JP6553949B2 - Intersection accident prevention system - Google Patents

Description

  The present invention relates to an accident prevention information output device or the like that outputs information for preventing an accident at an intersection.

  Heretofore, methods have been proposed for preventing a collision of vehicles at intersections. For example, Patent Document 1 proposes a method of disposing a collision prevention device having a downward convex mirror at a crossroad intersection where two roads intersect.

  In this method, a driver of a first vehicle traveling straight behind a vehicle (especially a large vehicle) trying to turn right at a crossroad intersection and a driver of a second vehicle trying to turn right from the oncoming lane at the same intersection Is a method of preventing a collision of both vehicles at an intersection by visually checking the oncoming vehicles shown in the convex mirror of the collision prevention device.

JP-A-11-345395

  For example, when there is a traffic light and there is a poor crossroads intersection, a collision collision is likely to occur. In particular, when one's own vehicle enters an intersection, there are many cases of encountering a collision accident with another vehicle entering the intersection from the left and right.

  As shown in Patent Document 1, the conventional method of installing convex convex mirrors downward at the intersection requires the drivers of two vehicles entering the intersection from directions crossing each other to be convex mirrors of the other vehicles entering the intersection. Since it is a method to make it visible, if the speed of the vehicle is relatively high, it may not be in time even if the driver of each vehicle visually recognizes the other vehicle with the convex mirror and immediately performs the collision avoidance driving operation. It is difficult to reliably prevent encounter accidents at intersections.

The accident prevention information output device according to the first disclosure detects a moving object that passes through the moving object detection position at a moving object detection position before an intersection of a road, and acquires detection information of the moving object. Based on the detection information of the mobile body acquired by the mobile body detection unit, the mobile body information acquisition unit that acquires mobile body information that is information related to the mobile body, and the mobile body information acquired by the mobile body information acquisition unit Based on the traveling condition determination unit that determines whether the moving object satisfies the predetermined traveling condition and the traveling condition determining unit determines that the moving object satisfies the traveling condition, the information related to the accident prevention at the intersection An accident prevention information output device comprising: an information output unit that outputs accident prevention information.

  With this configuration, it is possible to notify the moving body entering the intersection of the accident prevention information related to the prevention of the accident at the intersection. Thereby, it can prevent that the driver | operator of a moving body does not notice the approach to the intersection of another moving vehicle, and it becomes a collision accident.

Furthermore, accident prevention information output apparatus of the second disclosure, with respect to the first disclosure, the mobile information includes the velocity of the moving body, predetermined running condition, the speed of the moving object is set in advance It is an accident prevention information output device that satisfies that the threshold value is greater than or equal to or greater than the threshold value.

  With this configuration, it is possible to notify the moving body entering the intersection of the accident prevention information related to the prevention of the accident at the intersection. Thereby, it can prevent that the driver | operator of a moving body does not notice the approach to the intersection of another moving vehicle, and it becomes a collision accident.

Furthermore, accident prevention information output apparatus of the third disclosure, with respect to the first disclosure, the mobile information includes the speed and movement direction of the moving body, predetermined running condition, the movement direction of the moving body The accident prevention information output device is to satisfy the condition that the speed of the moving object is equal to or more than the threshold in the direction of entering the intersection.

  With this configuration, it is possible to notify the moving body entering the intersection of the accident prevention information related to the prevention of the accident at the intersection. Thereby, it can prevent that the driver | operator of a moving body does not notice the approach to the intersection of another moving vehicle, and it becomes a collision accident.

Furthermore, accident prevention information output apparatus of the fourth disclosure, with respect to the first disclosure, the mobile information, speed of the moving object, including an acceleration and the moving direction, predetermined running condition, the movement of the moving body Accident prevention information output device in which the direction is a direction approaching an intersection, the speed of the moving object is equal to or higher than a threshold value, and the acceleration of the moving object is zero or positive. is there.

  With this configuration, it is possible to notify the moving body entering the intersection of the accident prevention information related to the prevention of the accident at the intersection. Thereby, it can prevent that the driver | operator of a moving body does not notice the approach to the intersection of another moving vehicle, and it becomes a collision accident.

The present fifth accident prevention information output device disclosed, to the fourth one of the disclosure from the first, the mobile information acquisition section, longitudinal of the road to the moving body detection position of the road An accident prevention information output device comprising two conductor detection means embedded with a predetermined interval in a direction, and acquiring the mobile body information using detection information of the mobile body by the two conductor detection means. .

  With this configuration, mobile object information such as the velocity, acceleration, and moving direction of the mobile object passing through the mobile object detection position can be obtained without contact from the mobile object without inhibiting the traveling of the mobile object.

The mobile accident prevention information output apparatus of the sixth disclosure for the fifth one of disclosures from the first, accident prevention information, the intersection than the threshold value or more or on the threshold large speed It is an accident prevention information output device that is information indicating that there is a moving body to enter.

  According to this configuration, it is possible to notify the moving object entering the intersection that the other moving object enters the intersection at high speed. As a result, it is possible to cause the drivers of both moving bodies to perform a driving operation to prevent a collision with another moving vehicle at the intersection.

Furthermore, accident prevention information output apparatus of the seventh disclosure for the sixth disclosure, the mobile information further moving body at the intersection of the moving body to the time that has passed relative to the moving body detection position The information output unit is an accident prevention information output device that outputs the accident prevention information including the moving body information, including the predicted intersection approach time to enter.

  With such a configuration, it is possible to notify the mobile object entering the intersection of the predicted intersection entry time when another mobile object enters the intersection. Thereby, when there is a possibility of a collision accident with another mobile vehicle at the intersection, the driver can be allowed to perform a driving operation to prevent the collision accident.

The present eighth disclosure accident prevention information output device, to the the first seventh any one of the disclosed, the information output unit, the accident prevention information radio wave, using the medium of light or sound output This is an accident prevention information output device.

  According to this configuration, it is possible to notify other moving bodies entering the intersection that there is a moving body entering the intersection. Thus, it is possible to prevent a driver of a moving body entering the intersection from noticing the approach of another moving vehicle to the intersection and causing a collision accident.

The accident prevention information receiving device of the ninth disclosure is an accident prevention information receiving device mounted on a moving object, and the moving object is traveling at a predetermined range including the intersection. An information receiving unit that receives accident prevention information that is information related to accident prevention at one or more intersections transmitted from one or more accident prevention information output devices installed at mobile object detection positions of one or more roads connected; An accident prevention information receiving device, comprising: an accident prevention information output unit that outputs one or more accident prevention information received by the information receiving unit.

  With this configuration, the driver of the mobile vehicle entering the intersection can know in advance that there is another moving body entering the intersection.

The present tenth disclosure accident prevention information receiving apparatus, to the ninth disclosure, accident prevention information accident prevention information receiving unit receives the intersection above a predetermined threshold value or larger speed than the threshold value This is an accident prevention information reception device that is information indicating that there is a moving object entering.

  With this configuration, a driver of a mobile vehicle entering the intersection can know in advance that there is another moving body entering the intersection at a high speed.

In addition, the accident prevention information receiving device of the eleventh disclosure, in contrast to the tenth disclosure , the accident prevention information received by the mobile body information receiving unit includes information on the speed of the mobile body entering the intersection, Information on the risk of collision of both mobiles at an intersection, using the information on the speed of the mobile received by the mobile information receiver and the information on the speed of the mobile on which the mobile information receiver is installed A risk information acquisition unit that acquires certain risk information is further provided, and the accident prevention information output unit is an accident prevention information receiver that further outputs the risk information acquired by the risk information acquisition unit.

  With such a configuration, a driver of a mobile vehicle entering the intersection can know the risk of a collision accident with another moving body entering the intersection.

  According to the accident prevention information output device and the like according to the present invention, it is possible to notify the moving object entering an intersection that there is another moving object entering the intersection. Thereby, it is possible to prevent the collision accident at the head of the vehicle from occurring when the driver of the moving body entering the intersection does not notice the approach of the other moving vehicle to the intersection.

Diagram for explaining the concept of the intersection accident prevention system according to the first embodiment Configuration diagram showing the configuration of the intersection accident prevention system Block diagram of accident prevention information output device which constitutes same intersection accident prevention system The figure which shows arrangement | positioning of the sensor which detects the moving body of the accident prevention information output device Block diagram of a modification of the accident prevention information output device constituting the intersection accident prevention system Block diagram of accident prevention information receiver which constitutes the intersection accident prevention system Flow chart for explaining the output control of the accident prevention information of the accident prevention information output device constituting the intersection accident prevention system Flow chart for explaining reception control of the accident prevention information of the accident prevention information receiving apparatus constituting the intersection accident prevention system The flowchart for demonstrating the modification of reception control of the accident prevention information of the accident prevention information receiver which comprises the intersection accident prevention system The figure which shows the structure of the specific example 1 of the accident prevention information output device of the said intersection accident prevention system The figure which shows an example of a structure of the induction type proximity sensor used for the same accident prevention information output device The figure which shows an example of the mobile body detection signal output from the mobile body detection part of the accident prevention information output device The figure which shows the structure of the specific example 1 of the accident prevention information receiver of the intersection accident prevention system. The figure which shows an example of the output aspect of the accident prevention information in the specific example 1 of the accident prevention information receiver The figure which shows the structure of the specific example 2 of the accident prevention information receiver of the intersection accident prevention system The figure which shows an example of the mobile body information etc. which the accident prevention information receiver receives. The figure which shows an example of the output aspect of the accident prevention information in the specific example 2 of the accident prevention information receiver The figure which shows the modification of the output aspect of the accident prevention information in the specific example 2 of the accident prevention information receiver Diagram for explaining the concept of the intersection accident prevention system according to the second embodiment Schematic diagram showing an example of the appearance of the computer system in the first and second embodiments The figure which shows an example of a structure of the computer system

  Hereinafter, an embodiment of an intersection accident prevention system using an accident prevention information output apparatus according to the present invention will be described with reference to the drawings.

