According to still another aspect of the present invention, the information processing apparatus calculates a warning maintenance time based on the installation height of the measurement apparatus, the vehicle height of the target moving body, the vehicle length of the target moving body, the distance from the measurement apparatus to the target moving body, and the speed of the target moving body. By calculating the warning maintenance time using these elements, the value of the warning maintenance time can be made to conform to the situation.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

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Figure 4

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Figure 10

Embodiments for Carrying Out the Invention

[0016] Hereinafter, with reference to the drawings, a notification system incorporating a notification device according to an embodiment of the present invention will be described.

[0017] Referring to FIG. 1, the notification system 100 monitors the presence of vehicles with potential risks (specifically, the presence of oncoming vehicles that may collide when the user moving body V01 makes a right turn) at intersections and the like, and notifies warning information to surrounding vehicles. The notification system 100 includes a notification device 10 installed near the intersection A0 and a vehicle-mounted device 20 mounted on the user moving body V01. The notification device 10 monitors the vehicles V11 and V12 approaching the intersection A0 from one side, and provides additional support information including warning information related to the presence of the vehicles V11 and the like to the user moving body V01 approaching the intersection A0 from the other side. In the illustrated example, the notification device 10 is provided so as to be incorporated into the traffic signal 31 for vehicles at the intersection A0, but it may be provided independently of the traffic signal 31 for vehicles. The user moving body V01 is not limited to a general automobile driven by a passenger, and is a concept including manned self-driving vehicles, unmanned self-driving vehicles, two-wheeled vehicles, bicycles, and the like. The vehicles V11 and V12 are those that form a blind spot behind them, and are a concept including general automobiles, manned self-driving vehicles, unmanned self-driving vehicles, two-wheeled vehicles, and the like. Although the illustrated intersection A0 is premised on a road to which the Road Traffic Act applies, the notification system 100 can be installed at intersections of roads or passageways to which the Road Traffic Act does not apply.

[0018] As shown in FIG. 2, at intersection A0, the first road A1 and the second road A2 intersect. The first road A1 has oncoming lanes A11 and A12, and the second road A2 has oncoming lanes A21 and A22. At the corners of intersection A0, four vehicle signal lights 31, 32, 33, and 34 are provided. The first vehicle signal light 31 targets vehicles V11, V12, etc. existing in the lane A11 heading left on the paper surface of the first road A1, and displays towards these vehicles V11, V12. The second vehicle signal light 32 displays for vehicles (user moving bodies V01, etc.) existing in the lane A12 heading right on the paper surface of the first road A1. The third and fourth vehicle signal lights 33, 34 display for vehicles existing on the second road A2. Each of the vehicle signal lights 31, 32, 33, 34 is provided with a notification device 10, which mainly monitors the lanes A11, A12, A21, A22 respectively. Hereinafter, the structure and operation of the notification device 10 provided in the first vehicle signal light 31 will be described.

[0019] As shown in FIG. 3(A), the notification device 10 includes a measurement device 11, a communication device 13, and an information processing device 18.

[0020] In the notification device 10, the measurement device 11 is, for example, a distance image measurement device that measures the time of flight while two-dimensionally scanning pulsed light, and can measure the distance to an object constituting the foreground to obtain three-dimensional information. Although detailed illustration of the measurement device 11 is omitted, it includes a light projecting unit that projects a laser beam L1, a light receiving unit that receives a laser beam L2, a two-dimensional scanning device that scans during the light projection and reception of the laser beams L1 and L2, a timing detection unit that detects the emission of the laser beam L1, a time measurement unit that measures the elapsed time from the emission of the laser beam L1 to the incidence of the laser beam L2 which is the reflected light, and an operation control circuit that controls the operation states of the respective units. The measurement device 11 is not limited to a scanning type measurement device as long as it can measure a distance image, and may be a TOF camera using a light source and an image sensor, or a stereo camera that measures distance from parallax. The measurement device 11 is not limited to a distance image measurement device, and may be one that extracts an object from a two-dimensional image and enables discrimination of whether or not the object has entered the detection area DA (see FIG. 2).

