Patent ID: 12240450

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all combinations of the features described in the embodiments necessarily have to be essential to solving means of the invention.

FIG.1schematically illustrates a usage scene of a warning system10. The warning system10includes a vehicle20a, a vehicle20b, a vehicle20c, a vehicle20d, a vehicle20e, and a vehicle20f, and a terminal82aand a terminal82b.

According to the present embodiment, the vehicle20a, the vehicle20bthe vehicle20c, the vehicle20d, the vehicle20e, and the vehicle20fmay be collectively referred to as a “vehicle20”. The vehicle20is one example of a movable object. In addition, the terminal82aand the terminal82bare terminals respectively possessed by a pedestrian80aand a pedestrian80b. According to the present embodiment, the pedestrian80aand the pedestrian80bmay be collectively referred to as a “pedestrian80”. In addition, the terminal82aand the terminal82bmay be collectively referred to as a “terminal82”.

The vehicle20aincludes a sensor29aand a control apparatus24a. The sensor29ais configured to include a camera. The control apparatus24aincludes a processing function of information acquired by the sensor29a, and a communication function. It should be noted that in the present embodiment, any one of suffixes (such as “a”, “e”, and “f”) of reference signs of the vehicles20is assigned to an end of a reference sign of a component (for example, a sensor29and a control apparatus24) included in the vehicle20to distinguish the component to be included in which one of the vehicles20.

InFIG.1, the vehicle20ais a vehicle traveling along a road70. The vehicle20bis a vehicle parked on the road70. For the vehicle20a, an area110on an advancing direction side of the vehicle20ain front of the parked vehicle20bis an area difficult to be visually recognized from a position of the vehicle20a. In addition, the vehicle20cis a vehicle travelling along an oncoming lane of the road70when viewed from the vehicle20a. An area120on the advancing direction side of the vehicle20abehind the vehicle20cis an area difficult to be visually recognized from the position of the vehicle20a. Therefore, the control apparatus24ais configured to detect the area110and the area120that are not on a line of sight from the vehicle20aas a risk area from an image in the advancing direction which has been acquired by the sensor29a. The control apparatus24atransmits risk area information including position information of the areas110and120by wireless communication.

InFIG.1, the vehicle20dis an oncoming vehicle for the vehicle20a, and is a vehicle traveling in a position from which the area110and the area120can be visually recognized. When a control apparatus24dof the vehicle20dreceives the risk area information transmitted from the vehicle20a, the control apparatus24ddetermines whether a pedestrian is present in each of the area110and the area120from an image acquired by a sensor29d. When it is detected that the pedestrian80ais present in the area110from the image acquired by the sensor29d, the control apparatus24dtransmits response information indicating the presence of the pedestrian in the area110to the vehicle20aby the wireless communication. In addition, when it is detected that a pedestrian is absent in the area120from the image acquired by the sensor29d, the control apparatus24dtransmits the response information indicating the absence of the pedestrian in the area120to the vehicle20aby the wireless communication.

When the risk area information transmitted from the vehicle20ais received, the terminal82ais configured to determine whether a current position of the terminal82ais in the area110. When it is determined that the current position of the terminal82ais in the area110, the terminal82atransmits the response information indicating the presence of the terminal82ain the area110to the vehicle20aby the wireless communication. In addition, the terminal82aoutputs warning information for the pedestrian80a.

In the vehicle20a, when the response information indicating the presence of the pedestrian in the area110is received from the vehicle20d, the control apparatus24aperforms warning display. In addition, when the response information is received from the terminal82a, the control apparatus24aperforms warning display for an occupant of the vehicle20a.

It should be noted that inFIG.1, it is difficult to visually recognize an area130from, for example, a position of the vehicle20etraveling on the road72, due to presence of a construction90as an obstruction. For this reason, a control apparatus24eof the vehicle20eis configured to judge the area130as the risk area, and transmit risk area information including position information of the area130by the wireless communication.

InFIG.1, the vehicle20fis an oncoming vehicle for the vehicle20e, and is a vehicle stopping at a position from which the area130can be visually recognized. When the risk area information transmitted from the vehicle20eis received, a control apparatus24fof the vehicle20fis configured to determine whether a pedestrian is present in the area130from an image acquired by a sensor29f. When it is detected that the pedestrian80bis present in the area130from the image acquired by the sensor29f, the control apparatus24ftransmits the response information indicating the presence of pedestrian in the area130to the vehicle20eby the wireless communication. In addition, when the risk area information is received, the terminal82bis configured to determine whether a current position of the terminal82bis in the area130, and when it is determined that the current position in the area130, the terminal82btransmits the response information indicating the presence of the terminal82bin the area130to the vehicle20eby the wireless communication. In addition, the terminal82boutputs warning information for the pedestrian80b.

