Driving assistance device, light vehicle terminal, and driving assistance method

Abstract

The purpose of the present disclosure is to reduce the risk of collision between a light vehicle and another movable body in a caution area. A driving assistance device (101) comprises: a storage unit (13) having stored therein a first light vehicle caution map (14) for defining a caution area in which there is a risk of collision between a light vehicle and a peripheral movable body; a communication unit (11) for receiving travel information that includes light vehicle information including position information of the light vehicle received from a light vehicle terminal (201) and / or peripheral movable body information including position information of the peripheral movable body received from a peripheral movable body terminal (301); and a notification determination unit (12) that determines, on the basis of the travel information and the first light vehicle caution map (14), whether or not at least one of the light vehicle and the peripheral movable body is going to enter the caution area. When the at least one of the light vehicle and the peripheral movable body is going to enter the caution area, the communication unit (11) transmits, to at least the information terminal of the other, notification information indicating that there is a risk of collision between the light vehicle and the peripheral movable body.

Description

[Technical Field]

[0001] The present disclosure relates to driving assistance for light vehicles. [Background technology]

[0002] Patent document 1 discloses an in-vehicle device that, when a vehicle reaches a predetermined attention area for each intersection, receives information about surrounding moving objects within the attention area from the surrounding moving objects, and uses the received information to provide driving assistance to the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-111565 Summary of the Invention [Problem to be solved by the invention]

[0004] The in-vehicle device in Patent Document 1 is intended to assist driving of automobiles, not light vehicles such as bicycles, e-scooters, or wheelchairs. Light vehicles generally travel at slower speeds than automobiles and do not necessarily travel on the same roads as automobiles.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to reduce the risk of a light vehicle colliding with another moving object in a caution area such as an intersection with poor visibility. [Means for solving the problem]

[0006] of the present disclosure In one aspectThe driving assistance device includes a storage unit that stores a first light vehicle attention map that defines an attention area where there is a risk of collision between the light vehicle and a peripheral moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle and peripheral moving object information including position information of the peripheral moving object received from a peripheral moving object terminal that is an information terminal mounted on the peripheral moving object; and a notification determination unit that determines whether or not at least one of the light vehicle and the peripheral moving object is about to enter the attention area based on the travel information and the first light vehicle attention map, and when at least one of the light vehicle and the peripheral moving object is about to enter the attention area, the communication unit transmits notification information to at least the other information terminal that there is a risk of collision between the light vehicle and the peripheral moving object. When there are a plurality of surrounding moving bodies around the light vehicle that is about to enter the attention area, the notification determination unit selects at least one surrounding moving body based on the movement vector of the light vehicle and the movement vector of each surrounding moving body, and the communication unit transmits notification information to the at least one surrounding moving body selected by the notification determination unit. do. [Effects of the Invention]

[0007] According to the driving assistance device of the present disclosure, when at least one of a light vehicle and a nearby moving object attempts to enter a caution area, notification information is transmitted to at least the other information terminal. As a result, a collision risk is notified to the information terminal of the light vehicle or the nearby moving object, thereby reducing the collision risk between the light vehicle and the nearby moving object. Objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of a driving assistance system according to a first embodiment. [Figure 2] 5 is a flowchart showing an example of a notification process performed by the driving assistance device according to the first embodiment. [Figure 3] 1 is a diagram showing a situation in which a light vehicle A and a nearby moving body B are about to enter an intersection P1. [Figure 4] 4 is a diagram showing an example of a notification from a nearby mobile terminal in the situation shown in FIG. 3. FIG. [Figure 5]5 is a flowchart showing an example of a notification process performed by the driving assistance device according to the first embodiment. [Figure 6] 5 is a flowchart showing an example of a notification process performed by the driving assistance device according to the first embodiment. [Figure 7] FIG. 2 is a block diagram showing the configuration of a driving assistance system according to a first modified example of the first embodiment. [Figure 8] FIG. 10 is a block diagram showing the configuration of a driving assistance system according to a second embodiment. [Figure 9] 10 is a flowchart showing a notification process performed by a driving assistance device according to a second embodiment. [Figure 10] FIG. 10 is a diagram showing the difference in notification level between a priority road and a non-priority road. [Figure 11] FIG. 10 is a diagram showing a difference in notification level depending on road gradient. [Figure 12] 10A and 10B are diagrams illustrating differences in notification levels according to the relationship between the approach direction of a light vehicle and the approach direction of a nearby moving object. [Figure 13] FIG. 10 is a diagram showing an example of a notification at a low notification level. [Figure 14] FIG. 10 is a diagram showing an example of notification during notification levels. [Figure 15] FIG. 10 is a diagram illustrating an example of a notification at a high notification level. [Figure 16] FIG. 10 is a diagram showing the configuration of a driving assistance system according to a first modified example of the second embodiment. [Figure 17] FIG. 10 is a diagram showing the configuration of a driving assistance system according to a third embodiment. [Figure 18] 10 is a flowchart showing a notification process of a driving assistance device according to a third embodiment. [Figure 19] FIG. 10 is a diagram showing the configuration of a driving assistance system according to a fourth embodiment. [Figure 20] 10 is a flowchart showing a map update process performed by a map update unit of a driving assistance device according to a fourth embodiment. [Figure 21] 1 is a diagram showing a situation in which a light vehicle A is about to collide with a nearby moving object D. FIG. [Figure 22]It is a diagram showing a monitoring operation by a light vehicle terminal 201 mounted on a light vehicle A. [Figure 23] It is a diagram showing the configuration of a driving support system according to a first modification of Embodiment 4. [Figure 24] It is a diagram showing the hardware configuration of the driving support system.

Modes for Carrying Out the Invention

[0009] <A. Embodiment 1> <A-1. Configuration> FIG. 1 is a block diagram showing the configuration of a driving support system 1001 according to Embodiment 1. The driving support system 1001 includes a driving support device 101, a light vehicle terminal 201, and a peripheral moving body terminal 301.

[0010] The driving support device 101 is a device that supports the safe driving of a light vehicle by notifying the risk of collision between the light vehicle to be supported and a peripheral moving body. The driving support device 101 is configured by, for example, a cloud server. Light vehicles include, for example, bicycles, e-scooters, or wheelchairs.

[0011] The light vehicle terminal 201 is a terminal mounted on a light vehicle. Here, "mounted on a light vehicle" includes not only the state of being attached to the light vehicle but also the state of moving along with the light vehicle by being carried by a passenger of the light vehicle.

[0012] The light vehicle terminal 201 includes a positioning unit 21, a communication unit 22, a notification determination unit 23, and an output unit 24. The positioning unit 21 is also referred to as a light vehicle positioning unit, the communication unit 22 as a light vehicle communication unit, and the notification determination unit 23 as a light vehicle determination unit.

[0013] The positioning unit 21 measures the position of the light vehicle terminal 201. For example, the positioning unit 21 receives a GPS signal from GPS (Global Positioning System) satellites and measures the position of the light vehicle terminal 201 based on the GPS signal. Since the light vehicle terminal 201 is mounted on the light vehicle, the position of the light vehicle terminal 201 is synonymous with the position of the light vehicle.

[0014] The communication unit 22 performs wireless communication with the driving assistance device 101. The communication unit 22 wirelessly transmits light vehicle information, which is information about light vehicles, to the driving assistance device 101. The light vehicle information includes position information of the light vehicle measured by the positioning unit 21.