[0021] The communication device 13 enables vehicle-road communication with vehicles existing at the intersection A0 and in its vicinity. The communication device 13 uses, for example, a short-range wireless communication method such as DSRC (Dedicated Short Range Communication), and performs digital data communication with a target vehicle existing in a predetermined communication zone, that is, with the vehicle-mounted device 20 mounted on the user mobile body V01 shown in FIG. 1. The communication device 13 is not limited to DSRC, and may use a spot communication method such as a beacon. Furthermore, the communication device 13 may use a medium-range wireless communication method typified by wireless LAN or the like. The communication device 13 may use a mobile communication line typified by 5G or 4G LTE. However, when the communication device 13 uses a medium-range wireless communication method or a mobile communication line, the information provided from the communication device 13 needs to be identifiable in the vehicle-mounted device 20 of the user mobile body V01 based on the arrangement information, unique information, etc. provided from the notification device 10 as to which notification device 10 provided the information among the traffic signal devices 31, 32, 33, 34 for the vehicles at the intersection A0.

[0022] The communication device 13 is not limited to being composed of a single device, and may be composed of a plurality of devices to cover a communication zone where the passage of the user mobile body V01 is assumed.

[0023] The information processing device 18 is a computer main body composed of an integrated circuit, and has a main control circuit 18a, an IF circuit 18b, and a storage circuit 18c. The information processing device 18 communicates with the measuring device 11 and the communication device 13 through the IF circuit 18b to transfer data. A program for operating the information processing device 18 is stored in the storage circuit 18c, enabling the monitoring operation and notification operation by the notification device 10. At this time, the information processing device 18 collects traffic information in the monitoring area targeted by the measuring device 11, and transmits additional support information extracted from the traffic information to the vehicle-mounted device 20 via the communication device 13. In addition to the warning information described later, the additional support information can include related information such as the display state of the vehicle traffic signal 31. This related information can include information such as the future seconds (the planned seconds of the display after the current display) and the remaining seconds (the remaining seconds of the current display) of the signal, not limited to the display. In the storage device 82, in order to enable the above operations, there are stored application software and data for executing a process of extracting an object moving from the distance image obtained by the measuring device 11, a process of determining shape features such as height and depth from the extracted object, a process of determining the movement vector of the extracted object, a process of determining whether the extracted object is within the detection area DA, and a process of transmitting warning information to the vehicle-mounted device 20 via the communication device 13 when the extracted object or its blind spot exists within the detection area DA. Here, the blind spot is a space area that exists behind the extracted object, actually behind the vehicle V11, and means a space area that cannot be observed by the measuring device 11.

[0024] As shown in FIG. 3(B), the vehicle-mounted device 20 includes a measurement device 21, a communication device 23, a positioning device 24, a user IF device 25, a drive control device 26, and a control processing device 28. The vehicle-mounted device 20 is incorporated into the user mobile body V01 as, for example, an automatic driving control device or an in-vehicle device that performs navigation or the like.