In the vehicle20e, when the response information indicating the presence of the pedestrian in the area130is received from the vehicle20f, the control apparatus24eperforms the warning display. In addition, when the response information is received from the terminal82b, the control apparatus24eperforms the warning display for an occupant of the vehicle20e.

In this manner, the control apparatus24is configured to judge such a non-line-of-sight area that becomes a blind corner from its own vehicle as the risk area, and transmit risk area information including position information of the risk area to another vehicle by the wireless communication. When the risk area information is received, the other vehicle determines whether a pedestrian is present in the risk area, and transmits the response information indicating the presence of the pedestrian in the risk area by the wireless communication. In addition, when its own terminal is present in the risk area, the terminal82transmits the response information by the wireless communication. When the response information from the terminal82of the pedestrian or the other vehicle is received, the control apparatus24performs the warning display for an occupant of the vehicle20. Thus, notification of the risk area where it is not possible be recognized by the vehicle20or the pedestrian80can be appropriately performed. The risk area is a recognition of a state related to an external environment recognized by the vehicle20or the control apparatus24. The risk area may be, for example, an area where there is a risk for the pedestrian80or the vehicle20. The risk area may be, for example, an area where it is necessary to perform a safety check for the pedestrian80or the vehicle20.

It should be noted that communication between the control apparatus24and the terminal82and the control apparatus24of the other vehicle20is executed by direct communication. For example, the control apparatus24performs the direct communication with the terminal82and the control apparatus24of the other vehicle20by short distance direct communication in Cellular-V2X. Examples of the short distance direct communication in Cellular-V2X include a communication method such as LTE-V2X PC5 or 5G-V2X PC5 (according to the present embodiment, which will be abbreviated as “PC5”). A mode using Wi-Fi (registered trademark) or dedicated short range communications (DSRC) may be adopted as the direct communication. The control apparatus24may perform the direct communication via a base transceiver station50. Any direct communication method such as Bluetooth (registered trademark) other than Cellular-V2X or DSRC (registered trademark) may be adopted as the direct communication. The control apparatus24may perform the direct communication with the terminal82and the control apparatus24of the other vehicle20using a communication infrastructure included in intelligent transport systems (ITS).

It should be noted that in the present embodiment, for ease of the description, a case will be considered where it is determined on whether a pedestrian is present in a risk area. The pedestrian refers to a person who can make a passage on a road by means other than a vehicle. The pedestrian includes a person who makes a passage on a road using a wheel chair or the like. However, it may be determined on whether not only the pedestrian but also any movable object such as a person other than the pedestrian or another vehicle is present in the risk area. The person other than the pedestrian may include a person aboard a stopped vehicle.

FIG.2illustrates a system configuration of the vehicle20. The vehicle20includes the sensor29, a driver assistance control apparatus30, the control apparatus24, a communication apparatus48, and an information output apparatus40.

The sensor29includes a radar21, a camera22, a GNSS reception unit25, and a vehicle speed sensor26. The radar21may be a LiDAR, a millimeter wave radar, or the like. The GNSS reception unit25is configured to receive radio waves transmitted from a GNSS satellite. The GNSS reception unit25generates information indicating a current position of the vehicle20based on a signal received from the GNSS satellite. The camera22is one example of an image pickup unit mounted on the vehicle20. The camera22is configured to generate image information by picking up an image of a surrounding of the vehicle20. For example, the camera22generates the image information by picking up an image in the advancing direction of the vehicle20. The camera22may be a single-lens camera. The camera22may be a multi-lens camera, and may be a camera that can acquire information of a distance to an object. It should be noted that the sensor29may include a position sensor such as an odometer, or an inertial measurement unit (IMU) such as an acceleration sensor or an orientation sensor.

The driver assistance control apparatus30is configured to perform driver assistance of the vehicle20using information detected by the sensor29. The driver assistance control apparatus30may be realized by an ECU having a function of advanced driver-assistance systems (ADAS).

The communication apparatus48is responsible for performing the direct communication between the terminal82and the other vehicle20. For example, the communication apparatus48is responsible for performing the wireless communication based on PC5.

