Servers, vehicles and programs

Abstract

To reduce a possibility that a vehicle and a pedestrian move without recognizing the existence of the other party due to a shielding object and they are collided with each other upon sudden meeting.SOLUTION: A server (2) comprises: a first reception control section (231) for performing control to receive terminal position information from a terminal device (M); a second reception control section (232) for performing control to receive a range of a first area being an area which is not easily visually recognized due to a shielding object (S) from a vehicle; and a warning transmission control section (234) for performing control to transmit vehicle approach information to the terminal device which has transmitted specified terminal position information when the information includes the specified terminal position information indicating a position inside a second area including at least a part of the first area.SELECTED DRAWING: Figure 10

Description

[Technical Field]

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

[0002] Various techniques have been proposed for warning pedestrians who are likely to come into contact with a vehicle. For example, Patent Document 1 listed below describes an attention warning system that includes an attention warning device that is a vehicle-side terminal, a portable device carried by the pedestrian, a sensor that is provided in the vehicle or the attention warning device and detects pedestrians within a predetermined range, a signal sending unit that is provided in the attention warning device and sends a danger signal indicating danger to the portable device carried by the pedestrian detected by the sensor, and a notification unit that is provided in the portable device and, when the danger signal is received, notifies the pedestrian carrying the portable device of the danger. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-178127 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, on a roadway or an area adjacent to the roadway (e.g., a sidewalk), there may be an obstruction on the side of a vehicle traveling on the roadway in the direction of travel of the vehicle. In this case, the obstruction creates an area that is difficult for the vehicle to see or photograph. Furthermore, in such an area, there is a possibility that pedestrians who cannot be directly seen from the vehicle may be present. However, with the conventional technology described in Patent Document 1 above, the vehicle cannot determine in advance whether or not pedestrians are present in the area. Meanwhile, pedestrians present in the area may also be unable to see the vehicle due to the obstruction. In such a case, both vehicles may move without noticing the presence of each other, and may collide head-on. [Means for solving the problem]

[0005] A server according to one aspect of the present invention includes a communication unit that communicates with a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian and a vehicle; a first reception control unit that controls the communication unit to repeatedly receive, from the terminal device, terminal location information indicating the location of the terminal device; and a reception control unit that controls the communication unit to repeatedly receive, from the vehicle while the vehicle is traveling, area information indicating the range of a first area that is an area on a roadway on which the vehicle is traveling or an area adjacent to the roadway, and that is difficult to view or photograph from the vehicle due to an obstruction located on the side of the vehicle in the traveling direction of the vehicle. The device is equipped with an alert transmission control unit that, when specific terminal position information indicating a position inside a second area that includes at least a portion of one area and has a predetermined horizontal extent is included, controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that transmitted the specific terminal position information.

[0006] In addition, a server according to another aspect of the present invention includes a communication unit that communicates with a portable terminal device carried by a pedestrian or a wearable terminal device worn by the pedestrian, and a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive from the vehicle while it is moving area information indicating the range of a first area, which is an area on the roadway on which the vehicle is moving or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle's direction of travel; and a notification transmission control unit that controls the communication unit to transmit pedestrian presence information to the vehicle, indicating the presence of a pedestrian in the first area, if the most recently received terminal location information includes specific terminal location information indicating a position inside a second area that includes at least a portion of the first area and has a predetermined horizontal extent.

[0007] In addition, a server according to another aspect of the present invention comprises a communication unit that communicates with a portable terminal device carried by a pedestrian or a wearable terminal device worn by the pedestrian, and a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive from the vehicle while it is moving area information indicating the range of a first area, which is an area on the roadway on which the vehicle is moving or an area adjacent to the roadway, and which is an area that is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle's direction of travel; and a warning transmission control unit that, if the most recently received terminal location information includes specific terminal location information in which a part of a second area that includes the position indicated by the terminal location information and has a predetermined horizontal extent overlaps with a part of the first area, controls the communication unit to transmit vehicle approach information to the terminal device that sent the specific terminal location information.

[0008] A vehicle according to another aspect of the present invention is a vehicle equipped with a communication unit that communicates with a server according to one aspect of the present invention, and is equipped with an information acquisition unit that acquires information about the outside of the vehicle, a detection unit that detects, based on the outside information, obstructions that are on the roadway on which the vehicle is traveling or in an area adjacent to the roadway and that are on the side of the vehicle's direction of travel using a detection model constructed by machine learning, an area definition unit that defines, based on the obstructions, a first area that is an area that is difficult to see or photograph from the vehicle due to the obstructions, and a transmission control unit that controls the communication unit to send area information indicating the range of the first area to the server when the area definition unit defines the first area.