[0025] In the vehicle-mounted device 20, the measurement device 21 includes various sensors such as LiDAR and cameras, detection of surrounding objects and road surface conditions based on sensor outputs, and a signal processing circuit that enables sensor fusion. The communication device 23 can perform data communication with a management server (not shown) via a mobile communication line such as 5G or 4G LTE, and can perform high-speed direct or indirect data communication with the notification device 10. The communication device 23 has a communication function corresponding to the communication method of the communication device 13 in order to receive additional support information transmitted from the communication device 13 of the notification device 10. The positioning device 24 is a device for detecting the position and orientation of the vehicle, and includes a measurement device that uses GNSS. However, information regarding the speed, acceleration, angular velocity, etc. of the user mobile body V01 is obtained by various sensors to improve the positioning accuracy, and various high-precision positioning technologies such as the RTK method using a fixed station can be used. Further, the positioning device 24 may utilize a technique for calculating position information by comparing information acquired by a camera or other sensors with a map, a technique for specifying a location by detecting an electromagnetic induction line embedded in a road or detecting a magnetic marker, etc. The user IF device 25 includes a touch panel display 25a, a speaker 25b, a microphone 25c, etc. The drive control device 26 is a part that causes the engine, steering, brakes, turn indicators, etc. to perform appropriate driving operations. In particular, when performing automatic driving control, based on commands from the control processing device 28, it performs acceleration, deceleration, steering angle adjustment, etc. of the user mobile body V01. The control processing device 28 is a computer main body composed of an integrated circuit, and has a main control circuit 28a, an IF circuit 28b, and a memory circuit 28c. The main control circuit 28a communicates with the communication device 23, the positioning device 24, and the user IF device 25 via the IF circuit 28b to perform data transfer. A program for operating the control processing device 28 is stored in the memory circuit 28c. When performing automatic driving control, as a basic operation, the control processing device 28 collects necessary information from the memory circuit 28c, the positioning device 24, the communication device 23, etc., and performs processing to constantly control the driving state so that the user mobile body V01 reaches the destination.That is, the control processing device 28 monitors and manages the driving state of the user mobile body V01 in a substantially real-time manner so as to head toward the destination while ensuring safety according to the current situation of the user mobile body V01 based on the current situation of the user mobile body V01 and the surrounding environmental information obtained from the positioning device 24, the communication device 23, etc., the information regarding the destination and route stored in the memory circuit 28c, and the driving algorithm for autonomous driving including the experience information collected by the preceding driving. Further, when there is a driver and navigation is provided to the driver, as a basic operation, the control processing device 28 collects information from the positioning device 24, the communication device 23, the user IF device 25, etc., and performs a process of presenting driving support information to the passengers of the user mobile body V01. That is, the control processing device 28 specifies the current position of the user mobile body V01 based on the information obtained from the positioning device 24, sets a route to the destination based on the information input from the user IF device 25, and provides guidance as needed during the process of heading toward the destination.

[0026] When the control processing device 28 is performing autonomous driving control and receives additional support information related to the intersection A0 ahead from the notification device 10 via the communication device 13, the control processing device 28 operates the drive control device 26 based on the received additional support information and executes driving control to cause the user mobile body V01 to perform braking or the like. For example, when the user mobile body V01 makes a right turn, the vehicle-mounted device 20 provides information regarding the vehicle's own situation including the planned right turn to the notification device 10, and the notification device 10 notifies the control processing device 28 of the vehicle-mounted device 20 of information including the traffic situation that is an obstacle to the right turn as additional support information. The control processing device 28 that has received such a notification performs control to cause the right turn at a timing when the safety of the user mobile body V01 is ensured.

[0027] When the control processing device 28 receives additional support information related to the intersection A0 ahead from the notification device 10 via the communication device 13 while navigation is in progress, it provides guidance on the touch panel display 25a and the speaker 25b based on the received additional support information. This guidance includes warning information for notifying risks caused by oncoming vehicles. The warning information is selected by the control processing device 28 from a pre-prepared pattern in consideration of the driving situation of the user mobile body V01 based on the warning information received from the information processing device 18 of the notification device 10. Specifically, when the user mobile body V01 makes a right turn at the intersection A0, it is an image or voice that alerts the user to the presence of a vehicle V11 or the like that may be going straight in the oncoming lane A11. When the warning information is presented by voice, for example, an announcement such as "A vehicle has been detected in the oncoming lane. Please be careful of its blind spot." is continued during the warning maintenance time described later.