  Note that, in the embodiment, the components denoted by the same reference numerals perform the same operation, and thus the description thereof may be omitted.

Embodiment 1
FIG. 1 is a diagram for explaining the concept of the intersection accident prevention system according to Embodiment 1, and FIG. 2 is a configuration diagram showing the configuration of the intersection accident prevention system. FIG. 3 is a block diagram of an accident prevention information output device constituting the intersection accident prevention system, and FIG. 4 is a view showing the arrangement of sensors for detecting a moving body of the accident prevention information output device. FIG. 5 is a block diagram of a modified example of the accident prevention information output apparatus constituting the intersection accident prevention system, and FIG. 6 is a block diagram of the accident prevention information receiving apparatus constituting the intersection accident prevention system.

  The intersection accident prevention system 1 prevents a collision accident in the intersection 401 by outputting accident prevention information which is information related to the accident prevention of the intersection 401 to one or more moving objects 5 entering the intersection 401. Is a system aimed at

  In FIG. 1, as an example of the intersection 401, an intersection where the two roads 4 intersect in a cross shape is illustrated, but the form of the intersection 401 is not limited. For example, it may be a rotary intersection in which a plurality of roads are radially connected to a circular rotary. Further, the number of roads 5 connected to the intersection 401 is not limited. Usually, the intersection 401 is a three-way road in which two roads 4 intersect each other so as to cross each other's road 4, but the tip of one road 4 is connected to the other road 4. Also good.

  In addition, when the road 4 is bent at an acute angle, the inflection point can be considered as a poorly seen intersection where the tips of the two roads 4 are connected, so the bend of the road 4 bent at such an acute angle The intersection accident prevention system 1 according to the present invention can be applied to the points.

  The moving body 5 traveling on the road 4 is usually an automobile, but may include a moving body such as a train traveling on a rail laid on the road 4 or a bicycle without power. There are various types of automobiles in terms of the number and shape of wheels, but the type of automobile is not limited. A car may be a two-wheeled vehicle (bike) or a three-wheeled vehicle, and may have six or more wheels. In addition, the application of the car does not matter. The automobile may be an automobile for various uses such as an ordinary passenger car, a truck, a special work vehicle, and a commercial vehicle.

  The accident prevention information widely includes information useful for one or more drivers of the moving body 5 entering the intersection 401 in order to prevent an accident between the moving bodies 5 at the intersection 401. The accident prevention information includes, for example, information indicating that there is a moving body 5 that enters the intersection 401 at a high speed that is greater than or equal to a predetermined threshold value or greater than the threshold value. The format and structure of accident prevention information is not limited. For example, information of a flag may be used, or information of a preset message may be used.

  The accident prevention information includes, for example, the speed of the moving body 5 that enters the intersection 401 at a high speed that is equal to or greater than a predetermined threshold value or greater than the threshold value, the moving direction (traveling direction) of the moving body 5, and the moving body 5 at the intersection 401 It includes information related to the moving body 5 (hereinafter referred to as “moving body information”) such as the predicted time of entry and the size of the moving body 5. The moving body information may include the acceleration α (= dv / dt) of the moving body 5.

  As long as the accident prevention information is transmitted to the driver of the moving body 5 entering the intersection 401 as a result and the driver can perform an accident prevention operation in advance based on the accident prevention information, the information content and data structure Does not matter. In the following description, various types of information output to prevent an accident at the intersection 401 with respect to one or more moving bodies 5 entering the intersection 401 will be described as “accident prevention information”.

  The intersection accident prevention system 1 includes one or more accident prevention information output devices 2 and one or more accident prevention information receivers 3 mounted on one or more moving objects 5. The accident prevention information output device 2 detects the moving body 5 at a predetermined position P before the intersection 401 with respect to the moving body 5 traveling on the road 4 toward the intersection 401. Get information. Further, the accident prevention information output device 2 acquires the moving body information of the moving body 5 based on the detection information, and outputs the accident prevention information wirelessly when the moving body 5 satisfies a predetermined traveling condition. The accident prevention information receiving device 3 receives the accident prevention information output from the accident prevention information output device 2, and based on the accident prevention information, the driver of the moving body 5 on which the accident prevention information receiving device 3 is mounted is crossed. The presence of another moving body 5 entering 401 is notified.

  The accident prevention information output device 2 is 1 for a plurality of roads 4 connected to the intersection 401 at a predetermined position P before the intersection 401 of each road 4 (hereinafter referred to as “moving body detection position P”). Each one is provided. When the road 4 has a road width of two or more lanes, the accident prevention information output device 2 is provided on the lane side (the left lane side in Japan) that runs toward the intersection 401 of the road 4. Yes.

  When the road 4 does not have a road width of two or more lanes, the accident prevention information output device 2 makes the road 4 move toward the intersection 401 and in the direction away from the intersection 401. In order to detect the detection information of the mobile object 5, the mobile object detection position P of each road 4 is disposed.

  When the number of roads 4 connected to the intersection 401 is N (N> 2), the intersection accident prevention system 1 includes N accident prevention information output devices 2. On the other hand, since the accident prevention information receiving device 3 is mounted on the moving body 5, there are M units existing within a predetermined range AR around the intersection 401 (for example, a range AR having a radius R around the intersection 401). Assuming that the accident prevention information receiving device 3 is mounted on the moving body 5, the intersection accident prevention system 1 includes M accident prevention information receiving devices 3.

  The configuration of the intersection accident prevention system 1 shown in FIG. 2 is such that the intersection 401 shown in FIG. 1 is a crossroad, and there are five moving bodies 5 in the range AR of radius R around the intersection 401. It is composed of a migration accident prevention information output device 2 and five accident prevention information reception devices 3.

  In FIG. 1 and FIG. 2, in order to distinguish the four accident prevention information output devices 2 constituting the intersection accident prevention system 1, the accident prevention information output device disposed on the road 4 below the intersection 401 is indicated by “2A”. "2B" to the accident prevention information output device disposed on the road 4 on the right side of the intersection 401, "2C" to the accident prevention information output device disposed on the road 4 above the intersection 401, the road on the left side of the intersection 401 The accident prevention information output device arranged at 4 is denoted by “2D”. In addition, in order to distinguish the five accident prevention information receiving devices 3 constituting the intersection accident prevention system 1, the accident prevention information receiving device mounted on the moving body 5 on the road 4 below the intersection 401 is referred to as “3A”. , “3 B” in the accident prevention information receiver mounted on the moving object 5 on the road 4 on the right side of the intersection 401, two on the moving objects 5 on the road 4 above the intersection 401 “3C”, “3D” in the accident prevention information receiving device, “3E”, “3F” in the two accident prevention information receiving devices mounted on the two moving bodies 5 on the road 4 on the left side of the intersection 401 The code is attached.

  As shown in FIG. 3, the accident prevention information output device 2 includes a moving body detection unit 201, a moving body information acquisition unit 202, a travel condition determination unit 203, and an information output unit 204.

  The moving body detection unit 201 detects the moving body 5 passing through the movement detection position P at the moving body detection position P on the road 4 and acquires detection information of the moving body 5 using the detection information. The moving body detection position P is set, for example, at a position before the entrance of the intersection 401 of the road 4 by a predetermined distance L [m] (see FIG. 1). Although the distance L is the distance from the entrance of the intersection 401 in FIG. 1, it may be the distance from the center of the intersection 401.

  The predetermined distance L takes into account, for example, the average velocity v [km / h] of the moving object 5 traveling in the direction in which the road 4 approaches the intersection 401 (the approach direction to the intersection 401) and the width of the road 4 or lane. Is set. The predetermined distance L is a time T from when the moving body 5 passes the moving body detection position P until it enters the intersection 401 (that is, it is necessary for the moving body 5 to travel the distance L from the moving body detection position P). The time (hereinafter referred to as "intersection entering time T") is set to a distance of, for example, 10 seconds to 15 seconds. For example, when the average speed v of the moving body 5 is 50 [km / h], the predetermined distance L is, for example, 140 to 200 [m]. The distance L may be shorter or longer than this example.

  The mobile detection unit 201 includes two mobile detection units 2011 and 2012 that detect the mobile 5 passing through the mobile detection position P of the road 4. The moving body detection units 2011 and 2012 are normally configured with a sensor that detects the moving body 5 in a non-contact manner, but may be configured with a contact type sensor such as a pressure-sensitive sensor, for example.

  The sensor for detecting the moving body 5 may be any type as long as it can detect the moving body 5 in a contact or non-contact manner. In the case of a non-contact sensor, for example, a sensor such as a photoelectric sensor, an inductive proximity sensor, a capacitive proximity sensor, or an ultrasonic sensor can be used as the moving body detection unit 2011 and 2012, but preferably an inductive sensor It is better to use a proximity sensor.