[0015] The notification determination unit 23 outputs the notification information acquired from the driving assistance device 101 from the output unit 24, that is, determines whether to notify the light vehicle. Note that when notification information is transmitted from the driving assistance device 101 only to the nearby mobile terminal 301, and when the notification condition is that a light vehicle is about to enter a caution area, the notification determination unit 23 is not an essential component of the light vehicle terminal 201.

[0016] The output unit 24 outputs the notification information received from the driving assistance device 101. The output unit 24 includes, for example, at least one of a display that outputs the notification information by display, a light-emitting display device, and a speaker that outputs the notification information by sound. Note that if the light vehicle terminal 201 does not receive notification information from the driving assistance device 101, the output unit 24 is not an essential component of the light vehicle terminal 201. The light-emitting display device is, for example, a dedicated alarm device attached to the handlebars or helmet of a bicycle.

[0017] Peripheral mobile terminal 301 is a terminal mounted on a peripheral mobile. Peripheral mobiles are mobiles that travel around the light vehicle, and include pedestrians, light vehicles, and automobiles. Here, "mounted on a peripheral mobile" includes not only a state where it is attached to the peripheral mobile, but also a state where it is carried by a passenger of the peripheral mobile and moves along with the light vehicle.

[0018] Peripheral mobile terminal 301 is configured to include a positioning unit 31, a communication unit 32, a notification determination unit 33, and an output unit 34. Positioning unit 31 measures the position of peripheral mobile terminal 301. For example, positioning unit 31 receives a GPS signal from a GPS (Global Positioning System) satellite and measures the position of peripheral mobile terminal 301 based on the GPS signal. Because peripheral mobile terminal 301 is mounted on a peripheral mobile object, the position of peripheral mobile terminal 301 is synonymous with the position of the peripheral mobile object.

[0019] The communication unit 32 performs wireless communication with the driving assistance device 101. The communication unit 32 wirelessly transmits peripheral mobile object information, which is information about peripheral mobile objects, to the driving assistance device 101. The peripheral mobile object information includes position information of the peripheral mobile objects measured by the positioning unit 31.

[0020] The notification determination unit 33 determines whether or not to output notification information received by the communication unit 32 from the driving assistance device 101 from the output unit 34, and controls the output at the output unit 34. Note that if the condition for notification is that a nearby mobile object is about to enter the attention area, the notification determination unit 33 is not an essential component of the nearby mobile object terminal 301.

[0021] The output unit 34 outputs the notification information received by the communication unit 32 from the driving assistance device 101. Similar to the output unit 24, the output unit 34 is at least one of a display, a light-emitting display device, and a speaker. That is, the output unit 34 outputs the notification information to nearby moving objects by at least one of sound and display.

[0022] The driving assistance device 101 is configured to include a communication unit 11, a notification determination unit 12, and a storage unit 13. The communication unit 11 receives light vehicle information from the communication unit 22 of the light vehicle terminal 201, and receives surrounding mobile object information from the communication unit 32 of the surrounding mobile object terminal 301. Note that the communication unit 11 only needs to receive at least either the light vehicle information or the surrounding mobile object information. In other words, the communication unit 11 receives traveling information including at least either the light vehicle information or the surrounding mobile object information.

[0023] The storage unit 13 stores a caution map 14 for a first light vehicle. The caution map 14 for a first light vehicle is map information that defines a caution area. The caution area is a place where there is a risk of the light vehicle colliding with surrounding moving objects and where it is necessary to drive carefully. For example, in FIG. 3, an intersection P1 whose view is blocked by a ground object R and the surrounding area thereof are shown as a caution area Q1.

[0024] Based on the position information of the light vehicle included in the light vehicle information received from the light vehicle terminal 201 and the caution map 14 for a first light vehicle stored in the storage unit 13, the notification determination unit 12 determines whether the position of the light vehicle satisfies the notification condition. For example, the notification condition is that the light vehicle is about to enter the caution area. The notification determination unit 12 determines that the light vehicle is about to enter the caution area when it approaches within a predetermined distance, such as within 200 m from the caution area. Alternatively, the notification determination unit 12 predicts the time from the current speed of the light vehicle to reach the caution area, and determines that the light vehicle is about to enter the caution area when the predicted time is within a predetermined time.

[0025] When the notification determination unit 12 determines that the light vehicle is about to enter the caution area, the communication unit 11 transmits notification information to the surrounding moving object terminal 301. Here, the notification information transmitted to the surrounding moving object terminal 301 includes information indicating that the light vehicle is about to enter the caution area and the position information of the light vehicle.

[0026] <A-2. Operation> FIG. 2 is a flowchart showing an example of the notification process of the driving support device 101. Hereinafter, the notification process of the driving support device 101 will be described along the flowchart of FIG. 2. The flowchart of FIG. 2 is started, for example, when the light vehicle starts running.

[0027] First, in step S101, the communication unit 11 determines whether or not it has received position information of the light vehicle from the light vehicle terminal 201. The communication unit 11 repeats the process of step S101 until it receives position information of the light vehicle. Note that the communication unit 22 of the light vehicle terminal 201 transmits the position information of the light vehicle measured by the positioning unit 21 to the driving assistance device 101, for example, at regular intervals.

[0028] When the communication unit 11 receives the position information of the light vehicle in step S101, it outputs the position information to the notification determination unit 12. In step S102, the notification determination unit 12, which has acquired the position information of the light vehicle, refers to the first light vehicle warning map 14 stored in the storage unit 13, and determines whether the light vehicle is about to enter the warning area.

[0029] In step S102, if the light vehicle is not about to enter the caution area, the notification process of the driving assistance device 101 returns to step S101.

[0030] If it is determined in step S102 that a light vehicle is about to enter the caution area, the communication unit 11 transmits notification information to the communication unit 32 of the nearby mobile terminal 301 in step S103.

[0031] This notification information includes information that a light vehicle is about to enter the attention area and location information of the light vehicle. Upon receiving the notification information via the communication unit 32, the nearby mobile terminal 301 determines whether or not a notification is necessary via the notification determination unit 33. The notification determination unit 33 compares the location information of the nearby mobile object acquired from the positioning unit 31 with the location information of the light vehicle included in the notification information received from the driving assistance device 101, and determines that a notification is necessary if the two are close to each other, for example, if the distance between them is less than a predetermined threshold. At this time, the output unit 34 issues a notification that the nearby mobile object is at risk of colliding with the light vehicle in the attention area. The relative positions of the nearby mobile object, the light vehicle, and the attention area may be displayed on a map. This allows the driver of the nearby mobile object to recognize the risk of collision with the light vehicle and drive safely by, for example, reducing speed.

[0032] 3 shows a situation in which a light vehicle A and a nearby moving body B are about to enter an attention area Q1 that includes an intersection P1 from two different directions. Because there is a feature R at the corner of the intersection P1, it is difficult for the light vehicle A and the nearby moving body B to recognize each other. In this situation, the driving assistance device 101 transmits information that the light vehicle A is about to enter the attention area Q1 and the position information of the light vehicle A to a nearby moving body terminal 301 mounted on the nearby moving body B.