[0028] With reference to FIG. 4, a case where warning information is notified from the notification device 10 to the in-vehicle device 20 (see FIG. 1) will be described. The notification device 10 acquires distance image data in the monitoring area SA, and the monitoring area SA corresponds to the angular field FG of the measuring device 11. The notification device 10 determines whether a vehicle exists in the detection area DA, which is a range in the monitoring area SA that may pose a risk to a vehicle traveling in lane A12 with respect to a vehicle traveling in lane A11. When a vehicle traveling in the detection area DA exists, the notification device 10 transmits warning information, which is additional assistance information, to the in-vehicle device 20. The notification device 10 can detect the vehicle V11 if the vehicle V11 exists in the detection area DA from the distance image data obtained by the measuring device 11. However, the notification device 10 cannot detect a subsequent vehicle V12 that has entered the blind spot BS of the vehicle V11. On the other hand, when the subsequent vehicle V12 exists at the rear end RE of the blind spot BS or at a position Pr behind it, the notification device 10 can detect the vehicle V12 as being independent of the vehicle V11. When the subsequent vehicle V12 partially enters the blind spot BS, that is, when the vehicle V11 and the vehicle V12 are not completely separated and independent in the distance image, from the viewpoint of preventing a decrease in the detection accuracy of the vehicle V12, in the present embodiment, various processes are performed assuming that the vehicle V12 exists in the blind spot BS.

[0029] The notification device 10 or the information processing device 18 (see FIG. 3) processes, for the convenience of processing, the timing when the front end, i.e., the leading end 91, of the vehicle V11 of interest arrives at the position Pi of the rear end E1 of the detection area DA as the timing when the vehicle V11 enters the detection area DA, and processes the timing when the front end of the vehicle V11 of interest arrives at the position Po of the front end E2 of the detection area DA as the timing when the vehicle V11 exits the detection area DA for the convenience of processing. As a practical problem, when a vehicle exists in the detection area DA, it is necessary to issue warning information. However, even when the vehicle V11 exits the detection area DA, if a subsequent vehicle V12 exists in the detection area DA, it is necessary to issue warning information. Therefore, when the vehicle V11 enters the detection area DA, the notification device 10 or the information processing device 18 continues to output the warning information until the blind spot BS formed by the vehicle V11 exits the detection area DA even if the entire vehicle V11 exits the detection area DA. That is, the notification device 10 starts outputting the warning information when the vehicle V11, which is the moving object of interest, enters the detection area DA, and continues to output the warning information for a warning maintenance time during which the continuation of the danger is predicted after the entire vehicle V11, which is the moving object of interest, exits the outside of the detection area DA. Here, the warning maintenance time is set to reflect the timing at which the blind spot BS associated with the vehicle V11, which is the moving object of interest, is estimated to exit the detection area DA. This warning maintenance time is, for example, based on the time when the front end, i.e., the leading end 91, of the vehicle V11, which is the moving object of interest, arrives at the front end E2 of the detection area DA, and is the time when the rear end RE of the blind spot BS associated with the vehicle V11 at that time is estimated to pass through the front end E2 of the detection area DA. That is, when the vehicle V11 reaches the position Pe in the figure, the rear end RE of the blind spot BS reaches the front end E2, and the output of the warning information is continued by predicting this time point. By outputting the warning information in this way, the output of the warning information is continued until the time when it is estimated that the possibility that the subsequent vehicle V12 existing in the blind spot BS associated with the vehicle V11 exists in the detection area DA is eliminated. In other words, the problem of occlusion caused by the vehicle V11 is avoided by appropriately holding the warning information, that is, by extending the output time of the warning information.