  As shown in FIG. 4, the two moving body detection units 2011 and 2012 are arranged with a predetermined distance D [m] in the longitudinal direction of the road 4. For example, the moving body detection means 2011 (hereinafter referred to as “first sensor 2011”) is defined as a direction in which the vehicle enters the intersection 401 with reference to the moving body detection position P, and a direction in which the vehicle exits from the intersection 401 is a − direction. The moving body detection means 2012 (hereinafter referred to as “second sensor 2012”) is + D / 2 with respect to the moving body detection position P. It is arranged in the position of. The relationship between the positions at which the first sensor 2011 and the second sensor 2012 are disposed with respect to the moving object detection position P may be reversed.

When the moving body 5 passes the moving body detection position P of the road 5, the first sensor 2011 detects the moving body 5, and outputs a first moving body detection signal _SD1 indicating that the moving body 5 is detected. . The second sensor 2012 detects the moving body 5 and outputs a second moving body detection signal _SD2 indicating that the moving body 5 has been detected.

The first moving body detection signal _SD1 and the second moving body detection signal _SD2 are, for example, rectangular wave signals that are high level or low level only during a period τ during which the moving body 5 is being detected. In addition, the first moving body detection signal _SD1 and the second moving body detection signal _SD2 are signals in which the output timing (for example, the timing of rising to a high level) of both signals is shifted by the time difference Δt. The first and second moving body detection signals S _D1 and S _D2 are input to the moving body information acquisition unit 202.

The period τ varies depending on the size (length) and speed of the moving body 5, and the time difference Δt varies depending on the interval D and the speed v of the moving body 5. Therefore, detection information regarding detection of the moving object 5 is input from the moving object detection unit 201 to the moving object information acquisition unit 202 by the first moving object detection signal _SD1 and the second moving object detection signal _SD2 .

The moving body information acquisition unit 202 acquires moving body information of the moving body 5 that has passed the moving body detection position P using the first moving body detection signal S _D1 and the second moving body detection signal S _D2 . For example, the moving body information acquisition unit 202 may calculate the speed v of the moving body 5, the moving direction of the moving body 5, and the intersection approach time T [until the mobile body 5 enters the intersection 401 after passing the moving body detection position P. Seconds, mobile object information such as the size of the mobile object 5 is acquired.

The moving body information acquisition unit 202 calculates the time difference Δt between the detection timings of the first moving body detection signal S _D1 and the second moving body detection signal S _D2 and the interval D [m] between the first sensor 2011 and the second sensor 2012. The velocity v [km / h] of the mobile unit 5 is acquired using this. There is a relationship of Δt = (D / v) × 3.6 between the time difference Δt [seconds], the interval D [m] and the velocity v [km / h]. The moving body information acquisition unit 202 may acquire the speed v by calculating (D / Δt) × 3.6. A conversion table for converting the time difference Δt into the speed v is created in advance. The velocity v may be obtained from the time difference Δt using a table.

Alternatively, for example, the time difference Δt is compared with preset threshold _values Δt ₁ , Δt ₂ ,... Δt _n and, for example, 5 [km / h] such as 35, 40, 45,. h) The velocity v may be acquired as a velocity rounded off by pitch.

In addition to the first sensor 2011 and the second sensor 2012 of the mobile object detection unit 201, a third mobile object detection means (third sensor) is provided, and the mobile object information acquisition unit 202 generates a first mobile object detection signal. The acceleration α [km / h ² ] of the moving body 5 may be acquired using S _D1 and the second moving body detection signal S _D2 and the third moving body detection signal S _D3 output from the third sensor.

For example, when the third sensor is disposed at the moving body detection position P (D = 0 position), a time difference Δt ₁ is generated between the output timings of the first moving body detection signal S _D1 and the third moving body detection signal S _D3. , the time difference Delta] t ₂ with the output timing of the third moving body detection signal _{S D3} and the second moving body detection signal _{S D2} is generated. Assuming that the velocity of the moving body 5 obtained from the time difference Δt ₁ and the distance D / 2 is v _A, and the velocity of the moving body 5 obtained from the time difference Δt ₂ and the distance D 2 is v _B , the acceleration α and the velocity v There is a relationship of α = (v _B −v _A ) /Δt×3.6 between _A and v _B.

The moving body information acquisition unit 202 may acquire the acceleration α of the moving body 5 by calculating, for example, α = (v _B −v _A ) /Δt×3.6. By acquiring the acceleration α, it is possible to acquire the velocity v _C when the mobile object 5 enters the intersection 401 by the acceleration α and the intersection approach time T. For example, there is a relationship of v _C = v + α × T between the speed v _C when the moving body 5 enters the intersection 401 and the speed v and the acceleration α when the moving body detecting unit 201 detects the moving body 5. Therefore, the moving body information acquisition unit 202 can obtain the speed v _C when the moving body 5 enters the intersection 401 by calculating (v + α × T).

  The moving body information acquisition unit 202 acquires the intersection approach time T [second] of the moving body 5 using the calculated speed v of the moving body 5 and the distance L from the moving body detection position P to the intersection 401. There is a relationship of T = (L / v) × 3.6 between the intersection approach time T, the distance L [m], and the speed v [km / h]. The intersection entry time T may be obtained by calculating (L / v) × 3.6. A conversion table for converting the speed v into the intersection entry time T is created in advance, and the conversion table is used. The intersection approach time T may be acquired from the speed v.

  The moving body information acquisition unit 202 calculates the moving direction of the moving body 5 from the sign of the time difference Δt. For example, if Δt> 0, the moving body information acquisition unit 202 sets the moving direction of the moving body 5 to the direction approaching the intersection 401 (the direction to enter the intersection 401), and if Δt <0, The moving direction is a direction away from the intersection 401 (a direction of leaving the intersection 401).

As shown in FIG. 4, a lane in the direction approaching the intersection 401 (hereinafter referred to as “first lane”) and a lane in a direction away from the intersection 401 (hereinafter referred to as “second lane”) are provided on the road 5. If that is, the moving object detection unit 201 is provided in the first lane, usually, the first moving body detection signal S _D1 is the time difference Delta] t of the detection timing of the second moving body detection signal S _D2 becomes Delta] t> 0 Therefore, the moving body information acquisition unit 202 acquires information on the direction approaching the intersection 401 as the moving direction of the moving body 5.

The mobile information acquisition unit 202 acquires, for example, information on the size (length) of the mobile 5 using the first mobile detection signal _SD1 or the second mobile detection signal _SD2 . For example, when the object approaches, the first sensor 2011 outputs the first moving body detection signal S _D1 only during a period in which the object exists within the proximity detection range. When the moving body 5 at the same speed has passed through the detection range of the first sensor 2011, the moving body detection period τ of the first moving body detection signal S _D1, longer the longer length of the moving body 5.

Therefore, the mobile body information acquisition unit 202 determines, for example, as the length of the mobile body 5 from the length of the mobile body detection period τ of the first mobile body detection signal S _D1 (or the second mobile body detection signal S _D2 ). Acquire information classified as large "medium" or "small". The number of classifications of the length of the mobile object 5 is not limited to three. Moreover, you may utilize the moving body detection period (tau) for the information regarding the magnitude | size (length) of the moving body 5. FIG.

The traveling condition determination unit 203 uses the moving body information acquired by the moving body information acquisition unit 202 to determine whether or not the moving body 5 that has passed the moving body detection position P satisfies a preset traveling condition. The traveling condition is, for example, a condition that the moving body 5 is traveling in a direction of entering the intersection 401 at a speed v that is equal to or greater than a predetermined threshold value v _TH [km / h] or greater than the threshold value v _TH .

When the moving body information acquisition unit 202 also acquires the acceleration α of the moving body 5 and the velocity v _C when the moving body 5 enters the intersection 401, the moving body 5 has a predetermined threshold value v _TH [km / h] or more A condition that the vehicle enters the intersection 401 at a speed v _C greater than the threshold value v _TH may be set as the traveling condition.

In the example of FIG. 1, the moving body 5 detected by the moving body detection unit 201 normally travels in the first lane toward the intersection 401, and therefore the moving direction of the moving body 5 is the direction of entering the intersection 401. It is. For example, the traveling condition determination unit 203 compares the speed v of the moving object 5 acquired by the moving object information acquisition unit 202 with a threshold value v _TH so that the moving object 5 that has passed the moving object detection position P satisfies the traveling condition. It is determined whether or not.

For example, if v _TH ≦ v, the traveling condition determination unit 203 determines that the moving object 5 that has passed the moving object detection position P satisfies the traveling condition, and if v <v _TH , the moving object detection position P It is determined that the moving body 5 that has passed through does not satisfy the traveling conditions. Alternatively, the traveling condition determination unit 203 determines that the moving body 5 that has passed the moving body detection position P satisfies the traveling condition if v _TH <v, and the moving body detection position if v ≦ v _TH. It is determined that the moving body 5 that has passed P does not satisfy the traveling condition.

When the condition that the moving body 5 enters the intersection 401 at a speed v _C that is greater than or equal to a predetermined threshold value v _TH [km / h] or greater than the threshold value v _TH is set as the traveling condition, the traveling condition determination unit 203 _{If TH} ≦ v _C , it is determined that the moving body 5 that has passed the moving body detection position P satisfies the traveling condition, and if v _C <v _TH , the moving body 5 that has passed the moving body detection position P travels. It is determined that the condition is not satisfied. Alternatively, the traveling condition determination unit 203 determines that the moving body 5 that has passed the moving body detection position P satisfies the traveling condition if v _TH <v _C , and the moving body if v _C ≦ v _TH. It is determined that the moving body 5 that has passed the detection position P does not satisfy the traveling condition.