[0033] The nearby mobile terminal 301 determines that the nearby mobile terminal B is about to enter the attention area Q1, and notifies the passenger that there is a risk of collision with the light vehicle A in the attention area Q1. Figure 4 shows an example of a notification from the nearby mobile terminal 301 in the situation shown in Figure 3. The nearby mobile terminal 301 displays the attention area Q1 and the position of the light vehicle A on a map, and outputs a notification voice such as "Watch out for an approaching vehicle ahead! Please slow down!"

[0034] The above is an example of the notification process of the driving assistance device 101, in which notification information is transmitted to the nearby mobile terminal 301 under the notification condition that a light vehicle is about to enter the caution area.

[0035] In the example of the notification process in Fig. 2, the notification condition is that a light vehicle is about to enter the attention area, but the notification condition may also be that both a light vehicle and a nearby moving object are about to enter the attention area. Fig. 5 is a flowchart showing such an example of the notification process.

[0036] First, in step S201, the communication unit 11 determines whether or not position information of a light vehicle has been received from the light vehicle terminal 201. This step is the same as step S101 in Fig. 2. The communication unit 11 repeats the processing of step S201 until position information of a light vehicle is received.

[0037] When the communication unit 11 receives the position information of the surrounding moving body in step S202, the notification determination unit 12 acquires the position information of the light vehicle and the surrounding moving body from the communication unit 11. Then, in step S203, the notification determination unit 12 refers to the first light vehicle attention map 14 stored in the storage unit 13 and determines whether both the light vehicle and the surrounding moving body are about to enter the attention area.

[0038] In step S203, if only one of the light vehicle and the surrounding moving body is about to enter the attention area, or if neither the light vehicle nor the surrounding moving body is about to enter the attention area, the notification processing of the driving assistance device 101 returns to step S201.

[0039] On the other hand, in step S203, if both the light vehicle and the surrounding mobile object are about to enter the attention area, the notification determination unit 12 determines that a notification should be sent to the surrounding mobile object. Then, in step S204, the communication unit 11 transmits notification information to the communication unit 32 of the surrounding mobile object terminal 301.

[0040] The nearby mobile terminal 301 that has received the notification information in step S204 issues a notification that there is a risk of the nearby mobile terminal colliding with a light vehicle in the attention area via the output unit 34. In the processing example of Fig. 5, the nearby mobile terminal 301 always issues a notification when it receives notification information from the driving assistance device 101, and does not determine whether to issue a notification. Therefore, in the processing example of Fig. 5, the notification determination unit 33 is not essential for the nearby mobile terminal 301.

[0041] In the processing example of Fig. 5, the notification condition is that both the light vehicle and the surrounding moving body are about to enter the attention area, and notification information is transmitted to the surrounding moving body terminal 301. However, notification information may be transmitted to the light vehicle terminal 201 in a similar situation. Then, the light vehicle terminal 201 may issue a notification that there is a risk that the light vehicle will collide with the surrounding moving body in the attention area.

[0042] Alternatively, the driving assistance device 101 may transmit notification information to both the nearby mobile terminal 301 and the light vehicle terminal 201, and notification may be made by both the light vehicle terminal 201 and the nearby mobile terminal 301.

[0043] The driving assistance device 101 may set the notification condition as being that a nearby moving object is about to enter the attention area, and transmit notification information to the light vehicle terminal 201. Fig. 6 is a flowchart showing an example of such notification processing.

[0044] First, in step S301, it is determined whether or not communication unit 11 has received position information of a peripheral mobile object from peripheral mobile object terminal 301. Communication unit 11 repeats the process of step S301 until it receives position information of a peripheral mobile object.

[0045] When the communication unit 11 receives the position information of the surrounding moving object in step S301, it outputs the position information to the notification determination unit 12. In step S302, the notification determination unit 12, which has acquired the position information of the surrounding moving object, refers to the first light vehicle attention map 14 stored in the storage unit 13, and determines whether or not the surrounding moving object is about to enter the attention area.

[0046] In step S302, if it is determined that the nearby moving object is not about to enter the attention area, the notification process of the driving assistance device 101 returns to step S301.

[0047] If it is determined in step S302 that the nearby moving object is about to enter the attention area, the communication unit 11 transmits notification information to the communication unit 22 of the light vehicle terminal 201 in step S303.

[0048] This notification information includes information indicating that a surrounding moving object is about to enter the attention area and the position information of the surrounding moving object. The compact vehicle terminal 201 that has received the notification information at the communication unit 32 determines whether notification is necessary by the notification determination unit 23. The notification determination unit 23 compares the position information of the compact vehicle acquired from the positioning unit 21 with the position information of the surrounding moving object included in the notification information received from the driving support device 101, and determines that notification is necessary when both are in proximity, for example, when the distance between the two is less than a predetermined threshold value. At this time, the output unit 24 issues a notification indicating that there is a risk of the compact vehicle colliding with the surrounding moving object in the attention area. Here, the positional relationship among the surrounding moving object, the compact vehicle, and the attention area may be displayed on a map. Thereby, the driver of the compact vehicle can recognize the risk of collision with the surrounding moving object and drive safely by, for example, reducing the speed.

[0049] <A-3. Effect> The driving support device 101 according to Embodiment 1 includes a storage unit 13 that stores a first compact vehicle attention map that defines an attention area where there is a risk of collision between a compact vehicle and a surrounding moving object moving around the compact vehicle, vehicle information including the position information of the compact vehicle received from the compact vehicle terminal 20 which is an information terminal mounted on the compact vehicle, and traveling information including at least either the position information of the surrounding moving object received from the surrounding moving object terminal 301 which is an information terminal mounted on the surrounding moving object, and a notification determination unit 12 that determines whether at least either the compact vehicle or the surrounding moving object is about to enter the attention area based on the traveling information and the compact vehicle attention map. The communication unit 11 transmits notification information indicating that there is a risk of collision between the compact vehicle and the surrounding moving object to at least the other information terminal when at least either the compact vehicle or the surrounding moving object is about to enter the attention area.

[0050] According to the above configuration, it becomes possible to notify at least either the compact vehicle or the surrounding moving object of the risk of collision between the compact vehicle and the surrounding moving object, and the safe driving of the compact vehicle can be supported.

[0051] Also, when the driving support device 101 determines whether the light vehicle is about to enter the attention area, it is not necessary to store the first light vehicle attention map 14 in the light vehicle terminal 201. Therefore, the memory of the light vehicle terminal 201 can be saved.

[0052] <A-4. First Modified Example> FIG. 7 shows the configuration of a driving support system 1001A according to the first modified example of the first embodiment. The driving support system 1001A is obtained by replacing the light vehicle terminal 201 of the driving support system 1001 according to the first embodiment with a light vehicle terminal 201A. The light vehicle terminal 201A includes a storage unit 25 in addition to the configuration of the light vehicle terminal 201.

[0053] The storage unit 25 stores a second light vehicle attention map 26 that is the same as the first light vehicle attention map 14 stored in the storage unit 13 of the driving support device 101. The storage unit 25 is also referred to as a light vehicle storage unit.

[0054] The notification determination unit 23 acquires the position of the light vehicle from the positioning unit 21, refers to the second light vehicle attention map 26, and determines whether the light vehicle is about to enter the attention area.

[0055] The communication unit 22 transmits the position information of the light vehicle to the driving support device 101 only when the light vehicle is about to enter the attention area. Here, the transmission interval of the position information of the light vehicle from the light vehicle terminal 201 to the driving support device 101 may be shortened as the light vehicle approaches the attention area.