[0030] The specific calculation method of the warning maintenance time will be described. When the target length X1 obtained by adding the vehicle V11 and the blind spot BS is set such that the vehicle length of the vehicle V11, which is the target moving object, is Lc and the length along the lane A11 of the blind spot BS associated with the vehicle V11 is X2, X1 = Lc + X2 holds. The time required when the target length X1 passes through the front end E2 of the detection area DA, that is, the warning maintenance time T, is expressed as follows, assuming the speed of the vehicle V11, which is the target moving object, is v: T = X1 / v = (Lc + X2) / v … (1) Regarding the length X2 of the blind spot BS, assuming the installation height of the measuring device 11 is Hs, the vehicle height of the vehicle V11, which is the target moving object, is Hc, and the distance from the measuring device 11 to the front end (i.e., the leading end 91) of the vehicle V11, which is the target moving object, is Ld, X2 = Hc·(Ld + Lc) / (Hs - Hc) … (2) Here, the value X2 is a variable of time t. Let to be the time when the front end of the vehicle V11 arrives at the front end E2 of the detection area DA. The value X2(to) indicates the length of the blind spot BS at the timing when the front end of the vehicle V11 arrives at the front end E2 of the detection area DA. The warning maintenance time T is obtained by substituting the value X2 of Equation (2) into Equation (1): T = {Lc + Hc·(Ld + Lc) / (Hs - Hc)} / v … (3) It is given by. In an actual measurement, when the vehicle V11, which is the moving object of interest, enters the detection area DA, the information processing device 18 repeatedly calculates the warning maintenance time T based on the formula (3) during the period until the front end of the vehicle V11 exits the detection area DA. When the front end of the vehicle V11 reaches the front end E2 of the detection area DA, the warning maintenance time T(to) at that time is determined as the final warning maintenance time, and this warning maintenance time is set as the time for continuously outputting warning information thereafter. This warning maintenance time T corresponds to the time when, if the vehicle V11 maintains its speed v, the target length X1 passes beyond the front end E2 of the detection area DA, and corresponds to the time when it is estimated that the blind spot BS or the vehicle V12 hiding therein completely exits the detection area DA (hereinafter also referred to as the passing time of the target length X1). The warning maintenance time T is set based on the situation of the measuring device 11 and the moving object of interest (specifically, the vehicle V11) (specifically, detection information including the vehicle length Lc, the vehicle height Hc, the distance Ld to the leading part 91 of the vehicle V11, the installation height Hs of the measuring device 11, the speed v of the vehicle V11, etc.).

[0031] In the above, the warning maintenance time T(to) when the front end of the vehicle V11, which is the moving object of interest, reaches the front end E2 of the detection area DA is regarded as the final warning maintenance time. However, as long as the information processing device 18 can detect the rear end of the vehicle V11 by the measuring device 11, the warning maintenance time T can be calculated and updated.

[0032] FIG. 5 is a diagram for explaining the case where the warning maintenance time T is calculated and updated as long as the rear end of the vehicle V11 can be detected. In this case, the target length X1 becomes longer by the protrusion amount δ than the exact target length X1a with reference to the front end of the detection area DA, but the warning maintenance time T only becomes slightly longer than the warning maintenance time T(to), and no problem in terms of safety occurs. The information processing device 18 can make a correction considering the protrusion amount δ when calculating the warning maintenance time T. For example, the warning maintenance time T can be calculated from the exact target amount X1a = X1 - δ and the speed v.

[0033] Figure 6 shows the case where the leading part 91 of the vehicle V11 has passed beyond the measuring device 11. In this case, the detection area DA is set near the traffic signal. During the monitoring of the detection area DA, the distance Ld from the measuring device 11 to the leading part 91 of the vehicle V11, which is the moving object of interest, becomes negative and it becomes impossible to measure an appropriate value. In such a case, Ld = 0 is set, and the warning maintenance time T is calculated by formula (3) with the vehicle length Lc of the vehicle V11 being the distance Lc' from the position of the measuring device 11 to the rear end of the vehicle V11. Even when the leading part 91 of the vehicle V11 has passed beyond the measuring device 11 as shown in Figure 6, similar to the case of Figure 5, a correction considering the protrusion amount δ can be added when calculating the warning maintenance time T.

[0034] Figure 7 shows the case where a plurality of vehicles are detected in the detection area DA. In this case, based on the situation of the measuring device 11 and the moving objects of interest (specifically, vehicles V11, V12), the observed length X1 of the leading vehicle V11 and the observed length X1 of the following vehicle V12 are calculated individually, and the warning is continued until the corresponding warning maintenance time T elapses for each. As a result, warning information is output during the period as the union of the warning maintenance times T for each vehicle. That is, when the information processing device 18 detects a plurality of moving objects of interest (specifically, vehicles V11, V12) having a risk in the detection area DA, it determines the necessity of continuing the output of the warning information by setting the warning maintenance time T for each moving object of interest. Thereby, even when a plurality of vehicles V11, V12 are present in the detection area, appropriate warnings regarding the risk can be given considering the respective blind spots BS.

