JP2020091613A - Information providing system, server, and computer program - Google Patents

Abstract

To provide information for further improving safety of pedestrians.SOLUTION: An information providing system comprises: a decision unit that decides the range of a blind spot for an object person who passes through a target area; an estimation unit that estimates the behavior of a passerby who passes through the target area; and an output unit that outputs blind spot information indicating the behavior of the passerby estimated by the estimation unit in the range of the blind spot decided by the decision unit.SELECTED DRAWING: Figure 10

Description

The present invention relates to an information providing system, a server, and a computer program.

Patent Document 1 discloses a process in which one or more computing devices receive sensor data describing characteristics of a moving vehicle at a certain point in the past, and the one or more computing devices recognize the prediction feature. A driving feature from the sensor data, the one or more computing devices inputting a forecasting feature into a prediction network, and the one or more computing devices predicting past driver behaviors. A label is generated based on the prediction features using the prediction network; the one or more computing devices input recognition features to a recognition network; and the one or more computing devices , Generating a recognition label for past driver behaviors based on the recognition features using the recognition network; and the one or more computing devices calculating one or more prediction network weights of the prediction network. Training with the recognition label and the predictive label is disclosed.

JP, 2008-028906, A

It is desired to provide information for further enhancing the safety of pedestrians such as vehicles and pedestrians.

The present disclosure includes the following inventions. However, the present invention is defined by the claims.

An information providing system according to an aspect of the present invention is a determination unit that determines a blind spot range of a target person who passes a target region, an estimation unit that estimates a behavior of a passerby who passes the target region, and the determination unit. An output unit that outputs blind spot information indicating the behavior of the passerby estimated by the estimating unit in the range of the blind spot determined by.

A server according to one aspect of the present invention is determined by a determination unit that determines a blind spot range of a target person who passes a target area, an estimation unit that estimates a behavior of a passerby who passes the target area, and the determination unit. And a transmission unit that transmits blind spot information indicating the behavior of the passerby estimated by the estimation unit in the range of the blind spot.

A computer program according to an aspect of the present invention determines, in a computer, a range of a blind spot of a target person who passes a target area, and a step of estimating a behavior of a passerby who passes the target area. And transmitting blind spot information indicating the estimated behavior of the passerby in the blind spot range.

The present invention can be realized not only as a server including the above-described characteristic processing unit but also as an information processing method having such characteristic processing as steps, or for causing a computer to execute such steps. Can be realized as a computer program of. Further, part or all of the server can be realized as a semiconductor integrated circuit, or can be realized as an information providing system including the server.

According to the present invention, it is possible to provide information for further enhancing the safety of passersby.

1 is an overall configuration diagram of a wireless communication system according to an embodiment. It is a block diagram which shows an example of an internal structure of an edge server and a core server. It is a figure which shows the specific example of lane information. It is a figure which shows the specific example of lane information. It is a figure which shows the specific example of lane information. It is a figure which shows the specific example of lane information. It is a figure which shows the specific example of pedestrian crossing information. It is a block diagram showing an example of an internal configuration of an in-vehicle device. It is a block diagram which shows an example of an internal structure of a pedestrian terminal. It is a block diagram which shows an example of an internal structure of a roadside sensor. 1 is an overall configuration diagram of an information providing system according to an embodiment. It is a sequence diagram which shows an example of the update process of dynamic information, action adjustment process, and information distribution process performed by cooperation of a pedestrian terminal, a vehicle, a roadside sensor, and an edge server. It is a functional block diagram which shows an example of the function of the edge server which concerns on embodiment. It is a figure for demonstrating the specific example of determination of the range of the blind spot which arises with a building. It is a figure for explaining a concrete example of change of the range of the blind spot by a building according to the change of the position of vehicles. It is a figure for explaining a concrete example of change of the range of the blind spot by a building according to the change of the position of vehicles. It is a figure for explaining a concrete example of change of the range of the blind spot by a building according to the change of the position of vehicles. It is a figure for explaining a concrete example of change of the range of the blind spot by a building according to the change of the position of vehicles. It is a figure for demonstrating the specific example of determination of the range of the blind spot produced by a vehicle. It is a figure for demonstrating the specific example of selection of the information provision range based on a subject's presumed action. It is a figure for demonstrating the specific example of selection of the information provision range based on a subject's presumed action. It is a figure for demonstrating the specific example of selection of the information provision range based on a subject's presumed action. It is a figure for demonstrating the specific example of selection of the information provision range based on a subject's presumed action. It is a figure for demonstrating the specific example of selection of the information provision range based on the presumed action of vehicles other than a target person. It is a figure for demonstrating the specific example of selection of the information provision range based on the presumed action of vehicles other than a target person. It is a figure for demonstrating the specific example of selection of the information provision range based on the presumed action of vehicles other than a target person. It is a figure for demonstrating the specific example of selection of the information provision range based on the presumed action of vehicles other than a target person. It is a figure for demonstrating the specific example of selection of the information provision range based on the presumed action of vehicles other than a target person. It is a figure for demonstrating the specific example of selection of the information provision range based on the presumed action of vehicles other than a target person. It is a flow chart which shows an example of the procedure of blind spot action presumption processing by an edge server concerning an embodiment. It is a flow chart which shows an example of the procedure of blind spot action presumption processing by an edge server concerning the 1st modification. It is a flow chart which shows an example of the procedure of blind spot action presumption processing by an edge server concerning the 2nd modification.

<Outline of Embodiment of the Present Invention>
Hereinafter, the outline of embodiments of the present invention will be listed and described.

(1) The information providing system according to the present embodiment includes a determination unit that determines a blind spot range of a target person who passes a target area, an estimation unit that estimates a behavior of a passerby who passes the target area, and the determination. An output unit that outputs blind spot information indicating the behavior of the passerby estimated by the estimating unit in the range of the blind spot determined by the unit. By providing the information indicating the estimated behavior of the passerby within the blind spot, it is possible to support the safer passage of the target person. That is, it is possible to provide information for further enhancing the safety of passersby. The "passerby" here includes a vehicle (driver) and a pedestrian. The “target person” is a target for providing blind spot information, and may or may not be included in the “passerby”.

(2) In the information providing system according to the present embodiment, the blind spot range may be a blind spot range caused by a building existing in the target area. As a result, it is possible to provide information indicating the estimated behavior of the passerby in the blind spot range caused by the building, and it is possible to support the safe passage of the target person.

(3) In the information providing system according to the present embodiment, the blind spot range may be a blind spot range caused by a vehicle existing in the target area. As a result, it is possible to provide information indicating the estimated behavior of the passerby in the blind spot range caused by the vehicle, and it is possible to support the safe passage of the target person.

(4) Further, in the information providing system according to the present embodiment, the estimation unit may estimate the behavior of the passerby in the blind spot range. Thereby, it is not necessary to estimate the behavior of the passerby outside the range of the blind spot, and it is possible to suppress the processing load in estimating the behavior of the passerby.

(5) Further, the information providing system according to the present embodiment selects an information providing range from the blind spot range determined by the determining unit based on the behavior of the passerby estimated by the estimating unit. The output unit may further include a unit, and the output unit may output the blind spot information in the information providing range selected by the selection unit. Thereby, important blind spot information can be provided to the passage of the target person.

(6) Further, in the information providing system according to the present embodiment, the estimation unit estimates the behavior of the passerby in the blind spot range before estimating the action of the passerby outside the blind spot range, The output unit may output, together with the blind spot information, visual field information indicating the behavior of the passerby outside the range of the blind spot estimated by the estimating unit. As a result, even if it takes a short time to estimate the actions of the passers-by in all the target areas, it is possible to increase the possibility that the estimation of the actions of the passers-by within the blind spot is completed.

(7) Further, in the information providing system according to the present embodiment, the estimation unit generates the blind spot information and the visual field information indicating the estimation result of the behavior of the passerby outside the range of the blind spot, and the visual field. The amount of information may be smaller than the amount of blind spot information. As a result, the behavior of the passerby in the blind spot range can be estimated in detail, and the processing load and processing time required for estimating the behavior of the passerby outside the blind spot range can be suppressed.

(8) The server according to the present embodiment includes a determination unit that determines a blind spot range of a target person who passes a target area, an estimation unit that estimates a behavior of a passerby who passes the target area, and the determination unit. And a transmission unit that transmits blind spot information indicating the behavior of the passerby estimated by the estimation unit in the determined blind spot range. By providing the information indicating the estimated behavior of the passerby within the blind spot, it is possible to support the safer passage of the target person. That is, it is possible to provide information for further enhancing the safety of passersby.

(9) The computer program according to the present embodiment is determined by: a step of causing the computer to determine a range of a blind spot of a target person passing through the target area; and a step of estimating a behavior of a passerby passing through the target area. And transmitting blind spot information indicating the estimated behavior of the passerby in the range of the blind spot. By providing the information indicating the estimated behavior of the passerby within the blind spot, it is possible to support the safer passage of the target person. That is, it is possible to provide information for further enhancing the safety of passersby.

<Details of the embodiment of the present invention>
Hereinafter, the details of the embodiment of the present invention will be described with reference to the drawings. Note that at least a part of the embodiments described below may be arbitrarily combined.

[Overall configuration of wireless communication system]
FIG. 1 is an overall configuration diagram of a wireless communication system according to this embodiment.
As illustrated in FIG. 1, the wireless communication system according to the present embodiment includes a plurality of communication terminals 1A to 1F capable of wireless communication, one or a plurality of base stations 2 wirelessly communicating with the communication terminals 1A to 1F, and a base station 2. It includes one or more edge servers 3 that communicate by wire or wireless, and one or more core servers 4 that communicate with the edge server 3 by wire or wirelessly.

The core server 4 is installed in the core data center (DC) of the core network. The edge server 3 is installed in a distributed data center (DC) of the metro network.
The metro network is a communication network constructed for each city, for example. Each metro network is connected to the core network.
The base station 2 is communicatively connected to one of the edge servers 3 of the distributed data center included in the metro network.

