Observation device

Abstract

To improve usefulness.SOLUTION: An observation device 10 includes an observation unit 17, a memory unit 18, and a control unit 19. The observation unit 17 observes a predetermined area. The memory unit 18 stores a viewing distance, which is the maximum distance at which an observed object in the predetermined area can be identified. The control unit 19 identifies the distance to a position where the observed object exists based on the observation results of the observation unit 17. The control unit 19 updates the viewing distance stored in the memory unit 18 based on the identified distance.SELECTED DRAWING: Figure 2

Description

【Technical Field】 【0001】 The present invention relates to an observation device. 【Background Art】 【0002】 In recent years, an observation device has been installed on the roadside to detect the presence of observation targets such as vehicles and pedestrians, and a safe driving support system has been developed to notify an approaching vehicle of the presence of the observation target according to the distance from the observation target. At the location where the safe driving support system is provided, there is a possibility of relying on the presence notification sent from the observation device. Therefore, when there is no presence notification at the location where the safe driving support system is provided, the driver may recognize that it is safe. 【0003】 The presence notification from the observation device may not be sent to an approaching vehicle not only when the observation target does not actually exist within the detection range of the observation device but also when the observation device is stopped. Therefore, it has been proposed to notify an approaching vehicle of the operating status of the observation device (see Patent Document 1). 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2007-272598 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 Notification of the observation device's operational status encourages drivers to exercise the same caution as they would in areas without safety driving assistance systems, even if no presence notification is issued. However, even when the observation device is operational, changes in the surrounding environment, such as weather conditions, at the device's installation location can alter its detection range. Therefore, it is possible that a presence notification may not be issued even if the object being observed is within the device's intended detection range. If the absence of a presence notification does not equate to the absence of the object being observed, the usefulness of the observation device decreases. 【0006】 Therefore, in view of the problems of the prior art described above, the purpose of this disclosure is to provide an observation device with improved usefulness. [Means for solving the problem] 【0007】 In order to solve the aforementioned problems, the observation device from the first perspective is: An observation unit for observing a predetermined area, A storage unit that stores the viewing distance, which is the maximum distance at which an object to be observed within the predetermined area can be identified, The system includes a control unit that identifies the distance to the location of the object being observed based on the observation results of the observation unit, and updates the visibility distance stored in the storage unit based on the identified distance. [Effects of the Invention] 【0008】 The observation device according to this disclosure, configured as described above, offers improved usefulness. [Brief explanation of the drawing] 【0009】 [Figure 1] Figure 1 shows an example of the configuration of a communication system equipped with an observation device according to one embodiment. [Figure 2] Figure 1 is a block diagram showing the schematic configuration of the observation device. [Figure 3] Figure 1 is a diagram showing the fixed state of the observation device. [Figure 4] This is a table showing the classification of items stored in the memory unit of Figure 2. [Figure 5] This is a table showing the speed categories stored in the memory unit of Figure 2. [Figure 6] This is a table showing the temperature categories stored in the memory unit shown in Figure 2. [Figure 7] This is a flowchart illustrating the update process performed by the control unit shown in Figure 2. [Figure 8] This is a flowchart illustrating the notification information transmission process performed by the control unit shown in Figure 2. [Modes for carrying out the invention] 【0010】 Hereinafter, embodiments of an observation apparatus to which this disclosure is applied will be described with reference to the drawings. 【0011】 Figure 1 shows an example configuration of a communication system 11 equipped with an observation device 10 according to one embodiment. The communication system 11 is, for example, a safe driving support communication system for an Intelligent Transport Systems (ITS). A safe driving support communication system is also called a safe driving support system or a safe driving support wireless system. 【0012】 The observation device 10 may be a device for observing objects such as vehicles, objects, and people on the road. The observation device 10 may be, for example, a roadside unit or a surveillance camera. In this embodiment, the observation device 10 may be a roadside unit and may be placed near an intersection where multiple roads 12 (carriageways) intersect to observe the road surface. For example, the observation device 10 may observe the road surface in the direction of the extension of the road connected from the intersection. The observation device 10 may be placed on the roadside other than at an intersection. 