[0035] Figure 8 shows the case where the notification device 110, that is, the measuring device 11, is installed at a location different from the front vehicle traffic signal 31. In this example, the measuring device 11 etc. are incorporated in the vehicle traffic signal 32. In this case, since the measuring device 11 is arranged above the lane A12 and observes the lane A11, the blind spot BS occurring in the lateral direction becomes a problem. Even in the case where such a lateral blind spot BS is formed, with the distance from the roadside of the measuring device 11 being Ws and the lateral position from the roadside or the inside of the vehicle V11, which is the moving object of interest, being Wc, the warning maintenance time T2 is, similar to formula (3), T2 = {Lc + Wc·(Ld + Lc) / (Ws - Wc)} / v … (4) It is given by. Since the measurement by the measuring device 11 is also affected by the dead angle BS in the height direction, warning information is output during the period as the union of the warning maintenance time T obtained by Expression (3) and the warning maintenance time T2 obtained by Expression (4).

[0036] With reference to FIG. 9, an example of the operation of the information processing apparatus 18 will be described. First, the information processing apparatus 18 captures the distance image measured by the measurement apparatus 11 and performs various processes such as object extraction processing (step S11). When the information processing apparatus 18 detects a vehicle within the detection area DA by the object extraction processing (Yes in step S12), it reads the detection data (step S13). The detection data includes data related to the vehicle length Lc, vehicle height Hc, distance Ld from the measurement apparatus 11 to the front end (head portion 91) of the vehicle, installation height Hs of the measurement apparatus 11, speed v of the vehicle, etc. corresponding to the detected object. Next, the information processing apparatus 18 once clears the warning maintenance time T that has already been calculated and stored in the storage circuit 18c (step S14), and calculates the warning maintenance time T based on the new detection data captured in step S13 and stores it in the storage circuit 18c (step S15). The warning maintenance time T is calculated based on Equation (3) and corresponds to the holding time of the warning. Next, the information processing apparatus 18 outputs warning information including the presence of a vehicle in the detection area DA and associated information to the in-vehicle apparatus 20 (step S16). When no vehicle is detected within the detection area DA (No in step S12), the information processing apparatus 18 checks whether the warning maintenance time T is stored in the storage circuit 18c (step S17). If the warning maintenance time T is stored (Yes in step S17), the warning maintenance time T is updated (step S18). In the update of the warning maintenance time T, the elapsed time from the previous check corresponding to the time interval of the sensing process repeatedly executed in step S11 is subtracted from the warning maintenance time T held in the storage circuit 18c, and the obtained new warning maintenance time T is overwritten on the warning maintenance time T recorded in the storage circuit 18c. The information processing apparatus 18 determines whether the warning maintenance time T is ≦0 (step S19). If the warning maintenance time T is not ≦0 (No in step S19), it proceeds to step S16 and outputs the warning information to the in-vehicle apparatus 20.On the other hand, when the warning maintenance time T is ≤ 0 (Yes in step S19), or when there is no memory of the warning maintenance time T (No in step S17), information indicating no dangerous vehicle, which means that there is no vehicle in the detection area DA, is output to the in-vehicle device 20 (step S20).

[0037] Through the above operations, in the situation where the vehicle V11, which is the target moving object, exists in the detection area DA, the passing time of the target length X1 that takes into account the vehicle (target moving object) V11 and the blind spot BS is periodically calculated and updated, and the warning maintenance time T is calculated based on the passing time of the target length X1 immediately before the vehicle (target moving object) V11 exits the detection area DA. Also, through the above operations, at the timing when the leading part 91 (see FIG. 4) of the vehicle (target moving object) V11 exits the detection area DA, it is determined that the vehicle (target moving object) V11 has exited the detection area DA (No in step S12), and the process of subtracting the elapsed time after exiting the detection area DA from the warning maintenance time T is started (after step S18).