The core server 4 is communicatively connected to the core network. The edge server 3 is communicatively connected to the metro network. Therefore, the core server 4 can communicate with the edge server 3 and the base station 2 belonging to each metro network via the core network and the metro network.
The base station 2 includes at least one of a macro cell base station, a micro cell base station, and a pico cell base station.

In the wireless communication system of this embodiment, the edge server 3 and the core server 4 are general-purpose servers capable of SDN (Software-Defined Networking). The base station 2 and a relay device such as a repeater (not shown) are transport devices capable of SDN.
Therefore, a plurality of virtual networks (network slices) S1 to S4 satisfying conflicting service requirements such as low-delay communication and large-capacity communication should be defined as physical devices of a wireless communication system by network virtualization technology. You can

The above-mentioned network virtualization technology is a basic concept of "fifth generation mobile communication system" (hereinafter, abbreviated as "5G" (5th Generation)), which is currently being standardized. Therefore, the wireless communication system of this embodiment is composed of, for example, 5G.
However, the wireless communication system of the present embodiment is a mobile communication system capable of defining a plurality of network slices (hereinafter, also referred to as “slices”) S1 to S4 according to a predetermined service request condition such as a delay time. Well, it is not limited to 5G. Further, the layers of the slices to be defined are not limited to four layers and may be five layers or more.

In the example of FIG. 1, each network slice S1 to S4 is defined as follows.
The slice S1 is a network slice defined so that the communication terminals 1A to 1F directly communicate with each other. The communication terminals 1A to 1F that communicate directly with the slice S1 are also referred to as "node N1".
The slice S2 is a network slice defined so that the communication terminals 1A to 1F communicate with the base station 2. The highest communication node (base station 2 in the illustrated example) in slice S2 is also referred to as "node N2".

The slice S3 is a network slice defined so that the communication terminals 1A to 1F communicate with the edge server 3 via the base station 2. The highest communication node (edge server 3 in the illustrated example) in slice S3 is also referred to as "node N3".
In slice S3, node N2 serves as a relay node. That is, data communication is performed through the uplink route of node N1→node N2→node N3 and the downlink route of node N3→node N2→node N1.

The slice S4 is a network slice defined so that the communication terminals 1A to 1F communicate with the core server 4 via the base station 2 and the edge server 3. The highest-level communication node (core server 4 in the illustrated example) in slice S4 is also referred to as "node N4".
In the slice S4, the nodes N2 and N3 serve as relay nodes. That is, data communication is performed through the uplink route of node N1→node N2→node N3→node N4 and the downlink route of node N4→node N3→node N2→node N1.

In the slice S4, the edge server 3 may be a routing node that does not serve as a relay node. In this case, data communication is performed through the uplink route of node N1→node N2→node N4 and the downlink route of node N4→node N2→node N1.

When a plurality of base stations 2 (node N2) are included in the slice S2, routing for tracing communication between the base stations 2 and 2 is also possible.
Similarly, when a plurality of edge servers 3 (node N3) are included in the slice S3, routing for tracing communication between the edge servers 3 and 3 is also possible. When a plurality of core servers 4 (node N4) are included in the slice S4, routing that follows the communication of the core servers 4 and 4 is also possible.

The communication terminal 1A includes a wireless communication device mounted on the vehicle 5. The vehicle 5 includes not only an ordinary passenger vehicle but also a public vehicle such as a route bus or an emergency vehicle. The vehicle 5 may be a two-wheeled vehicle (motorcycle) as well as a four-wheeled vehicle.
The drive system of the vehicle 5 may be any of an engine drive, an electric motor drive, and a hybrid system. The driving method of the vehicle 5 may be either normal driving in which the driver performs an operation such as acceleration/deceleration or steering of the steering wheel, or automatic driving in which the operation is executed by software.

The communication terminal 1A of the vehicle 5 may be an existing wireless communication device in the vehicle 5, or may be a mobile terminal carried by the passenger into the vehicle 5.
The passenger's portable terminal is temporarily connected to an in-vehicle LAN (Local Area Network) of the vehicle 5 to temporarily become an in-vehicle wireless communication device.

The communication terminal 1B is a mobile terminal carried by the pedestrian 7. The pedestrian 7 is a person who walks outdoors such as a road or a parking lot, or indoors such as a building or an underground mall. The pedestrian 7 includes not only a person who walks, but also a person who rides on a bicycle that does not have a power source.
The communication terminal 1C includes a wireless communication device mounted on the roadside sensor 8. The roadside sensor 8 is composed of an image-type vehicle detector installed on the road, a security camera installed outdoors or indoors, and the like. The communication terminal 1D includes a wireless communication device mounted on the traffic signal controller 9 at the intersection.

The communication terminal 1E includes a wireless communication device mounted on the vehicle detector 10 installed on the roadside. The vehicle detector 10 is mounted above the road and detects the vehicle 5 traveling in the lower lane. The vehicle detector 10 can be, for example, an ultrasonic or optical vehicle detector. Further, the vehicle detector 10 may have a configuration capable of detecting only the vehicle 5 traveling in one target lane, or a configuration capable of detecting the vehicle 5 traveling in each of a plurality of lanes. Good. For example, the configuration may be such that three vehicle detectors 10 detect a vehicle 5 traveling in each of the three lanes of a left turn dedicated lane, a straight ahead dedicated lane, and a right turn dedicated lane, or one vehicle. The sensor 10 may detect the vehicle 5 traveling in each of these three lanes.
The communication terminal 1F includes a wireless communication device mounted on a pedestrian push-button type traffic signal 11 installed at an intersection.

The service requirements for the slices S1 to S4 are as follows. The delay times D1 to D4 allowed for the slices S1 to S4 are defined so that D1<D2<D3<D4. For example, D1=1 ms, D2=10 ms, D3=100 ms, D4=1 s.
The data communication amounts C1 to C4 per predetermined period (for example, one day) allowed for the slices S1 to S4 are defined so that C1<C2<C3<C4. For example, C1=20 GB, C2=100 GB, C3=2 TB, and C4=10 TB.

As described above, in the wireless communication system of FIG. 1, direct wireless communication in the slice S1 (for example, “vehicle-to-vehicle communication” in which the communication terminal 1A of the vehicle 5 directly communicates) and slices via the base station 2 The wireless communication of S2 is possible.
However, in the present embodiment, an information providing service for users included in a relatively wide service area (for example, an area including municipalities or prefectures) using the slices S3 and S4 in the wireless communication system of FIG. 1 is provided. I'm assuming.

[Internal configuration of edge server and core server]
FIG. 2 is a block diagram showing an example of the internal configuration of the edge server 3 and the core server 4.
As shown in FIG. 2, the edge server 3 includes a control unit 31 including a CPU (Central Processing Unit), a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a storage unit 34, a communication unit 35, and the like. Equipped with.

The control unit 31 controls the operation of each hardware by reading one or a plurality of programs stored in advance in the ROM 32 into the RAM 33 and executing the programs, and enables the computer device to communicate with the core server 4, the base station 2, and the like. Make it function as an edge server.
The RAM 33 is composed of a volatile memory element such as SRAM (Static RAM) or DRAM (Dynamic RAM), and temporarily stores a program executed by the control unit 31 and data necessary for the execution.

The storage unit 34 is configured by a nonvolatile memory element such as a flash memory or an EEPROM (Electrically Erasable Programmable Read Only Memory), or a magnetic storage device such as a hard disk.
The communication unit 35 includes a communication device that executes communication processing compatible with 5G, and communicates with the core server 4, the base station 2, and the like via the metro network. The communication unit 35 transmits the information given from the control unit 31 to the external device via the metro network, and gives the information received via the metro network to the control unit 31.

As illustrated in FIG. 2, the storage unit 34 of the edge server 3 stores a dynamic information map (hereinafter, also simply referred to as “map”) M1 in a target area such as an intersection, a road, or a parking lot.
The map M1 is a collection of data (virtual database) in which dynamic information and blind spot information that change from moment to moment are superimposed on a high-definition digital map that is static information. The digital information forming the map M1 includes the following "dynamic information", "quasi-dynamic information", "quasi-static information", "static information", and "blind spot information".

“Dynamic information” (up to 1 second) is dynamic data that requires a delay time of 1 second or less. For example, the position information of a moving body (vehicle, pedestrian, etc.), signal information, and the like, which are utilized as ITS (Intelligent Transport Systems) prefetch information, correspond to the dynamic information.
The “quasi-dynamic information” (up to 1 minute) is semi-dynamic data that requires a delay time of 1 minute or less. For example, accident information, traffic jam information, and narrow area weather information correspond to the semi-dynamic information.

“Quasi-static information” (up to 1 hour) is quasi-static data that allows a delay time of 1 hour or less. For example, traffic regulation information, road construction information, wide area weather information, and the like correspond to quasi-static information.
“Static information” (up to one month) is static data that allows a delay time of one month or less. For example, road surface information, lane information, three-dimensional structure data, etc. correspond to static information.

The "blind spot information" is information indicating the estimated behavior of another passerby in the blind spot of the information providing target (passerby). The "blind spot information" includes, for example, a blind spot range and information (arrows and the like) indicating the estimated moving direction of a passerby.

The control unit 31 of the edge server 3 updates the dynamic information of the map M1 stored in the storage unit 34 every predetermined update cycle (dynamic information update processing).
Specifically, the control unit 31 collects various sensor information measured by the vehicle 5, the roadside sensor 8 and the like in the service area (target area) of the own device at each predetermined update cycle, for each 5G compatible communication terminal. The dynamic information of the map M1 is updated based on the collected sensor information collected from 1A to 1F.

The control unit 31 of the edge server 3 can collect the sensor information measured by the vehicle 5, the roadside sensor 8, and the pedestrian terminal 70 at predetermined intervals.
The sensor information of the vehicle 5 includes high-definition image data (may be a moving image), vehicle CAN (Controller Area Network) information, and the like. The image data of the vehicle 5 is image data of the surroundings of the vehicle 5 taken by the vehicle-mounted camera 59. In the case of the vehicle 5 having the in-vehicle camera, the image data of the driver may be included.