The control apparatus24includes a control unit200and a storage unit280. The control unit200is realized, for example, by a circuit such as an arithmetic processing apparatus including a processor. The storage unit280is realized by including a nonvolatile storage medium. The control unit200is configured to perform processing using information stored in the storage unit280. The control unit200may be realized by an electronic control unit (ECU) including a microcomputer provided with a CPU, a ROM, a RAM, an I/O, a bus, and the like.

The control unit200includes an image acquisition unit210, an area identification unit220, a first time period calculation unit221, a second time period calculation unit222, a risk area setting unit223, a vehicle control unit208, a transmission control unit250, and a reception control unit260. It should be noted that a mode may be adopted where the control unit200does not have a part of functions in a functional block illustrated inFIG.2. For example, a mode may be adopted where only a function of the risk area setting unit223is implemented in the control unit200, and other functions such as the area identification unit220, the first time period calculation unit221, and the second time period calculation unit222are implemented as functions of other circuits such as the sensor29.

The image acquisition unit210is configured to acquire image information of an image outside of the vehicle20. The image acquisition unit210acquires an image from the camera22installed in the vehicle20.

The area identification unit220is configured to identify an area for which an analysis is not required based on image information acquire by the image acquisition unit210from a position of the vehicle20. The area for which the analysis is not required is an area that is not on the line of sight from the position of the vehicle20, for example. The area that is not on the line of sight when viewed from the position of the vehicle20is, for example, position information of an area where an occlusion occurs through shielding by a three-dimensional object such as a construction or the other vehicle20being stopped. The area identification unit220may identify a non-line-of-sight area based on the image information and map information. The area identification unit220may receive position information of a non-line-of-sight area which has been transmitted from an external apparatus such as the other vehicle20or the base transceiver station50, and identify the non-line-of-sight area based on the received position information of the non-line-of-sight area. The external apparatus may be the other vehicle20passing through a position near the vehicle20or a server configured to collect the position information of the non-line-of-sight area. The server configured to collect the position information of the non-line-of-sight area may be a mobile edge computing (MEC) server connected to the base transceiver station50. The MEC server may hold the position information of the non-line-of-sight area which is transmitted from a plurality of vehicles passing nearby, and transmit the held position information of the non-line-of-sight area to the vehicle20passing nearby.

The first time period calculation unit221is configured to identify a first time period that is a time period for the vehicle20to reach the area identified by the area identification unit220. The second time period calculation unit222is configured to calculate a second time period that is an arrival time period to reach a movement area of the vehicle20from a position in the area identified by the area identification unit220. The risk area setting unit223is configured to set a risk area where an object approaching the vehicle20may be present in the area identified by the area identification unit220based on the first time period and the second time period and on the area identified by the area identification unit220. The transmission control unit250is configured to control transmission of risk area information including position information of the risk area.

It should be noted that the position information of the risk area may include a plurality of pieces of coordinate information indicating a range of the risk area. The position information may be coordinate information representing a geographic position. When the risk area is polygonal, the plurality of coordinate information may be coordinate information of vertices of a polygon. The position information may include coordinate information and distance information from a position indicated by the coordinate information. For example, the position information may include coordinate information of a specific point of the risk area and distance information representing a size of the risk area while the point is set as a reference. The coordinate information may be latitude and longitude coordinate information.

The area identification unit220judges that the area is not on the line of sight by recognizing a specific object using an image. The specific object is, for example, another vehicle, a street tree, and a construction such as a building.

The transmission control unit250may transmit, without designating a destination, risk area information including a plurality of latitude and longitude coordinates indicating the risk area. The transmission control unit250may transmit the risk area information by broadcast.

The second time period calculation unit222may calculate the second time period by setting an area where the vehicle20moves based on a result of recognition of a position of a roadside strip or a travelling lane which is set on a road.

The object approaching the vehicle20may include a pedestrian. The second time period calculation unit222may calculate, as the second time period, an expected arrival time period for a virtual pedestrian to reach the movement area of the vehicle20from a predetermined point in the area identified by the area identification unit220. The second time period calculation unit222may set a plurality of the predetermined points and calculate the second time period for each of the plurality of predetermined points. The risk area setting unit223may set the risk area based on a plurality of the second time periods respectively calculated for the plurality of predetermined points.