【0013】 In the communication system 11, the observation device 10 and vehicles 13, such as automobiles, traveling on the road 12, may communicate wirelessly with each other. Multiple vehicles 13 may communicate wirelessly with each other. The communication system 11 may also communicate wirelessly with electronic devices carried by pedestrians 14. Electronic devices include, for example, mobile terminal devices such as smartphones. 【0014】 The observation device 10 may notify the vehicle 13 of notification information for assisting the safe driving of the driver of the vehicle 13. The safe driving support information may include information regarding an observation target existing on the road to be observed. The information regarding the observation target may include the presence or absence of the observation target, the type of the existing observation target, the distance to the observation device, the moving speed, and the traveling direction. The notification information may include information regarding the visibility distance. The notification information may include information regarding the lighting of the traffic signal 15, information regarding road regulations, and road linear information indicating the shape of the intersection (the shape of the road 12) where the observation device 10 is disposed, etc. The notification information may include information notified from other vehicles 13. The observation device 10 may notify the notification information to an electronic device possessed by the pedestrian 14. 【0015】 The vehicle 13 may transmit vehicle information, for example, periodically to the observation device 10 or the like. The vehicle information may include, for example, the position, speed, information regarding the wiper, etc. of the vehicle 13. The vehicle 13 may acquire various information notified from the observation device 10 or the like by an electronic device mounted thereon. The electronic device mounted on the vehicle 13 is, for example, a car navigation system or the like. The electronic device mounted on the vehicle 13 may support the safe driving of the driver by giving a notification such as a warning based on the information notified from the observation device 10. The notification to the driver may be the type, position, speed, traveling direction, etc. of an observation target such as other vehicles 13 and pedestrians in the vicinity of the approaching intersection. As described above, the communication system 11 may support the safe driving of the driver of the vehicle 13. The vehicle 13 is not limited to an automobile. For example, the vehicle 13 may include a motorcycle, a bus, a tram, and a bicycle. 【0016】 Details of the observation device 10 will be described below. As shown in FIG. 2, the observation device 10 includes an observation unit 17, a storage unit 18, and a control unit 19. The observation device 10 may further include a communication unit 20. 【0017】 The observation unit 17 observes a predetermined area. More specifically, the observation unit 17 may observe a predetermined area by detecting electromagnetic waves incident from the predetermined area. The observation unit 17 may include at least one sensor. 【0018】 The sensor may detect electromagnetic waves incident from within the detection area. The sensor may be, for example, a camera such as a visible light camera, a FIR camera that captures far-infrared images, and ranging sensors such as a millimeter wave radar, LiDAR, and ultrasonic sonar. The visible light camera can capture a normal image (RGB image) of a subject. The FIR camera can capture a far-infrared image according to temperature and can detect the temperature of the subject to be observed. The ranging sensor may radiate a projection wave and measure a distance value to a reflection point on the object based on the time from the time of radiation of the projection wave to the time of reception of the reflection wave from the object irradiated with the projection wave. 【0019】 The sensor may generate a detection signal based on the detection of electromagnetic waves. The detection signal may be an image in the configuration where the sensor is a camera. The detection signal may be a distance distribution including distance values for each direction in which a reflection wave occurs with respect to a projection wave such as millimeter waves, near-infrared light, and sound waves in the configuration where the sensor is a ranging sensor. The sensor may generate a detection signal at a predetermined period. The generation period of the detection signal is, for example, 100 ms. 【0020】 An observation coordinate system may be defined in the observation unit 17. The observation coordinate system may be a three-dimensional coordinate system with an arbitrary position in the observation unit 17 as the origin and three mutually perpendicular axes passing through the origin as the coordinate axes. The origin of the observation coordinate system is, for example, the intersection of the detection axis of an arbitrary sensor in the observation unit 17 and the detection element. The observation coordinate system includes, for example, a line parallel to the detection axis of the arbitrary sensor as a coordinate axis. The detection axis may be the central axis of the detection range of the sensor. The detection axis is, for example, the optical axis in the case of a camera. 【0021】 As shown in Figure 3, the observation device 10 may be fixed to a structure 22 that has a height that allows it to capture a scene including the road 12 outdoors, such as a traffic signal device, utility pole, or streetlamp near an intersection where the road 12 to be observed intersects. The position and orientation of the observation unit 17 relative to the structure 22 may be predetermined. For example, by fixing the observation device 10 to the structure 22 such that the upper end of the detection range of the observation device 10 is parallel to a part of the road, it is possible to observe further distances. 