Driving assistance systems

Abstract

To improve the safety of operations of automatic driving vehicles.SOLUTION: A driving assistance device 10 includes a communication unit that communicates with a terminal device 20 of an operator 52 of an automatic driving vehicle 51, and a control unit that acquires a video captured with a camera 30 of a sidewalk which is adjacent to a roadway on which the automatic driving vehicle 10 is traveling and on which pedestrians walk, and when a pedestrian is detected in the acquired video, causes the terminal device 20 to display the video via the communication unit, and causes the terminal device 20 to end the display of the video via the communication unit before the automatic driving vehicle 51 passes a location where the camera 30 is installed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving support device.

Background Art

[0002] Patent Document 1 discloses a notification system that recognizes the behavior of an autonomous driving vehicle scheduled to pass through a predetermined traffic area, and notifies vehicles other than the autonomous driving vehicle or pedestrians of whether passage is permitted and issues alerts.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] It is conceivable that an operator in the vehicle or at a remote location supports the operation of an autonomous driving vehicle. For smooth support, it is conceivable to present video of pedestrians to the operator. However, if video is constantly presented to the operator, the operator may neglect visual confirmation.

[0005] An object of the present disclosure is to improve the safety of operation of an autonomous driving vehicle.

Means for Solving the Problem

[0006] The driving support device according to the present disclosure includes: a communication unit that communicates with a terminal device of an operator of an autonomous driving vehicle; and a control unit that acquires a moving image obtained by capturing, with a camera, a sidewalk that is adjacent to a roadway on which the autonomous driving vehicle travels and is used by pedestrians to pass, causes the terminal device to display the moving image via the communication unit when a pedestrian is detected in the acquired moving image, and causes the terminal device to end displaying the moving image via the communication unit before the autonomous driving vehicle passes the position where the camera is installed. It is equipped with. [Effects of the Invention]

[0007] According to this disclosure, the safety of operating autonomous vehicles may be improved. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows the configuration of the system according to the first and second embodiments of this disclosure. [Figure 2] This figure shows examples of the use of the system according to the first and second embodiments of this disclosure. [Figure 3] This is a block diagram showing the configuration of the driver assistance device according to the first and second embodiments of this disclosure. [Figure 4] This is a flowchart showing the operation of the driver assistance device according to the first embodiment of this disclosure. [Figure 5] This is a flowchart showing the operation of the driver assistance device according to the second embodiment of this disclosure. [Modes for carrying out the invention]

[0009] Several embodiments of this disclosure will be described below with reference to the figures.

[0010] In each figure, identical or corresponding parts are denoted by the same reference numerals. In the description of each embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate.

[0011] A first embodiment, which is one of the embodiments of this disclosure, will be described.

[0012] Referring to Figure 1, the configuration of System 1 according to this embodiment will be described.

[0013] System 1 according to this embodiment comprises a driver assistance device 10, a terminal device 20, and a camera 30. The driver assistance device 10 can communicate with the terminal device 20 via a network 40. The driver assistance device 10 can communicate with the camera 30 via the network 40.

[0014] The driver assistance device 10 is installed in a facility such as a data center. The driver assistance device 10 is a computer such as a server belonging to a cloud computing system or other computing system.

[0015] The terminal device 20 is used by an operator 52 who assists in the operation of the autonomous vehicle 51. The operator 52 may be inside the vehicle or in an external facility such as an operations control room. If the operator 52 is inside the vehicle, the terminal device 20 is held by the operator 52. If the operator 52 is in an external facility, the terminal device 20 is installed in the external facility. The terminal device 20 is, for example, a mobile device such as a mobile phone, smartphone, or tablet, or a PC. "PC" is an abbreviation for personal computer.

[0016] As shown in Figure 2, the camera 30 is installed in a position adjacent to the roadway 54 on which the autonomous vehicle 51 travels, and capable of photographing the sidewalk 55 on which pedestrians 53 pass. In the example shown in Figure 2, the camera 30 is installed near a blind spot from the roadway 54, but the camera 30 may also be installed directly in the blind spot. In the example shown in Figure 2, the camera 30 is installed near a pedestrian crossing 56 on the roadway 54, but the camera 30 may also be installed directly on the pedestrian crossing 56. In the example shown in Figure 2, when there is a vehicle traveling from left to right on the roadway 54, the portion of the sidewalk 55 that is obstructed by the building 57 becomes a blind spot from the roadway 54 until the vehicle passes the pedestrian crossing 56. The camera 30 is supported by a long column, such as a cylinder, so that it is positioned at a desired height. In addition to the camera 30, lights such as LEDs, speakers, or displays may be attached to this column to notify pedestrians 53 of the approach of the autonomous vehicle 51. "LED" is an abbreviation for light-emitting diode.