The reception control unit260is configured to perform control for receiving response information from an external apparatus to the risk area information. The vehicle control unit208is configured to perform control of the vehicle20based on the response information. For example, the vehicle control unit208may control the execution of the driver assistance of the vehicle20or the alert for the occupant of the vehicle20. For example, when the information output apparatus40includes a head-up display, the vehicle control unit208may cause the head-up display of the vehicle20ato output light for forming a mark as warning information indicating that a pedestrian is present in the risk area. In addition, the vehicle control unit208causes the head-up display to output light for forming a mark in a display region corresponding to a position of the risk area where the pedestrian is present. The vehicle control unit208may project the light for forming a mark towards a reflective part provided to a windshield of the vehicle20. It should be noted that the vehicle control unit208may output the warning information by a sound or a character.

The reception control unit260is configured to perform control for receiving response information indicating the presence of an object in the risk area. The reception control unit260may perform control for receiving the response information from the other vehicle20present outside the risk area. For example, the reception control unit260may perform control for receiving the response information indicating the presence of an object in the risk area from the other vehicle20present outside the risk area. In addition, the reception control unit260may perform control for receiving the response information from the terminal82present in the risk area. It should be noted that the “object” is the pedestrian80according to the present embodiment. It should be noted that a notification target may be another vehicle where a person is aboard. The notification target may be mobile equipment such as a mobile terminal possessed by a person.

It should be noted that the information output apparatus40is an apparatus configured to output warning information. The information output apparatus40may have a human machine interface (HMI) function. The information output apparatus40may include a head-up display or a navigation system. The information output apparatus40may also be a mobile terminal possessed by an occupant of the vehicle20. The information output apparatus40may be a sound output apparatus configured to output warning information by a sound.

FIG.3conceptually illustrates position information of the risk area managed by the control apparatus24a. Here, a case will be illustrated where the non-line-of-sight area110and the non-line-of-sight area120which are identified by the area identification unit220are set as the risk areas.

In the vehicle20a, coordinates of each of four points including a point111, a point112, a point113, and a point114which represent a contour of the area110are calculated. The area110is a closed region formed by linking the coordinates of the point111, the point112, the point113, and the point114. In addition, the control apparatus24acalculates coordinates of each of four points including a point121, a point122, a point123, and a point124which represent a contour of the area120. The area120is a closed region formed by linking the coordinates of the point121, the point122, the point123, and the point124. The control apparatus24astores the coordinates of each of the point111, the point112, the point113, and the point114in association with an area ID assigned to the area110. In addition, the control apparatus24astores the coordinates of each of the point121, the point122, the point123, and the point124in association with an area ID assigned to the area120. The transmission control unit250then transmits risk area information including the area IDs and the coordinates indicating the area110and the area120.

When the vehicle20dreceives the risk area information, the control apparatus24danalyzes, from an image acquired by a camera mounted on the vehicle20d, an image region where an area surrounded by four points indicated by the coordinates included in the position information is captured, and detects a pedestrian in the area. The transmission control unit250transmits the response information including a detection result of the pedestrian in the area surrounded by the four points and the area ID to the vehicle20acorresponding to a transmission source of the risk area information.

In addition, when the terminal82receives the risk area information, the terminal82determines whether a current position of the terminal82is included in an area surrounded by four points indicated by the coordinates included in the position information. When the current position of the terminal82is included in the area surrounded by the four points, the terminal82transmits the response information including the area ID to the vehicle20acorresponding to the transmission source of the risk area information.

It should be noted that when the risk area is circular, the position information of the risk area may include coordinate information of a central point of the risk area and diameter information of the risk area. When the risk area is polygonal, the position information of the risk area may include coordinate information of a point corresponding to a reference of a polygon and length information of sides such as a width and a height of the risk area. When the risk area is elliptical, the position information of the risk area may include coordinate information of a central point of the risk area and major axis, minor axis, and azimuth angle information.

FIG.4generally illustrates a flow of processing executed by the vehicle20a, the terminal82a, and the vehicle20d.FIG.4illustrates a flow of processing in a case where the vehicle20acommunicates with the terminal82aand the vehicle20dbased on PC5.