【0022】 The position of the observation unit 17 represents the origin of the observation coordinate system relative to a reference position in the world coordinate system. The orientation of the observation unit 17 represents the inclination of the coordinate axes of the observation coordinate system relative to the coordinate axes of the world coordinate system. In this disclosure, "world coordinate system" means a coordinate system set up based on the three-dimensional space outside the observation unit 17. The world coordinate system may have axes in the vertical direction of real space and two directions parallel to and perpendicular to the horizontal plane. 【0023】 The position and orientation of the observation unit 17 may be determined such that the detection axis dx of the observation unit 17 intersects the road surface of the road 12. The position and orientation of the observation unit 17 may be determined such that the detection range of the observation unit 17 includes a predetermined area defined relative to the observation device 10. 【0024】 In Figure 2, the storage unit 18 includes any storage device, such as RAM (Random Access Memory) and ROM (Read Only Memory). The storage unit 18 may store various programs that enable the control unit 19 to function, and various information used by the control unit 19. 【0025】 The memory unit 18 may store distance values ​​from the distance measuring sensor to the road surface or floor surface separately for each direction, in a configuration in which the observation unit 17 includes a distance measuring sensor. The distance values ​​from the distance measuring sensor to the road surface may be sampled by fixing the observation unit 17 to the structure 22 and allowing the distance measuring sensor to detect the distance when there is nothing on the road surface or floor surface. "On the road surface or floor surface" may mean a state in contact with the road surface or floor surface. 【0026】 The memory unit 18 may store a conversion formula or conversion table for the coordinates of pixels in a two-dimensional coordinate system to the world coordinate system when the pixels constituting the image acquired from the camera represent objects on the road or floor. Using this conversion formula or conversion table, the position in the world coordinate system and the distance to the observation unit 17 of the objects on the road or floor included in the image acquired from the camera can be obtained. 【0027】 The memory unit 18 stores the visibility distance of an object to be observed within a predetermined area in the observation unit 17. The visibility distance is the maximum distance at which the control unit 19 can identify the presence of the object to be observed based on the detection signal. The memory unit 18 may store visibility distances associated with each category based on the type of object to be observed. Examples of object types include pedestrians, bicycles, motorcycles, passenger cars, and large vehicles. The memory unit 18 may store an initial value and a current value of the visibility distance. The initial value may be a design value corresponding to the sensor used in the observation unit 17 or a measured value under conditions that do not hinder observation by the observation device 10. The current value may be the visibility distance updated at the most recent timing, as will be described later. 【0028】 The classification based on the type of object being observed may include the type classification itself. Therefore, as shown in Figure 4, the memory unit 18 may store initial and current values ​​of visibility distance associated with classifications such as pedestrians, bicycles, motorcycles, passenger cars, and large vehicles. 【0029】 The classification based on the type of object being observed may include speed classifications based on the expected speed for each type of object being observed. Therefore, as shown in Figure 5, the memory unit 18 may store, for example, the sight distances associated with the classification of pedestrians (less than 5 km / h), bicycles (5 km / h or more but less than 20 km / h), and motorcycles, passenger cars, and large vehicles (20 km / h or more). 【0030】 The classification based on the type of object being observed may include temperature classifications based on the temperature expected for each type of object being observed. Therefore, as shown in Figure 6, the memory unit 18 may store, for example, the viewing distance associated with classifications where the 35°C to less than 39°C category is considered to be for pedestrians, cyclists, and motorcyclists with exposed bodies, and the less than 35°C or 39°C category is considered to be for regular cars and large vehicles. 【0031】 The memory unit 18 may store warning distances for each road 12 included in a predetermined area. The warning distance may be the shortest distance from the observation target to the observation device 10, at which point a warning is issued regarding the approach of the observation target. The warning distance may be calculated, for example, based on the speed of the observation target on the road 12. The speed of the observation distance may be determined based on the speed limit on the road 12, or the average value of the measured speed of the observation target identified by the control unit 19, which will be described later. The warning distance may increase in proportion to the speed of the observation target. The memory unit 18 may store warning distances for each type of observation target, which will be described later. 