[0009] Each aspect of the present invention may be realized by a computer, in which case the program that realizes the system on a computer by causing the computer to operate as each part (software element) of the system, and the computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle approach warning system configured by a vehicle according to an embodiment of a first invention and a server according to an embodiment of a second (third) invention. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of the vehicle. [Figure 3] FIG. 2 is a plan view showing the state of the road when the area definition unit of the vehicle is operating. [Figure 4] FIG. 10 is a block diagram showing the functional configuration of a server according to an embodiment of the second invention. [Figure 5] 10 is a table showing an example of information managed by the server. [Figure 6] FIG. 2 is a plan view showing the state of the road when the determination unit of the server is operating. [Figure 7] FIG. 10 is a diagram showing an example of a warning issued by a terminal device communicating with the server. [Figure 8] FIG. 10 is a plan view showing the state of the road when the server is communicating with a second vehicle. [Figure 9] FIG. 10 is a plan view showing the state of the road when the server is communicating with a third vehicle. [Figure 10] 10A and 10B are diagrams illustrating the effects achieved by the server. [Figure 11] FIG. 10 is a block diagram showing the functional configuration of a server according to an embodiment of the third invention. [Figure 12] FIG. 2 is a plan view showing the state of the road when the determination unit of the server is operating. [Figure 13] FIG. 10 is a sequence diagram showing a flow when a vehicle approach warning method according to an embodiment of the fourth invention is implemented using a vehicle approach warning system. [Figure 14] FIG. 10 is a sequence diagram showing a flow when a vehicle approach warning method according to a first modification of the embodiment is carried out using a vehicle approach warning system. [Figure 15] FIG. 10 is a sequence diagram showing a flow when a vehicle approach warning method according to a second modification of the embodiment is carried out using a vehicle approach warning system. DETAILED DESCRIPTION OF THE INVENTION

[0011] <First invention: vehicle> First, a vehicle 1 according to an embodiment of the first invention will be described.

[0012] [Vehicle configuration] As shown in FIG. 1, the vehicle 1, together with a server 2 (2A) described later, constitutes a vehicle approach warning system 100 (100A). This vehicle approach warning system 100 (100A) communicates with at least one terminal device M. The terminal device M may be a portable device carried by a pedestrian or a wearable device worn by a pedestrian. In the present invention, a "pedestrian" refers to a person on the road who is able to confirm a warning issued by the terminal device M, including a person riding a bicycle or in a wheelchair. The vehicle 1 according to this embodiment communicates with the server 2 (2A) using a cellular system (via a base station 3). The vehicle 1 may also be configured to communicate directly with the server 2 (2A) (without going through the base station 3) using specific radio waves. As shown in FIG. 2, the vehicle 1 according to this embodiment includes an information acquisition unit 11, a second information acquisition unit 12, a vehicle-side communication unit 13 (communication unit), a vehicle-side memory unit 14, a horn 15, and a vehicle-side control unit 16.

[0013] [Information acquisition department] The information acquisition unit 11 acquires information about the outside of the vehicle 1. The information acquisition unit 11 according to this embodiment is a camera that captures the outside of the vehicle 1, including the direction of travel of the vehicle 1, and generates an image. In other words, the outside information acquired by the information acquisition unit 11 according to this embodiment is an image. The information acquisition unit 11 according to this embodiment stores the acquired outside information (generated image) in the vehicle-side memory unit 14. The camera may be one that captures video of the outside of the vehicle 1, or one that captures still images. The information acquisition unit 11 may also be various types of sensors other than a camera.

[0014] [Second Information Acquisition Department] 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 this embodiment is configured with a GNSS (Global Navigation Satellite System) receiver and the like. The second information acquisition unit 12 generates position information based on signals received from satellites. The second information acquisition unit 12 according to this embodiment repeatedly acquires vehicle position information. The vehicle position information acquired by the second information acquisition unit 12 according to this embodiment includes longitude, latitude, and the time of acquisition of these. The second information acquisition unit 12 according to this embodiment stores the acquired vehicle position information in the vehicle-side memory unit 14.

[0015] [Vehicle-side communication unit] The vehicle-side communication unit 13 communicates with a server 2 (2A), which will be described later. The vehicle-side communication unit 13 according to this embodiment is configured with a wireless communication module. That is, the vehicle-side communication unit 13 according to this embodiment communicates wirelessly with the server 2 (2A).

[0016] [Vehicle-side storage unit] The vehicle-side storage unit 14 is configured to be able to store at least the outside information and the vehicle position information. The vehicle-side storage unit 14 according to this embodiment is configured with a semiconductor memory, a hard disk drive, etc. The vehicle-side storage unit 14 may be divided into one that stores the outside information and one that stores the vehicle position information.

[0017] [Alarm bell] The horn 15 sounds a warning horn in the direction in which the vehicle 1 is traveling.

[0018] [Vehicle-side control unit] The vehicle-side control unit 16 controls each unit of the vehicle 1. The vehicle-side control unit 16 according to this embodiment includes a detection unit 161, an area definition unit 162, a vehicle-side transmission control unit 163 (transmission control unit), a vehicle-side reception control unit 164 (reception control unit), and a horn control unit 165.

[0019] (Detection unit) The detection unit 161 detects an obstructing object S based on external information. The obstructing object S is located on the roadway on which the vehicle 1 is traveling or in an area adjacent to the roadway, and is located on the side of the vehicle 1 in the traveling direction of the vehicle 1. Examples of the obstructing object S include parked vehicles, roadside trees, signs, fences, buildings, etc. The detection unit 161 according to this embodiment detects the obstructing object S based on an image generated by a camera. This makes it easier to detect the obstructing object compared to when other means are used. Furthermore, the detection unit 161 according to this embodiment detects the obstructing object S using a detection model constructed by machine learning. For example, the detection model may be constructed by machine learning using images of a road and the obstructing object S on the road as training data, and may output a determination result as to whether or not the obstructing object S exists on the road when an image of the road is input.