In S402, the area identification unit220recognizes non-line-of-sight areas in an advancing direction of the vehicle20afrom an image acquired from the sensor29a. In S404, the risk area setting unit223sets a risk area from among the non-line-of-sight areas recognized in S402. The risk area setting unit223selects, as the risk area, an area where the vehicle20areaches within a predetermined time period among the non-line-of-sight areas recognized in S402. For example, the control apparatus24acalculates an arrival time period that is a time period for the vehicle20ato reach a position in the vicinity of the non-line-of-sight area based on a distance to the non-line-of-sight area which is calculated from at least one of an image acquired by the sensor29aor a distance measured by the sensor29aand a vehicle speed measured by the vehicle speed sensor26, and sets a line-of-sight area in which the arrival time period is within a predetermined time period as the risk area. It should be noted that the risk area setting unit223may set the risk area when it is determined that a pedestrian having a risk of approaching the vehicle20may be present in the non-line-of-sight area, and may avoid setting of the risk area when it is determined that a pedestrian having a risk of approaching the vehicle20may not to be present in the non-line-of-sight area. This determination will be described in relation toFIG.5,FIG.6, and the like.

In S406, the area identification unit220calculates coordinate information of the risk area selected in S404. The area identification unit220calculates absolute coordinate information of the risk area set in S404based on coordinate information of the current position of the vehicle20a, and relative coordinates of the risk area while the vehicle20ais set as a reference. The absolute coordinate information of the risk area may be geographic coordinates of the risk area. The absolute coordinate information of the risk area may include latitude information and longitude information of the risk area.

In S408, the transmission control unit250transmits risk area information. The risk area information may include an area ID, coordinate information of the risk area, and transmission source information of the risk area information. The area ID is identification information for uniquely identifying the risk area set in S404. The area ID may be identification information decided by the control apparatus24a. The transmission source information is identification information for uniquely identify the vehicle20acorresponding to a transmission source of the risk area information.

In S412, when the risk area information transmitted from the vehicle20ais received, the terminal82ajudges whether the terminal82ais located in the risk area. For example, the terminal82adetermines whether coordinates of the current position of the terminal82aare in a region set by the coordinate information included in the risk area information. When the terminal82ais located in the risk area, in S414, response information indicating the presence of a pedestrian in the risk area is transmitted to the vehicle20a. The terminal82aincludes, in the response information, the area ID included in the risk area information received by the terminal82aand a terminal ID for uniquely identifying the terminal82a, and transmits the response information. In addition, in S416, the terminal82aperforms a warning for the pedestrian80aby a human machine interface (HMI) function of the terminal82a. It should be noted that in S412, when it is determined that the terminal82ais not located in the risk area, the terminal82adiscards the received risk area information, does not transmit the response information, and does not output the warning.

In S422, when the control apparatus24dof the vehicle20dreceives the risk area information transmitted from the vehicle20a, the control apparatus24djudges whether a pedestrian is present in the risk area. For example, the control apparatus24ddetermines whether a pedestrian is present in a region set by the coordinate information included in the risk area information based on the image acquired by the sensor29dand distance information. In S424, the control apparatus24dtransmits the response information including a determination result indicating whether a pedestrian is present to the vehicle20a. The control apparatus24dincludes, in the response information, an area ID included in the received risk area information, a terminal ID for uniquely identifying the vehicle20d, and presence information indicating whether a pedestrian is present in the risk area, and transmits the response information.

In S410, when the response information transmitted from the terminal82ais received, the control apparatus24acauses warning information to be output by the HMI function of the information output apparatus40. In addition, when the presence information indicating the presence of a pedestrian in the risk area is included in the response information received from the vehicle20d, the control apparatus24acauses the warning information to be output by the HMI function of the information output apparatus40.

FIG.5is a diagram for describing processing for the risk area setting unit223to set the risk area by. When it is assumed that a pedestrian is present in the area110that is not on the line of sight, the risk area setting unit223sets a risk area in the area110by determining whether when a virtual pedestrian assumed to be present is to reach a travelling region510of the vehicle20in future, the virtual pedestrian might approach the vehicle20.

InFIG.5, it is assumed that a virtual pedestrian is present at a position P1. The first time period calculation unit221calculates a first time period t1that is an arrival time period for the vehicle20to reach the position P1in the advancing direction of the vehicle20. The first time period calculation unit221calculates a relative distance to the position P1in the advancing direction of the vehicle20from the current position of the vehicle20and the position P1, and calculates a first time period t1based on the relative distance and the vehicle speed of the vehicle20in the advancing direction.

The second time period calculation unit222calculates a second time period t2for the virtual pedestrian to reach the travelling region510when the virtual pedestrian walks at a shortest distance from the position P1towards the travelling region510of the vehicle20based on position information of the travelling region510and position information of P1, and a predetermined walking speed set as a walking speed of a pedestrian. The walking speed of the pedestrian may be a predetermined fixed speed. In addition, the second time period calculation unit222may set the travelling region510of the vehicle20based on a position of a traffic lane which has been recognized from an image picked up by the camera22. The second time period calculation unit222may set the travelling region510of the vehicle20based on a position of a line of a roadside strip which has been recognized by an image picked up by the camera22.