【0032】 In Figure 2, the control unit 19 includes one or more processors and memory. The processors may include general-purpose processors that load specific programs and execute specific functions, and dedicated processors specialized for specific processing. The dedicated processors may include application-specific integrated circuits (ASICs). The processors may include programmable logic devices (PLDs). The PLDs may include field-programmable gate arrays (FPGAs). The control unit 19 may be either a system-on-a-chip (SoC) or a system-in-a-package (SiP) in which one or more processors cooperate. 【0033】 In the following description, the "classification" in each process of the control unit 19 may be the same or different from the type classification, speed classification, and temperature classification exemplified above. 【0034】 The control unit 19 may detect an object to be observed in a predetermined area based on the observation results of the observation unit 17, more specifically, the detection signal. If an object to be observed is present, the control unit 19 may identify the type of object to be observed based on the observation results of the observation unit 17. The control unit 19 may be able to classify and identify the object to be observed into one of a predetermined group of types. The predetermined group of types are types that are expected to be observed, such as the aforementioned pedestrians, bicycles, motorcycles, passenger cars, and large vehicles. If an object to be observed is present, the control unit 19 may identify the distance from the observation device 10 to the location where the object to be observed is present based on the observation results of the observation unit 17. 【0035】 In a configuration where the sensor included in the observation unit 17 is a camera, the control unit 19 may detect a subject image corresponding to the object to be observed by known image recognition methods such as pattern matching and deep learning on the image as a detection signal. The control unit 19 may determine the presence or absence of the object to be observed by detecting the subject image. The control unit 19 may identify the type of object to be observed by image recognition along with the detection of the subject image. The control unit 19 may calculate the position in the world coordinate system of the object to be observed corresponding to the subject image by converting the position of the pixels of the part of the detected subject image that is in contact with the road surface from a two-dimensional coordinate system to a world coordinate system. The control unit 19 may identify the distance from the observation device 10 to the object to be observed from the position in the world coordinate system of the observation device 10 and the position in the world coordinate system of the object to be observed. The identification of the distance to the object to be observed may be performed each time an image is acquired by the observation device 10. For example, in a configuration where the sensor included in the observation unit 17 is a 30fps camera, the identification of the distance to the object to be observed may be performed at a frequency of 30 times per second. 【0036】 In a configuration where the sensor included in the observation unit 17 is a camera, the control unit 19 may detect an object on the road or floor by extracting distance values ​​from the distance distribution as a detection signal that are different from the distance value to the road or floor, along with the corresponding direction. The control unit 19 may separately detect groups of distance values ​​from the distance values ​​corresponding to the detected object where the difference between the distance values ​​is less than or equal to a predetermined value and the corresponding directions are close to each other. The control unit 19 may detect these groups of distance values ​​as objects to be observed. The control unit 19 may identify the distance to the object to be observed by, for example, averaging the groups of distance values. The control unit 19 may estimate the size of the object to be observed based on the distances and the spread of the corresponding directions of the groups of distance values. The control unit 19 may identify the type of object to be observed based on the size of the object to be observed. 【0037】 The control unit 19 may identify the speed and direction of travel of the detected object based on a plurality of detection signals that occur consecutively. 【0038】 The control unit 19 updates the visibility distance stored in the memory unit 18 based on the distance to the location of the identified object being observed. More specifically, the control unit 19 may update the visibility distance stored in the memory unit 18 by replacing it with the distance determined based on the observation results of the observation unit 17. The control unit 19 may update the current visibility distance for each type or category of the identified object being observed. 【0039】 The control unit 19 may determine the replacement distance, which is the distance for replacing the viewing distance, based on the detection signal. The control unit 19 may determine the replacement distance as the maximum value among the distances to the locations of multiple identified observation objects based on a single detection signal. Alternatively, the control unit 19 may determine the replacement distance as the maximum value among the distances to the locations of identified observation objects among multiple detection signals. Alternatively, the control unit 19 may determine the replacement distance as the maximum value of the distance at which observation objects that have been determined to be the same among multiple detection signals have been detected. 【0040】 The control unit 19 may perform the process for updating the visibility distance periodically or periodically. The control unit 19 may update the visibility distance by category. 