[0020] (area definition part) The region definition unit 162 defines a first region R1 based on the obstructing object S. The first region R1 is a region that is difficult to view or photograph from the vehicle 1 due to the obstructing object S. As shown in FIG. 3 , the first region R1 defined by the region definition unit 162 according to this embodiment is a rectangle (rectangle) having a first side E1 that extends along the traveling direction with the obstructing object S as a starting point P, and a second side E2 that extends in a direction away from the center line of the roadway with the obstructing object S as the starting point P. Specifically, the region definition unit 162 calculates the longitude and latitude of a point (e.g., an end) of the detected obstructing object S relative to the vehicle 1. Then, the region definition unit 162 adds the calculated longitude and latitude to the longitude and latitude included in the most recently acquired vehicle position information (the most recent of those stored in the vehicle-side memory unit 14) to define the starting point P of the first region R1. The region definition unit 162 then defines a rectangular first region R1 having two sides: a long side (first side E1) of length l1 extending from the starting point P along the traveling direction of the vehicle 1, and a short side (second side E2) of length l2 extending from the starting point P in a direction away from the center line of the roadway. The length of each side of the rectangular first region R1 can be set using various known techniques. The first region R1 may have a circular, elliptical, trapezoidal, parallelogram, or other shape.

[0021] (Vehicle side transmission control unit) 2, when the area definition unit 162 defines the first area R1, the vehicle-side transmission control unit 163 controls the vehicle-side communication unit 13 to transmit area information to the server 2 (2A). The area information is information that indicates the range of the first area R1.

[0022] (Vehicle side reception control unit) The vehicle-side reception control unit 164 controls the vehicle-side communication unit 13 to receive pedestrian presence information from the server 2 (2A). The pedestrian presence information is information indicating that a pedestrian is present inside or near the first area R1. This allows the vehicle 1 to determine whether a pedestrian is present in the first area R1 when a terminal device M (a pedestrian carrying or wearing the terminal device M) is present in the first area R1.

[0023] (horn control unit) The horn control unit 165 controls the horn 15 to sound the horn when the vehicle-side communication unit 13 receives a notification. As a result, the vehicle 1 sounds the horn when it receives a notification (when a pedestrian carrying or wearing a terminal device M is present in the first area R1). Pedestrians who hear the horn can more reliably recognize the approach of the vehicle 1 (even if they overlook the warning from the terminal device M). This further ensures the safety of pedestrians. Note that if the server 2 (2A), which will be described later, is configured to provide sufficient warning to pedestrians, the vehicle-side control unit 16 does not need to be equipped with the horn control unit 165.

[0024] [Vehicle action and effect] From the vehicle 1, it is not possible to visually determine (including detection by an on-board camera) whether or not a pedestrian is present in the first area R1. However, according to the vehicle 1 according to the present embodiment described above, each time an obstructing object S is detected, the first area R1 is defined and area information is transmitted to the server 2 (2A). As a result, when a pedestrian carrying or wearing a terminal device M is present in the first area R1, the server 2 (2A) can perform processing (for example, transmitting vehicle approach information to the terminal device M, and transmitting pedestrian presence information to the vehicle 1, which will be described later) to reduce the possibility of the vehicle 1 and the pedestrian moving without noticing each other's presence due to the obstructing object S, resulting in a head-on collision.

[0025] <Second invention: Server> Next, the server 2 according to the embodiment of the second invention will be described.

[0026] [Server Configuration] As shown in Fig. 1, the server 2, together with the vehicle 1, constitutes a vehicle approach warning system 100. The server 2 according to this embodiment communicates with the vehicle 1 and the terminal device M by cellular communication (via a base station 3). As shown in Fig. 4, the server 2 according to this embodiment includes a server-side communication unit 21 (communication unit), a server-side storage unit 22, and a server-side control unit 23.

[0027] [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 this embodiment is configured with a communication module and is connected to the base station 3. That is, the server-side communication unit 21 according to this embodiment communicates wirelessly with the terminal device M and the vehicle 1 via the base station 3.

[0028] [Server-side storage unit] The server-side storage unit 22 stores a database 221. The server-side storage unit 22 according to this embodiment is configured with a semiconductor memory, a hard disk drive, and the like.

[0029] [Server-side control unit] The server-side control unit 23 includes a first reception control unit 231, a second reception control unit 232, a judgment unit 233, a warning transmission control unit 234, a notification transmission control unit 235, a third reception control unit 236, an identification unit 237, an instruction transmission control unit 238, a fourth reception control unit 239, a second identification unit 240, and an information transmission control unit 241.

[0030] (First reception control unit) The first reception control unit 231 controls the server-side communication unit 21 to repeatedly receive, from the terminal device M, terminal location information indicating the location of the terminal device M. The first reception control unit 231 according to this embodiment stores the terminal location information received by the server-side communication unit 21 in the database 221. For example, as shown in FIG. 5, the terminal location information stored in the database 221 by the first reception control unit 231 according to this embodiment includes 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 time these were acquired (GNSS Time). This makes it possible to record the movements of a pedestrian carrying or wearing the terminal device M. As a result, it becomes possible to verify the movement later.

[0031] (Second reception control unit) 4, the second reception control unit 232 controls the server-side communication unit 21 to receive area information from a traveling vehicle 1. The second reception control unit 232 according to this embodiment stores the pedestrian position information received by the server-side communication unit 21 in the database 221.

[0032] (Judgment Department) The determination unit 233 determines whether the terminal location information most recently received by the server-side communication unit 21 includes specific terminal location information indicating a location inside the second region R2 indicated by the region information received by the server-side communication unit 21. The second region R2 is a region that includes at least a portion of the first region R1 and has a predetermined horizontal extent. As shown in FIG. 6, the second region R2 used by the determination unit 233 in this embodiment for determination is a circle with a predetermined radius r1 that has its center inside the first region R1 and includes the entire first region R1. Note that the center of the second region R2 may coincide with the center or center of gravity of the first region R1 (or the intersection of the diagonals in the case of a rectangle). This makes it easy to set the second region R2. As a result, the terminal device M that sends the alarm can also be easily identified.