When the width of the road 4 connected to the intersection 401 is only one lane, and both the moving body 5 in the direction entering the intersection 401 and the moving body 5 in the direction away from the intersection 401 pass the moving body detection position P, The traveling condition determination unit 203 determines whether or not the moving body 5 is traveling in the direction of entering the intersection 401 based on the moving direction of the moving body 5 acquired by the moving body information acquisition unit 202. There is judged when the vehicle is traveling in a direction to enter the intersection 401, whether the large velocity than the velocity v is the threshold value v _TH more or threshold v _TH of the moving body 5.

For example, when v _TH ≦ v, the traveling condition determination unit 203 determines that the moving object 5 that has passed the moving object detection position P satisfies the traveling condition, and when v <v _TH , the traveling object detection. It is determined that the moving body 5 that has passed the position P does not satisfy the traveling condition. Alternatively, the traveling condition determination unit 203 determines that the moving body 5 that has passed the moving body detection position P satisfies the traveling condition if v _TH <v, and the moving body detection position if v ≦ v _TH. It is determined that the moving body 5 that has passed P does not satisfy the traveling condition.

  The travel condition determination unit 203 may use the speed v of the moving body 5 as a parameter for the travel condition determination process, but may use a parameter other than the speed v. For example, time parameters such as time difference Δt or mobile object detection period τ may be used.

When using the time difference Δt, the traveling condition determination unit 203 compares the time difference Δt with a preset threshold value Δt _TH , for example, determines that the traveling condition is satisfied if Δt ≦ Δt _TH , and Δt _TH <Δt. If it is, it is determined that the traveling conditions are not satisfied. Alternatively, the traveling condition determination unit 203 determines that the traveling condition is satisfied if Δt <Δt _TH and determines that the traveling condition is not satisfied if Δt _TH ≦ Δt. The threshold Δt _TH [seconds] is a time given by (D / v _TH ) × 3.6.

When using the moving body detection period τ, the traveling condition determination unit 203 compares the moving body detection period τ with the threshold value τ _TH set in advance, and for example, determines that the traveling condition is satisfied if τ ≦ τ _TH. If τ _TH <τ, it is determined that the traveling condition is not satisfied. Alternatively, the traveling condition determination unit 203 determines that the traveling condition is satisfied if τ <τ _TH , and determines that the traveling condition is not satisfied if τ _TH ≦ τ.

The threshold value τ _TH is set according to the size of the mobile unit 5. For example, if the representative lengths of the moving bodies 5 of small cars, medium cars, and large cars are L _VS , L _VM , and L _VL , the threshold τ _STH [seconds] corresponding to the small cars is (L _VS / v _TH ) × 3.6. The threshold τ _MTH [seconds] corresponding to the medium-sized vehicle is given by (L _VM / v _TH ) × 3.6, and the threshold τ _LTH [seconds] corresponding to the large vehicle is (L _VL / v _TH ). X3.6. The thresholds τ _STH , τ _MTH , and τ _LTH have a relationship of τ _STH <τ _MTH <τ _LTH .

Further, when the moving body 5 to the running condition of the condition that enters the intersection 401 at a large speed _{v C} than the predetermined threshold value _v TH [km / h] or more or threshold _{v TH,} the speed as a decision parameter _{v C} Alternatively, acceleration α may be used. When acceleration α is used, there is a relationship of v _C = v + α × T = v + α × (L / v) × 3.6. For example, when v _TH ≦ v _C is a judgment formula of running conditions, v _TH ≦ v + α × (K / v) (where K = L × 3.6) is established. Then, when this judgment formula is modified, the judgment formula of the traveling condition in the case of using the acceleration α of (v _TH −v) × (v / K) ≦ α can be obtained.

When (v _TH −v) × (v / K) on the left side of the above determination formula is a threshold value α _TH for determining a traveling condition using the acceleration α, the threshold value α _TH is a function of the speed v. It is necessary to set a plurality of threshold _values α _TH in accordance with the velocity v of the mobile unit 5. Traveling condition determining unit 203, for example, by calculation using the velocity v and the threshold value _{v TH} and _{(v TH -v) × (v} / K), and calculates the threshold value alpha _TH, the threshold alpha _TH and the acceleration alpha For example, if α _TH ≦ α, it is determined that the traveling condition is satisfied, and if α <α _TH , it is determined that the traveling condition is not satisfied. Alternatively, the traveling condition determination unit 203 determines that the traveling condition is satisfied if α _TH <α, and determines that the traveling condition is not satisfied if α ≦ α _TH .

The threshold value α _TH for each speed v is obtained in advance, and the traveling condition determination unit 203 determines the threshold value α _TH corresponding to the speed v acquired by the mobile object information acquisition unit 202 and the acceleration acquired by the mobile object information acquisition unit 202. The traveling condition may be determined by comparing with α.

  The moving body information acquisition unit 202 and the travel condition determination unit 203 can be usually realized by an MPU, a memory, or the like. The processing procedures of the moving body information acquisition unit 202 and the travel condition determination unit 203 are usually realized by software, and the software is recorded in a recording medium such as a ROM. However, it may be realized by hardware (dedicated circuit).

When the traveling condition determination unit 203 determines that the moving body 5 detected by the moving body detection unit 201 satisfies the predetermined traveling condition, the information output unit 204 outputs the above-described accident prevention information. For example, when the accident prevention information is a flag, the information output unit 204 outputs, for example, information on a flag “1” or “0”. For example, "1" is bit information allocated that the moving body 5 to enter an intersection 401 with the threshold value v _tH more or threshold v greater than _tH velocity v exists, "0", the threshold value v _tH more Alternatively, it is bit information allocated that there is no moving object 5 entering the intersection 401 at a velocity v larger than the threshold v _tH .

  In addition, if the accident prevention information is information of a message, for example, it is assumed that message sentences of “entry of moving object 5 to intersection 401” and “no entry of moving object 5 to intersection 401” are created in advance. , Every time the moving body detection unit 201 detects the moving body 5, the information output unit 204 sends a message “There is no moving body 5 entering the intersection 401” or “No moving body 5 enters the intersection 401”. Output accident prevention information consisting of

  The information output unit 204 outputs, for example, the accident prevention information to a predetermined range AR [m] around the intersection 401 by short distance wireless communication. Assuming that the predetermined range AR is, for example, in the range of the radius R centered on the intersection point 401 as shown in FIG. 1, the radius R is in the range of 100 to several hundred [m].

  The information output unit 204 includes modulation means for modulating the carrier signal with the accident prevention information, and radiation means for radiating the carrier signal modulated by the modulation means to the space. As long as the accident prevention information can be transmitted to the predetermined range AR around the intersection 401, the method of the short distance wireless communication does not matter.

  The information output unit 204 may be provided for each accident prevention information output device 2. As shown in FIG. 5, the mobile body detection unit 201, the mobile body information acquisition unit 202, and the travel condition determination unit of the accident prevention information output device 2 are provided. The configuration may be such that the information output unit 204 is separated from the information output unit 204, and one information output unit 204 common to the four accident prevention information output devices 2 is provided at an appropriate position of the intersection 401. In this case, each mobile body information acquired by the mobile body information acquisition unit 202 of the four accident prevention information output devices 2 is transferred to the common information output unit 204, and the information output unit 204 around the intersection 401 is transmitted. It is transmitted to a predetermined range AR.

  The information output unit 204 is realized by a wireless communication unit, but may be realized by a unit that transmits a broadcast.

  As shown in FIG. 6, the accident prevention information receiving device 3 includes an information receiving unit 301, a risk information acquiring unit 302, and an accident prevention information output unit 303.

  The information receiving unit 301 receives the wireless signal transmitted from the information output unit 204, demodulates the wireless signal, and acquires accident prevention information. The information receiving unit 301 is realized by wireless communication means, but may be realized by means for receiving broadcasts.

  When the accident prevention information acquired by the information receiving unit 301 includes the moving body information of the moving body 5, the risk information acquiring unit 302 uses the moving body information to communicate with the other moving bodies 5 at the intersection 401. The risk information, which is information on the risk level of the collision accident, is acquired.

  In order to distinguish the mobile body 5 on which the accident prevention information receiving device 3 is mounted from other mobile bodies 5, the former is referred to as "first mobile body 5" and the latter is referred to as "second mobile body 5". To explain, the degree-of-risk information is, for example, information obtained by evaluating the degree of risk of causing a collision with the second moving body 5 when the first moving body 5 passes through the intersection 401.

For example, the evaluation value of the degree of risk determines a distance d when the first moving object 5 and the second moving object 5 intersect at the intersection 401, and the distance d is set to a plurality of threshold values d _TH1 , d preset. It can be determined by comparing with _TH2 , _dTH3 ( _dTH1 < _dTH2 < _dTH3 ). The distance d is obtained, for example, by determining the position of the first moving body when the second moving body 5 passes through the center of the intersection 401 and determining the distance between the center and the position of the first moving body. be able to.