[0017] Network 40 includes the Internet, at least one WAN, at least one MAN, or any combination thereof. "WAN" is an abbreviation for wide area network. "MAN" is an abbreviation for metropolitan area network. Network 40 may also include at least one wireless network, at least one optical network, or any combination thereof. Wireless networks are, for example, ad hoc networks, cellular networks, wireless LANs, satellite communication networks, or terrestrial microwave networks. "LAN" is an abbreviation for local area network.

[0018] The autonomous driving vehicle 51 is any type of automobile, for example, a gasoline vehicle, a diesel vehicle, a hydrogen vehicle, an HEV, a PHEV, a BEV, or an FCEV. "HEV" is an abbreviation for hybrid electric vehicle. "PHEV" is an abbreviation for plug-in hybrid electric vehicle. "BEV" is an abbreviation for battery electric vehicle. "FCEV" is an abbreviation for fuel cell electric vehicle. In the present embodiment, the autonomous driving vehicle 51 is an AV, and driving is automated at an advanced level. "AV" is an abbreviation for autonomous vehicle. The level of automation is, for example, either Level 3 or Level 4 in the SAE level classification. "SAE" is an abbreviation for Society of Automotive Engineers.

[0019] An outline of the present embodiment will be described with reference to FIG. 1 and FIG. 2.

[0020] In the present embodiment, the driving support device 10 acquires a video VD obtained by capturing an image of a sidewalk 55 with a camera 30. When the driving support device 10 detects a pedestrian 53 in the acquired video VD, the driving support device 10 causes the terminal device 20 to display the video VD. The pedestrian 53 is not limited to a human being, and includes mobile bodies capable of passing through the sidewalk 55 such as wheelchairs. The driving support device 10 causes the terminal device 20 to end the display of the video VD before the autonomous driving vehicle 51 passes the position where the camera 30 is installed.

[0021] According to the present embodiment, unlike a case where a video of the pedestrian 53 is always presented to an operator 52, it is possible to prompt the operator 52 to perform visual confirmation immediately before the autonomous driving vehicle 51 passes the position where the camera 30 is installed. Therefore, the safety of the operation of the autonomous driving vehicle 51 can be improved.

[0022] In the example shown in Figure 2, operator 52 is riding in the autonomous vehicle 51. Operator 52 operates the terminal device 20 and checks notifications from the terminal device 20. Pedestrian 53 is walking on the sidewalk 55 and is about to cross a crosswalk 56 on the roadway 54. Because pedestrian 53 is behind building 57 which obstructs the sidewalk 55 in the direction of travel of the autonomous vehicle 51, it is difficult for operator 52 to see pedestrian 53. Camera 30 is installed near this blind spot from the roadway 54, where operator 52 cannot see pedestrian 53. Camera 30 is facing away from the roadway 54 and is photographing the sidewalk 55. Camera 30 can transmit the video VD obtained by photographing the sidewalk 55 to the driver assistance device 10 via the network 40. As another example, camera 30 may be installed facing the entrance of building 57, or on the path of pedestrians exiting building 57 onto the roadway 54.

[0023] Referring to Figure 3, the configuration of the driver assistance device 10 according to this embodiment will be described.

[0024] The driver assistance device 10 comprises a control unit 11, a storage unit 12, and a communication unit 13.

[0025] The control unit 11 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for field-programmable gate array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 11 controls each part of the driver assistance device 10 and executes processes related to the operation of the driver assistance device 10.

[0026] The storage unit 12 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, RAM or ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read-only memory. The RAM is, for example, SRAM or DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. The ROM is, for example, EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read-only memory. The storage unit 12 functions, for example, as a main memory, an auxiliary memory, or a cache memory. The storage unit 12 stores data used for the operation of the driver assistance device 10 and data obtained by the operation of the driver assistance device 10.