The sensor information of the roadside sensor 8 includes high-definition image data (may be a moving image). The image data is image data of a predetermined photographing area photographed by the roadside camera 83.

The sensor information of the pedestrian terminal 70 includes a pedestrian (own device) position by GPS, acceleration by an acceleration sensor, azimuth by a gyro sensor, and the like.

The control unit 31 of the edge server 3 detects when the vehicle detector 10 detects the vehicle 5 and when the push-button type traffic signal 11 detects the pedestrian 7 (that is, when the push button is pressed). It is possible to collect the detection signal output to () every predetermined period.

The storage unit 34 of the edge server 3 stores lane information R1 and pedestrian crossing information C1. The lane information R1 is information about lanes in the target area, and the pedestrian crossing information C1 is information about pedestrian crossings in the target area. In a specific example, the lane information R1 is information in which a lane ID and a planned moving direction are associated with each other. In a specific example, the crosswalk information C1 is information in which the push button ID and the planned movement direction are associated with each other.

3A to 3D are diagrams showing specific examples of the lane information R1. As shown in FIG. 3A, in the case of one lane in which each of a left turn, a straight turn and a right turn is possible, in the lane information R1, the lane ID: 1 and the planned movement direction “left turn, straight turn, right turn” are associated. ..

As shown in FIG. 3B, in the case of a lane dedicated to left turn and straight lane and a lane dedicated to right turn, in the lane information R1, the lane ID: 1 is associated with the planned movement direction “left turn, straight ahead”, and the lane ID: 2 And the planned movement direction “turn right” are associated with each other.

As shown in FIG. 3C, in the case of a lane dedicated to left turn and a lane for straight and right turn, in the lane information R1, the lane ID: 1 and the planned movement direction “left turn” are associated with each other, and the lane ID: 2, The planned movement direction “straight ahead, right turn” is associated.

As shown in FIG. 3D, in the case of a lane dedicated to left turn, a lane dedicated to straight ahead, and a lane dedicated to right turn, in the lane information R1, the lane ID: 1 and the planned movement direction “left turn” are associated with each other, and the lane ID : 2 is associated with the planned movement direction “straight ahead”, and lane ID: 3 is associated with the planned movement direction “right turn”.

The detection signal transmitted from the vehicle detector 10 includes the lane ID. The lane ID included in the detection signal is identification information of the lane in which the vehicle 5 is detected. The vehicle 5 is likely to move in the planned movement direction corresponding to the lane in which the vehicle is traveling. Therefore, the control unit 31 can determine the planned movement direction of the vehicle 5 by referring to the lane information R1 and acquiring the planned movement direction corresponding to the lane ID included in the detection signal.

FIG. 4 is a diagram showing a specific example of the crosswalk information C1. In the example of FIG. 4, at the intersection of a crossroad having four pedestrian crossings, push button type traffic signals 11a to 11h are provided on both sides of each pedestrian crossing. In this case, the pedestrian crossing information C1 is associated with the traffic light ID of each push-button traffic light and the planned moving direction. More specifically, the traffic light ID of the traffic light 11a is associated with the planned travel direction "East", the traffic light ID of the traffic light 11b is associated with the planned travel direction "West", and the traffic light of the traffic light 11c is associated. ID: 3 is associated with the planned movement direction “North”, traffic signal ID: 4 of the traffic signal 11d is associated with the planned travel direction “South”, and traffic light ID of the traffic signal 11e is “5” and the planned travel direction “West”. Are associated with each other, the traffic light ID of the traffic light 11f is associated with the planned travel direction “east”, the traffic light ID of the traffic light 11g is associated with the planned travel direction “south”, and the traffic light of the traffic light 11h is associated with each other. The ID: 8 is associated with the planned movement direction “North”.

The detection signal transmitted from the push button type traffic signal 11 includes a traffic signal ID. The traffic signal ID included in the detection signal is identification information of the traffic signal that the pedestrian 7 has pressed the push button. The pedestrian 7 has a high possibility of crossing a pedestrian crossing installed at the traffic light that pressed the push button. Therefore, the control unit 31 can determine the planned moving direction of the pedestrian 7 by referring to the pedestrian crossing information C1 and acquiring the planned moving direction corresponding to the traffic signal ID included in the detection signal.

The storage unit 34 of the edge server 3 stores the building information B1. The building information B1 is information indicating the position and size of the building existing in the service area to be analyzed by the edge server 3.

The control unit 31 of the edge server 3 determines the blind spot range for each passerby in the service area. The blind spot range includes the blind spot range of the building and the blind spot range of the vehicle 5. The control unit 31 determines the blind spot range of the building based on the position of the target person and the position and size of the building indicated in the building information B1. The control unit 31 determines the range of the blind spot of the vehicle based on the position of the target person and the position of the vehicle 5 different from the target person.

The control unit 31 of the edge server 3 receives the detection signals from the vehicle detector 10 and the push-button type traffic signal 11 at every predetermined update cycle, so that the movement of the vehicle 5 and the pedestrian 7 within the range of the blind spot determined. Determine the planned direction. In addition, the control unit 31 estimates the behavior of each passerby in a blind spot range after the present time in every predetermined cycle based on the information acquired from each sensor such as the vehicle 5, the roadside sensor 8, and the pedestrian terminal 70. .. (Blind spot behavior estimation processing).

When the control unit 31 receives a request message for dynamic information from the communication terminals 1A and 1B of a predetermined user, the control unit 31 sends the latest dynamic information to the communication terminals 1A and 1B that are the senders of the request message for each predetermined delivery cycle. Distribute (information distribution process). The control unit 31 distributes the blind spot information indicating the behavior of the passerby in the blind spot range to the communication terminals 1A and 1B in the information distribution process.
The control unit 31 collects traffic information and weather information of each place in the service area from the traffic control center, the private weather service support center, and the like, and based on the collected information, the quasi-dynamic information and the quasi-static information of the map M1. To update.

As shown in FIG. 2, the core server 4 includes a control unit 41 including a CPU, a ROM 42, a RAM 43, a storage unit 44, a communication unit 45, and the like.

The control unit 41 controls the operation of each hardware by reading one or a plurality of programs stored in advance in the ROM 32 into the RAM 43 and executing the programs, and functions as a core server 4 capable of communicating the computer device with the edge server 3. Let
The RAM 43 is composed of a volatile memory element such as SRAM or DRAM, and temporarily stores a program executed by the control unit 41 and data necessary for the execution.

The storage unit 44 is composed of a nonvolatile memory element such as a flash memory or an EEPROM, or a magnetic storage device such as a hard disk.
The communication unit 45 includes a communication device that executes communication processing compatible with 5G, and communicates with the edge server 3 and the base station 2 via the core network. The communication unit 45 transmits the information given from the control unit 41 to the external device via the core network, and gives the information received via the core network to the control unit 41.

As shown in FIG. 2, the storage unit 44 of the core server 4 stores the dynamic information map M2.
The data structure of the map M2 (data structure including dynamic information, semi-dynamic information, semi-static information, and static information) is the same as that of the map M1. The map M2 may be a map of the same service area as the map M1 of the specific edge server 3 or may be a wider area map in which each map M1 held by a plurality of edge servers 3 is integrated.

The storage unit 44 of the core server 4 stores lane information R2 and pedestrian crossing information C2.
The data structures of the lane information R2 and the pedestrian crossing information C2 are the same as those of the lane information R1 and the pedestrian crossing information C1. The lane information R2 and the pedestrian crossing information C2 may be information about lanes and pedestrian crossings included in the same service area as the lane information R1 and the pedestrian crossing information C1 of the specific edge server 3, or each of which is held by a plurality of edge servers 3. The lane information R1 and the pedestrian crossing information C1 may be integrated to be information on lanes and pedestrian crossings included in a wider area.

The storage unit 44 of the core server 4 stores the building information B2.
The data structure of the building information B2 is the same as that of the building information B1. The building information B2 may be information of a building included in the same service area as the building information B1 of the specific edge server 3, or may be included in a wider area in which each building information B1 held by a plurality of edge servers 3 is integrated. It may be information on the building to be opened.

Similar to the case of the edge server 3, the control unit 41 of the core server 4 updates the dynamic information for updating the dynamic information of the map M2 stored in the storage unit 44, the blind spot action estimation process, and the request message. In response to, the information distribution process of distributing the dynamic information and the blind spot information can be performed.
That is, the control unit 41 can independently execute the dynamic information update process, the blind spot behavior estimation process, and the information distribution process based on the map M2 of the own device, separately from the edge server 3.

However, the core server 4 belonging to the slice S4 has a longer delay time in communication with the communication terminals 1A to 1F than the edge server 3 belonging to the slice S3.
Therefore, even if the core server 4 updates the dynamic information of the map M2 independently, the real-time property is inferior to the dynamic information of the map M1 managed by the edge server 3. Similarly, the blind spot information generated by the core server 4 is inferior to the blind spot information generated by the edge server 3 in real time. Therefore, for example, the control unit 31 of the edge server 3 and the control unit 41 of the core server 4 disperse the dynamic information update processing, the blind spot action estimation processing, and the information distribution processing in a decentralized manner according to the priority defined for each predetermined area. It is preferable to treat

The control unit 41 collects traffic information and meteorological information of each place in the service area from a traffic control center, a private meteorological operation support center, and the like, and based on the collected information, quasi-dynamic information and quasi-static information of the map M2. To update.
The control unit 41 may employ the quasi-dynamic information and the quasi-static information of the map M1 received from the edge server 3 as the quasi-dynamic information and the quasi-static information of the map M2 of its own device.