[0056] Alternatively, the light vehicle terminal 201 may transmit information indicating entry into or exit from the attention area of the light vehicle to the driving support device 101 instead of the position information of the light vehicle. The light vehicle terminal 201 transmits information indicating that the light vehicle has entered the attention area to the driving support device 101 at the timing when the light vehicle enters the attention area. Also, the light vehicle terminal 201 transmits information indicating that the light vehicle has exited the attention area to the driving support device 101 at the timing when the light vehicle exits the attention area.

[0057] When the driving support device 101 acquires the position information of the light vehicle or the information indicating entry into the attention area of the light vehicle from the light vehicle terminal 201, it then assumes that the light vehicle continues to travel in the attention area even while there is no communication from the light vehicle terminal 201, and predicts the position of the light vehicle. Then, the driving support device 101 places the predicted position of the light vehicle on the first light vehicle attention map 14, and notifies the surrounding moving objects as necessary that there is a risk of collision with the light vehicle in the attention area.

[0058] When the light vehicle makes a right or left turn at a branch such as an intersection, or decelerates on a road without a branch, it is conceivable that the actual position of the light vehicle deviates from the position predicted by the driving support device 101. In such a case, the light vehicle terminal 201 may transmit the position information of the light vehicle to the driving support device 101 again.

[0059] According to the first modification example, the light vehicle terminal 201 transmits the position information of the light vehicle to the driving support device 101 only when the light vehicle is about to enter the attention area. Therefore, communication resources are saved compared to the configuration of FIG. 1 in which the position information of the light vehicle is periodically transmitted to the driving support device 101 at a fixed period or the like from the light vehicle terminal 201.

[0060] <A-5. Second Modification Example> When there are a plurality of surrounding moving objects around the light vehicle when the light vehicle is about to enter the attention area, the notification determination unit 12 assigns priorities to those plurality of surrounding moving objects, and may notify at least one of the surrounding moving object and the light vehicle about the collision risk between the surrounding moving object with a high priority and the light vehicle.

[0061] For example, a road with a vehicle column in which a plurality of peripheral moving bodies are running in succession is a caution area, and it is assumed that a light vehicle is trying to cut through the left side of the vehicle column. The notification determination unit 12 calculates the movement vector of the light vehicle from the change in the position information of the light vehicle, calculates the movement vector of each peripheral moving body from the change in the position information of each peripheral moving body, and selects a peripheral moving body having a movement vector that intersects the movement vector of the light vehicle. Then, the communication unit 11 transmits notification information to at least one of the peripheral moving body and the light vehicle selected by the notification determination unit 12.

[0062] <A-6. Third Modified Example> In FIG. 1, the driving support device 101 has been described as a cloud server. However, at least a part of the configuration of the driving support device 101 may be distributed to the light vehicle terminal 201 and the peripheral moving body terminal 301, and the function of the driving support system 1001 may be realized without using a cloud server, or the function of the driving support system 1001 may be realized by edge computing.

[0063] According to such a configuration, since at least a part of the communication is directly performed between the light vehicle terminal 201 and the peripheral moving body terminal 301 without passing through the driving support device 101 which is a cloud server, the notification process can be performed quickly.

[0064] <B. Embodiment 2> <B-1. Configuration> FIG. 8 shows the configuration of a driving support system 1002 according to Embodiment 2. The driving support system 1002 is obtained by replacing the driving support device 101 of the driving support system 1001 according to Embodiment 1 with a driving support device 102. The driving support device 102 is different from the driving support device 101 in that the notification determination unit 12 has a notification level setting unit 15.

[0065] The notification level setting unit 15 sets the notification level of the collision risk between the light vehicle and the peripheral moving body.

[0066] <B-2. Example of Determining Notification Level> Fig. 9 is a flowchart showing the notification process by the driving assistance device 102 according to the embodiment 2. The flow in Fig. 9 is obtained by adding step S203A between step S203 and step S204 in the flow in Fig. 5 described in the embodiment 1.

[0067] In step S203A, the notification level setting unit 15 determines the notification level for each of the light vehicle and the surrounding moving object depending on the direction of entry of the light vehicle and the surrounding moving object into the attention area.

[0068] An example of determining the notification level by the notification level setting unit 15 will be described with reference to Fig. 10. Fig. 10 shows a situation in which a light vehicle A is about to enter an attention area Q2 including an intersection P2 from a road 51, and a nearby moving object B is about to enter from a road 52. To enter the intersection P2 from the road 51, a temporary stop is required at road marking 53, but entering the intersection P2 from the road 52 does not require a temporary stop. Entering the intersection P2 from the road 51 requires more caution than entering from the road 52. As such, the level of caution required differs depending on the direction of entry into the attention area Q2, and therefore it is desirable to notify each vehicle at a level appropriate to that direction.

[0069] Therefore, in the second embodiment, the level of attention according to the priority of the road in the direction of approaching the attention area is assigned as attribute information to the first light vehicle attention map 14. Then, the notification level setting unit 15 refers to the first light vehicle attention map 14 and sets the notification level according to the level of attention of each vehicle in the direction of approaching the attention area.

[0070] The warning level may be determined according to the gradient of the road in the direction of entry into the attention area. FIG. 11 shows a light vehicle A and a nearby moving object B that are about to enter the attention area. Here, the road on which the nearby moving object B is traveling is assumed to have no gradient, but the road on which the light vehicle A is traveling is assumed to have a downward gradient. When the light vehicle A enters the attention area from a downhill slope, the passengers of the light vehicle A tend to feel the urge to pass through the attention area without stopping temporarily. As a result, head-on accidents are likely to occur. Therefore, it is desirable to set a higher warning level for the light vehicle A that is about to enter the attention area from a downhill slope than for the nearby moving object B. Therefore, a warning level according to the gradient of the approach road to the attention area may be assigned as attribute information to the first light vehicle warning map 14.

[0071] The notification level setting unit 15 may set a notification level for nearby moving objects depending on the occupant status of the light vehicle.

[0072] The communication unit 11 of the driving assistance device 102 receives the light vehicle occupant status from the communication unit 22 of the light vehicle terminal 201.

[0073] The light vehicle occupant status includes (1) the occupant's driving skill, (2) the occupant's psychological or physiological state, (3) whether the occupant is looking away (direction of gaze), and (4) the driving status, which is the behavior of the light vehicle.

[0074] The notification level setting unit 15 may increase the notification level or advance the timing of notification based on the state of the light vehicle occupant if the occupant has low driving skills, is less alert, is fatigued, is distracted, or is speeding.

[0075] On the other hand, the notification level setting unit 15 may lower the notification level when the light vehicle decelerates or brakes based on the occupant status of the light vehicle. For example, when a bicycle user decelerates as they approach an intersection, the notification level setting unit 15 may determine that the bicycle user is paying attention to avoid collisions with nearby vehicles at the intersection and lower the notification level.

[0076] In addition, for a warning area in which the road feature information has been assigned the attribute information of "poor visibility," the warning level setting unit 15 may maintain the warning level at a higher level even in a situation where a light vehicle or a surrounding moving object is decelerating, and may lower the warning level when it is determined that the light vehicle or a surrounding moving object has stopped temporarily.