[0033] Then, the determination unit 233 identifies the terminal device M that has transmitted terminal location information indicating a position inside the second region R2 from among the terminal location information most recently received from each terminal device M. As described above, the first reception control unit 231 stores the terminal location information received by the server-side communication unit 21 in the database 221. Therefore, the determination unit 233 according to this embodiment identifies the terminal device M that has transmitted terminal location information indicating a position inside the second region R2 from among the latest terminal location information stored in the database 221. When there is a plurality of pieces of terminal location information indicating a position inside the second region R2, the determination unit 233 identifies all of the terminal devices M that have transmitted this terminal location information.

[0034] (Warning transmission control section) When the determination unit 233 determines that the most recently received terminal location information includes specific terminal location information indicating a location inside the second region R2, the warning transmission control unit 234 controls the server-side communication unit 21 to transmit vehicle approaching information to the terminal device M that transmitted the specific terminal location information, as shown in FIG. 4. The vehicle approaching information is information indicating that a vehicle 1 is approaching the terminal device M. The terminal device M that has received the vehicle approaching information warns a pedestrian carrying or wearing the terminal device M of the approaching vehicle 1. The warning is issued, for example, by a screen display, audio output, or vibration, as shown in FIG. 7, or a combination of at least two of these. As a result, a pedestrian carrying or wearing the terminal device M who is inside the second region R2 receives a warning when a vehicle 1 is approaching. On the other hand, a pedestrian who is outside the second region R2 does not receive a warning. The warning transmission control unit 234 according to this embodiment controls the server-side communication unit 21 to transmit the vehicle approaching information to the terminal device M via a cellular system. This means that, unlike conventional technology that uses radio waves that interfere with the radio waves emitted by mobile phones, communication is performed using the same radio waves as those emitted by mobile phones, so no interference occurs.

[0035] Furthermore, when the determination unit 233 identifies two or more terminal devices M that have transmitted terminal location information indicating a location inside the second area R2, the warning transmission control unit 234 according to this embodiment controls the server-side communication unit 21 to transmit vehicle approaching information to all of these terminal devices M. This makes it possible to warn each pedestrian in advance of the possibility of contact with the vehicle 1, even when multiple pedestrians are present in the second area R2. Note that when the server-side control unit 23 includes a notification transmission control unit 235 (described later), the server-side control unit 23 does not necessarily have to include the warning transmission control unit 234.

[0036] (Notification sending control section) When the determination unit 233 determines that the most recently received terminal location information includes specific terminal location information indicating a location inside the second region R2, the notification transmission control unit 235 controls the server-side communication unit 21 to transmit pedestrian presence information to the vehicle 1. Upon receiving the pedestrian presence information, the vehicle 1 notifies the occupants of the vehicle 1 that a pedestrian is present inside or near the first region R1. The notification is performed by a screen display, a voice, or a combination of these. As a result, the occupants of the vehicle 1 receive a notification when the terminal device M is present in the second region R2. This allows the vehicle 1 and its occupants to know whether a pedestrian is present inside or near the first region R1. Even if the server 2 cannot determine the location information of the vehicle 1 (as long as communication is possible), the server 2 can transmit vehicle approach information to the terminal device M (so that the terminal device M can warn the pedestrian). Note that if the server-side control unit 23 includes the warning transmission control unit 234, the server-side control unit 23 does not necessarily have to include the notification transmission control unit 235.

[0037] (Third reception control unit) The third reception control unit 236 controls the server-side communication unit 21 to receive, from multiple vehicles 1 located on the roadway, vehicle information including the position information and traveling direction of each vehicle 1. This makes it possible to perform control that takes into account at least the position of the vehicle 1 that is the destination of the pedestrian presence information (determining the timing of transmission, controlling other vehicles 1 so that the first region R1 for the destination vehicle 1 is visible from a different location, etc.).

[0038] (Specific part) When the determination unit 233 determines that the most recently received terminal location information does not include specific terminal location information, the identification unit 237 identifies a second vehicle 1A based on the vehicle information received by the server-side communication unit 21. The second vehicle 1A is a vehicle traveling toward the first region R1 from a different direction from the vehicle 1 and equipped with an information acquisition unit 11 that acquires outside information. The identification unit 237 according to this embodiment identifies a second vehicle 1A traveling toward the first region R1 from a different direction from the vehicle 1 and equipped with an information acquisition unit 11, which is located inside a third region R3. The third region R3 is a region that includes at least a portion of the first region R1 and has a predetermined horizontal extent. As shown in FIG. 8, the third region R3 used for identification by the identification unit 237 according to this embodiment has a center inside the first region R1 and is a circle with a predetermined radius r2 that includes the entire first region R1. In this way, by making the radius r2 of the third region R3 larger than the radius r1 of the first region R1, when the information acquisition unit 11 is a camera, it becomes easier to identify the second vehicle 1A that can simultaneously capture images of the obstructing object and the pedestrian. The center of the third region R3 may coincide with the center or center of gravity of the first region R1. Furthermore, the second vehicle 1A may be, for example, a vehicle traveling in the opposite direction to vehicle 1 on the oncoming lane of the lane on which vehicle 1 is traveling (an oncoming vehicle of vehicle 1), as shown in FIG. 8, or may be a vehicle traveling on a road that intersects with the road on which vehicle 1 is traveling.