[0027] The communication unit 13 includes at least one communication interface, which is, for example, a LAN interface. The communication unit 13 receives data used for the operation of the driver assistance device 10 and transmits data obtained by the operation of the driver assistance device 10.

[0028] The functions of the driver assistance device 10 are realized by executing the control program according to this embodiment on the processor acting as the control unit 11. In other words, the functions of the driver assistance device 10 are realized by software. The control program causes the computer to perform the operations of the driver assistance device 10, thereby causing the computer to function as the driver assistance device 10. That is, the computer functions as the driver assistance device 10 by performing the operations of the driver assistance device 10 according to the control program.

[0029] The program can be stored on a non-temporary computer-readable medium. Examples of non-temporary computer-readable media include flash memory, magnetic recording devices, optical discs, magneto-optical recording media, or ROM. The program can be distributed, for example, by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs containing the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program may also be distributed by storing it in server storage and transferring it from the server to other computers. The program may also be provided as a program product.

[0030] A computer, for example, stores a program stored on a portable medium or a program transferred from a server in its main memory. Then, the computer reads the program stored in the main memory with its processor and executes the processing according to the read program. The computer may also read the program directly from the portable medium and execute the processing according to the program. The computer may also execute the processing according to the received program sequentially each time a program is transferred to the computer from a server. Processing may also be performed by a so-called ASP-type service, which does not transfer programs from the server to the computer, but realizes its function only through execution instructions and result retrieval. "ASP" is an abbreviation for application service provider. A program includes information used for processing by an electronic computer that is equivalent to a program. For example, data that is not a direct instruction to the computer but has the nature of defining the computer's processing falls under "equivalent to a program".

[0031] Some or all of the functions of the driver assistance device 10 may be implemented by a programmable circuit or a dedicated circuit as the control unit 11. In other words, some or all of the functions of the driver assistance device 10 may be implemented by hardware.

[0032] Referring to Figure 4, the operation of System 1 according to this embodiment will be described. This operation corresponds to the driving assistance method according to this embodiment.

[0033] In S101, the control unit 11 of the driver assistance device 10 acquires video VD. Specifically, the control unit 11 receives video VD from the camera 30 via the communication unit 13. The control unit 11 continues to receive video VD while the autonomous vehicle 51 is traveling on the roadway 54, at least until the autonomous vehicle 51 has passed the location where the camera 30 is installed.

[0034] In S102, the control unit 11 of the driver assistance device 10 detects a pedestrian 53 in the video VD acquired in S101. Specifically, the control unit 11 recognizes an object whose position changes between frames of the video VD acquired in S101 as a moving object. Any method can be used to recognize an object within a frame. The control unit 11 determines that the larger the rectangular area enclosed by the recognized moving object, the closer the moving object is to the camera 30, and the smaller the rectangular area, the further the moving object is from the camera 30. The control unit 11 determines that as the rectangular area increases over time, the moving object is approaching the camera 30, and as it decreases, the moving object is moving away from the camera 30. The control unit 11 detects the moving object as a pedestrian 53 if the rectangular area is larger than a predetermined size and is increasing over time. The predetermined size is, for example, 10% of the frame size. The control unit 11 does not need to detect a moving object as a pedestrian 53 if the rectangular area is smaller than a predetermined size or is getting smaller over time. If a pedestrian 53 is detected, the control unit 11 proceeds to the process in S103. The control unit 11 repeats the process of recognizing moving objects in the frames of the video VD that are acquired sequentially until a pedestrian 53 is detected.

[0035] In S103, the control unit 11 of the driver assistance device 10 begins transmitting a video VD to the terminal device 20 via the communication unit 13. Specifically, the control unit 11 transmits the video VD in streaming format. At this time, the control unit 11 identifies the terminal device 20 as the terminal device to transmit the video VD. Any method can be used to identify the terminal device to transmit the video VD. As an example, the control unit 11 receives location data indicating the location of the terminal device 20 via the communication unit 13. The control unit 11 calculates the distance between the location indicated by the received location data and the location where the camera 30 is installed. If the calculated distance is within a predetermined distance range and the calculated distance is decreasing, the control unit 11 identifies the terminal device 20 as the terminal device to transmit the video VD. If the calculated distance is greater than the predetermined distance range, or if the calculated distance is increasing, the control unit 11 does not identify the terminal device 20 as the terminal device to transmit the video VD. The predetermined distance is, for example, 100m. The control unit 11 continues to transmit video VD to the terminal device 20 via the communication unit 13 until S106, which will be described later. The terminal device 20 receives the video VD transmitted from the driver assistance device 10. The terminal device 20 displays the received video VD on the screen of the terminal device 20's display. By viewing the video VD displayed on the display, the operator 52 can confirm that the pedestrian 53 is approaching the roadway 54 and the crosswalk 56.