[0077] In this way, by reducing the notification level in accordance with the degree of deceleration of the light vehicle, excessive notification is prevented when the driver of the light vehicle is intentionally driving safely. Therefore, a notification is only issued when a collision avoidance action is truly necessary, which prevents occupants of the light vehicle or surrounding moving objects from becoming accustomed to the notification and from becoming distracted in driving.

[0078] The occupant information of the light vehicle is detected by the light vehicle terminal 201. For example, the occupant information can be detected by an acceleration sensor provided in the light vehicle terminal 201 detecting lateral sway or acceleration / deceleration. Also, the occupant information of the light vehicle can be detected by driver monitoring using an image sensor or physiological sensor provided in the light vehicle terminal 201. Also, a profile relating to the driving skill of the occupant may be stored in advance in the light vehicle terminal 201, and this profile may be transmitted from the light vehicle terminal 201 to the driving assistance device 101.

[0079] For example, when the passenger on a bicycle, which is a light vehicle, is a child or an elderly person, and a nearby mobile terminal 301 issues a warning about the risk of collision with the light vehicle, the warning may also include the fact that the passenger on the light vehicle is a child or an elderly person.

[0080] Furthermore, light vehicles such as bicycles that travel on the left side of the road are closer to the left corner of an intersection than standard-sized automobiles. Therefore, as shown in Fig. 12, when a light vehicle enters an intersection, the notification level setting unit 15 may set the notification level for a pedestrian C1 on the left side higher than the notification level for a pedestrian C2 on the right side.

[0081] In addition, when a light vehicle traveling on the left side of a road approaches an intersection that is a caution area and runs parallel to a surrounding moving object such as an automobile or a large truck with a large body, the risk of being involved in a collision accident due to a sudden left turn of the surrounding moving object increases. Therefore, the notification level setting unit 15 may increase the notification levels for the light vehicle and the surrounding moving object in such a case.

[0082] Also, when a light vehicle attempts to cross an intersection that is a caution area, the risk of collision increases when a passenger car in the oncoming lane, which is a surrounding moving object, makes a right turn. Therefore, the notification level setting unit 15 may increase the notification levels for the light vehicle and the surrounding moving object in such a case.

[0083] <B-3. Notification Examples> Figures 13 to 15 show notification examples in the light vehicle terminal 201. Figure 13 shows a notification example with a low notification level, Figure 14 shows a notification example with a medium notification level, and Figure 15 shows a notification example with a high notification level. In these figures, the light vehicle terminal 201 is fixed to the handle of a bicycle, which is a light vehicle.

[0084] As shown in Figure 13, when the notification level is low, a map representing the caution area and the positions of surrounding moving objects is displayed on the display unit of the light vehicle terminal 201. As shown in Figure 14, when the notification level is medium, in addition to the display in Figure 12, a warning sound is output from the light vehicle terminal 201. As shown in Figure 15, when the notification level is high, in addition to the display and the warning sound, a warning voice such as "Caution for Front Collision! Please Decelerate!" is output from the light vehicle terminal 201.

[0085] <B-4. Effects> In the driving support device 102 of Embodiment 2, the notification determination unit 12 determines the notification levels for the light vehicle and surrounding moving objects. The notification information transmitted to the light vehicle terminal 201 includes the notification level for the light vehicle. The notification information transmitted to the surrounding moving object terminal 301 includes the notification level for the surrounding moving object. The light vehicle terminal 201 that has received the notification information performs notification in a manner corresponding to the notification level for the light vehicle, and the surrounding moving object terminal 301 that has received the notification information performs notification in a manner corresponding to the notification level for the surrounding moving object. Therefore, according to the driving support device 102, it is possible to perform notification at an appropriate notification level.

[0086] <B-5. First Modified Example> FIG. 16 shows the configuration of a driving support system 1002A according to the first modified example of Embodiment 2. The driving support system 1002A includes a driving support device 102A instead of the driving support device 101 of the driving support system 1001 according to Embodiment 1. In the storage unit 13 of the driving support device 102A, in addition to the first light vehicle caution map 14, a road surface attribute map 16 is stored.

[0087] The road surface attribute map 16 includes attribute information of the road surface on which the light vehicle moves. The attributes of the road surface include, for example, the following. (1) Hill attribute, slope attribute. (2) Road surface state attribute: cobblestone, uneven road, paved road. (3) Attribute of whether it is a public road: a road with a width allowable for passenger cars to travel, a road where passenger cars cannot travel (a road where only bicycles and pedestrians can pass), a place where automobiles, light vehicles, and pedestrians are mixed, such as a parking lot. (4) Poor visibility attribute.

[0088] The notification level setting unit 15 changes the notification level according to the attribute of the road surface on which the light vehicle moves.

[0089] When the light vehicle moves between two road surfaces with different road surface attributes, the notification level setting unit 15 may change the notification level according to the change in the road surface attribute. That is, when the light vehicle moves from a road surface having the first attribute information to a road surface having the second attribute information, the notification level setting unit 15 may set the notification level for the light vehicle or the surrounding moving object according to the combination of the first attribute information and the second attribute information.

[0090] For example, when a light vehicle moves from a road or passage where only light vehicles or pedestrians can pass to a lane where passenger cars can travel, the occupants of the light vehicle may become negligent. Also, when a light vehicle jumps out from such a narrow road, the driver of a surrounding moving object, i.e., a motor vehicle, may be late in detecting the light vehicle. In such cases, since the collision risk is higher than usual, the notification level setting unit 15 sets the notification level higher than usual.

[0091] Also, the notification level setting unit 15 may set the notification level in consideration of the risk of head-on collision with a motor vehicle, which is a surrounding moving object, when a bicycle, which is a light vehicle, comes out onto the road from private land or commercial facilities that are not roads.

[0092] <C. Embodiment 3> <C-1. Configuration> FIG. 17 shows the configuration of the driving support system 1003 according to Embodiment 3. The driving support system 1003 includes a driving support device 103 instead of the driving support device 101 of the driving support system 1001 according to Embodiment 1. In the storage unit 13 of the driving support device 103, a plurality of attention maps 141-145 for sub-light vehicles are stored. The attention maps 141-145 for sub-light vehicles each contain information on an attention area corresponding to the attributes of different surrounding moving objects.

[0093] The notification determination unit 12 refers to an attention map for a sub-light vehicle according to the attributes of the surrounding moving object, and determines whether notification is required according to the attributes of the surrounding moving object that has a risk of colliding with the light vehicle.

[0094] For example, the attention map 141 for sub-light vehicles includes an attention area where there is a risk of collision between a light vehicle and a pedestrian. The attention map 142 for sub-light vehicles includes an attention area where there is a risk of collision between light vehicles. The attention map 143 for sub-light vehicles includes an attention area where there is a risk of collision between a light vehicle and a motorcycle. The attention map 144 for sub-light vehicles includes an attention area where there is a risk of collision between a light vehicle and a passenger car. The attention map 145 for sub-light vehicles includes an attention area where there is a risk of collision between a light vehicle and a truck.

[0095] The warning areas in the warning maps 141-145 for each sub-compact vehicle are not necessarily the same. For example, a road where a passenger car cannot pass is not a warning area in the warning maps 144 and 145 for sub-compact vehicles, but may be a warning area in the warning maps 141 and 142 for sub-compact vehicles.

[0096] <C-2. Operation> FIG. 18 is a flowchart showing the notification process of the driving support device 103 according to Embodiment 3. The flow in FIG. 18 is obtained by providing step S202A and step S202B in place of step S202 in the flow of FIG. 5.