【0041】 The control unit 19 may perform a common update process. In the common update process, the category of the type of observation object identified to determine the replacement distance is temporarily treated as the first category. In addition, other categories different from the first category are temporarily treated as the second category. Furthermore, if the replacement distance determined for the first category is less than the viewing distance associated with the first category stored in the storage unit 18, the viewing distance associated with the second category may also be updated to be reduced to the replacement distance. The second category may be all categories other than the first category, or it may be some of the categories. The replacement distance determined for any category is the viewing distance updated for the determined category of the type of observation object. 【0042】 For example, if the identified observation target is a pedestrian, and the replacement distance determined for that pedestrian is shorter than the visibility distance of a vehicle belonging to a category with a higher speed than a pedestrian—in other words, a bicycle, motorcycle, passenger car, or large vehicle—the control unit 19 replaces not only the visibility distance of the pedestrian, but also the visibility distance of bicycles, motorcycles, passenger cars, and large vehicles with the determined replacement distance. 【0043】 The control unit 19 may execute a common update process if the first condition is met. The first condition is a condition relating to a decrease in the number of observed objects passing through a predetermined area. The first condition may be, for example, that the traffic volume on the road 12 observed by the observation device 10 falls below a first threshold during a period of reduced traffic volume. Alternatively, the first condition may be that the average number of observed objects detected based on observation results during a sample time interval of a predetermined time is 50% or less of the maximum value among the average values ​​in other sample times within 24 hours. Alternatively, the first condition may be that no observed objects are detected after a predetermined time has elapsed since the last observation result in which an observed object was detected. 【0044】 If the control unit 19, after the common update process, satisfies the first condition and the distance to the location of the object identified in the new observation result is greater than the visibility distance set for the category to which the object belongs, it may update only the visibility distance associated with that category. In other words, the visibility distances associated with categories other than the one in question may be maintained without updating until an increase in the replacement distance is obtained for the object in the category associated with that category. As mentioned above, the replacement distance assigned to any category is the visibility distance updated for the category of the type of object identified. For example, in the common update process, when the visibility distance of the first category is updated to decrease, the visibility distance of the second category is also decreased, but even if an update is performed that increases the visibility distance of any category, the visibility distances of other categories do not need to be increased. Specifically, in the common update process, when the visibility distance of other categories is also decreased in conjunction with the update that decreases the visibility distance of the category corresponding to the identified pedestrian, even if the visibility distance of a bicycle belonging to another category increases, only the visibility distance of the category corresponding to the bicycle may be updated to increase. Alternatively, the control unit 19 may perform updates that increase the visibility distance for the first and second categories in the common update process. Specifically, even if an update is performed that increases the visibility distance for the second category, the visibility distance for the first category does not need to be increased. More specifically, in the common update process, even if the visibility distance for bicycles increases after an update that decreases the visibility distance for the category corresponding to an identified pedestrian, which also decreases the visibility distances for other categories, the update may be performed so that only the visibility distance between the bicycle category and other categories included in the second category that are common to the bicycle category increases. Alternatively, even if an update is performed that increases the visibility distance for the first category, the visibility distance for the second category does not need to be increased. More specifically, in the common update process, even if the visibility distance for pedestrians increases after an update that decreases the visibility distance for the category corresponding to an identified pedestrian, which also decreases the visibility distances for other categories, the update may be performed so that only the visibility distance for the category corresponding to pedestrians increases. 【0045】 If the first condition is not met, the control unit 19 may update only the viewing distance associated with each category of observation target identified by the observation results in the storage unit 18. 【0046】 The control unit 19 may create information regarding visibility distance if the observation results show that no object is present, in other words, if no object is detected. The control unit 19 may create information regarding visibility distance for each type of object. For example, if only passenger cars and large vehicles are detected based on the observation results, the control unit 19 may create information regarding visibility distance for pedestrians, bicycles, and motorcycles that are not detected. 