[Internal configuration of in-vehicle device]
FIG. 5 is a block diagram showing an example of the internal configuration of the vehicle-mounted device 50.
As shown in FIG. 5, the vehicle-mounted device 50 of the vehicle 5 includes a control unit (ECU: Electronic Control Unit) 51, a GPS receiver 52, a vehicle speed sensor 53, a gyro sensor 54, a storage unit 55, a display 56, a speaker 57, and an input. A device 58, a vehicle-mounted camera 59, a radar sensor 60, a communication unit 61 and the like are provided.

The communication unit 61 includes the above-described communication terminal 1A, that is, a wireless communication device capable of performing communication processing compatible with 5G, for example.
Therefore, the vehicle 5 can communicate with the edge server 3 as a kind of mobile terminal belonging to the slice S3. The vehicle 5 can also communicate with the core server 4 as a kind of mobile terminal belonging to the slice S4.

The control unit 51 is a computer device that performs a route search for the vehicle 5 and controls other electronic devices 52 to 61. The control unit 51 obtains the vehicle position of the own vehicle from the GPS signal periodically acquired by the GPS receiver 52.
The control unit 51 complements the vehicle position and direction based on the input signals of the vehicle speed sensor 53 and the gyro sensor 54, and grasps the accurate current position and direction of the vehicle 5.

The GPS receiver 52, the vehicle speed sensor 53, and the gyro sensor 54 are sensors that measure the current position, speed, and direction of the vehicle 5.
The storage unit 55 includes a map database. The map database provides the control unit 51 with road map data. The road map data includes link data and node data, and is stored in a recording medium such as a DVD, CD-ROM, memory card, or HDD. The storage unit 55 reads out necessary road map data from the recording medium and provides it to the control unit 51.

The display 56 and the speaker 57 are output devices for notifying a user who is a passenger of the vehicle 5 of various information generated by the control unit 51.
Specifically, the display 56 displays an input screen for route search, a map image around the vehicle, route information to the destination, and the like. The speaker 57 outputs an announcement or the like for guiding the vehicle 5 to the destination. These output devices can also notify the passenger of the provided information received by the communication unit 61.

The input device 58 is a device for a passenger of the vehicle 5 to perform various input operations. The input device 58 is composed of a combination of operation switches provided on the handle, a joystick, a touch panel provided on the display 56, and the like.
A voice recognition device that receives an input by voice recognition of a passenger may be used as the input device 58. The input signal generated by the input device 58 is transmitted to the control unit 51.

The vehicle-mounted camera 59 includes an image sensor that captures an image in front of the vehicle 5. The vehicle-mounted camera 59 may be either a single eye or a compound eye. The radar sensor 60 is a sensor that detects an object existing in front of or around the vehicle 5 by a millimeter wave radar or a LiDAR method.
The control unit 51 executes driving assistance control that outputs a caution to the occupant who is driving on the display 56 or performs a compulsory braking intervention, based on the measurement data from the vehicle-mounted camera 59 and the radar sensor 60. be able to.

The control unit 51 is configured by an arithmetic processing device such as a microcomputer that executes various control programs stored in the storage unit 55.
The control unit 51 executes the control program to display a map image on the display 56, and a function of calculating a route from a starting point to a destination (including a position of a relay point, if any). Various navigation functions such as a function of guiding the vehicle 5 to a destination according to the calculated route can be executed.

The control unit 51 performs an object recognition process of recognizing an object in front of or in the vicinity of the own vehicle based on measurement data of at least one of the vehicle-mounted camera 59 and the radar sensor 60, and a measurement for calculating a distance to the recognized object. Distance processing is possible.
The control unit 51 can calculate the position information of the object recognized by the object recognition process from the distance calculated by the distance measurement process and the sensor position of the own vehicle.

The control unit 51 can execute the following processes in communication with the edge server 3 (which may be the core server 4).
1) Request message transmission processing 2) Information reception processing 3) Change point information calculation processing 4) Change point information transmission processing 5) Sensor information transmission processing 6) Blind spot information output processing

The request message transmission process is a process of transmitting to the edge server 3 a control packet requesting distribution of the dynamic information of the map M1 that the edge server 3 sequentially updates. The control packet includes the vehicle ID of the own vehicle.
When the edge server 3 receives the request message including the predetermined vehicle ID, the edge server 3 distributes the dynamic information to the communication terminal 1A of the vehicle 5 having the vehicle ID of the transmission source at a predetermined distribution cycle.

The information receiving process is a process of receiving the dynamic information and the blind spot information distributed by the edge server 3 to the own device.
The process of calculating change point information in the vehicle 5 is a process of calculating the amount of change between the received dynamic information and the sensor information of the own vehicle at the time of reception, based on the comparison result. As the change point information calculated by the vehicle 5, for example, the following information examples a1 and a2 can be considered.

Information Example a1: Change Point Information Regarding Recognized Object Although the control unit 51 does not include the object X (vehicle, pedestrian, obstacle, etc.) in the received dynamic information, the control unit 51 detects the object X by its own object recognition processing. In that case, the image data and the position information of the detected object X are used as the change point information.
When the position information of the object X included in the received dynamic information and the position information of the object X obtained by the object recognition processing of the controller 51 deviate from each other by a predetermined threshold value or more, the control unit 51 detects the detected object X. The difference value between the image data and the position information of the two is set as the change point information.

Information Example a2: Change Point Information Regarding Own Vehicle The control unit 51 deviates the position information of the own vehicle included in the received dynamic information from the vehicle position of the own vehicle calculated by the GPS signal by a predetermined threshold value or more. If so, the difference value between the two is used as the change point information.
When the azimuth of the own vehicle included in the received dynamic information and the azimuth of the own vehicle calculated from the measurement data of the gyro sensor 54 deviate from each other by a predetermined threshold value or more, the control unit 51 makes a difference between the two. The value is used as change point information.

When calculating the change point information as described above, the control unit 51 generates a communication packet addressed to the edge server 3 including the calculated change point information. The control unit 51 includes the vehicle ID of the own vehicle in the communication packet.
The changing point information transmitting process is a process of transmitting the communication packet including the changing point information in the data to the edge server 3. The transmission processing of the change point information is performed within the distribution period of the dynamic information by the edge server 3.

The sensor information transmission process is a process of transmitting the packet including the sensor information of the vehicle 5 in the data to the edge server 3. The sensor information of the vehicle 5 includes high-definition image data (may be a moving image), vehicle CAN (Controller Area Network) information, and the like. The image data of the vehicle 5 is image data of the surroundings of the vehicle 5 taken by the vehicle-mounted camera 59. In the case of the vehicle 5 having the in-vehicle camera, the image data of the driver may be included. The process of transmitting the sensor information is performed within the distribution period of the dynamic information by the edge server 3.

The blind spot information output process is a process of outputting the blind spot information received from the edge server 3. The output of the blind spot information is performed, for example, by displaying a map on which the blind spot information is superimposed on the display 56.

Based on the dynamic information received from the edge server 3 or the like, the control unit 51 outputs a warning to the driver who is driving on the display 56 and executes driving support control such as forcible braking intervention. You can also

[Internal configuration of pedestrian terminal]
FIG. 6 is a block diagram showing an example of the internal configuration of the pedestrian terminal 70.
The pedestrian terminal 70 in FIG. 6 includes the above-described communication terminal 1B, that is, a wireless communication device capable of performing communication processing compatible with 5G, for example.
Therefore, the pedestrian terminal 70 can communicate with the edge server 3 as a kind of mobile terminal belonging to the slice S3. The pedestrian terminal 70 can also communicate with the core server 4 as a type of mobile terminal belonging to the slice S4.

As shown in FIG. 6, the pedestrian terminal 70 includes a control unit 71, a storage unit 72, a display unit 73, an operation unit 74, a communication unit 75, a GPS receiver 76, an acceleration sensor 77, and a gyro sensor 78.
The communication unit 75 includes a communication interface that wirelessly communicates with the base station 2 of the carrier that provides the 5G service. The communication unit 75 converts the RF signal from the base station 2 into a digital signal and outputs the digital signal to the control unit 71, converts the digital signal input from the control unit 71 into an RF signal, and transmits the RF signal to the base station 2.

The control unit 71 includes a CPU, a ROM, a RAM and the like. The control unit 71 reads out and executes the program stored in the storage unit 72 to control the overall operation of the pedestrian terminal 70.
The storage unit 72 includes a hard disk, a non-volatile memory, or the like, and stores various computer programs and data. The storage unit 72 stores a mobile ID that is identification information of the pedestrian terminal 70. The mobile ID is, for example, a unique user ID or MAC address of the carrier contractor.

The storage unit 72 stores various application software that the user arbitrarily installed.
The application software includes, for example, application software for enjoying the information providing service for receiving the dynamic information of the map M1 and the like through 5G communication with the edge server 3 (or the core server 4).

The control unit 71 is a computer device that searches for a route of the pedestrian 7 and controls the other electronic devices 72 to 78. The control unit 71 obtains the position of the pedestrian (own device) from the GPS signal periodically acquired by the GPS receiver 76.
The control unit 71 complements the pedestrian position and azimuth based on the input signals of the acceleration sensor 77 and the gyro sensor 78, and grasps the accurate current position and azimuth of the pedestrian 7.

The GPS receiver 76, the acceleration sensor 77, and the gyro sensor 78 are sensors that measure the current position, acceleration, and direction of the pedestrian 7.

The operation unit 74 includes various operation buttons and a touch panel function of the display unit 73. The operation unit 74 outputs an operation signal according to a user operation to the control unit 71.
The display unit 73 includes, for example, a liquid crystal display, and presents various kinds of information to the user. For example, the display unit 73 can display the image data of the dynamic information maps M1 and M2 transmitted from the servers 3 and 4 on the screen.

The control unit 71 can execute the following processes in communication with the edge server 3 (which may be the core server 4).
1) Request message transmission processing 2) Sensor information transmission processing 3) Information reception processing 4) Blind spot information output processing

The request message transmission process is a process of transmitting to the edge server 3 a control packet requesting distribution of the dynamic information of the map M1 that the edge server 3 sequentially updates. The control packet includes the mobile ID of the pedestrian terminal 70.
When the edge server 3 receives the request message including the predetermined mobile ID, the edge server 3 distributes the dynamic information and the blind spot information in a predetermined distribution cycle to the communication terminal 1B of the pedestrian 7 having the mobile ID of the transmission source.