[0097] When the communication unit 11 receives the position information of the compact vehicle from the compact vehicle terminal 201 in step S201, in step S202A, the communication unit 11 determines whether it has received the position information and attribute information of the surrounding moving object from the surrounding moving object terminal 301. The communication unit 11 repeats the process of step S202A until it receives the position information and attribute information of the surrounding moving object from the surrounding moving object terminal 301.

[0098] When the communication unit 11 receives the position information and attribute information of the surrounding moving object from the surrounding moving object terminal 301 in step S202A, it outputs them to the notification determination unit 12. The notification determination unit 12 that has acquired the position information and attribute information of the surrounding moving object selects a warning map for sub-compact vehicles according to the attribute of the surrounding moving object from the storage unit 13 in step S202B.

[0099] After step S202B, in step S203, the notification determination unit 12 refers to the warning map for sub-compact vehicles selected in step S202B and determines whether the compact vehicle and the surrounding moving object are about to enter the warning area.

[0100] ​In the processing example of FIG. 18, notification to the surrounding moving object was performed, but notification to the light vehicle may also be performed. Further, when notification is made from the light vehicle terminal 201, the attributes of the surrounding moving objects at risk of collision may also be notified. In this case, the notification information transmitted from the communication unit 11 of the driving support device 101 to the light vehicle terminal 201 includes the attribute information of the surrounding moving objects. According to such a configuration, the driver of the light vehicle can grasp what kind of moving object there is a risk of collision with, and thus can perform an effective risk reduction driving.

[0101] <C-3. Effect> In the driving support device according to the third embodiment, the first light vehicle caution map 14 is composed of a plurality of sub-light vehicle caution maps 141-145 that define caution areas for each attribute of the surrounding moving objects. The driving information includes light vehicle information and surrounding moving object information. The surrounding moving object information includes information on the attributes of the surrounding moving objects. The notification determination unit 12 determines whether at least one of the light vehicle and the surrounding moving objects is about to enter the caution area based on the driving information and the sub-light vehicle caution map corresponding to the attributes of the surrounding moving objects. Therefore, notification to the surrounding moving objects with attributes that cannot collide is suppressed, and the notification accuracy is improved.

[0102] <D. Embodiment 4> <D-1. Configuration> FIG. 19 shows the configuration of the driving support system 1004 according to the fourth embodiment. The driving support system 1004 includes a driving support device 104 instead of the driving support device 101 of the driving support system 1001 according to the first embodiment. The driving support device 104 includes a map update unit 17 in addition to the configuration of the driving support device 101.

[0103] The light vehicle terminal 201 detects frights such as sudden deceleration, sudden stop, and sudden steering that occur in the light vehicle. The light vehicle terminal 201 can detect the frights encountered by the light vehicle by means of an acceleration sensor or the like mounted on itself. When the light vehicle terminal 201 detects a fright of the light vehicle, the communication unit 22 transmits fright information including the time when the fright occurred in the light vehicle and the information on the position of the light vehicle at that time to the communication unit 11 of the driving support device 104. Note that the fright information transmitted from the light vehicle terminal 201 is also referred to as light vehicle fright information.

[0104] Similarly, the peripheral moving body terminal 301 detects frights that occur in the peripheral moving body. When the peripheral moving body terminal 301 detects a fright of the peripheral moving body, the communication unit 32 transmits fright information including the time when the fright occurred in the peripheral moving body and the information on the position of the peripheral moving body at that time to the communication unit 11 of the driving support device 104. Note that the fright information transmitted from the peripheral moving body terminal 301 is also referred to as peripheral moving body fright information.

[0105] The map update unit 17 updates the first light vehicle caution map stored in the storage unit 13 based on the above fright information.

[0106] <D-2. Operation> FIG. 20 is a flowchart showing the map update process by the map update unit 17. First, in step S301, the map update unit 17 determines whether it has received the fright information of the light vehicle from the light vehicle terminal 201.

[0107] The map update unit 17 repeats the process of step S301 until it receives the fright information of the light vehicle. When the map update unit 17 receives the fright information of the light vehicle in step S301, in step S302, it records the time and position included in the fright information of the light vehicle. [[ID=A]] [[ID=B]]

[0108] Next, in step S303, the map update unit 17 determines whether it has acquired the near miss information recorded at the time and position recorded in step S302 from the surrounding moving body terminal 301 for the near miss information at the same time and the same position.

[0109] In step S303, if the near miss information at the same time and the same position has not been acquired, the process of the map update unit 17 returns to step S301.

[0110] In step S303, if the near miss information at the same time and the same position has been acquired, in step S304, the map update unit 17 updates the first light vehicle caution map 14 by adding the area where the near miss information occurred as a new caution area to the first light vehicle caution map 14. Then, the process of the map update unit 17 returns to step S301.

[0111] Note that when the map update unit 17 acquires the near miss information of the surrounding moving body at the same time and the same position as the near miss information of the light vehicle in step S303, it may store the attribute of the surrounding moving body. Then, when the map update unit 17 adds a new caution area to the first light vehicle caution map 14 in step S304, it associates the attribute of the surrounding moving body stored in step S303 with the new caution area. Thereby, the first light vehicle caution map 14 including the attribute information of the surrounding moving body can be created.

[0112] FIG. 21 shows a situation where the light vehicle A is about to collide with the surrounding moving body D and suddenly decelerates in a place where the view is blocked by the tree 61 and the visibility is poor. In such a case, as shown in FIG. 22, the light vehicle terminal 201 mounted on the light vehicle A announces a voice such as "An abnormal deceleration has been detected. Are you injured?" In response to this, the driver of the light vehicle A can input a request to the light vehicle terminal 201 that the tree 61 blocks the view and the improvement of the ground features is necessary by operating the light vehicle terminal 201 or voice input.

[0113] <D-3. Effect> In the driving support device 104 according to the fourth embodiment, the communication unit 11 receives light vehicle near-miss information including the time and position of near-misses that occurred in the light vehicle from the light vehicle terminal 201, and receives surrounding moving body near-miss information including the time and position of near-misses that occurred in the surrounding moving body from the surrounding moving body terminal 301. The driving support device 104 includes a map update unit 17 that updates the first light vehicle attention map 14 based on the light vehicle near-miss information and the surrounding moving body near-miss information. Therefore, according to the driving support device 104, the first light vehicle attention map 14 can always be kept in the latest state.

[0114] <D-4. First Modified Example> FIG. 23 shows the configuration of a driving support system 1004A according to the first modified example of the fourth embodiment. The driving support system 1004A includes a third-party terminal 401 in addition to the configuration of the driving support system 1004 according to the fourth embodiment.

[0115] The third-party terminal 401 is an information terminal carried by a third party. Here, the third party is a local resident or other traffic user who witnessed a near-miss between the light vehicle and the surrounding moving body. In the driving support system 1004A, the third-party terminal 401 receives an input of near-miss information, and the map update unit 17 updates the first light vehicle attention map 14 using the near-miss information.

[0116] The third-party terminal 401 includes an input unit 41 and a communication unit 42. The input unit 41 is an input interface for the third-party terminal 401 to input near-miss information, and is configured by, for example, a touch panel or a voice recognition unit. A third party who witnessed a near-miss between the light vehicle and the surrounding moving body inputs near-miss information including information on the position and time when the near-miss occurred through the input unit 41.