When the second time period t2is shorter than the first time period t1, the risk area setting unit223determines that the virtual pedestrian might approach the vehicle20when the virtual pedestrian is to reach the travelling region510of the vehicle20. When a difference between the second time period t2and the first time period t1is shorter than a predetermined time period threshold, the risk area setting unit223may determine that the virtual pedestrian might approach the vehicle20when the virtual pedestrian is to reach the travelling region510of the vehicle20.

Similarly as in the processing in a case where it is assumed that the virtual pedestrian is present at the position P1, the risk area setting unit223assumes that a virtual pedestrian is present at a position P2, and determines, based on a second time period t3for the virtual pedestrian present at the position P2to reach the travelling region510and the first time period for the vehicle20to reach the position P2in the advancing direction of the vehicle20, whether when the virtual pedestrian present at the position P2is to reach the travelling region510of the vehicle20, the virtual pedestrian might approach the vehicle20. Similarly, the risk area setting unit223assumes that a virtual pedestrian is present at a position P3, and determines, based on a second time period t4for the virtual pedestrian present at the position P3to reach the travelling region510and the first time period for the vehicle20to reach the position P3in the advancing direction of the vehicle20, whether when the virtual pedestrian present at the position P3is to reach the travelling region510of the vehicle20, the virtual pedestrian might approach the vehicle20.

FIG.6illustrates one example of a risk area180set by the risk area setting unit223. As described in relation toFIG.5, the risk area setting unit223assumes that a virtual pedestrian is present in the area110, and determines whether the virtual pedestrian might approach the vehicle20. When it is determined that the virtual pedestrian might approach the vehicle20, the risk area setting unit223then sets the risk area so as to include a assumed position of the virtual pedestrian in the area110.FIG.6illustrates the risk area180which is set when it is determined that the virtual pedestrians at the position P1and the position P2might approach the vehicle20and it is determined that there is no possibility that the virtual pedestrian at the position P3is to approach the vehicle20. The risk area setting unit223transmits risk area information including coordinate information of vertices of the set risk area180.

FIG.7illustrates a flowchart related to a control method executed by the control apparatus24ain the vehicle20a. Processing of this flowchart is started when a non-line-of-sight area is detected.

In S702, the area identification unit220identifies a non-line-of-sight area. For example, the area identification unit220identifies the non-line-of-sight area based on information of an image picked up by the camera22, map information, or information received from another vehicle or the base transceiver station50.

In S704, the first time period calculation unit221calculates the first time period that is a time period for the vehicle20to reach the non-line-of-sight area. In S706, the second time period calculation unit222calculates a second time period that is a time period for a pedestrian to reach the travelling region of the vehicle20from each position in the non-line-of-sight area. In S708, the area identification unit220determines a risk for the pedestrian to approach the vehicle20when it is assumed that the pedestrian is present at each position in the non-line-of-sight area. For example, as described in relation toFIG.5, the first time period calculation unit221, the second time period calculation unit222, and the area identification unit220may assume that virtual pedestrians are present at multiple positions in the non-line-of-sight area, and determine whether there is a risk for the virtual pedestrians to approach the vehicle20.

In S710, the area identification unit220sets the risk area based on a determination result in S708. In S712, the transmission control unit250transmits the risk area information including the position information of the risk area set by the area identification unit220, and ends the processing of this flowchart.

It should be noted that as a transmission method of the risk area information, not only a method of directly transmitting the risk area information to the terminal82or the other vehicle20by PC5 or the like can be adopted as described above, but also a method of transmitting the risk area information via the base transceiver station50or an MEC server connect to the base transceiver station50can be adopted. For example, when the risk area information is received, the base transceiver station50may select the terminal82that is set as a transmission destination of the risk area information based on the position information included in the risk area information, and the position information of the terminal82managed by the base transceiver station50. When response information is received from the terminal82, the base transceiver station50may transmit the response information to the vehicle20that is a transmission source of the risk area information. When it is determined that the terminal82is present in the risk area based on the position information included in the risk area information and the position information of the terminal82managed by the base transceiver station50, the base transceiver station50may transmit the response information to the vehicle20that is a transmission source of the risk area information. In addition, when the risk area information is received, the base transceiver station50may select the other vehicle20present in the vicinity of the position of the risk area as the transmission destination of the risk area information based on the position information included in the risk area information and the position information of the other vehicle20managed by the base transceiver station50. When response information is received from the other vehicle20at the transmission destination of the risk area information, the base transceiver station50may transmit the response information to the vehicle20that is the transmission source of the risk area information. When the method of transmitting the risk area information via the base transceiver station50is adopted, the base transceiver station50may manage the position of the terminal82and the position of the vehicle20by periodically collecting the position of the terminal82and the position of the vehicle20.