The shorter the distance d when the first moving body 5 and the second moving body 5 intersect, the higher the risk of collision. Therefore, the risk is evaluated at multiple levels or ranks depending on the size of the distance d. can do. For example, by comparing set in advance three threshold _{d TH1, d TH2, d TH3} (d TH1 <d TH2 <d TH3), the distance d between the threshold _{d TH1,} d _{TH2, d TH3,} " It is possible to obtain risk level information evaluated in three stages of “high”, “medium”, and “low”. If four or more thresholds d _TH1 , d _TH2 , d _TH3 ,... D _THn (d _TH1 <d _TH2 <d _TH3 <... <D _THn ) are provided, risk information evaluated at a finer rank or level is obtained. be able to.

The above-mentioned risk information by “high”, “medium”, “low”, etc. is information that evaluates the risk of a collision accident occurring at the intersection 401, but the risk information is information related to a collision accident. , Its format and content do not matter. For example, the information which evaluated the scale when a collision accident occurred may be included. The scale when the collision accident occurs is, for example, a combination of the sizes of the first moving body 5 and the second moving body 5 or the speed v ₁ of the first moving body 5 and the speed of the second moving body 5. v can be evaluated by a combination of the _two.

  Further, the risk level information is not limited to the above example. For example, the distance d when the first moving body 5 and the second moving body 5 intersect may be used as the risk level information.

  The accident prevention information output unit 303 outputs the accident prevention information received by the information reception unit 301 and the risk level information acquired by the risk level information acquisition unit 302. The information output in the accident prevention information output unit 303 is information regarding whether or not the second moving body 5 is approaching the intersection 401 with respect to the driver of the first moving body 5. This is an output for reporting information such as the traveling state of the mobile unit 5 and the risk of an accident with the second mobile unit 5.

  The accident prevention information output unit 303 has a display and a speaker, and outputs the information to the driver of the first mobile unit 5 as an image and a voice. For example, the accident prevention information output unit 303 displays the accident prevention information acquired by the information reception unit 301 and the risk degree information acquired by the danger degree information acquisition unit 302 on the display using characters, figures, and the like.

  The accident prevention information output unit 303 displays, for example, a map of the intersection 401 or a two-dimensional image showing the shape of the intersection 401 on the display, and one or more accident preventions acquired by the information reception unit 301 on the map or the two-dimensional image. It is preferable to output predetermined information based on the information. In addition, when the second mobile object 5 enters the intersection 401 on the map or two-dimensional image of the intersection 401 using the degree-of-risk information acquired by the degree-of-risk information acquisition unit 302, the accident prevention information output unit 303 The relative positional relationship with the first moving body 5 and the risk of a collision accident between both moving bodies 5 may be output.

  Further, the accident prevention information output unit 303 displays a warning or collision avoidance operation for the driver of the first moving body 5 or outputs a warning sound or a voice message when the risk of a collision accident is high. It may be done.

  Next, operations of the accident prevention information output device 2 and the accident prevention information reception device 3 constituting the intersection accident prevention system 1 will be described. First, the operation of transmission control of the accident prevention information of the accident prevention information output device 2 will be described using the flowchart of FIG. 7.

In the following description, when the mobile objects 5 existing around the intersection 401 are not distinguished, they are simply expressed as “mobile object 5” and the speed is expressed as “speed v”. The mobile body 5 detected by the accident prevention information output device 2 is distinguished from the mobile body 5 equipped with the accident prevention information receiving device 3 that receives and outputs the accident prevention information transmitted from the accident prevention information output device 2. In the case, the former mobile 5 is referred to as the "second mobile 5", and the latter mobile 5 is referred to as the "first mobile 5". Also, the velocity of the first mobile unit 5 is denoted as "v ₁ ", and the velocity of the second mobile unit 5 is denoted as "v ₂ ".

  In addition, although the first mobile unit 5 is also detected by the accident prevention information output device 2, in the operation explanation of the accident prevention information output unit 2, the mobile unit 5 to be detected is referred to as a "second mobile unit 5". . In addition, although the accident prevention information receiving device 3 is also mounted on the second mobile body 5, in the operation explanation of the accident prevention information receiving device 3, accident prevention information reception for receiving mobile body information of the second mobile body 5 The moving body 5 on which the device 3 is mounted is referred to as a “first moving body 5”.

(Step S701) The moving object detection unit 201 detects the passage of the second moving object 5 (loop processing of S701). The first sensor 2011, which is a constituent element of the moving body detection unit 201, moves the second moving body 5 during the period τ during which the second moving body 5 passes when the second moving body 5 passes the detection range. The detected first mobile object detection signal _SD1 is output. The second sensor 2012, which is a constituent element of the moving body detection unit 201, also detects the second moving body 5 during the period τ during which the second moving body 5 passes when the second moving body 5 passes the detection range. The second mobile object detection signal S _D2 is output.

When the first moving body detection signal S _D1 and the second moving body detection signal S _D2 are output from the first sensor 2011 and the second sensor 2012 of the moving body detection unit 201 (S701: Y), the process proceeds to step S702.

(Step S702) The moving body information acquisition unit 202 uses the first moving body detection signal S _D1 and the second moving body detection signal S _D2 to transmit the velocity v ₂ , the moving direction, and the magnitude of the second moving body 5 that has passed. And moving object information such as the intersection approach time T of the second moving object 5 is calculated.

The mobile information acquisition unit 202 is configured to calculate a time difference Δt [seconds] between output timings of the first mobile detection signal _SD1 and the second mobile detection signal _SD2 , and an interval D [m of the first sensor 2011 and the second sensor 2012]. ] To obtain the speed v ₂ [km / h]. The moving body information acquisition unit 202 acquires the speed v ₂ of the second moving body 5 by, for example, calculating (D / Δt) × 3.6.

  The moving body information acquisition unit 202 acquires the moving direction of the second moving body 5 based on the sign of the time difference Δt. When Δt> 0, the moving body information acquisition unit 202 sets the moving direction of the second moving body 5 to approach the intersection 401, and when Δt <0, the moving body information acquisition unit 202 sets the moving direction of the second moving body 5 to the intersection. The direction is away from 401.

The moving body information acquisition unit 202 acquires the size (length) of the second moving body 5 using the moving body detection period τ of the first moving body detection signal S _D1 or the second moving body detection signal S _D2. . For example, the moving body information acquisition unit 202 compares the moving body detection period τ with “threshold” τ _TH1 and τ _TH2 (τ _TH2 <τ _TH1 ) set in advance corresponding to the calculated speed v _2. Information of the size (length) of the second mobile object 5 such as (large vehicle), “medium” (medium vehicle), “small” (small vehicle), etc. is acquired.

The moving body information acquisition unit 202 acquires the intersection approach time T of the second moving body 5 using the calculated velocity v2 of the _second moving body 5 and the distance L from the moving body detection position P to the intersection 401. To do. The moving body information acquisition unit 202, for example, calculates (L / v) × 3.6 to acquire the intersection approach time T [seconds].

(Step S703) The traveling condition determination unit 203 uses the moving body information acquired by the moving body information acquisition unit 202 to detect that the second moving body 5 detected by the moving body detection unit 201 has a predetermined traveling condition (set in advance). determine whether it satisfies the traveling condition) that threshold v running from _TH more or threshold v _TH toward the intersection 401 at a large speed v _2. The traveling condition determination unit 203 compares, for example, the velocity v2 of the _second moving body 5 with the threshold value v _TH to determine whether or not v _TH ≦ v ₂ .

If v _TH ≦ v ₂ (S 703: Y), the traveling condition determination unit 203 determines that the second moving body 5 satisfies the predetermined traveling condition, and proceeds to step S 704, and v ₂ <v _TH (S703: N), it is determined that the second mobile unit 5 does not satisfy the predetermined traveling condition, and the process returns to step S701.

In step S703, the traveling condition determination unit 203 may determine whether or not v _TH <v ₂ . In this case, if v _TH <v ₂ (S 703: Y), the traveling condition determination unit 203 determines that the second mobile unit 5 satisfies the predetermined traveling condition, and proceeds to step S 704, where v ₂ ≦≦ _2. If it is v _TH (S703: N), it is determined that the second mobile unit 5 does not satisfy the predetermined traveling condition, and the process returns to step S701.

When the width of the road 4 is only one lane, the traveling condition determination unit 203 determines whether the moving direction of the second moving body 5 is a direction to enter the intersection 401 and enters the intersection 401. If it is determined that the direction of the velocity _{v 2} of the second movable body 5 is compared with a threshold value _{v TH,} it determines whether or not _{v TH} ≦ _{v 2} or _v TH _{<v 2.}

  (Step S704) The information output unit 204 transmits accident prevention information to a predetermined range AR centered on the intersection 401 by short-range wireless communication.

  Next, the operation of reception control of the accident prevention information of the accident prevention information receiving apparatus 3 will be described using the flowchart of FIG.

  (Step S801) The information receiving unit 301 is in a state where it can receive the accident prevention information transmitted by the accident prevention information output device 2 (loop processing of step S801). When the accident prevention information output device 2 transmits the accident prevention information when the first moving body 5 on which the accident prevention information receiving device 3 is mounted is moving within a predetermined range AR centered on the intersection 401, The information receiving unit 301 receives the accident prevention information (S801: Y), and proceeds to step S802.