The process of transmitting the sensor information is a process of transmitting the sensor information of the pedestrian terminal 70 such as the position and direction information of the own device to the edge server 3. The sensor information includes information on the current position, acceleration, and orientation of the pedestrian 7, which is detected by the GPS receiver 76, the acceleration sensor 77, and the gyro sensor 78. The sensor information may include identification information indicating whether or not application software that easily causes a so-called “walking smartphone” such as a map application, a mail application, and a game application is being displayed.
The information receiving process is a process of receiving the dynamic information and the blind spot information distributed by the edge server 3 to the own device.

The blind spot information output process is a process of outputting the blind spot information received from the edge server 3. The output of the blind spot information is performed, for example, by displaying a map on which the blind spot information is superimposed on the display unit 73.

[Internal configuration of roadside sensor]
FIG. 7 is a block diagram showing an example of the internal configuration of the roadside sensor 8.
As shown in FIG. 7, the roadside sensor 8 includes a control unit 81, a storage unit 82, a roadside camera 83, a radar sensor 84, and a communication unit 85.

The communication unit 85 includes the above-described communication terminal 1C, that is, a wireless communication device capable of communication processing compatible with, for example, 5G.
Therefore, the roadside sensor 8 can communicate with the edge server 3 as a kind of fixed terminal belonging to the slice S3. The roadside sensor 8 can also communicate with the core server 4 as a kind of fixed terminal belonging to the slice S4.

The control unit 81 includes a CPU, a ROM, a RAM and the like. The control unit 81 reads out and executes the program stored in the storage unit 82, and controls the overall operation of the roadside sensor 8.
The storage unit 82 is configured by a hard disk, a non-volatile memory, or the like, and stores various computer programs and data. The storage unit 82 stores a sensor ID that is identification information of the roadside sensor 8. The sensor ID is, for example, a user ID unique to the owner of the roadside sensor 8 or a MAC address.

The roadside camera 83 includes an image sensor that captures an image of a predetermined shooting area. The roadside camera 83 may be either a single eye or a compound eye. The radar sensor 60 is a sensor that detects an object existing in front of or around the vehicle 5 by a millimeter wave radar or a LiDAR method.
When the roadside sensor 8 is a security camera, the control unit 81 sends the captured image data and the like to the computer device of the security manager. When the roadside sensor 8 is an image type vehicle detector, the control unit 81 transmits the captured video data and the like to the traffic control center.

The control unit 81 performs an object recognition process of recognizing an object in the shooting area and a distance measurement process of calculating the distance to the recognized object based on the measurement data of at least one of the roadside camera 83 and the radar sensor 84. It is possible.
The control unit 51 can calculate the position information of the object recognized by the object recognition process from the distance calculated by the distance measurement process and the sensor position of the own vehicle.

The control unit 81 can execute the following processes in communication with the edge server 3 (or the core server 4).
1) Change point information calculation processing 2) Change point information transmission processing 3) Sensor information transmission processing

The calculation processing of the change point information in the roadside sensor 8 is based on the comparison result of the previous sensor information and the current sensor information for each predetermined measurement cycle (for example, the distribution cycle of the dynamic information by the edge server 3). This is a process for calculating the amount of change between the sensor information items. As the change point information calculated by the roadside sensor 8, for example, the following information example b1 can be considered.

Information Example b1: Change Point Information Regarding Recognized Object Although the control unit 81 does not include the object Y (vehicle, pedestrian, obstacle, etc.) in the previous object recognition process, the control unit 81 detects the object Y by the current object recognition process. In this case, the image data of the detected object Y and the position information are used as the change point information.
When the positional information of the object Y obtained by the previous object recognition process and the positional information of the object X obtained by the current object recognition process are deviated by a predetermined threshold value or more, the control unit 81 detects the detected object Y. The position information and the difference value between the two are used as change point information.

When the change point information is calculated as described above, the control unit 81 generates a communication packet addressed to the edge server 3 including the calculated change point information. The control unit 81 includes the sensor ID of its own device in the communication packet.
The changing point information transmitting process is a process of transmitting the communication packet including the changing point information in the data to the edge server 3. The transmission processing of the change point information is performed within the distribution period of the dynamic information by the edge server 3.

The sensor information transmission process is a process of transmitting the above communication packet including the sensor information of the roadside sensor 8 to the edge server 3. The sensor information of the roadside sensor 8 includes high-definition image data (may be a moving image). The image data is image data of a predetermined photographing area photographed by the roadside camera 83. The sensor information of the roadside sensor 8 may include position information detected by the radar sensor 84. The process of transmitting the sensor information is performed within the distribution period of the dynamic information by the edge server 3.

[Overall configuration of information provision system]
FIG. 8 is an overall configuration diagram of the information providing system according to the embodiment of the present invention.
As shown in FIG. 8, the information providing system according to the present embodiment includes a large number of vehicles 5, pedestrian terminals 70, and roadside sensors 8 scattered in the service area (real word) of the edge server 3, which is a relatively wide area. And the edge server 3 capable of low-delay wireless communication by 5G communication or the like via the base station 2.

The edge server 3 collects the above-described change point information from the vehicle 5 and the roadside sensor 8 in a predetermined cycle (step S31), integrates the collected change point information by map matching, and manages the dynamic information under management. The dynamic information of the map M1 is updated (step S32).

The edge server 3 can receive detection signals from the vehicle detector 10 and the push button type traffic signal 11. In addition, the edge server 3 can collect the sensor information obtained by the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 at predetermined intervals (step S33).
The edge server 3 determines the blind spot range of each passerby at every predetermined update cycle. The blind spot range includes the blind spot range of the building and the blind spot range of the vehicle 5.
The edge server 3 moves the pedestrians (vehicles 5 and pedestrians 7) within the range of the blind spot determined based on the detection signals acquired from the vehicle detector 10 and the push-button traffic light 11 at predetermined update intervals. Determine the planned direction. In addition, the edge server 3 estimates a passerby's action that may occur in the blind spot range, based on the acquired sensor information, for each update cycle (blind spot action estimation process: step S34).
When the edge server 3 receives a request from the vehicle 5 or the pedestrian terminal 70, the edge server 3 transmits the latest dynamic information and blind spot information to the requesting communication node (step S35). Thereby, for example, the vehicle 5 and the pedestrian terminal 70 that have received the dynamic information and the blind spot information can utilize the dynamic information and the blind spot information for the driving assistance of the driver and the passage assistance of the pedestrian.

When the vehicle 5 that has received the dynamic information detects the change point information with the sensor information of the own vehicle based on the dynamic information, the vehicle 5 transmits the detected change point information to the edge server 3 (step S36).
As described above, in the information providing system according to the present embodiment, change point information is collected (step S31), dynamic information is updated (step S32), detection signals and sensor information are collected (step S33), and a passerby in a blind spot is detected. Behavior estimation (step S34)→Delivery of dynamic information and blind spot information (step S35)→Detection of change point information by vehicle (step S36)→Collection of change point information (step S31) in the order of each communication node Information processing circulates.

Although the information providing system including only one edge server 3 is illustrated in FIG. 8, a plurality of edge servers 3 may be included, or instead of the edge server 3 or in addition to the edge server 3, One or a plurality of core servers 4 may be included.
Further, the dynamic information map M1 managed by the edge server 3 may be a map in which at least the dynamic information of the object is superimposed on map information such as a digital map. This also applies to the dynamic information map M2 of the core server.

[Dynamic information update processing, blind spot behavior estimation processing and information distribution processing]
FIG. 9 is a sequence diagram showing an example of dynamic information update processing, blind spot action estimation processing, and information distribution processing executed by the cooperation of the pedestrian terminal 70, the vehicle 5, the roadside sensor 8, and the edge server 3. Is.
In the following description, the execution subjects are the pedestrian terminal 70, the vehicle 5, the roadside sensor 8 and the edge server 3, but the actual execution subjects are the control units 71, 51, 81 and 31 thereof. U1, U2... In FIG. 9 are dynamic information distribution cycles.

As shown in FIG. 9, when the edge server 3 receives the request message for the dynamic information from the pedestrian terminal 70 and the vehicle 5 (step S1), the latest dynamic information at the time of reception is sent to the pedestrian terminal of the transmission source. 70 and the vehicle 5 (step S2).
When there is a request message from either the pedestrian terminal 70 or the vehicle 5 in step S1, the dynamic information is delivered only to one communication terminal which is the transmission source of the request message in step S2.

When the vehicle 5 that has received the dynamic information in step S2 detects the change point information from the comparison result of the dynamic information and its own sensor information within the distribution cycle U1 (step S3), the detected change point information is edged. It is transmitted to the server 3 (step S5).
When the roadside sensor 8 detects the change point information of its own sensor information within the distribution cycle U1 (step S4), it transmits the detected change point information to the edge server 3 (step S5).

Each of the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 transmits the acquired sensor information to the edge server 3 within the distribution cycle U1 (step S6).

When detecting the vehicle 5 or the pedestrian 7 within the distribution cycle U1 (step S7), each of the vehicle detector 10 and the push-button type traffic signal 11 transmits a detection signal to the edge server 3 (step S8).

When the edge server 3 receives the change point information from the vehicle 5 and the roadside sensor 8 within the distribution cycle U1, the edge server 3 updates the dynamic information that reflects the change point information (step S9).
The edge server 3 executes blind spot action estimation processing within the distribution cycle U1 (step S10). In the blind spot behavior estimation process, the edge server 3 determines the range of the blind spot for each passerby based on the dynamic information of each passerby. Further, the edge server 3 determines the planned moving direction of the passerby in the blind spot range based on the detection signals transmitted from the vehicle detector 10 and the push-button type traffic signal 11. In the blind spot behavior estimation process, the edge server 3 estimates the behavior of a passerby in the blind spot range based on the sensor information transmitted from each of the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8. In the blind spot behavior estimation process, the edge server 3 delivers the blind spot information indicating the estimation result of the behavior of the pedestrian in the blind spot range to the pedestrian terminal 70 and the vehicle 5 (step S11).