[0117] The communication unit 42 transmits the near-miss information input by the input unit 41 to the communication unit 11 of the driving support device 104. Note that the near-miss information transmitted from the third-party terminal 401 is also referred to as third-party near-miss information.

[0118] In the driving support device 104, the map update unit 17 updates the first light vehicle caution map 14 by adding a new caution area to the first light vehicle caution map 14 based on the position information included in the near miss information received by the communication unit 11 from the third-party terminal 401.

[0119] Note that the map update unit 17 may collate the near miss information received from the third-party terminal 401 with the near miss information received from the light vehicle terminal 201 or the surrounding moving body terminal 301, and update the first light vehicle caution map 14 based on the near miss information received from the third-party terminal 401 when they match.

[0120] When the near miss information received from the third-party terminal 401 does not include position information, time information, or attribute information of the surrounding moving body, the map update unit 17 does not have to use this for updating the first light vehicle caution map 14. In this case, the map update unit  17 may make this near miss information available for the driver of the light vehicle to appropriately refer to as word-of-mouth information.

[0121] <E. Hardware Configuration> FIG. 24 shows the hardware configurations of the driving support devices 101, 102, 102A, 103, 104, the light vehicle terminal 201, and the surrounding moving body terminal 301.

[0122] In the above-described driving support devices 101, 102, 102A, 103, 104, the communication unit 11 is realized by the communication device 82, the storage unit 13 is realized by the memory 84, and the notification determination unit 12 is realized by the processor 83. By the processor 83 executing the program stored in the memory 84, the functions of the notification determination unit 12 are executed. The processor 83 is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.

[0123] That is, the driving assistance devices 101, 102, 102A, 103, and 104 each include a memory 84 for storing a program that, when executed by the processor 83, results in the execution of each process of the driving assistance devices 101, 102, 102A, 103, and 104. In other words, this program can be said to cause a computer to execute the procedure or method of the notification determination unit 12, etc. Here, the memory 84 may be, for example, a non-volatile or volatile semiconductor memory such as a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM), a hard disk drive (HDD), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, a digital versatile disk (DVD) and a drive device therefor, or any storage medium that will be used in the future.

[0124] Furthermore, the communication unit 22 of the light vehicle terminal 201 is realized by the communication device 82 , and the positioning unit 21 and the notification determination unit 23 are realized by the processor 83 executing a program stored in the memory 84 .

[0125] It should be noted that the embodiments can be freely combined, and each embodiment can be modified or omitted as appropriate. The above description is an example in all respects. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0126] 11 Communication unit, 12 Notification determination unit, 13 Storage unit, 14 First light vehicle warning map, 16 Road surface attribute map, 17 Map update unit, 21 Positioning unit, 22 Communication unit, 23 Notification determination unit, 24 Output unit, 25 Storage unit, 26 Second light vehicle warning map, 31 Positioning unit, 32 Communication unit, 33 Notification determination unit, 34 Output unit, 41 Input unit, 42 Communication unit, 82 Communication device, 83 Processor, 84 Memory, 101, 102, 102A, 103, 104 Driving assistance device, 141-145 Sub light vehicle warning map, 201, 201A Light vehicle terminal, 301 Peripheral mobile terminal, 401 Third party terminal,1001,1001A,1002,1002A,1003,1004,1004A Driver assistance system,Q1,Q2 Attention area.

Claims

1. a storage unit that stores a first light vehicle attention map that defines an attention area where there is a risk of collision between a light vehicle and a nearby moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal that is an information terminal mounted on the peripheral mobile body; a notification determination unit that determines whether or not at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the traveling information and the first light vehicle attention map, the communication unit, when at least one of the light vehicle and the surrounding moving body is about to enter the attention area, transmits, to at least the other information terminal, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body; When a plurality of peripheral moving objects are present around the light vehicle that is about to enter the attention area, the notification determination unit selects at least one peripheral moving object based on a movement vector of the light vehicle and a movement vector of each peripheral moving object; the communication unit transmits the notification information to at least one of the nearby moving bodies selected by the notification determination unit. Driving assistance device.

2. the travel information includes the light vehicle information and the surrounding moving object information, the notification determination unit determines whether the light vehicle and the nearby moving object are about to enter the attention area based on the traveling information and the first light vehicle attention map; the communication unit transmits the notification information when the light vehicle and the surrounding moving object are about to enter the attention area. The driving assistance device according to claim 1 .

3. the communication unit transmits the notification information to the light vehicle terminal when the light vehicle and the surrounding moving object are about to enter the attention area. The driving assistance device according to claim 2 .

4. A light vehicle terminal that communicates with the driving assistance device according to claim 1, a light vehicle positioning unit that measures the position of the light vehicle; a light vehicle storage unit in which a second light vehicle warning map identical to the first light vehicle warning map is stored; a light vehicle determination unit that determines whether the light vehicle is about to enter the attention area based on the position of the light vehicle and the second light vehicle attention map; a light vehicle communication unit that transmits the light vehicle information to the communication unit when the light vehicle is about to enter the attention area, Light vehicle terminal.

5. the notification determination unit determines a notification level for the light vehicle and the surrounding moving object; the notification information transmitted to the light vehicle terminal includes a notification level for the light vehicle; the notification information transmitted to the peripheral mobile terminal includes a notification level to the peripheral mobile terminal; The light vehicle terminal that has received the notification information notifies the light vehicle in a manner corresponding to a notification level, The surrounding mobile terminal that has received the notification information notifies the surrounding mobile terminal in a manner corresponding to the notification level. The driving assistance device according to claim 1 .

6. The notification determination unit determines a notification level for the light vehicle based on an approaching direction of the light vehicle into the attention area, and determines a notification level for the nearby moving object based on an approaching direction of the nearby moving object into the attention area. The driving assistance device according to claim 5 .

7. the first light vehicle attention map defines an attention level according to an approach direction into the attention area; the notification determination unit determines a notification level for the light vehicle based on the direction of entry of the light vehicle into the attention area and the attention level defined in the first attention map for light vehicles, and determines a notification level for the nearby moving object based on the direction of entry of the nearby moving object into the attention area and the attention level defined in the first attention map for light vehicles. The driving assistance device according to claim 6.

8. the first light vehicle attention map is made up of a plurality of sub light vehicle attention maps in which the attention areas are defined for each attribute of the nearby moving object; the travel information includes the light vehicle information and the surrounding moving object information, the peripheral moving object information includes information on attributes of the peripheral moving object, the notification determination unit determines whether at least one of the light vehicle and the nearby moving object is about to enter the attention area based on the traveling information and the sub-light vehicle attention map according to the attribute of the nearby moving object. The driving assistance device according to claim 1 .

9. The notification information transmitted to the light vehicle terminal includes information on attributes of the nearby moving body. The driving assistance device according to claim 8.