(Step S <b> 802) The risk information acquisition unit 302 determines whether or not the mobile body information of the second mobile body 5 is included in the accident prevention information received by the information reception unit 301. If the risk level information acquisition unit 302 includes mobile object information of the second mobile unit 5 (S802: Y), the process proceeds to step S803, and the mobile unit information of the second mobile unit 5 is included. If not (S802: N), the process proceeds to step S804.

(Step S 803) The degree-of-risk information acquiring unit 302 uses the moving object information of the second moving object 5 received by the information receiving unit 301 to generate the first moving object 5 and the second moving object 5 at the intersection 401. Get information about the risk of a collision. The risk level information acquisition unit 302 uses, for example, the time at which the second mobile unit 5 passes the intersection 401 using the speed v ₁ of the first mobile unit 5 and the intersection approach time T of the second mobile unit 5 ( For example, the position of the first moving body 5 at the time when the second moving body 5 passes through the center of the intersection 401 is calculated.

  Furthermore, the risk level information acquisition unit 302 is configured such that the distance d between the first moving body 5 and the second moving body 5 when the second moving body 5 passes the intersection 401 (for example, the first distance from the center of the intersection 401 The distance to the position of the mobile object 5 is calculated, and based on the calculation result, for example, the risk information evaluated as “low”, “medium”, and “high” is acquired.

  (Step S804) The accident prevention information output unit 303 outputs the accident prevention information acquired by the information receiving unit 301, or the risk information acquired by the accident prevention information and risk information acquisition unit 302. The risk information acquisition unit 302 displays, for example, the accident prevention information acquired by the information reception unit 301 or the accident prevention information and the risk information on a display with characters and graphics, and outputs the information from a speaker by voice.

  In step S804, when the risk information of the second moving body 5 is "medium" or "high", the accident prevention information output unit 303 prompts the driver to perform a driving operation for avoiding a collision. Alternatively, the driver of the first mobile unit 5 may be notified of a warning sound or a warning message set in advance.

  When the accident prevention information output unit 303 notifies of a warning sound or a warning message, the driver of the first moving body 5 usually performs a driving operation such as decelerating to cause a collision with the second moving body 5. When the first mobile unit 5 is provided with a collision accident preventing mechanism although the degree of danger is reduced, for example, the collision accident preventing mechanism may be operated according to the flowchart shown in FIG. The collision accident prevention mechanism is, for example, a mechanism that automatically operates the brake pedal to reduce the speed of the moving body 5 or stops the moving body 5.

  In the flowchart shown in FIG. 9, after step S804 of the flowchart shown in FIG. 8, the process of determining whether the risk of a collision accident is high (S805) and the driver of the first moving body 5 A determination process whether or not a predetermined driving operation for avoiding has been performed (S806), and when the driver of the first moving body 5 does not perform a predetermined driving operation in the determination process (S806: N), An accident prevention process (S807) for operating the collision accident prevention mechanism is provided.

  In the flowchart shown in FIG. 9, when the risk level information acquisition unit 302 acquires the risk level information of the second moving body 5 in step S804, the accident prevention information output unit 303 determines whether or not the risk level is high. (S805). If the risk level is low (S805: N), the accident prevention information output unit 303 returns to step S801. If the risk level is high (S805: Y), the driver notifies the user with a warning sound or a warning message. In response to this, it is determined whether or not a predetermined driving operation for accident prevention has been performed (S806).

The accident prevention information output unit 303 returns to step S801 when the driver performs a predetermined driving operation for accident prevention (S806: Y). The accident prevention information output unit 303 outputs an operation command signal to the collision accident prevention mechanism automatically when the predetermined driving operation is not performed (S806: N), and the speed v ₁ of the first moving body 5 is automatically set. Is decelerated to a predetermined low speed or the first moving body 5 is stopped (S807), and the process returns to step S801.

(Specific example 1)
Next, a specific example 1 of the intersection accident prevention system 1 for preventing the collision of the mobile bodies 5 with each other at the intersection 401 will be described.

Examples 1, accident prevention information output device 2 constituting the intersection accident prevention system 1 detects the speed v ₂ with the information of the moving direction of the moving body 5 (second moving body 5), the detection information is given In the accident prevention information receiving device 3 mounted on the moving body 5 (first moving body 5) which travels a predetermined range AR around the intersection 401 by short distance wireless communication when accident traveling conditions are satisfied This is a transmission system.

  FIG. 10 is a diagram showing a specific example of the configuration of the accident prevention information output device 2. FIG. 11 is a diagram showing an example of the configuration of an inductive proximity sensor used in the accident prevention information output device 2. FIG. 12 is a diagram illustrating an example of a moving body detection signal output from the moving body detection unit 201 of the accident prevention information output device 2.

  The accident prevention information output device 2 uses the inductive proximity sensor 6 shown in FIG. 8 as the first sensor 2011 and the second sensor 2012 that detect the second moving body 5 that passes the moving body detection position P on the road 4. It has been. The inductive proximity sensor 6 includes a detection coil 601 that detects a conductive object (conductor), and a detection unit 602 that detects that the conductor has approached using the detection coil 601. The detection unit 602 includes an oscillation circuit 6021 for supplying a high-frequency current to the detection coil 601, a detection circuit 6022 for detecting a conductor based on a change in the oscillation state of the oscillation circuit 6021, and the detection circuit 6022 for detecting the conductor. An output circuit 6023 which generates and outputs a detection signal in accordance with the signal is accommodated.

  The detection coil 601 of the inductive proximity sensor 6 is embedded in the left lane of the road 4, and the detection unit 602 is housed in the device body 20 of the accident prevention information output device 2. The device body 20 of the accident prevention information output device 2 is installed at an appropriate position on a sidewalk along the road, and the detection coil 601 and the oscillation circuit 6021 are connected by a coaxial cable (not shown).

  Since the inductive proximity sensor 6 used for the first sensor 2011 and the second sensor 2012 has the same configuration, the specific configuration and operation of the inductive proximity sensor 6 will be described below for the first sensor 2011.

  The detection coil 601 has a cross-sectional shape such as a rectangle, a polygon, or a circle having a large opening area. The length X of the detection coil 601 in the width direction (see FIG. 11) has a length of 3/4 or more of the width of the lane, and the length Y of the detection coil 601 in the longitudinal direction of the road 4 (FIG. 11) Has a suitable length. The detection coil 601 of the first sensor 2011 is a position of + D [m] with respect to the moving body detection position P of the road 4 and is embedded with the opening surface horizontal in the approximate center of the left lane of the road 4. .

When high frequency current to the oscillation circuit 60 in 21 et sensing coil 601, as shown in FIG. 11, the high-frequency magnetic field H is generated an opening surface of the sensing coil 601 interlink so on. The high frequency magnetic field H circulates between the ground and the ground so as to cross the road surface of the road 4. When the second moving body 5 passes above the detection coil 601 (detection range), an eddy current flows through the conductor portion of the second moving body 5, and the impedance of the detection coil 601 is changed by the eddy current, so that the oscillation circuit The oscillation state of 6021 changes. For example, the oscillation of the oscillation circuit 6021 is lowered or stopped.

The detection circuit 6022 outputs a signal indicating that the second moving body 5 has approached the detection range from the change in the oscillation state of the oscillation circuit 6021, and the output circuit 6023 performs processing such as amplification and waveform shaping of the signal. The first moving body detection signal _SD1 having a rectangular wave is generated and output to the moving body information acquisition unit 202.

The second sensor 2012 performs the same operation. When the second moving body 5 passes through the detection range of the detection coil 601 of the second sensor 2012, the second moving body that has detected the second moving body 5 from the output circuit 6023. The detection signal _SD2 is output.

Therefore, when the second moving body 5 passes the moving body detection position P, the first sensor 2011 and the second sensor 2011B of the moving body detection unit 201 detect the first moving body detection of a rectangular wave as shown in FIG. A signal _SD1 and a second mobile object detection signal _SD2 are output. The high level period of the first moving body detection signal S _{D1 is} a period in which the second sensor 5 is detected by the first sensor 2011, and the high level period of the second moving body detection signal S _D2 is the second sensor 2012. Period during which the second mobile unit 5 is detected. The first moving body detection signal S _D1 and the second moving body detection signal S _D2 may be signals in which the period during which the second moving body 5 is detected is at a low level.

The time difference Delta] t [sec] between the output timing (the rising timing a) and the output timing of the second moving body detection signal S _D2 of the first moving body detection signal S _D1 (rise timing b) occurs, the This is a shift in the detection timing of the second moving body 5 based on a shift in position (interval D [m]) between the detection coil 601 of the first sensor 2011 and the detection coil 601 of the second sensor 2012.

  In the apparatus main body 20 of the accident prevention information output apparatus 2, the detection unit 602 of the first sensor 2011 and the detection unit 602 of the second sensor 2012 are stored, and the moving body information acquisition unit 202 is stored. Further, the apparatus main body 20 accommodates a travel condition determination unit 203 and an information output unit 204. The moving body information acquisition unit 202 stores data of the distance D [m] between the first sensor 2011 and the second sensor 2012.

The first moving body detection signal S _D1 output from the output circuit 6023 of the first sensor 2011 and the second moving body detection signal S _D2 output from the output circuit 6023 of the second sensor 2012 are sent to the moving body information acquisition unit 202. Entered. In the specific example shown in FIG. 10, the detection coils 601 of the first sensor 2011 and the second sensor 2012 are arranged in the first lane of the road 4 (the lane in which the moving body 5 approaches the intersection 401, the left lane). Therefore, as long as the second moving body 5 does not run backward, the first moving body detection signal is sent to the moving body information acquisition unit 202 every time the second moving body 5 passes the moving body detection position P. _SD1 and the second mobile object detection signal _SD2 are input in this order.