[0038] In the notification devices 10 and 110 of the embodiment described above, the information processing device 18 starts outputting warning information when the dangerous vehicle (target moving object) V11 enters the detection area DA, and outputs warning information for the warning maintenance time T during which the danger is predicted after the vehicle (target moving object) V11 exits the outside of the detection area DA. Therefore, even in a situation where the danger cannot be determined in real time due to the blind spot BS formed behind the vehicle (target moving object) V11, an appropriate warning regarding the danger can be given.

[0039] FIG. 10 shows a modified example of the notification device 10 shown in FIG. 1 and the like. In this case, the notification device 10 is installed in the vicinity of a highway or other merging points, attached to signs and the like. The notification device 10 mainly monitors the main line B11 among the main line B11 and the overtaking lane B12, and detects the vehicle V11 approaching the merging point. When the vehicle V11 exists in the detection area DA, in the same manner as the case shown in FIG. 4 and the like, the attention length X1 including the blind spot BS behind the vehicle V11 which is the attention moving body is calculated, and the warning maintenance time T for predicting the passage of the attention length X1 is calculated. When there is a user moving body V01 approaching the merging point from the acceleration lane B13, the notification device 10 outputs warning information indicating the presence of a vehicle that will obstruct merging to the in-vehicle device 20 for a period corresponding to the warning maintenance time T.

[0040] The present invention is not limited to the above-described embodiments, and can be implemented in various modes without departing from the gist thereof.

[0041] In the above embodiment, it is assumed that the road A1 has one lane on one side. However, even if the road A1 has two lanes on one side, the same processing is possible. However, in the case of multiple lanes on one side, the processing content such as whether to perform the warning process according to the type of lane such as a right-turn lane or a straight-ahead lane can be changed.

[0042] In the above embodiment, it is assumed that the warning information is output from the notification device 10 to the in-vehicle device 20 based on the warning maintenance time when it is estimated that the blind spot BS of the vehicle (attention moving body) V11 exits the detection area DA. However, for example, it is also possible to switch the content of the warning information when the entire vehicle V11 exits the detection area DA and notify that the blind spot has passed.

Explanation of Signs

[0043] 10,110… Notification device, 11… Measuring device, 13… Communication device, 18… Information processing device, 20… Vehicle-mounted device, 23… Communication device, 24… Positioning device, 25… User IF device, 28… Control processing device, 31,32,33,34… Traffic signal for vehicle, 82… Storage device, 91… Head part, 100… Notification system, A0… Intersection, A1,A2… Road, A11,A12,A21,A22… Lane, BS… Blind spot, DA… Detection area, E1… Rear end, E2… Front end, L1,L2… Laser beam, RE… Rear end, SA… Monitoring area, V01… User moving body, V11,V12… Vehicle, X1… Observed length

Claims

1. Based on data obtained from a measuring device provided along a road, a target moving body having a risk in a detection area is detected, output of warning information is started when the target moving body enters the detection area, and the output of the warning information is continued for a warning maintenance time during which the risk is predicted after the target moving body exits the outside of the detection area. An information processing device comprising The information processing device is a notification device that sets the warning maintenance time so as to reflect a timing at which a blind spot associated with the target moving body is estimated to exit the detection area based on the measuring device and the situation of the target moving body.

2. The information processing device periodically calculates and updates a passing time of a target length taking into account the target moving body and the blind spot in a situation where the target moving body exists in the detection area, and calculates the warning maintenance time based on the passing time of the target length immediately before the target moving body exits the detection area. The notification device according to claim 1.

3. The information processing device determines that the target moving body has exited the detection area at a timing when the leading end of the target moving body has exited the detection area, and starts a process of subtracting an elapsed time since exiting the detection area from the warning maintenance time. The notification device according to any one of claims 1 and 2.

4. The information processing device calculates the warning maintenance time based on the installation height of the measuring device, the vehicle height of the target moving body, the vehicle length of the target moving body, the distance from the measuring device to the target moving body, and the speed of the target moving body. The notification device according to any one of claims 1 to 3.

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