When only the vehicle 5 detects the change point information within the distribution cycle U1, only the change point information detected by the vehicle 5 in step S3 is transmitted to the edge server 3 (step S5), and only the change point information is reflected. The updated dynamic information is updated (step S9).
If only the roadside sensor 8 detects the change point information within the distribution cycle U1, only the change point information detected by the roadside sensor 8 in step S4 is transmitted to the edge server 3 (step S5), and only the change point information is transmitted. The dynamic information that reflects is updated (step S9).
If both the vehicle 5 and the roadside sensor 8 do not detect the change point information within the distribution cycle U1, the processes of steps S3 to S5 and S9 are not executed, and the dynamic information of the previous transmission (step S2). The same dynamic information as is distributed to the pedestrian terminal 70 and the vehicle 5 (step S11).

The vehicle 5, which has received the dynamic information in step S11, detects the change point information from the comparison result between the dynamic information and the sensor information of its own within the distribution cycle U2 (step S12), and detects the detected change point information as an edge. It transmits to the server 3 (step S14).
When the roadside sensor 8 detects the change point information of its own sensor information within the distribution cycle U2 (step S13), it transmits the detected change point information to the edge server 3 (step S14).

Each of the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 transmits the acquired sensor information to the edge server 3 within the distribution cycle U2 (step S15).

When detecting the vehicle 5 or the pedestrian 7 within the distribution cycle U2 (step S16), each of the vehicle detector 10 and the push-button type traffic light 11 transmits a detection signal to the edge server 3 (step S17).

When the edge server 3 receives the change point information from the vehicle 5 and the roadside sensor 8 within the distribution cycle U2, the edge server 3 updates the dynamic point information reflecting the change point information (step S18).

The edge server 3 determines the blind spot range for each passerby within the distribution cycle U2 based on the dynamic information of each passerby. Further, the edge server 3 determines the planned moving direction of the passerby in the blind spot range based on the detection signals transmitted from the vehicle detector 10 and the push-button type traffic signal 11. In the blind spot action estimation process, the edge server 3 estimates the action of a passerby in the blind spot range based on the sensor information transmitted from each of the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 (step). S19).
The edge server 3 distributes the updated dynamic information and blind spot information to the pedestrian terminal 70 and the vehicle 5 (step S20).

If only the vehicle 5 detects the change point information within the distribution cycle U2, only the change point information detected by the vehicle 5 in step S12 is transmitted to the edge server 3 (step S14), and only the change point information is reflected. The updated dynamic information is updated (step S18).
If only the roadside sensor 8 detects the change point information within the distribution cycle U2, only the change point information detected by the roadside sensor 8 in step S13 is transmitted to the edge server 3 (step S14), and only the change point information is acquired. The dynamic information that reflects is updated (step S18).
If both the vehicle 5 and the roadside sensor 8 do not detect the change point information within the distribution cycle U2, the processes of steps S12 to S14 and S18 are not executed, and the dynamic information of the previous transmission (step S11). The same dynamic information as is distributed to the pedestrian terminal 70 and the vehicle 5 (step S20).

Thereafter, the same sequence as described above is performed until a dynamic information distribution stop request message is received from both the pedestrian terminal 70 and the vehicle 5 or communication between the pedestrian terminal 70 and the vehicle 5 is cut off. Repeated.

[Estimation of passerby behavior in blind spots]
Hereinafter, the estimation of the behavior of the passerby in the blind spot will be described in more detail. FIG. 10 is a functional block diagram showing an example of functions of the edge server 3 according to the present embodiment. As shown in FIG. 10, the edge server 3 has respective functions of a determining unit 310, a receiving unit 320, an estimating unit 330, a selecting unit 340, and a transmitting unit 350.

The determination unit 310 determines the range of the blind spot of the subject. The determination unit 310 can determine the range of the blind spot caused by the building existing in the service area, and can determine the range of the blind spot caused by the vehicle 5 existing in the service area.

The determination unit 310 determines the range of the blind spot caused by the building based on the position of the target person indicated by the dynamic information and the position and size of the building indicated by the building information B1. FIG. 11 is a diagram for explaining a specific example of determining the range of the blind spot caused by the building. When the building BD is present at a corner of the intersection, a blind spot range BA occurs on the back side of the building BD when viewed from the vehicle T, which is the target person who enters the intersection. The blind spot range BA is determined by the positional relationship between the vehicle T and the building BD and the size of the building BD.

When the position of the vehicle T changes, the range of the blind spot caused by the building also changes. 12A to 12D are diagrams for explaining a specific example of the change in the blind spot range BA due to the building according to the change in the position of the vehicle T. When the vehicle T is located at a position far from the intersection, the building BD on the left side in the traveling direction of the vehicle T causes a relatively small blind spot range BA on the road extending leftward from the intersection when viewed from the vehicle T (FIG. 12A). The blind spot range BA increases as the vehicle T approaches the intersection (FIGS. 12B to 12C ). When the vehicle T reaches the intersection and passes through the building BD, the blind spot range BA disappears. The determination unit 310 determines the blind spot range BA each time the dynamic information is updated, so that the determined blind spot range BA temporally changes.

The determination unit 310 determines the range of the blind spot caused by the vehicle based on the position of the target person indicated by the dynamic information and the position of the vehicle indicated by the dynamic information. FIG. 13 is a diagram for explaining a specific example of determining the range of the blind spot caused by the vehicle. When the target vehicle T and the vehicle VC exist near the intersection, a blind spot range BA occurs on the back side of the vehicle VC when viewed from the vehicle T. The blind spot range BA is determined by the positional relationship between the vehicle T and the vehicle VC. Note that the vehicle VC has a fixed size here.

When the positional relationship between the vehicle T and the vehicle VC changes, the blind spot range BA caused by the vehicle VC also changes. The determination unit 310 determines the blind spot range BA caused by the vehicle VC at each dynamic information update cycle in the same manner as the blind spot range BA caused by the building BD.

The receiving unit 320 can receive detection signals from the vehicle detector 10 and the push button type traffic signal 11. The receiving unit 320 can also receive the sensor information transmitted from each of the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8.

The estimation unit 330 determines the planned moving direction of the passerby in the blind spot range based on the detection signals transmitted from the vehicle detector 10 and the push button type traffic signal 11. The lane information R1 and the pedestrian crossing information C1 described above are used to determine the planned movement direction.

The estimation unit 330 also estimates future actions of passersby, that is, the vehicle 5 (driver) and the pedestrian 7 in the blind spot based on the sensor information received by the reception unit 320. For example, the estimation unit 330 may estimate, in the future, in which direction and at what speed the passerby moves from the movement vector of the passerby. The estimation unit 330 may estimate what kind of behavior the passerby will take in the future (stop when the traffic light is red, drive when the traffic light is green, etc.) based on the lighting state of the traffic light. In addition, the estimation unit 330 estimates the direction in which the vehicle 5 will travel from the lighting state of the turn indicator of the vehicle 5 (when the right turn indicator is lit, turn right, etc.). Good.

The selection unit 340 selects an information provision range from the blind spot range determined by the determination unit 310 based on the behavior of the passerby estimated by the estimation unit 330.

14A to 14D are diagrams for explaining a specific example of selection of the information provision range based on the estimated behavior of the target person. For example, when the preceding vehicle VC is present in front of the target vehicle T, the blind spot range of the vehicle T is large if the distance between the preceding vehicle VC and the vehicle T is short. In the example shown in FIGS. 14A to 14D, roads extend from the intersection in four directions: east, south, west, and north. When a preceding vehicle VC and a vehicle T traveling on a road extending eastward from the intersection enter the intersection, a blind spot range BA1 is on a road extending southward from the intersection, and a blind spot range BA2 is on a road extending westward from the intersection. A blind spot range BA3 occurs on a road extending northward from the intersection.

As shown in FIG. 14B, when it is estimated that the vehicle T goes straight to the west, the selection unit 340 can select the blind spot range BA2 of the road extending to the west as the information provision range. As shown in FIG. 14C, when it is estimated that the vehicle T turns to the north, that is, a right turn, the selection unit 340 causes the blind spot range BA2 of the road extending westward and the blind spot range BA3 of the road extending northward, respectively. Can be selected as the information provision range. As shown in FIG. 14D, when it is estimated that the vehicle T turns to the south, that is, a left turn, the selection unit 340 selects the blind area range BA1 of the road extending to the south and the blind area range BA2 of the road extending to the west. It can be selected as the information provision range.

As described above, the selection unit 340 can select, as the information providing range, a blind spot range that is particularly important for the passage of the vehicle T, based on the estimated behavior of the vehicle T.

15A to 15B and FIGS. 16A to 16D are diagrams for explaining specific examples of selection of the information provision range based on the estimated behavior of the vehicle 5 other than the target person.

15A and 15B show an example in which a following vehicle VC2 exists behind the oncoming vehicle VC1 of the vehicle T. When viewed from the vehicle T, the vehicle VC2 enters the range of the blind spot caused by the oncoming vehicle VC1. As illustrated in FIG. 15A, when the vehicle T is estimated to go straight to the west and the vehicle VC2 is estimated to go straight to the east, the selection unit 340 may not select the information provision range. As shown in FIG. 15B, when it is estimated that the vehicle T goes straight to the west and the vehicle VC2 turns to the south, that is, a right turn is estimated, the selection unit 340 causes the blind spot range VA behind the oncoming vehicle VC1. Can be selected as the information provision range.