[0036] In this embodiment, the control unit 11 automatically displays the video VD on the terminal device 20 after detecting the pedestrian 53 in S102. However, the control unit 11 may also display the video VD on the terminal device 20 in response to an operation by the operator 52. In such a modified example, when the terminal device 20 receives the video VD from the driver assistance device 10, it displays a notification ND on the display screen indicating that the video VD can be displayed. The notification ND includes a graphic element for accepting an operation by the operator 52 to instruct the display of the video VD. The graphic element is, for example, a button such as a "video" button, or an icon representing a pedestrian. The terminal device 20 may output the notification ND as sound from the speaker. The terminal device 20 accepts an operation by the operator 52 to instruct the display of the video VD. The operation is, for example, tapping the graphic element. When the operator 52 taps the graphic element, that is, when the terminal device 20 accepts the operation, the terminal device 20 displays the video VD on the display screen.

[0037] In S104, the control unit 11 of the driver assistance device 10 sets a threshold distance TD. As will be described later, when the control unit 11 determines in S105 that the distance between the autonomous vehicle 51 and the camera 30 is less than or equal to the threshold distance TD, it terminates the display of the video VD on the terminal device 20 via the communication unit 13 in S106. When the display of the video VD ends, it is highly likely that the operator 52 will visually check the area in front of or near the autonomous vehicle 51. For example, when the operator 52 is inside the vehicle, when the display of the video VD ends, it is highly likely that the operator 52 will visually check the area outside the vehicle through the window, or, if a real-time image of the area outside the vehicle captured by the onboard camera is displayed on the onboard display, it is highly likely that the operator 52 will visually check that real-time image. Even when the operator 52 is at an external facility, when the display of the video VD ends, it is highly likely that the operator 52 will visually check the real-time image of the area outside the vehicle captured by the onboard camera if it is displayed on the display of the terminal device 20. The threshold distance TD can be set in the following example.

[0038] As a first example, the control unit 11 may adjust the threshold distance TD depending on the weather. For example, when the weather is sunny, the control unit 11 sets the threshold distance TD to 30m. When the weather is cloudy, the control unit 11 sets the threshold distance TD to 40m. When the weather is cloudy, it is more difficult to see in front of or near the autonomous vehicle 51 than when the weather is sunny, so the control unit 11 sets the threshold distance TD to be longer than when the weather is sunny. When the weather is rainy, the control unit 11 sets the threshold distance TD to 50m. When the weather is rainy, it is more difficult to see in front of or near the autonomous vehicle 51 than when the weather is cloudy, so the control unit 11 sets the threshold distance TD to be longer than when the weather is cloudy. When the rain is heavy, the control unit 11 may set the threshold distance TD to be longer than 50m.

[0039] As a second example, the control unit 11 may adjust the threshold distance TD depending on the time of day. For example, during daylight hours from morning to noon, such as from 8:00 to 14:59, the control unit 11 sets the threshold distance TD to 30m. During early morning or evening hours when sunlight is weaker, such as from 6:00 to 7:59 or from 15:00 to 17:59, the control unit 11 sets the threshold distance TD to 40m. This is because it is more difficult to visually see in front of or near the autonomous vehicle 51 during early morning or evening hours than during daytime hours. During nighttime hours when there is no sunlight, such as from 18:00 to 5:59 the next day, the control unit 11 sets the threshold distance TD to 50m. This is because it is more difficult to visually see in front of or near the autonomous vehicle 51 during nighttime hours than during early morning or evening hours.

[0040] In S105, the control unit 11 of the driver assistance device 10 determines whether the distance between the autonomous vehicle 51 and the camera 30 has become less than or equal to the threshold distance TD. Any method can be used to determine whether the distance has become less than or equal to the threshold distance TD. As an example, the control unit 11 receives position data indicating the position of the terminal device 20 via the communication unit 13. The control unit 11 calculates the distance between the position indicated by the received position data and the position where the camera 30 is installed. If the control unit 11 determines that the calculated distance has become less than or equal to the threshold distance TD set in S104, the control unit 11 proceeds to the process in S106. The control unit 11 repeats the process in S105 until it determines that the calculated distance has become less than or equal to the threshold distance TD.