In accordance with the warning system10described above, the risk area information can be transmitted at timing at which it is determined that the pedestrian having a possibility that the vehicle20is present in the non-line-of-sight area has a risk of approaching the vehicle20. In addition, in accordance with the warning system10, an area where a pedestrian might be present with a risk of approaching the vehicle20among non-line-of-sight areas can be set as the risk area, and the risk area information including the set position information can be transmitted. Thus, strain of a communication band by frequently transmitting the risk area information can be suppressed. In addition, strain of the communication band due to increase of the response information from the terminal82or the other vehicle20can be suppressed.

It should be noted that the vehicle20is one example of transport equipment. The transport equipment includes a motor vehicle such as a passenger vehicle or a bus, a riding saddle riding type vehicle, a bicycle, or the like. In addition, the movable object includes, in addition to a person, transport equipment such as a motor vehicle like a passenger vehicle or a bus, a saddle riding type vehicle, or a bicycle.

FIG.8illustrates an example of a computer2000where a plurality of embodiments of the present invention may be entirely or partially embodied. Programs installed in the computer2000can cause the computer2000to: function as apparatuses such as the control apparatus24according to the embodiments, or each unit of the apparatuses; execute operations associated with the apparatuses or each unit of the apparatuses; and/or execute a process according to the embodiments or steps of the process. Such programs may be executed by a central processing unit (CPU)2012in order to cause the computer2000to execute a specific operation associated with some or all of the processing procedures and the blocks in the block diagram described in this specification.

The computer2000according to the present embodiment includes the CPU2012and a RAM2014, which are mutually connected by a host controller2010. The computer2000also includes a ROM2026, a flash memory2024, a communication interface2022, and an input/output chip2040. The ROM2026, the flash memory2024, the communication interface2022, and the input/output chip2040are connected to the host controller2010via an input/output controller2020.

The CPU2012operates according to the programs stored in the ROM2026and the RAM2014, thereby controlling each unit.

The communication interface2022communicates with other electronic devices via a network. The flash memory2024stores the programs and data used by the CPU2012in the computer2000. The ROM2026stores a boot program or the like executed by the computer2000during activation, and/or a program depending on hardware of the computer2000. The input/output chip2040may also connect various input/output units such as a keyboard, a mouse, and a monitor, to the input/output controller2020via input/output ports such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a universal serial bus (USB) port, or an HDMI (registered trademark) port.

The programs are provided via a network or a computer-readable medium such as a CD-ROM, a DVD-ROM, or a memory card. The RAM2014, the ROM2026, or the flash memory2024is an example of the computer-readable medium. The programs are installed in the flash memory2024, the RAM2014, or the ROM2026, and are executed by the CPU2012. Information processing written in these programs is read by the computer2000, and provides cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by implementing operations or processing of information according to a use of the computer2000.

For example, when communication is performed between the computer2000and an external device, the CPU2012may execute a communication program loaded in the RAM2014, and instruct the communication interface2022to execute communication processing based on processing written in the communication program. The communication interface2022, under the control of the CPU2012, reads transmission data stored in a transmission buffer processing region provided in a recording medium such as the RAM2014and the flash memory2024, sends the read transmission data to the network, and writes reception data received from the network into a reception buffer processing region or the like provided on the recording medium.

Moreover, the CPU2012may cause all or necessary portion of a file or a database stored in the recording medium such as the flash memory2024to be read by the RAM2014, and execute various types of processing on the data on the RAM2014. Next, the CPU2012writes back the processed data into the recording medium.