Mobile body information obtaining unit 202 detects a rising edge of the first moving body detection signal S _D1 (see the timing a in FIG. 12), starts counting the timing of the rising (FIG. 12 of the second moving body detection signal S _D2 b)), a time count Δt at that time (a time difference Δt between the first moving body detection signal S _D1 and the second moving body detection signal S _D2 ) is acquired.

Since the time difference Δt is 0 <Δt, the moving body information acquiring unit 202 determines that the detected traveling direction of the second moving body 5 is a direction of entering the intersection 401. Mobile body information acquisition unit 202 stores the determination result temporarily in memory 2 021.

When the moving body information acquisition unit 202 detects the rising edge of the second moving body detection signal S _D2 before the rising edge of the first moving body detection signal S _D1 , the moving body information acquisition unit 202 sets a flag with a negative sign, set from the rising of the moving body detection signal S _D2 counting time Δt until the rise of the first moving body detection signal S _D1 to the "-Δt". Accordingly, since −Δt <0, the moving body information acquisition unit 202 determines that the detected traveling direction of the second moving body 5 is a direction away from the intersection 401.

When the second moving body 5 moves between the detection coil 601 of the first sensor 2011 and the detection coil 601 of the second sensor 2012 at a speed v ₂ [km / h], a time difference Δt [second], a speed v ₂ , There is a relationship of Δt = (D / v ₂ ) × 3.6 between the distances D “m”. The mobile body information acquisition unit 202 calculates (D / Δt) × 3.6 using the acquired time difference Δt [seconds] and the interval D [m] between the first sensor 2011 and the second sensor 2012, for example. Thus, the velocity v ₂ [km / h] of the second mobile unit 5 is acquired. For example, when the interval D is 4 [m] and the time difference Δt is 0.3 [seconds], the moving body information acquisition unit 202 calculates (4 / 0.3) × 3.6 to 48 [km / h]. to get the speed _{v 2} of]. The moving body information acquisition unit 202 temporarily stores the acquired speed v ₂ of the second moving body 5 in the memory 2021.

Incidentally, it may be stored in memory 2021 to create a conversion table for converting the time difference Δt to the velocity v in advance, the moving body information obtaining unit 202 also obtains the speed v ₂ from the time difference Δt by using the conversion table Good.

Moreover, the moving body information acquisition part 202 is the speed v ₂ of the 2nd moving body 5 at the speed of 5 [km / h] pitches, such as 35, 40, 45, ... 80,85 ... [km / h], for example. May be acquired. In this case, for example, a threshold Δt ₁ corresponding to each speed of 27.5, 32.5, 37.5, 42.5, ... 77.5, 82.5, 87.5, ... [km / h]. , Δt ₂ , Δt ₃ ,... Δt _n are set in advance and stored in the memory 2021. The moving body information acquisition unit 202 compares the acquired time difference Δt with these threshold values Δt _r (r = 1, 2,... N), and if Δt _r ≦ Δt <Δt _{r + 1} , the speed v corresponding to Δt _{r + 1.} the _{r + 1} and the velocity _v center of the velocity _{v r0} range of _r corresponding to Delta] t _r and velocity _{v 2} of the second moving body 5.

For example, if D = 4 [m], 37.5 threshold Delta] t _r corresponding to [km / h] is 0.384 [sec], the threshold Delta] t _{r + 1} corresponding to 42.5 [km / h] 0. The velocity at the center of the range of 37.5 [km / h] to 42.5 [km / h] is 40.0 [km / h].

The mobile object information acquisition unit 202 compares the speed 40 [km / h] with the speed of the mobile object 5 if 0.339 ≦ Δt <0.384 compared to the time difference Δt and the threshold values 0.339 and 0.384. v ₂ to.

The traveling condition determination unit 203 uses the speed v ₂ and the moving direction information of the second moving body 5 acquired by the moving body information acquisition unit 202 to move the moving body 5 that has passed the moving body detection position P to a predetermined travel. It is determined whether the condition is satisfied. The traveling condition is, for example, a condition that the moving body 5 is traveling in the direction of entering the intersection 401 at a speed v ₂ that is greater than or equal to a predetermined threshold value v _TH or greater than the threshold value v _TH (has passed the moving body detection position P). It is.

The threshold value v _TH is set to the legal speed set for each road 4, the average speed v of the moving body 5 traveling on the road 4, the speed of the moving body 5 when a collision accident occurs at the intersection 401, or the like. An appropriate value is set based on this. The same threshold value v _TH may be set for all the roads 4, and a different threshold value v _TH may be set for each road 4.

  When the road 4 has the first lane and the second lane, and the accident prevention information output device 2 is provided in the first lane, the second mobile body 5 detected by the mobile body detection unit 201 is generally Since the vehicle travels in one lane toward the intersection 401, the moving direction of the second moving body 5 acquired by the moving body information acquiring unit 202 is a direction of entering the intersection 401.

In this case, the travel condition determination unit 203 compares the speed v2 of the _second mobile body 5 acquired by the mobile body information acquisition unit 202 with the threshold value _vTH , so that the second mobile body 5 It is determined whether or not the above is satisfied. For example, when v _TH ≦ v ₂ , the traveling condition determination unit 203 determines that the second moving body 5 satisfies the traveling condition, and when v ₂ <v _TH , the second moving body 5 travels. It is determined that the condition is not satisfied.

The traveling condition determination unit 203 determines that the second moving body 5 satisfies the traveling condition if v _TH <v ₂ , and the second moving body 5 satisfies the traveling condition if v ₂ ≦ v _TH. It may be determined that the condition is not satisfied.

  When the second mobile unit 5 satisfies the traveling condition, the traveling condition determination unit 203 outputs a command signal instructing transmission of the accident prevention information to the information output unit 204, and the second mobile unit 5 satisfies the traveling condition. If not, the command signal for instructing the information output unit 204 to transmit the accident prevention information is not output.

Incidentally, the running condition determination unit 203, the second moving body 5 using a parameter other than speed v ₂ may also be determined whether or not the running condition is satisfied. For example, a time parameter of time difference Δt may be used. In this case, the traveling condition determination unit 203 compares the time difference Δt with a preset threshold value Δt _TH , for example, determines that the traveling condition is satisfied if Δt ≦ Δt _TH , and if Δt _TH <Δt. It is determined that the running condition is not satisfied.

The threshold Δt _TH is a time given by (D / v _TH ) × 3.6 [seconds]. For example, in the case of D = 4 [m] and v _TH = 50 [km / h], the threshold Δt _TH is 0.288 [seconds]. The traveling condition determination unit 203 compares the time difference Δt and the threshold value Δt _TH = 0.288. For example, if Δt ≦ 0.288, the second moving body 5 has a speed v ₂ of 50 [km / h] or more. Is determined to have passed the moving body detection position P in a direction approaching the intersection 401 (that is, the traveling condition is satisfied), and if 0.288 <Δt, the second moving body 5 is less than 50 km / h. It determined that passes through the moving body detection position P at a speed v ₂ (i.e., does not satisfy the traveling condition).

If Δt <Δt _TH , the traveling condition determination unit 203 determines that the second moving body 5 satisfies the traveling condition. If Δt _TH ≦ Δt, the second moving body 5 satisfies the traveling condition. It may be determined that the condition is not satisfied.

The information output unit 204 basically includes a carrier generation circuit 2041, a modulation signal generation circuit 2042, a modulation circuit 2043, an amplification circuit 2044 and a transmission antenna 2045 as a basic configuration. Carrier generating circuit 2041 generates the carrier signal _{S c} having a predetermined frequency _{f c.} The high frequency f _c is, for example, a high frequency of several hundred MHz to several GHz.

  When the modulation signal generation circuit 2042 receives a command signal for instructing transmission of the accident prevention information from the traveling condition determination unit 203, device identification information for identifying the accident prevention information output device 2, for example, For example, the modulation signal is generated by adding required information such as ID number), moving body identification information (for example, ID number) for identifying the detected second moving body 5, and detection date and time.

  The device identification information of the accident prevention information output device 2 is set in advance, and the identification number of the accident prevention information output device 2 is stored in the information output unit 204. The moving body identification information of the second moving body 5 may be set according to a predetermined rule every time the moving body detection unit 201 detects the second moving body 5. For example, when the number of the detection order of the second moving body 5 in one day is used as the moving body information knowledge, the moving body identification of the second moving body 5 detected Nth by counting from 0 o'clock on a certain day The information may be set to “N”.

Modulation circuit 2043 modulates the carrier signal _{S c} to the carrier generating circuit 2041 is generated by a predetermined modulation scheme (e.g., ASK (amplitude-shift keying) modulation method) modulation signal modulated signal generating circuit 2042 is generated by.

Amplifying circuit 2044 amplifies the carrier signal S _c which is modulated by the modulation signal. Transmit antennas 2045, emits a carrier signal _{S c} which is output from the amplifier circuit 2023 in the air.

  When the travel condition determination unit 203 determines that the second moving body 5 satisfies the predetermined travel condition, the information output unit 204 transmits the above-described accident prevention information to the predetermined range AR around the intersection 401. I do.