16A to 16D show an example in which the preceding vehicle VC exists in front of the vehicle T. In this example, similar to FIG. 14A, the preceding vehicle VC1 and the vehicle T traveling on the road extending east from the intersection enter the intersection. When viewed from the vehicle T, a blind spot range occurs on each of the road extending south from the intersection, the road extending west from the intersection, and the road extending north from the intersection. The oncoming vehicle VC2 enters the range of the blind spot on the road extending westward from the intersection.

As shown in FIG. 16A, when it is estimated that the vehicle T is turning to the north, that is, a right turn, and if it is estimated that the oncoming vehicle VC2 is going straight to the east or turning to the north, that is, a left turn, the selecting unit 340 selects The blind spot range BA2 of the road extending to the west and the blind spot range BA3 of the road extending to the north can be selected as the information providing range. As shown in FIG. 16B, when the vehicle T goes straight to the west or turns to the south, that is, a left turn is estimated, and the oncoming vehicle VC2 goes straight to the east or turns to the north, that is, a left turn, The selection unit 340 may not select the information provision range. As shown in FIG. 16C, when it is estimated that the vehicle T turns to the north, that is, the right turn, and the oncoming vehicle VC2 turns to the south, that is, the right turn is estimated, the selection unit 340 causes the selection unit 340 to move to the north. The blind spot range BA1 can be selected as the information providing range. As shown in FIG. 16D, when it is estimated that the vehicle T turns to the south, that is, a left turn, and the oncoming vehicle VC2 turns to the south, that is, a right turn, the selection unit 340 causes the selection unit 340 to move to the south. The blind spot range BA1 and the blind spot range BA2 of the road extending to the west can be selected as the information providing range.

As described above, the selection unit 340 can select, as the information providing range, a blind spot range that is particularly important for the passage of the vehicle T, based on the estimated behavior of the vehicle VC2.

Referring back to FIG. The transmitting unit 350 transmits the blind spot information indicating the behavior of the passerby estimated by the estimating unit 330 in the blind spot range determined by the determining unit 310. In a specific example, the transmission unit 350 transmits the blind spot information in the information providing range selected by the selection unit 340 to the vehicle 5. The blind spot information of the vehicle 5 is output (displayed) on the display 56. The blind spot information of the pedestrian 7 is output (displayed) on the display unit 73.

The reception unit 320 and the transmission unit 350 can be realized by the communication unit 35, for example. The determination unit 310, the estimation unit 330, and the selection unit 340 can be realized by the control unit 31, for example.

FIG. 17 is a flowchart showing an example of the procedure of blind spot action estimation processing by the edge server according to the present embodiment. The edge server 3 receives the detection signals from the detection device, that is, the vehicle detector 10 and the push button type traffic signal 11, and receives the sensor information obtained by the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 (step). S101).

The control unit 31 selects one of the passers-by in the service area as a target person (step S102). The control unit 31 determines the blind spot range for the target person (step S103). In the process of step S103, the range of the blind spot caused by the building is determined based on the position of the target person shown in the latest dynamic information and the position and size of the building shown in the building information B1. Further, the range of the blind spot caused by the vehicle 5 is determined based on the position of the target person indicated by the latest dynamic information and the position of the vehicle 5 indicated by the latest dynamic information.

The control unit 31 determines the planned movement direction within the blind spot range of the detected passerby, that is, the vehicle 5 and the pedestrian 7, based on the received detection signal (step S104).

The control unit 31 estimates the behavior of the passerby in the blind spot range based on the received sensor information (step S105). However, in this process, it is possible to omit the estimation of the behavior of the passerby whose planned moving direction is determined in step S104. As a result, the processing load on the edge server 3 can be suppressed.

The control unit 31 selects the information provision range from the blind spot range based on the estimated behavior of the passerby (including the planned movement direction) (step S106).

The control unit 31 generates blind spot information indicating the estimated behavior (including the planned movement direction) of the passerby in the selected information provision range (step S107). The blind spot information includes, for example, a blind spot range and vector information indicating the estimated behavior of a passerby.

The control unit 31 determines whether or not all passers-by have been selected as target persons (step S108). When there is a passerby not selected yet (NO in step S108), control unit 31 returns the process to step S102. The control unit 31 selects one of the unselected passersby as a new target person (step S102), and executes the processes of steps S103 to S108 again.

When all the passersby are selected as the target persons (YES in step S108), the control unit 31 causes the communication unit 35 to transmit the generated blind spot information to the vehicle 5 and the pedestrian terminal 70 as destinations ( Step S109). In this processing, the blind spot information is unicast-transmitted with one vehicle 5 or the pedestrian terminal 70 as the destination. For example, the blind spot information generated when a certain vehicle 5 is selected by the target person is information indicating the behavior of the passerby in the blind spot range when viewed from the vehicle 5. Therefore, the blind spot information is transmitted to the pedestrian terminal 70 of the vehicle 5 or the pedestrian 7 who was the target person when the blind spot information was generated.

This is the end of the blind spot action estimation process. The above process is executed at every dynamic information update cycle.

The core server 4 may also have the same functions as the edge server 3 and execute the above-mentioned action adjustment processing.

Please refer to FIG. The communication unit 61 of the vehicle 5 receives the blind spot information transmitted from the edge server 3 or the core server 4. The control unit 51 causes the display 56 to display (output) the blind spot information.

Please refer to FIG. The communication unit 75 of the pedestrian terminal 70 receives the blind spot information transmitted from the edge server 3 or the core server 4. The control unit 71 causes the display unit 73 to display (output) the blind spot information.

[First Modification]
In the above embodiment, the edge server 3 determines the planned moving direction of the passerby in the blind spot range and estimates the behavior of the passerby in the blind spot range, but the present invention is not limited to this. The edge server 3 according to the first modified example determines the planned movement direction of a passerby in the service area and estimates the behavior of the passerby in the service area. The edge server 3 determines a blind spot range for each passerby, extracts a planned moving direction and estimated behavior of the passerby in the blind spot range, and generates blind spot information.

An example of blind spot behavior estimation processing by the edge server 3 according to the first modification will be specifically described. FIG. 18 is a flowchart showing an example of the procedure of blind spot action estimation processing by the edge server according to the first modification. The edge server 3 receives the detection signals from the detection device, that is, the vehicle detector 10 and the push button type traffic signal 11, and receives the sensor information obtained by the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 (step). S201).

The control unit 31 determines the planned moving direction of the detected passerby, that is, the vehicle 5 and the pedestrian 7 in the entire service area based on the received detection signal (step S202).

The control unit 31 estimates the behavior of the passerby in the entire service area based on the received sensor information (step S203). However, in this process, it is possible to omit the estimation of the behavior of the passerby whose planned moving direction is determined in step S202. As a result, the processing load on the edge server 3 can be suppressed.

The control unit 31 selects one of the passers-by in the service area as a target person (step S204). The control unit 31 determines a blind spot range for the target person (step S205). The process of step S205 is similar to the process of step S103 described above.

The control unit 31 selects the information provision range from the blind spot range based on the estimated behavior of the passerby (including the planned moving direction) (step S206).

The control unit 31 extracts the estimated behavior (including the planned movement direction) of the passerby in the selected information provision range and generates blind spot information (step S207). The blind spot information includes, for example, a blind spot range and vector information indicating the estimated behavior of a passerby.

The control unit 31 determines whether or not all passers-by have been selected as target persons (step S208). When there are still passers-by not selected (NO in step S208), control unit 31 returns the process to step S204. The control unit 31 selects one of the unselected passersby as a new target person (step S204), and executes the processes of steps S205 to S208 again.

When all the passersby are selected as the target persons (YES in step S208), the control unit 31 causes the communication unit 35 to transmit the generated blind spot information to the vehicle 5 and the pedestrian terminal 70 as the destination ( Step S209). The process of step S209 is the same as the process of step S109 described above.

This is the end of the blind spot action estimation process. The above process is executed at every dynamic information update cycle.

The core server 4 may also have the same functions as the edge server 3 and execute the above-mentioned action adjustment processing.

Please refer to FIG. The communication unit 61 of the vehicle 5 receives the blind spot information transmitted from the edge server 3 or the core server 4. The control unit 51 causes the display 56 to display (output) the blind spot information.

Please refer to FIG. The communication unit 75 of the pedestrian terminal 70 receives the blind spot information transmitted from the edge server 3 or the core server 4. The control unit 71 causes the display unit 73 to display (output) the blind spot information.

The edge server 3 generates, in addition to the blind spot information, visual field information indicating a behavior of a pedestrian outside the blind spot range, and the display 56 of the vehicle 5 and the display unit 73 of the pedestrian terminal 70 display the blind spot information and the visual field information. And may be displayed. In this case, the information amount of the visual field information may be smaller than the information amount of the blind spot information. For example, the blind spot information indicates the direction of movement of a passerby in eight directions of north, northeast, east, southeast, south, southwest, west, and northwest, and the visibility information indicates the direction of movement of a passerby in four directions: north, east, south, and west. You may show by a direction. The blind spot information may indicate the moving direction and moving speed of the passerby, and the visual field information may indicate only the moving direction of the passerby.

[Second Modification]
The edge server 3 according to the second modified example determines the planned movement direction of the passerby in the blind spot range, estimates the behavior of the passerby, and then determines the planned movement direction of the passerby outside the blind spot range. Estimate the behavior of passersby. The edge server 3 generates blind spot information indicating the behavior of the passerby in the blind spot range and visual field information indicating the behavior of the passerby outside the blind spot range.

An example of blind spot action estimation processing by the edge server 3 according to the second modification will be specifically described. FIG. 19 is a flowchart showing an example of the procedure of blind spot action estimation processing by the edge server according to the second modification. The edge server 3 receives the detection signals from the detection device, that is, the vehicle detector 10 and the push button type traffic signal 11, and receives the sensor information obtained by the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 (step). S301).

The control unit 31 selects one of the passers-by in the service area as a target person (step S302). The control unit 31 determines the blind spot range for the target person (step S303). The process of step S303 is similar to the process of step S103 described above.

The control unit 31 determines the planned moving direction within the blind spot range of the detected passerby, that is, the vehicle 5 and the pedestrian 7, based on the received detection signal (step S304).