[0041] In S106, the control unit 11 of the driver assistance device 10 terminates the transmission of the video VD. As a result, the terminal device 20 terminates the display of the video VD. In other words, the control unit 11 terminates the display of the video VD on the terminal device 20 via the communication unit 13 before the autonomous vehicle 51 passes the location where the camera 30 is installed.

[0042] When the control unit 11 of the driver assistance device 10 terminates the display of the video VD on the terminal device 20 in S106, it may output a notification NV to the terminal device 20 via the communication unit 13, prompting the operator 52 to visually confirm the pedestrian 53. Specifically, the control unit 11 may send a notification NV to the terminal device 20 via the communication unit 13. Upon receiving the notification NV, the terminal device 20 displays the notification NV on the display screen. The notification NV is, for example, a message such as "Please check ahead." The terminal device 20 may also output the message as an audio. The terminal device 20 may both display and output the message as an audio. The control unit 11 continues to display the message or output the audio until the automated vehicle 51 passes the location where the camera 30 is installed. By terminating the display of the video VD and outputting the message, the operator 52 can be explicitly prompted to visually confirm the pedestrian 53.

[0043] As described above, in this embodiment, the control unit 11 of the driver assistance device 10 acquires a video VD obtained by photographing the sidewalk 55 with the camera 30. When the control unit 11 of the driver assistance device 10 detects a pedestrian 53 in the acquired video VD, it displays the video VD on the terminal device 20 via the communication unit 13. The control unit 11 of the driver assistance device 10 terminates the display of the video VD on the terminal device 20 via the communication unit 13 before the autonomous vehicle 51 passes the location where the camera 30 is installed.

[0044] According to this embodiment, after presenting the video VD to the operator 52, the operator 52 can be implicitly or explicitly guided to visually confirm the object being filmed by the camera 30. Therefore, the safety of the operation of the autonomous vehicle 51 can be improved.

[0045] The processes in S104 and S105 may be executed only when operator 52 is inside the vehicle. For example, when operator 52 is at an external facility, instead of the processes in S104 and S105, a process to determine whether or not the automated driving vehicle 51 has passed the location where the camera 30 is installed may be executed. Alternatively, even when operator 52 is inside the vehicle, if a second operator other than operator 52 is at an external facility, the process to determine whether or not the automated driving vehicle 51 has passed the location where the camera 30 is installed may be executed for that second operator instead of the processes in S104 and S105. In such a modified example, when the control unit 11 of the driving assistance device 10 determines that the automated driving vehicle 51 has passed the location where the camera 30 is installed, it executes the process in S106.

[0046] In this embodiment, the threshold distance TD varies depending on the situation, but the threshold distance TD may be a fixed value. In such a modified example, the process in S104 can be omitted. The fixed value is, for example, 30m.

[0047] As one modification of this embodiment, the control unit 11 of the driving support device 10 may adjust the timing for ending the transmission of the video VD by a threshold time TT instead of a threshold distance TD. A second embodiment, which is such a modification, will be described.

[0048] Referring to Figure 5, the operation of System 1 according to this embodiment will be described. This operation corresponds to the driving assistance method according to this embodiment.

[0049] The processes S201 to S203 and S206 in Figure 5 are the same as the processes S101 to S103 and S106 in Figure 4, so their explanation is omitted.

[0050] In S204, the control unit 11 of the driver assistance device 10 sets a threshold time TT. In S205, the control unit 11 determines that the time it takes for the autonomous vehicle 51 to pass the location where the camera 30 is installed is less than or equal to the threshold time TT, and in S206, it terminates the display of the video VD on the terminal device 20 via the communication unit 13. The threshold time TT can be set in the following example.