[0039] (Instruction transmission control unit) The instruction transmission control unit 238 controls the server-side communication unit 21 to transmit a substitute determination instruction to the second vehicle 1A, as shown in Fig. 4. The substitute determination instruction is an instruction to acquire outside information and determine whether or not a pedestrian is present in the first region R1 based on the outside information.

[0040] (Fourth reception control unit) The fourth reception control unit 239 controls the server-side communication unit 21 to receive, from the second vehicle 1A, the determination result as to whether or not a pedestrian is present in the first area R1.

[0041] (Notification sending control part 2) When the determination result received by the server-side communication unit 21 indicates that a pedestrian is present in the first area R1, the notification transmission control unit 235 according to this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the vehicle 1. This enables the vehicle 1 to recognize the presence of a pedestrian who is not carrying or wearing a terminal device M and is present inside the first area R1.

[0042] (Second Specific Section) The second identification unit 240 identifies a third vehicle 1B, which is a vehicle traveling on the roadway in the direction in which the first region R1 exists and is different from the vehicle 1 and the second vehicle 1A, based on the vehicle information received by the server-side communication unit 21. The third vehicle 1B may be a vehicle traveling in the opposite direction to the vehicle 1 on the oncoming lane of the lane in which the vehicle 1 is traveling, or a vehicle traveling on a road intersecting the road in which the vehicle 1 is traveling. The third vehicle 1B may also be a vehicle (a vehicle following the vehicle 1) traveling in the same direction as the vehicle 1 on the road in which the vehicle 1 is traveling, as shown in FIG. 9, for example.

[0043] (Information transmission control unit) The information transmission control unit 241 controls the server-side communication unit 21 to transmit the area information to the third vehicle 1B.

[0044] (Notification sending control part 3) The notification transmission control unit 235 according to this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the third vehicle 1B. This allows the third vehicle 1B approaching the first area R1 to be promptly notified of the presence of a pedestrian in the first area R1. As shown in FIG. 4, when the area information is transmitted to the third vehicle 1B and an inquiry about the presence of a pedestrian in the first area R1 is received from the third vehicle 1B, the notification transmission control unit 235 according to this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the third vehicle 1B. If multiple first areas R1 exist, alerts to the third vehicle 1B may be issued frequently, hindering smooth driving. However, with the above configuration, the third vehicle 1B is notified of the presence of a pedestrian only when requested by the third vehicle 1B as necessary. As a result, the third vehicle 1B can continue smooth driving.

[0045] [Server effects] From the vehicle 1, it is not possible to visually confirm (including detection by an on-board camera) whether or not a pedestrian is present in the first area R1. However, according to the server 2 according to the present embodiment described above, as shown in FIG. 10 , when the terminal device M is present in the second area R2, the server 2 transmits vehicle approaching information to the terminal device M (it does not transmit to terminal devices M located outside the second area R2). Then, the terminal device M that receives the vehicle approaching information warns the pedestrian carrying or wearing the terminal device M that the vehicle 1 is approaching. This allows the pedestrian carrying or wearing the terminal device M to recognize the possibility of collision with the vehicle 1. Furthermore, according to the server 2, even if the server 2 cannot grasp the position information of the vehicle 1 (as long as communication is possible), the server 2 can transmit the vehicle approaching information to the terminal device M (the terminal device M can warn the pedestrian). The pedestrian carrying or wearing the terminal device M who receives the warning becomes aware of the approach of the vehicle 1. As a result, the possibility of the vehicle 1 and the pedestrian moving without noticing each other's presence due to the obstruction S can be reduced, reducing the possibility of a head-on collision.

[0046] <Third Invention: Server> Next, a server 2A according to an embodiment of the third invention will be described.

[0047] [Server Configuration] 1, the server 2A configures a vehicle approach warning system 100A together with the vehicle 1. As shown in FIG. 11, the server 2A according to this embodiment includes a server-side communication unit 21 (communication unit) and a server-side storage unit 22 similar to those of the server 2, as well as a server-side control unit 23A.

[0048] [Server-side control unit] The server-side control unit 23A includes a first reception control unit 231 and a second reception control unit 232 similar to those of the server 2, as well as a determination unit 233A and at least one of a warning transmission control unit 234A and a notification transmission control unit 235A. The server-side control unit 23A may further include at least one of a third reception control unit 236, an identification unit 237, an instruction transmission control unit 238, a fourth reception control unit 239, a second identification unit 240, and an information transmission control unit 241 similar to those of the server 2.

[0049] (Judgment Department) The determination unit 233A determines whether the most recently received terminal location information includes specific terminal location information in which a part of a fourth region R4 (another region) that includes the location indicated by the terminal location information and has a predetermined horizontal extent overlaps with a part of the first region R1, as shown in FIG. 12. The fourth region R4 used by the determination unit 233A according to this embodiment for determination is a circle with a predetermined radius r3 centered on the location indicated by the terminal location information. The predetermined radius r3 is determined according to the cycle at which the first reception control unit 231 repeats receiving the terminal location information. Specifically, the predetermined radius r3 is increased if the cycle is long, and decreased if the cycle is short. If the cycle at which the terminal location information is repeated is long (short), the distance traveled by a pedestrian during one cycle becomes relatively longer (shorter). Therefore, the above configuration allows the predetermined radius r3 to be appropriately set.