【0047】 Information regarding visibility may be the visibility distance itself. Information regarding visibility may be an evaluation based on the reliability of visibility. The reliability of visibility is, for example, the current value of visibility relative to the initial value of visibility. The evaluation based on reliability may be the reliability itself, or it may be a graded evaluation according to the reliability. The graded evaluation may be, for example, high, medium, and low, in descending order of reliability. 【0048】 The control unit 19 may create information regarding visibility based on the type of object being observed and the visibility distance associated with that type. Specifically, the control unit 19 may create the above-mentioned reliability-based evaluation of visibility based on the type and the visibility distance associated with that type. More specifically, the control unit 19 may increase the reliability-based evaluation of visibility if the visibility distance is greater than or equal to the warning distance. The control unit 19 may increase the reliability-based evaluation of visibility by category. As mentioned above, the warning distance is stored in the memory unit 18. 【0049】 The control unit 19 may generate notification information, including an evaluation based on the reliability of the visibility distance, if at least one type of object to be observed is not present. The control unit 19 may include the presence or absence of an object to be observed in the notification information. If at least one type of object to be observed is present, the control unit 19 may include the type of object to be observed, the distance to the observation device 10, the speed, and the direction of travel in the notification information. The control unit 19 may control the communication unit 20 to notify the vehicles 13 surrounding the observation device 10 of the generated notification information. 【0050】 The communication unit 20 may be controlled by the control unit 19 to communicate wirelessly with the vehicle 13. The communication unit 20 may consist of a communication circuit and an antenna. The antenna may be, for example, an omnidirectional antenna. The communication unit 20 may communicate wirelessly using, for example, the 700 MHz band allocated to ITS. Alternatively, the communication unit 20 may communicate wirelessly using, for example, a wireless LAN (Local Area Network). 【0051】 The communication unit 20 may perform various processing, such as amplification, on the signal received by the antenna and output the processed received signal to the control unit 19. The control unit 19 may perform various processing on the input received signal to obtain information contained in the received signal. The communication unit 20 may perform various processing, such as amplification, on the information obtained from the control unit 19 and wirelessly transmit the processed transmission signal from the antenna. 【0052】 Next, the update process performed by the control unit 19 in this embodiment will be explained using the flowchart in Figure 7. The update process is started periodically or periodically. 【0053】 In step S100, the control unit 19 determines whether the observation results used for the update process include the object to be observed. Specifically, the observation results used for the update process are detection signals, which may be a single, most recent detection signal, or multiple detection signals from the start of the update process up to a predetermined time interval prior. If the object to be observed is not included, the update process ends. If the object to be observed is included, the process proceeds to step S101. 【0054】 In step S101, the control unit 19 identifies the type and distance of the object to be observed, which was confirmed to exist in step S100. After identification, the process proceeds to step S102. 【0055】 In step S102, the control unit 19 designates the maximum value among the distances identified in step S101 as the replacement distance for each type identified. After designation, the process proceeds to step S103. 【0056】 In step S103, the control unit 19 determines whether or not the first condition is met. If the first condition is not met, the process proceeds to step S104. If the first condition is met, the process proceeds to step S105. 【0057】 In step S104, the control unit 19 updates the visibility distance associated with the category in which the type is classified, using the type-specific replacement distance determined in step S102. After the update, the update process ends. 【0058】 In step S105, the control unit 19 determines whether the type-specific replacement distance determined in step S102 decreases from the viewing distance associated with the classification of that type in the storage unit 18. If it does not decrease, the process proceeds to step S106. If it does decrease, the process proceeds to step S107. 【0059】 In step S106, the control unit 19 updates only the visibility distances corresponding to the classification of the type, using the type-specific replacement distances determined in step S102. After updating, the update process ends. 【0060】 In step S107, the control unit 19 updates the visibility distances associated with all categories using the type-specific replacement distances determined in step S102. After the update, the update process is completed. 【0061】 Next, the notification information transmission process performed by the control unit 19 in this embodiment will be explained using the flowchart in Figure 8. The notification information transmission process starts when a vehicle 13 is within the communication range of the observation device 10. 