The control unit 31 estimates the behavior of the passerby in the blind spot range based on the received sensor information (step S305). However, in this process, it is possible to omit the estimation of the behavior of the passerby whose planned moving direction is determined in step S104. As a result, the processing load on the edge server 3 can be suppressed.

The control unit 31 determines the planned movement direction of the detected passerby, that is, the vehicle 5 and the pedestrian 7 outside the blind spot range, based on the received detection signal (step S306). However, in step S306, the planned movement direction may be determined with lower accuracy than in step S304. For example, the edge server 3 determines the planned movement direction from eight directions of north, northeast, east, southeast, south, southwest, west, and northwest in step S304, and determines four directions of north, east, south, and west in step S306. The planned movement direction can be determined from the direction.

Based on the received sensor information, the control unit 31 estimates the behavior of the passerby outside the blind spot range (step S307). However, in step S306, the behavior of the passerby may be estimated with lower accuracy than in step S305. For example, the edge server 3 estimates the moving direction from eight directions of north, northeast, east, southeast, south, southwest, west, and northwest in step S305, and in step S306, four directions of north, east, south, and west. The moving direction can be estimated from the. Further, the edge server 3 can estimate the moving direction and the moving speed of the passerby in step S305, and can estimate only the moving direction of the passerby in step S307.

The control unit 31 indicates the blind spot information indicating the estimated behavior (including the planned movement direction) of the passerby in the blind spot range, and the estimated estimated behavior (including the planned movement direction) of the passerby outside the blind spot range. The visual field information is generated (step S308). Here, the information amount of the visual field information may be smaller than the information amount of the blind spot information. For example, as described above, the behavior of the passerby in the visual field information can be information with lower accuracy than the behavior of the passerby in the blind spot information.

The control unit 31 determines whether or not all passers-by have been selected as target persons (step S309). When there is a passerby not selected yet (NO in step S309), the control unit 31 returns the process to step S302. The control unit 31 selects one of the unselected passersby as a new target person (step S302), and executes the processes of steps S303 to S309 again.

When all the passers-by are selected as the target persons (YES in step S309), the control unit 31 sets the generated blind spot information and visibility information to the communication unit 35 with the vehicle 5 and the pedestrian terminal 70 as the destinations. It is transmitted (step S310). In this process, the blind spot information and the view field information are unicast-transmitted with one vehicle 5 or the pedestrian terminal 70 as the destination. For example, the blind spot information and the view field information generated when a certain vehicle 5 is selected by the target person show the behavior of the passerby in the blind spot range and the range other than the blind spot range as viewed from the vehicle 5. Information. Therefore, the blind spot information and the visual field information are transmitted to the pedestrian terminal 70 of the vehicle 5 or the pedestrian 7 who was the target when the blind spot information and the visual field information were generated.

This is the end of the blind spot action estimation process. The above process is executed at every dynamic information update cycle.

The core server 4 may also have the same functions as the edge server 3 and execute the above-mentioned action adjustment processing.

Please refer to FIG. The communication unit 61 of the vehicle 5 receives the blind spot information and the visibility information transmitted from the edge server 3 or the core server 4. The control unit 51 causes the display 56 to display (output) blind spot information and visual field information.

Please refer to FIG. The communication unit 75 of the pedestrian terminal 70 receives the blind spot information and the visibility information transmitted from the edge server 3 or the core server 4. The control unit 71 causes the display unit 73 to display (output) blind spot information and visual field information.

[Other modifications]
In the above-described embodiment, when a passerby is detected by the vehicle detector 10 and the push-button type traffic light 11 which are detection devices that detect a passerby who is scheduled to move in a specific planned movement direction, the output is output from the detection device. The planned moving direction of the passerby is determined based on the detection signal, and the blind spot information includes the planned moving direction in the blind spot range, but the present invention is not limited to this. The edge server 3 estimates the behavior of the pedestrian based on the sensor information obtained from the vehicle 5, the pedestrian terminal 70, and the roadside sensor 8 without determining the planned movement direction of the pedestrian, and only the estimated behavior is estimated. The blind spot information shown may be generated.

[effect]
As described above, the information providing system according to the present embodiment includes the determination unit 310, the estimation unit 330, and the output unit (display 56, display unit 73). The determination unit 310 determines the range of the blind spot of the target person passing through the service area (target area). The estimation unit 330 estimates the behavior of a passerby passing through the service area. The output unit outputs the blind spot information indicating the behavior of the passerby estimated by the estimating unit 330 in the range of the blind spot determined by the determining unit 310. By providing the information indicating the estimated behavior of the passerby within the blind spot, it is possible to support the safer passage of the target person. That is, it is possible to provide information for further enhancing the safety of passersby.

The blind spot range may be a blind spot range caused by a building existing in the service area. As a result, it is possible to provide information indicating the estimated behavior of the passerby in the blind spot range caused by the building, and it is possible to support the safe passage of the target person.

The range of the blind spot may be a range of the blind spot caused by the vehicle 5 existing in the service area. As a result, it is possible to provide information indicating the estimated behavior of the passerby in the range of the blind spot caused by the vehicle 5, and it is possible to support the safe passage of the target person.

The estimation unit 330 may estimate the behavior of the passerby in the blind spot range. Thereby, it is not necessary to estimate the behavior of the passerby outside the range of the blind spot, and it is possible to suppress the processing load in estimating the behavior of the passerby.

The information providing system may further include a selection unit 340. The selection unit 340 may select the information provision range from the blind spot range determined by the determination unit 310 based on the behavior of the passerby estimated by the estimation unit 330. The output unit may output the blind spot information in the information providing range selected by the selection unit 340. Thereby, important blind spot information can be provided to the passage of the target person.

The estimating unit 330 may estimate the behavior of the passerby in the blind spot range before the action of the passerby in the non-blind spot range. The output unit may output the blind spot information and the view field information indicating the behavior of the passerby outside the range of the blind spot estimated by the estimating unit 330. As a result, even if it takes a short time to estimate the actions of the passers-by in all the service areas, it is possible to increase the possibility that the estimation of the actions of the passers-by within the blind spot is completed.

The estimation unit 330 may generate blind spot information and visual field information. The visual field information may be information indicating the estimation result of the behavior of the passerby outside the blind spot range. The information amount of the visual field information may be smaller than the information amount of the blind spot information. As a result, the behavior of the passerby in the blind spot range can be estimated in detail, and the processing load and processing time required for estimating the behavior of the passerby outside the blind spot range can be suppressed.

[Supplemental note]
The embodiments (including modified examples) disclosed this time are illustrative in all points and not restrictive. The scope of rights of the present invention is not limited to the above-described embodiments, but includes all modifications within the scope equivalent to the configurations described in the claims.

1A communication terminal 1B communication terminal 1C communication terminal 1D communication terminal 1E communication terminal 1F communication terminal 2 base station 3 edge server 4 core server 5 vehicle 7 pedestrian 8 roadside sensor 9 traffic signal controller 10 vehicle detector 11, 11a to 11h push Button type traffic light 31 Control unit 32 ROM
33 RAM
34 storage unit 35 communication unit 41 control unit 42 ROM
43 RAM
44 storage unit 45 communication unit 50 vehicle-mounted device 51 control unit 52 GPS receiver 53 vehicle speed sensor 54 gyro sensor 55 storage unit 56 display (output unit)
57 speaker 58 input device 59 vehicle-mounted camera 60 radar sensor 61 communication unit 70 pedestrian terminal 71 control unit 72 storage unit 73 display unit (output unit)
74 operation unit 75 communication unit 76 GPS receiver 77 acceleration sensor 78 gyro sensor 81 control unit 82 storage unit 83 roadside camera 84 radar sensor 85 communication unit 310 determination unit 320 reception unit 330 estimation unit 340 selection unit 350 transmission unit T vehicle (target) Person)
BA, BA1-BA3 Blind Spot Range BD Building VC, VC1-VC3 Vehicle (Passer)

Claims (9)

A determination unit that determines the range of the blind spot of the target person passing through the target area,
An estimation unit that estimates the behavior of a passerby passing through the target area,
In the range of the blind spot determined by the determining unit, an output unit that outputs blind spot information indicating the behavior of the passerby estimated by the estimating unit,
With
Information provision system. The range of the blind spot is the range of the blind spot caused by the building existing in the target area,
The information providing system according to claim 1. The range of the blind spot is the range of the blind spot caused by the vehicle existing in the target area,
The information providing system according to claim 1. The estimation unit estimates the behavior of the passerby in the range of the blind spot,
The information providing system according to any one of claims 1 to 3. Further comprising a selection unit that selects an information provision range from the range of the blind spot determined by the determination unit, based on the behavior of the passerby estimated by the estimation unit,
The output unit outputs the blind spot information in the information providing range selected by the selection unit,
The information providing system according to any one of claims 1 to 4. The estimation unit estimates the behavior of the passerby in the range of the blind spot, prior to the action of the passerby outside the range of the blind spot,
The output unit outputs, together with the blind spot information, visual field information indicating an action of the passerby in a range other than the blind spot range estimated by the estimating unit,
The information providing system according to any one of claims 1 to 5. The estimation unit generates the blind spot information and the visual field information indicating the estimation result of the behavior of the passerby in a range other than the blind spot range,
The information amount of the visibility information is smaller than the information amount of the blind spot information,
The information providing system according to any one of claims 1 to 6. A determination unit that determines the range of the blind spot of the target person passing through the target area,
An estimation unit that estimates the behavior of a passerby passing through the target area,
In the range of the blind spot determined by the determination unit, a transmission unit that transmits blind spot information indicating the behavior of the passerby estimated by the estimation unit,
With
server. On the computer,
Determining the range of the blind spot of the subject passing through the target area,
Estimating a behavior of a passerby passing through the target area,
In the range of the blind spot determined, transmitting blind spot information indicating the estimated behavior of the passerby,
To execute
Computer program.

Images