[0050] (Warning transmission control section) In this embodiment, when the judgment unit 233A determines that the most recently received terminal location information includes specific terminal location information in which part of the fourth area R4 overlaps part of the first area R1, the warning transmission control unit 234A controls the server-side communication unit 21 to send vehicle approach information to the terminal device M that sent the specific terminal location information.

[0051] (Notification sending control section) The notification transmission control unit 235A in this embodiment controls the server-side communication unit 21 to transmit pedestrian presence information to the vehicle 1 when the judgment unit 233A determines that the most recently received terminal location information includes specific terminal location information in which part of the fourth region R4 overlaps part of the first region R1.

[0052] [Server effects] From the vehicle 1, it is not possible to visually determine (including detection by an on-board camera) whether or not a pedestrian is present in the first area R1. However, according to the server 2A according to the present embodiment described above, when part of the fourth area R4 overlaps part of the first area R1 (when the terminal device M is present in the first area R1), the server 2A transmits vehicle approaching information to the terminal device M (it does not transmit to terminal devices M whose fourth area R4 does not overlap the first area R1). Then, the terminal device M that receives the vehicle approaching information warns the pedestrian carrying or wearing the terminal device M that the vehicle 1 is approaching. Therefore, the pedestrian carrying or wearing the terminal device M can recognize that he or she is in a location that may be out of sight of the vehicle 1, and thereby recognize the possibility of contact with the vehicle 1. Furthermore, according to the server 2A, even if the server 2A cannot grasp the location information of the vehicle 1 (as long as communication is possible), the server 2A can transmit vehicle approaching information to the terminal device M (the terminal device M can warn the pedestrian). The pedestrian carrying or wearing the terminal device M who receives the warning becomes aware of the approach of the vehicle 1. As a result, the possibility of the vehicle 1 and the pedestrian moving without noticing the presence of each other due to the obstruction S and resulting in a head-on collision can be reduced.

[0053] <Fourth Invention: Vehicle Approach Warning Method> Next, a vehicle approach warning method according to a fourth embodiment of the present invention will be described.

[0054] [Flow of approaching vehicle warning method] As shown in FIG. 13, the vehicle approach warning method includes a measurement step S1, a first notification step S2, a detection step S3, a definition step S4, a second notification step S5, a determination step S6, and a warning step S7.

[0055] (Measurement step) In the first measurement step S1, the position of the terminal device M 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 and generating terminal position information. In the vehicle approach warning method according to this embodiment, this measurement step S1 is repeated at a predetermined interval.

[0056] (First notification step) After the terminal device M measures its position, the process proceeds to a first notification step S2. In the first notification step S2, the measured position of the terminal device M is notified to the server 2, 2A. This first notification step S2 can be performed, for example, by the terminal device M transmitting terminal position information, which is then received by the server 2, 2A. In the vehicle approach warning method according to this embodiment, this first notification step S2 is performed every time the terminal device M measures its position. In other words, this first notification step S2 is performed repeatedly.

[0057] (Detection step) In parallel with the repetition of steps S1 and S2, a detection step S3 is performed. In the detection step S3, an obstruction S is detected. This detection step S3 can be performed, for example, by the vehicle 1 detecting the obstruction S based on outside information. In the vehicle approach warning method according to this embodiment, this measurement step S1 is repeatedly performed.

[0058] (definition step) After detecting the obstruction S, the process proceeds to a definition step S4. In the definition step S4, a first region R1 is defined based on the detected obstruction S. This definition step S4 can be performed by, for example, the vehicle 1 generating region information.

[0059] (Second notification step) After the first area R1 is defined, the process proceeds to a second notification step S5. In the second notification step S5, the range of the defined first area R1 is notified to the servers 2 and 2A. This second notification step S5 can be performed, for example, by the vehicle 1 transmitting area information, which is then received by the servers 2 and 2A.

[0060] (Decision step) After notifying the range of the first region R1, the process proceeds to decision step S6. In decision step S6, it is determined whether or not the terminal device M is located inside the second region R2. This decision step S6 can be performed, for example, by determining whether or not the terminal location information most recently received by the server 2 includes specific terminal location information indicating a position inside the second region R2. Note that in decision step S6, it may also be determined whether or not the terminal location information most recently received by the server 2A includes specific terminal location information in which part of a fourth region R4 that includes the position indicated by the terminal location information and has a predetermined horizontal extent overlaps part of the first region R1.

[0061] (Warning step) If it is determined that the terminal device M is present inside the second area R2, the process proceeds to warning step S7. In warning step S7, a warning is issued to a pedestrian carrying or wearing a specific terminal device M that a vehicle 1 is approaching. This warning step S7 can be performed, for example, by the servers 2 and 2A transmitting vehicle approaching information, which is then received by the terminal device M, and the warning is issued based on the received vehicle approaching information.

[0062] [Effects of vehicle approach warning method] From vehicle 1, it is not possible to visually confirm (including detection by an on-board camera) whether or not a pedestrian is present in first area R1. However, according to the vehicle approach warning method described above, if a pedestrian carrying or wearing terminal device M is present in second area R2, a warning is issued to all pedestrians present inside second area R2. Therefore, pedestrians carrying or wearing terminal device M inside second area R2 can recognize the possibility of coming into contact with vehicle 1. As a result, it is possible to reduce the possibility of vehicle 1 and pedestrians moving without noticing the presence of each other due to the obstruction S, resulting in a head-on collision.

[0063] [Variation 1] As shown in FIG. 14, the vehicle approach warning method may include, in addition to the above steps S1 to S6, a third notification step S11, a second determination step S12, a second warning step S13, and a fourth notification step S14.