【0062】 In step S200, the control unit 19 determines whether the latest observation results include any objects of observation. If at least one object of observation is included, the process proceeds to step S201. If no objects of observation are included, the process proceeds to step S203. 【0063】 In step S201, the control unit 19 identifies the type of object to be observed, its distance from the observation device 10, its speed, and its direction of travel, which were confirmed in step S200. After identification, the process proceeds to step S202. 【0064】 In step S202, the control unit 19 determines whether all types to be observed exist within the types identified in step S201. If some types do not exist, the process proceeds to step S203. If all types exist, the process proceeds to step S204. 【0065】 In step S203, the control unit 19 reads from the storage unit 18 the line of sight distance associated with the category in which the non-existent type is classified. After reading, the process proceeds to step S204. 【0066】 In step S204, the control unit 19 generates notification information that includes at least one of the distance, speed, and direction of travel for each type identified in step S201, or the visibility distance for each category read in step S203. After generating the notification information, the process proceeds to step S205. Note that the notification information does not necessarily have to include visibility distance information for all categories. For example, the control unit 19 may not include visibility distance information for categories based on the type of observation target with an expected slow speed in the notification information until the visibility distance falls below the warning distance. This prevents the amount of information included in the notification information from becoming excessive. In addition, the notification information may include information indicating the presence of an observation target detected by the observation device 10. This allows the vehicle 13 that has received the abandoned vehicle information to be warned of the approach or presence of an observation target. 【0067】 In step S205, the control unit 19 controls the communication unit 20 to transmit the notification information generated in step S204 to the vehicle 13 within the communication range of the observation device 10. After transmitting the notification information, the notification information transmission process ends. 【0068】 The observation device 10 of this embodiment, configured as described above, identifies the distance to the location of the object being observed based on the observation results of the observation unit 17, and updates the viewing distance stored in the storage unit 18 based on the identified distance. With this configuration, the observation device 10 can grasp the detection range of whether or not the object is present due to changes in the surrounding environment. Therefore, since the detection range is grasped, the observation device 10 can convey the reliability of the lack of presence notification outside the detection range to the driver and the service recipient, such as an autonomous vehicle or other driver assistance vehicle. As a result, the observation device 10 improves usefulness by allowing the recipient to adjust their actions or controls according to the reliability. 【0069】 Furthermore, the observation device 10 of this embodiment can identify the type of object being observed based on the observation results. With this configuration, the observation device 10 can recognize the maximum identifiable distance for each type of object being observed. 【0070】 Furthermore, in the observation device 10 of this embodiment, the memory unit 18 stores the viewing distance associated with each classification based on type. With this configuration, the observation device 10 can appropriately recognize the viewing distance in relation to the identifiability of the observation results, which may vary depending on the type of object being observed. 【0071】 Furthermore, in the observation device 10 of this embodiment, the classification includes speed classifications based on the expected speed. The range in which the presence or absence of an object to be observed is desired differs depending on the speed of the object to be observed. Therefore, the observation device 10 having the above configuration can appropriately manage the viewing distance. 【0072】 Furthermore, in the observation device 10 of this embodiment, the observation unit 17 is capable of detecting the temperature of the object, and the classification includes temperature classifications based on the assumed temperature. In a configuration where the observation unit 17 has a temperature-detectable sensor such as an FIR camera, the detectability of the object being observed may depend on the temperature. In response to such phenomena, the observation device 10 having the above configuration divides the types of objects being observed into classifications where the detection range is considered to be similar, so that the visibility distance for each type of object being observed can be updated frequently while maintaining the accuracy of the visibility distance. 【0073】 Furthermore, the observation device 10 of this embodiment can perform a common update process in which, if the viewing distance updated for a first category, which is a classification of the type of observed object, is less than the viewing distance associated with the first category stored in the memory unit 18, the viewing distance associated with a second category different from the first category is also updated to be less than the viewing distance updated for the first category. With this configuration, the observation device 10 can improve safety by reducing the viewing distance even if the presence of some types of observed objects cannot be identified from the observation results for a long time. 