[0051] As a first example, the control unit 11 may adjust the threshold time TT depending on the weather. For example, when the weather is sunny, the control unit 11 sets the threshold time TT to 3 seconds. When the weather is cloudy, the control unit 11 sets the threshold time TT to 4 seconds. When the weather is cloudy, it is more difficult to visually see in front of or near the autonomous vehicle 51 than when the weather is sunny, so the control unit 11 sets the threshold time TT to be longer than when the weather is sunny. When the weather is rainy, the control unit 11 sets the threshold time TT to 5 seconds. When the weather is rainy, it is more difficult to visually see in front of or near the autonomous vehicle 51 than when the weather is cloudy, so the control unit 11 sets the threshold time TT to be longer than when the weather is cloudy. When the rain is heavy, the control unit 11 may set the threshold time TT to be longer than 5 seconds.

[0052] As a second example, the control unit 11 may adjust the threshold time TT depending on the time of day. For example, during daylight hours from morning to noon, such as from 8:00 to 14:59, the control unit 11 sets the threshold time TT to 3 seconds. During early morning or evening hours when sunlight is weaker, such as from 6:00 to 7:59 or from 15:00 to 17:59, the control unit 11 sets the threshold time TT to 4 seconds. This is because it is more difficult to visually see in front of or near the autonomous vehicle 51 during early morning or evening hours than during daytime hours. During nighttime hours when there is no sunlight, such as from 18:00 to 5:59 the next day, the control unit 11 sets the threshold time TT to 5 seconds. This is because it is more difficult to visually see in front of or near the autonomous vehicle 51 during nighttime hours than during early morning or evening hours.

[0053] In S205, the control unit 11 of the driver assistance device 10 determines whether the time it takes for the autonomous vehicle 51 to pass the location where the camera 30 is installed is less than or equal to the threshold time TT. Any method can be used to determine whether the time is less than or equal to the threshold time TT. As an example, the control unit 11 receives position data indicating the location of the terminal device 20 and vehicle speed data indicating the speed of the terminal device 20, i.e., the vehicle speed of the autonomous vehicle 51, via the communication unit 13. The control unit 11 calculates the distance between the position indicated by the received position data and the location where the camera 30 is installed. From the calculated distance and the vehicle speed indicated by the received vehicle speed data, the control unit 11 calculates the time it takes for the autonomous vehicle 51 to pass the location where the camera 30 is installed. If the control unit 11 determines that the calculated time is less than or equal to the threshold time TT set in S204, it proceeds to the process in S206. The control unit 11 repeats the process in S205 until it determines that the calculated time is less than or equal to the threshold time TT.

[0054] In this embodiment, the threshold time TT varies depending on the situation, but the threshold time TT may be a fixed value. In such a modified example, the process in S204 can be omitted. The fixed value is, for example, 3 seconds.

[0055] This disclosure is not limited to the embodiments described above. For example, two or more blocks described in the block diagram may be combined, or one block may be divided. Instead of executing two or more steps described in the flowchart in chronological order as described, they may be executed in parallel or in a different order, depending on the processing capacity of the device performing each step, or as necessary. Other modifications are possible without departing from the spirit of this disclosure. [Explanation of symbols]

[0056] 1 System 10. Driving support systems 11 Control Unit 12 Storage section 13 Communications Department 20 Terminal devices 30 Cameras 40 Networks 51 Autonomous vehicles 52 Operators 53 Pedestrians 54 Roadway 55 Sidewalk 56 Pedestrian crossing 57 Buildings

Claims

1. A communication unit that communicates with the operator's terminal device of an autonomous vehicle, A control unit captures video footage of a sidewalk adjacent to the roadway on which the autonomous vehicle is traveling, where pedestrians are walking, using a camera. When a pedestrian is detected in the acquired video, the control unit displays the video on the terminal device via the communication unit, and terminates the display of the video on the terminal device via the communication unit before the autonomous vehicle passes the location where the camera is installed. A driver assistance system equipped with the following features.

2. The driving assistance device according to claim 1, wherein the control unit determines that the distance between the autonomous vehicle and the camera has become less than or equal to a threshold distance, or determines that the time until the autonomous vehicle passes the location where the camera is installed has become less than or equal to a threshold time, and then terminates the display of the video to the terminal device via the communication unit.

3. The driving support device according to claim 2, wherein the control unit adjusts the threshold distance or the threshold time depending on the weather.

4. The driving support device according to claim 2, wherein the control unit adjusts the threshold distance or the threshold time depending on the time of day.

5. The driving assistance device according to claim 1, wherein the control unit causes the terminal device to terminate the display of the video, and outputs a notification to the terminal device via the communication unit prompting the operator to visually confirm the pedestrian.

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