Various types of programs and various types of information such as data, a table, and a database may be stored in the recording medium, and subjected to information processing. The CPU2012may execute, on the data read from the RAM2014, various types of processing including various types of operations, information processing, conditional judgement, conditional branching, unconditional branching, information retrieval/replacement, or the like described in this specification and specified by instruction sequences of the programs to write back the results into the RAM2014. Moreover, the CPU2012may retrieve information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute is stored in the recording medium, the CPU2012may retrieve, out of the plurality of entries described above, an entry with the attribute value of the first attribute specified that meets a condition, read the attribute value of the second attribute stored in above described entry, and thereby acquire the attribute value of the second attribute associated with the first attribute meeting a predetermined condition.

The programs or software module described above may be stored on the computer2000or in a computer-readable medium near the computer2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable medium. The programs stored in the computer-readable medium may be provided to the computer2000via the network.

The program that is installed in the computer2000and causes the computer2000to function as the control unit200may instruct the CPU2012or the like to cause the computer2000to function as each unit of the control unit200. The information processing written in these programs are read by the computer2000to cause the computer to function as each unit of the control unit200, which is specific means realized by the cooperation of software and the various types of hardware resources described above. Then, these specific means implement operations or processing of information according to the intended use of the computer2000in the present embodiment, so that the control unit200is constructed as a specific control unit according to the intended use.

Various embodiments have been described with reference to the block diagram or the like. In the block diagram, each block may represent (1) a step of a process in which an operation is executed, or (2) each unit of the apparatus having a role in executing the operation. Specific steps and each unit may be implemented by a dedicated circuit, a programmable circuit supplied along with a computer-readable instruction stored on a computer-readable medium, and/or a processor supplied along with the computer-readable instruction stored on the computer-readable medium. The dedicated circuit may include a digital and/or analog hardware circuit, or may include an integrated circuit (IC) and/or a discrete circuit. The programmable circuit may include a reconfigurable hardware circuit including: logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations; a memory element such as a flip-flop, a register, a field programmable gate array (FPGA), a programmable logic array (PLA), or the like; and so on.

The computer-readable medium may include any tangible device capable of storing an instruction executed by an appropriate device, so that the computer-readable medium having the instruction stored thereon constitutes at least a part of a product including an instruction that may be executed in order to provide means to execute an operation specified by a processing procedure or a block diagram. Examples of the computer-readable media may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, or the like. More specific examples of the computer-readable medium may include a floppy (registered trademark) disk, a diskette, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an electrically erasable programmable read only memory (EEPROM), a static random access memory (SRAM), a compact disk read only memory (CD-ROM), a digital versatile disk (DVD), a Blu-ray (registered trademark) disk, a memory stick, an integrated circuit card, or the like.

The computer-readable instruction may include either source code or object code written in any combination of one or more programming languages including: an assembler instruction, an instruction-set-architecture (ISA) instruction, a machine instruction, a machine dependent instruction, a microcode, a firmware instruction, state-setting data; or an object oriented programming language such as Smalltalk (registered trademark), JAVA (registered trademark), C++, or the like; and a conventional procedural programming language such as a “C” programming language or a similar programming language.

The computer-readable instruction may be provided to a general-purpose computer, a special-purpose computer, or a processor or a programmable circuit of another programmable data processing apparatus, locally or via a local area network (LAN), a wide area network (WAN) such as the Internet or the like, and the computer-readable instruction may be executed in order to provide a means to execute operations specified by the described processing procedure or the block diagram. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, or the like.

While the embodiments of the present invention have been described, the technical scope of the present invention is not limited to the above described embodiments. It is apparent to persons skilled in the art that various alterations and improvements can be added to the above-described embodiments. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the present invention.

The operations, procedures, steps, and stages of each process performed by an apparatus, system, program, and method shown in the claims, embodiments, or diagrams can be performed in any order as long as the order is not indicated by “prior to,” “before,” or the like and as long as the output from a previous process is not used in a later process. Even if the process flow is described using phrases such as “first” or “next” in the claims, embodiments, or diagrams, it does not necessarily mean that the process must be performed in this order.

EXPLANATION OF REFERENCES

10warning system20vehicle21radar22camera24control apparatus25GNSS reception unit26vehicle speed sensor29sensor30driver assistance control apparatus40information output apparatus48communication apparatus50base transceiver station70,72road80pedestrian82terminal80pedestrian90construction110,120,130area111,112,113,114,121,122,123,124point200control unit208vehicle control unit210image acquisition unit220area identification unit221first time period calculation unit222second time period calculation unit223risk area setting unit250transmission control unit260reception control unit280storage unit2000computer2010host controller2012CPU2014RAM2020input/output controller2022communication interface2024flash memory2026ROM2040input/output chip