[0064] (Third notification step) In a third notification step S11, which is performed when it is determined that the terminal device M is inside the second area R2 (step S6: YES), the range of the first area R1 notified in the second notification step S5 is notified to the terminal device M. This third notification step S11 can be performed, for example, by the servers 2 and 2A transmitting area information, which is then received by the terminal device M.

[0065] (Second decision step) After notifying the range of the first region R1, the process proceeds to a second determination step S12. In the second determination step S12, it is determined whether or not the terminal device M is located inside the first region R1. This second determination step S12 can be performed, for example, by determining whether or not the terminal location information most recently generated by the terminal device M indicates a position inside the first region R1.

[0066] (Warning step) If it is determined that the terminal device M is inside the first area R1, the process proceeds to a second warning step S13. In the second warning step S13, a warning is issued to a pedestrian carrying or wearing a terminal device M inside the first area R1 that a vehicle 1 is approaching. This second warning step S7 can be performed by, for example, the terminal device M issuing the warning.

[0067] (Fourth notification step) In parallel with the second warning step S13, a fourth notification step S14 is performed. In the fourth notification step S14, the vehicle 1 is notified that a pedestrian is present inside or near the first region R1. This fourth notification step S14 can be performed, for example, by the terminal device M transmitting pedestrian presence information, the server 2, 2A forwarding the information to the vehicle 1, the vehicle 1 receiving the information, and the vehicle 1 issuing a notification based on the received pedestrian presence information.

[0068] As described above, it is possible to issue a warning to a pedestrian carrying or wearing the terminal device M and to notify a passenger in the vehicle 1 in as close to real time as possible based on the position of the terminal device M. Note that the vehicle approach warning method according to the above embodiment has lower accuracy in selecting a target pedestrian than the method according to Modification 1. On the other hand, the method according to the above embodiment can warn a pedestrian more quickly than Modification 1.

[0069] [Variation 2] Furthermore, as shown in FIG. 15, the vehicle approach warning method may include a third determination step S21 and a third warning step S22 in addition to the above steps S1 to S5.

[0070] (Decision step) In a third determination step S21 that is performed after the range of the first area R1 is notified (step S5), it is determined whether or not the terminal device M is located inside both the second area R2 and the first area R1. This third determination step S21 can be performed, for example, by determining whether or not the terminal location information most recently received by the server 2 includes specific terminal location information that indicates a location inside both the second area R2 and the first area R1.

[0071] (Warning step) If it is determined that the terminal device M is located inside the second area R2 and inside the first area R1, the process proceeds to a third warning step S22. In the third warning step S22, a warning is issued to a pedestrian carrying or wearing a specific terminal device M that a vehicle 1 is approaching. This warning step S7 can be performed, for example, by the servers 2 and 2A transmitting vehicle approaching information, which is then received by the terminal device M, and the warning is issued based on the received vehicle approaching information.

[0072] When the terminal device M and a pedestrian carrying or wearing it are in the second area R2 but outside the first area R1, the pedestrian is less likely to collide with the vehicle 1 than when the pedestrian is inside the first area R1. Therefore, by following the steps described above, a warning will not be issued to the pedestrian in the above case. In other words, by following the steps described above, it is possible to improve the accuracy of selecting pedestrians to be warned.

[0073] <First to fourth inventions and others> The functions of the vehicle 1, the server 2, 2A, and the terminal device M (hereinafter, referred to as the device) can be realized by a program that causes a computer to function as the device, and that causes a computer to function as each control block of the device (particularly each unit included in the vehicle-side control unit 16 and the server-side control units 23, 23A). In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The functions described in the above embodiment are realized by executing the program using this control device and storage device. The program may be stored non-transitory on one or more computer-readable storage media. The device may or may not include the storage media. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0074] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0075] Furthermore, according to each aspect of the present invention explained above, the above-mentioned effects can be achieved, thereby reducing the number of casualties caused by collisions between the vehicle 1 and pedestrians. As a result, it is possible to contribute to the achievement of Goal 3 of the Sustainable Development Goals (SDGs) advocated by the United Nations, "Ensure good health and well-being for all."

[0076] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. 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 symbols]

[0077] 100, 100A Vehicle Approach Warning System 1 vehicle 11 Information acquisition department 12 Second Information Acquisition Department 13 Vehicle communication unit 14 Vehicle side memory unit 15 Alarm bell 16 Vehicle side control unit 161 Detection unit 162 Area definition part 163 Vehicle side transmission control unit 164 Vehicle side receiving control unit 165 Horn control unit 1A Second car 1B Third car 2, 2A Server 21 Server-side communication unit 22 Server-side storage unit 221 databases 23, 23A Server side control unit 231 First Reception Control Unit 232 Second reception control section 233, 233A Judgment section 234, 234A Warning transmission control section 235, 235A Notification sending control section 236 Third Reception Control Unit 237 Specific part 238 Instruction transmission control unit 239 Fourth Receiving Control Unit 240 Second Specific Section 241 Information transmission control section 3 base station R1 first area P starting point E1 first edge E2 Second edge R2 second area R3 third area R4 fourth area

Claims

1. a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information; a warning transmission control unit that controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; and Equipped with the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway, The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region. server.

2. A portable or wearable terminal device carried by a pedestrian, and a communication unit for communicating with a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information; a warning transmission control unit that controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; and a notification transmission control unit that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information; and a third reception control unit that controls the communication unit to receive vehicle information, including position information and traveling direction of each vehicle, from a plurality of vehicles located on the roadway; an identification unit that identifies a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle based on the vehicle information; Equipped with The notification transmission control unit controls the communication unit to transmit the pedestrian presence information to the following vehicle. server.

3. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit for communicating with a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information; a warning transmission control unit that controls the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; and a notification transmission control unit that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information; and a third reception control unit that controls the communication unit to receive vehicle information, including position information and traveling direction of each vehicle, from a plurality of vehicles located on the roadway; an identification unit that identifies a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle based on the vehicle information; an information transmission control unit that controls the communication unit to transmit the area information to the following vehicle; Equipped with the notification transmission control unit controls the communication unit to transmit the pedestrian presence information to the following vehicle when the area information is transmitted to the following vehicle and an inquiry about whether a pedestrian is present in the first area is received from the following vehicle. server.

4. a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination unit that sets a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determines whether or not specific terminal location information indicating a position inside the second area is included in the most recently received terminal location information; a notification transmission control unit that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present in the first area, when the specific terminal location information is included in the most recently received terminal location information; Equipped with the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway, The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region. server.

5. a portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a communication unit that communicates with a vehicle; a first reception control unit that controls the communication unit to repeatedly receive terminal location information indicating the location of the terminal device from the terminal device; a second reception control unit that controls the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a warning transmission control unit that controls the communication unit to transmit vehicle approaching information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal position information when the most recently received terminal position information includes specific terminal position information in which a part of another area that includes the position indicated by the terminal position information and has a predetermined horizontal extent overlaps with a part of the first area; Equipped with The other area is a circle having a center at the location indicated by the terminal location information and a radius determined according to the cycle at which the first reception control unit repeats receiving the terminal location information, and the radius is increased when the cycle is long and decreased when the cycle is short. server.

6. A vehicle equipped with a communication unit that communicates with the server according to claim 1, an information acquisition unit that acquires information about the outside of the vehicle; a detection unit that detects an obstruction that is on a roadway on which the vehicle is traveling or in an area adjacent to the roadway, and that is located on the side of the vehicle in a traveling direction of the vehicle, based on the information about the outside; an area definition unit that defines a first area, which is an area that is difficult to view or photograph from the vehicle due to the obstruction, based on the obstruction; a transmission control unit that controls the communication unit to transmit area information indicating the range of the first area to the server when the area definition unit defines the first area; A vehicle equipped with:

7. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle, a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device; a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area; a warning transmission process for controlling the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; Execute the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway, The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region. program.

8. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle, a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device; a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area; a warning transmission process for controlling the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; a notification transmission process that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information; a third receiving process for controlling the communication unit to receive vehicle information including position information and traveling direction of each vehicle from a plurality of vehicles located on the roadway; an identification process for identifying a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle, based on the vehicle information; Execute In the notification transmission process, the processor controls the communication unit to transmit the pedestrian presence information to the following vehicle. program.

9. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle, a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device; a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area; a warning transmission process for controlling the communication unit to transmit vehicle approach information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal location information when the specific terminal location information is included in the most recently received terminal location information; a notification transmission process that controls the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present inside or near the first area, when the specific terminal location information is included in the most recently received terminal location information; a third receiving process for controlling the communication unit to receive vehicle information including position information and traveling direction of each vehicle from a plurality of vehicles located on the roadway; an identification process for identifying a following vehicle traveling behind the vehicle on the roadway in the same direction as the vehicle, based on the vehicle information; an information transmission process for controlling the communication unit to transmit the area information to the following vehicle; Execute In the notification transmission process, when the area information is transmitted to the following vehicle and an inquiry as to whether a pedestrian is present in the first area is received from the following vehicle, the processor controls the communication unit to transmit the pedestrian presence information to the following vehicle. program.

10. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle, a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device; a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a determination process of setting a second area that includes at least a part of the first area and has a predetermined horizontal extent based on the area information, and determining whether or not the most recently received terminal location information includes specific terminal location information that indicates a position inside the second area; a notification transmission process of controlling the communication unit to transmit, to the vehicle, pedestrian presence information indicating that a pedestrian is present in the first area, when the specific terminal location information is included in the most recently received terminal location information; Equipped with the first area is a rectangle having a first side that starts at the obstruction and extends along the traveling direction, and a second side that starts at the obstruction and extends in a direction away from the center line of the roadway, The second region has a center inside the first region and forms a circle with a predetermined radius that includes the entire first region. program.

11. A portable terminal device carried by a pedestrian or a wearable terminal device worn by a pedestrian, and a processor of a computer having a communication unit for communicating with a vehicle, a first receiving process for controlling the communication unit to repeatedly receive terminal location information indicating a location of the terminal device from the terminal device; a second receiving process for controlling the communication unit to receive, from the traveling vehicle, area information indicating the range of a first area, which is an area on the roadway on which the vehicle is traveling or an area adjacent to the roadway, and which is difficult to see or photograph from the vehicle due to an obstruction present on the side of the vehicle in the traveling direction of the vehicle; a warning transmission process for controlling the communication unit to transmit vehicle approaching information indicating that the vehicle is approaching to the terminal device that has transmitted the specific terminal position information when the most recently received terminal position information includes specific terminal position information in which a part of another area that includes the position indicated by the terminal position information and has a predetermined horizontal extent overlaps with a part of the first area; Equipped with The other area is a circle having a center at the position indicated by the terminal location information and a radius length determined according to a cycle at which reception of the terminal location information is repeated in the first reception process, and the radius is increased when the cycle is long, and decreased when the cycle is short. program.

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