10. A storage unit in which a first light vehicle attention map is stored, which defines an attention area where there is a risk of collision between a light vehicle and a surrounding moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal that is an information terminal mounted on the peripheral mobile body; a notification determination unit that determines whether or not at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the traveling information and the first light vehicle attention map, the communication unit, when at least one of the light vehicle and the surrounding moving body is about to enter the attention area, transmits, to at least the other information terminal, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body; the notification determination unit determines a notification level for the light vehicle and the surrounding moving object; the notification information transmitted to the light vehicle terminal includes a notification level for the light vehicle; the notification information transmitted to the peripheral mobile terminal includes a notification level to the peripheral mobile terminal; The light vehicle terminal that has received the notification information notifies the light vehicle in a manner corresponding to a notification level, The surrounding mobile terminal that has received the notification information notifies the surrounding mobile terminal in a manner corresponding to the notification level, the communication unit receives from the light vehicle terminal a light vehicle occupant state including at least one of a driving skill, a psychological state, a physiological state, a line of sight direction, and a driving state of the driver of the light vehicle; the notification determination unit changes a notification level to the light vehicle depending on an occupant state of the light vehicle. Driving assistance device.

11. A storage unit in which a first light vehicle attention map is stored, which defines an attention area where there is a risk of collision between a light vehicle and a surrounding moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal that is an information terminal mounted on the peripheral mobile body; a notification determination unit that determines whether or not at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the traveling information and the first light vehicle attention map, the communication unit, when at least one of the light vehicle and the surrounding moving body is about to enter the attention area, transmits, to at least the other information terminal, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body; the notification determination unit determines a notification level for the light vehicle and the surrounding moving object; the notification information transmitted to the light vehicle terminal includes a notification level for the light vehicle; the notification information transmitted to the peripheral mobile terminal includes a notification level to the peripheral mobile terminal; The light vehicle terminal that has received the notification information notifies the light vehicle in a manner corresponding to a notification level, The surrounding mobile terminal that has received the notification information notifies the surrounding mobile terminal in a manner corresponding to the notification level, the storage unit stores a road surface attribute map having attribute information of a road surface; the notification determination unit refers to the road surface attribute map and sets a notification level to the light vehicle or the nearby moving object according to the attribute information of the road surface on which the light vehicle is traveling. Driving assistance device.

12. the notification determination unit sets a notification level to the light vehicle or the nearby moving body in accordance with a combination of the first attribute information and the second attribute information when the light vehicle moves from a road surface having first attribute information to a road surface having second attribute information. The driving assistance device according to claim 11.

13. the notification determination unit lowers a notification level to the light vehicle or the surrounding moving object when the light vehicle or the surrounding moving object that is about to enter the attention area decelerates. The driving assistance device according to claim 5 .

14. A storage unit in which a first light vehicle attention map is stored, which defines an attention area where there is a risk of collision between a light vehicle and a surrounding moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal that is an information terminal mounted on the peripheral mobile body; a notification determination unit that determines whether or not at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the traveling information and the first light vehicle attention map, the communication unit, when at least one of the light vehicle and the surrounding moving body is about to enter the attention area, transmits, to at least the other information terminal, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body; the notification determination unit determines a notification level for the light vehicle and the surrounding moving object; the notification information transmitted to the light vehicle terminal includes a notification level for the light vehicle; the notification information transmitted to the peripheral mobile terminal includes a notification level to the peripheral mobile terminal; The light vehicle terminal that has received the notification information notifies the light vehicle in a manner corresponding to a notification level, The surrounding mobile terminal that has received the notification information notifies the surrounding mobile terminal in a manner corresponding to the notification level, the notification determination unit lowers a notification level to the light vehicle or the surrounding moving object when the light vehicle or the surrounding moving object that is about to enter the attention area decelerates. the notification determination unit, when a driver of the light vehicle that is about to enter the attention area recognizes the nearby moving object, lowers a notification level to the light vehicle or the nearby moving object. Driving assistance device.

15. The communication unit receives light vehicle near-miss information including the time and location of a near-miss that occurred in the light vehicle from the light vehicle terminal, and receives nearby mobile body near-miss information including the time and location of a near-miss that occurred in the nearby mobile body from the nearby mobile body terminal, a map update unit that updates the first light vehicle attention map based on the light vehicle near-miss information and the nearby moving object near-miss information; The driving assistance device according to claim 1 .

16. A storage unit in which a first light vehicle attention map is stored, which defines an attention area where there is a risk of collision between a light vehicle and a surrounding moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal that is an information terminal mounted on the peripheral mobile body; a notification determination unit that determines whether or not at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the traveling information and the first light vehicle attention map, the communication unit, when at least one of the light vehicle and the surrounding moving body is about to enter the attention area, transmits, to at least the other information terminal, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body; The communication unit receives light vehicle near-miss information including the time and location of a near-miss that occurred in the light vehicle from the light vehicle terminal, and receives nearby mobile body near-miss information including the time and location of a near-miss that occurred in the nearby mobile body from the nearby mobile body terminal, a map update unit that updates the first light vehicle attention map based on the light vehicle near-miss information and the surrounding moving object near-miss information; the nearby moving object near-miss information includes attribute information of the nearby moving object, the map update unit adds attribute information of the peripheral moving object included in the peripheral moving object near-miss information whose time and position match those of the light vehicle near-miss information to the first light vehicle attention map as attribute information of the peripheral moving object that is at risk of collision in the attention area. Driving assistance device.

17. A storage unit in which a first light vehicle attention map is stored, which defines an attention area where there is a risk of collision between a light vehicle and a surrounding moving object moving around the light vehicle; a communication unit that receives travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal that is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal that is an information terminal mounted on the peripheral mobile body; a notification determination unit that determines whether or not at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the traveling information and the first light vehicle attention map, the communication unit, when at least one of the light vehicle and the surrounding moving body is about to enter the attention area, transmits, to at least the other information terminal, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body; The communication unit receives light vehicle near-miss information including the time and location of a near-miss that occurred in the light vehicle from the light vehicle terminal, and receives nearby mobile body near-miss information including the time and location of a near-miss that occurred in the nearby mobile body from the nearby mobile body terminal, a map update unit that updates the first light vehicle attention map based on the light vehicle near-miss information and the surrounding moving object near-miss information; The communication unit receives third-party near-miss information, which is the light vehicle near-miss information or the peripheral moving object near-miss information, input into the third-party's information terminal by a third party who witnessed a near-miss that occurred between the light vehicle and the peripheral moving object, from the third-party's information terminal, The map update unit updates the first light vehicle attention map based on the third-party near-miss information. Driving assistance device.

18. receiving travel information including at least one of light vehicle information including position information of the light vehicle received from a light vehicle terminal which is an information terminal mounted on the light vehicle, and peripheral mobile body information including position information of the peripheral mobile body received from a peripheral mobile body terminal which is an information terminal mounted on a peripheral mobile body moving around the light vehicle; determining whether at least one of the light vehicle and the surrounding moving object is about to enter the attention area based on the travel information and a first light vehicle attention map that defines an attention area where there is a risk of collision between the light vehicle and the surrounding moving object; When at least one of the light vehicle and the surrounding moving body is about to enter the attention area, notification information indicating that there is a collision risk between the light vehicle and the surrounding moving body is transmitted to at least the other information terminal; When a plurality of peripheral moving bodies are present around the light vehicle that is about to enter the attention area, at least one peripheral moving body is selected based on a movement vector of the light vehicle and a movement vector of each peripheral moving body, and the notification information is transmitted to the selected at least one peripheral moving body. Driving assistance methods.

19. The attention area defined in the first light vehicle attention map includes an intersection where visibility is obstructed and a surrounding area thereof. The driving assistance device according to claim 1 .

Images