【0074】 Furthermore, the observation device 10 of this embodiment performs a common update process when the first condition is met. With this configuration, the observation device 10 performs the common update process when traffic volume is low and it is difficult to identify the maximum distinguishable distance for each type. Therefore, since the observation device 10 performs the common update process only when necessary, it is possible to improve the accuracy of the visibility distance for each category while improving safety. 【0075】 Furthermore, in this embodiment, if, after the common update process and when the first condition is met, the observation device 10 updates the viewing distance associated with the type of observation object identified in the new observation result, if the updated viewing distance is greater than the viewing distance associated with that type stored in the memory unit 18, it updates the viewing distance associated with that type, but does not update the viewing distances associated with other types within that type. With this configuration, if, after the viewing distance of a type that was not identified from the observation result is updated by the common update process, the viewing distance of a newly identified type increases, only that type's category is updated. Therefore, the observation device 10 can update the viewing distance, which has been updated independently of the actual identification result, based on the actual identification result later. 【0076】 Furthermore, if the first condition is not met, the observation device 10 of this embodiment updates the viewing distance according to the classification of the type of observed object. When the first condition, which is the execution condition for the common update process, is not met, the frequency of identifying the maximum identifiable distance for each type of observed object increases, and a decrease in safety due to a low identification frequency is less likely to occur. In response to such events, the observation device 10 having the above configuration can improve the accuracy of the viewing distance for each classification when the execution condition for the common update process is not met. 【0077】 Furthermore, the observation device 10 of this embodiment is capable of generating notification information including whether or not an object to be observed exists. If the observation result does not show an object to be observed, it creates information regarding the visibility distance based on the type of object to be observed and the visibility distance associated with that type, and includes this information in the notification. With this configuration, the observation device 10 can make service users, such as drivers and driving assistance vehicles such as autonomous vehicles, recognize the reliability of the absence of an object to be observed. 【0078】 While embodiments relating to this disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art will find it easy to make various modifications or alterations based on this disclosure. Therefore, it should be noted that these modifications or alterations are within the scope of this disclosure. For example, the functions, etc., included in each component or step, etc., can be rearranged in a logically consistent manner, and multiple components or steps, etc., can be combined into one or divided. [Explanation of symbols] 【0079】 10 Observation device 11. Communication Systems 12 Road 13 vehicles 14 Pedestrians 15 Traffic lights 16 Pedestrian crossing 17 Observation Department 18 Memory section 19 Control Unit 20 Communications Department 22 Structures dx detection axis

Claims

[Claim 1] The system includes a control unit that generates data to be transmitted to another device, which includes first information indicating the maximum distance at which the sensor can detect the object to be detected, and second information relating to the object. The control unit identifies the distance to the location where the object detected by the sensor is located, updates the maximum distance based on the identified distance, and if the sensor does not detect the object, generates data including a third piece of information indicating that the object was not detected and the first piece of information instead of the second piece of information. Control device. [Claim 2] The sensor further comprises the aforementioned sensor, The second information includes the object detected by the sensor. The control device according to claim 1. [Claim 3] The maximum distance is set to a design value according to the type of sensor, or to an actual measured value obtained in an environment that does not hinder observation of the sensor. The control device according to claim 1 or 2. [Claim 4] The control unit identifies the type of object detected by the sensor and updates the maximum distance for each category based on the type. The control device according to claim 1 or 2. [Claim 5] A control method for a control device comprising a control unit, The control unit, A step of generating data to be transmitted to another device, which includes first information indicating the maximum distance at which the sensor can detect an object, and second information relating to the object. The steps include identifying the distance to the location where the object detected by the sensor is located, and updating the maximum distance based on the identified distance, If the sensor does not detect the object, the step of generating data that includes, instead of the second information, a third information indicating that the object was not detected and the first information. Control method.

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