  FIG. 13 is a diagram showing a specific example of the configuration of the accident prevention information receiving device 3 of the intersection accident prevention system 1. In the first specific example, the accident prevention information receiving device 3 only receives and outputs the accident prevention information transmitted from the accident prevention information output device 2, and therefore does not have the risk information acquisition unit 302.

The information reception unit 301 includes a reception antenna 3011, a high frequency amplification circuit 3012, a frequency conversion circuit 3013, and a demodulation circuit 3014. Reception antenna 3011 receives a radio wave of frequency f _c emitted from the accident prevention information output device 2 in the air. The high frequency amplification circuit 3012 amplifies a high frequency signal including the high frequency f _c input from the receiving antenna 3011. Frequency conversion circuit 3013, a high-frequency signal outputted from the amplifying circuit 3012 extracts the carrier signal _{S c} with frequency _{f c,} and converts the carrier signal _{S c} to a predetermined intermediate frequency _{f IF.}

Demodulation circuit 3014 demodulates the modulated signal from the carrier signal S _c of the intermediate frequency f _IF output from the frequency conversion circuit 3013, and outputs the accident prevention information included in the modulated signal. Accident prevention information demodulated by the demodulation circuit 3014, for example, is stored in a memory (not shown) provided in the accident prevention information output unit 303.

  The accident prevention information output unit 303 is an output information storage unit 3031 that stores information such as characters, figures, and still images prepared in advance for outputting the accident prevention information, and outputs moving body information visually and audibly. Output processing means 3032 for

  The output information storage unit 3031 stores information such as a map of the intersection 401 or two-dimensional image information indicating the shape and structure of the intersection 401, a warning for notifying the driver, and a message for avoiding a collision. ing. The output processing means 3032 performs processing for displaying the display 3032B, the speaker 3032C, and the accident prevention information temporarily stored in the memory 3021 on the display 3032B in a predetermined format, and outputting audio from the speaker 3032C. And a processing circuit 3032A.

  The output processing circuit 3032A, for example, reads a map corresponding to the intersection 401 to which the first moving body 5 is about to enter from the output information storage unit 3031 or a two-dimensional image indicating the shape of the intersection 401 and displays the map on the display 3032B. To do. In addition, the output processing circuit 3032A may display the image or mark of the second moving object 5 at a position corresponding to the accident prevention information output device 2 to which the accident prevention information of the map or two-dimensional image displayed on the display 3031B is transmitted. And a message indicating that the second moving body 5 entering the intersection 401 exists.

  FIG. 14 is a diagram illustrating an example of an output mode of accident prevention information output to the display 3032B.

  In the example of FIG. 14, a plan view G1 of the cross-shaped intersection 401 where the first moving body 5 is about to enter is displayed. The plan view G1 of the intersection 401 is displayed such that the traveling lane of the first moving body 5 is the vertical direction, and the traveling direction of the first moving body 5 is from the bottom to the top. Further, the first moving body 5 and the three second moving bodies 5 are plotted in the plan view of the intersection 401. The mark M0 of the “o” mark indicates the first moving body 5, and the marks M1, M2 and M3 of the “Δ” marks indicate the second moving body 5.

  Since the first moving body 5 enters the intersection 401 from the bottom to the top of the screen, a mark “M” marked “O” is drawn on the road 4 extending below the intersection 401. A mark M1 of one “Δ” mark indicates that it exists on the road 4 extending to the left of the intersection 401, and two marks M2 and M3 of the “Δ” marks extend on the road 4 extending to the right of the intersection 401 It shows that it exists on the top.

The display positions of the marks M1 to M3 do not indicate the exact positions on the road 4 of the first moving body 5 and the second moving body 5. The display positions of the marks M1 to M3 are one second moving body 5 that enters the intersection 401 from the left side of the intersection 401 at a high speed _{equal to} or higher than the threshold value vTH, and from the right side of the intersection 401 at a high speed _{equal to} or higher than the threshold value _vTH. It is shown to visually and intuitively recognize that there are two second mobile objects 5 entering the intersection 401.

  For the three second moving bodies 5, character information J1 and J2 obtained by converting accident prevention information into message texts are displayed on the right side of the plan view G1 of the intersection 401. The character information J1 is information on the presence of the second moving object 5 entering at a high speed from the left side of the intersection 401, and the character information J2 relates to the presence of the second moving object 5 entering at a high speed from the right side of the intersection 401 Information.

  In the text information J1, for example, a message “There is one car entering the intersection 401 from the left side. Please be careful of collisions.” Is displayed. In the character information J2, for example, a message “There are two cars entering the intersection 401 from the right side. Beware of collision accidents” is displayed.

  The output processing circuit 3032A causes the display 3032B to display information on the three second moving objects 5 entering the intersection 401 at high speed, and reads out the message text of the character information J1 and J2 displayed on the display 3032B by speech synthesis. Audio signal is generated and output from the speaker 3032C. In this voice output, the message text may be repeatedly output until the first moving body 5 enters the intersection 401, or may be repeatedly output a predetermined number of times.

  Although the image of the intersection 401 and the marks M0 to M3 of the four mobile objects 5 entering the intersection 401 are displayed in the example of FIG. 14, only the character information J1 and J2 may be displayed.

(Specific example 2)
Next, specific example 2 of the intersection accident prevention system 1 for preventing the collision of the moving objects 5 with each other at the intersection 401 will be described.

  The intersection accident prevention system 1 of the specific example 1 transmits predetermined accident prevention information indicating that there is the second mobile body 5 entering the intersection 401 from the accident prevention information output device 2 to the accident prevention information receiving device 3. It was a system. The intersection accident prevention system 1 of the specific example 2 transmits the moving body information of the second moving body 5 from the accident prevention information output apparatus 2 to the accident prevention information receiving apparatus 3 as the accident prevention information. It is a system which acquires danger degree information and outputs the movement degree information of the 2nd moving body 5 with the danger degree information.

  The accident prevention information output device 2 of the specific example 2 differs from the accident prevention information output device 2 of the specific example 1 only in the processing contents of the mobile body information acquisition unit 202, and a specific block configuration is shown in FIG. The block configuration of the accident prevention information output device 2 is the same.

That is, the moving body information acquisition unit 202 of the specific example 2 acquires the size of the second moving body 5 and the intersection approach time T in addition to the speed v ₂ and the moving direction as information about the second moving body 5. Is different from the moving body information acquisition unit 202 of the first example.

  In the following description, the description of the operations of the moving body detection unit 201, the traveling condition determination unit 203, and the information output unit 204 described in the first example is omitted, and the processing different from the first example of the moving body information acquisition unit 202 explain.

The moving body information acquisition unit 202 includes a distance D [m] between the first sensor 2011 and the second sensor 2012, a distance L [m] from the moving body detection position P to the intersection 401, and the size of the second moving body 5. Data for calculating moving body information such as threshold _values τ _TH1 and τ _TH2 (τ _TH2 <τ _TH1 ) [seconds] for determining (length) is preset and stored.

  The moving body information acquisition unit 202 determines the size (length) of the second moving body 5 into, for example, three types: a small car, a medium car, and a large car. The mobile body information acquisition unit 202 is, for example, a second mobile body 5 of 5 [m] or less as a small vehicle, a second mobile body 5 of 5 [m] or more and less than 7 [m] as a medium-sized car, 7 [m]. The above second moving body 5 is determined to be a large vehicle. In Specific Example 2, the size of the second moving body 5 is classified into three types, but the number of classifications may be four or more.

Even with the second moving body 5 of the same size, the moving body detection period τ of the first moving body detection signal S _D1 or the second moving body detection signal S _D2 becomes shorter as the speed v ₂ becomes faster. The thresholds τ _TH1 and τ _TH2 for determining the size of the body 5 are set corresponding to the speed. For example, the threshold τ _TH1 of the moving body detection period τ corresponding to the length threshold 5 [m] of the second moving body 5 at the speed v ₀ [km / h] is set to τ _01, and the second moving body 5 The threshold τ _TH2 of the moving object detection period τ corresponding to the length threshold 7 [m] is τ ₀₂ . In this case, the threshold τ _TH1 of the moving body detection period τ at the speed v _a (> v ₀ ) is τ _TH1 = τ ₀₁ × (v ₀ / v _a ), and the threshold τ _TH2 is τ _TH2 = τ ₀₂ × ( v ₀ / v _a ).

The moving body information acquisition unit 202 classifies the speed v2 of the _second moving body 5 in steps of 5 [km / h] from 30 [km / h] to 120 [km / h], for example, and each speed v _Two threshold values τ _TH1 and τ _TH2 are set corresponding to two. For example, when v ₀ = 30 [km / h] and (τ _TH1 , τ _TH2 ) = (τ _01, τ ₀₂ ) is set corresponding to the velocity v ₀ , v = 35 [km / h Corresponding to (0.86 × τ _01, 0.86 × τ ₀₂ ), v = 40 [km / h] (0.75 × τ _01, 0.75 × τ ₀₂ ), v = 45 [km / h] (0.67 × τ _01, 0.67 × τ ₀₂ ),... V = 115 [km / h] (0.26 × τ _01, 0. (0.25 × τ _01, 0.25 × τ ₀₂ ) is set corresponding to 26 × τ ₀₂ ) and v = 120 [km / h].

The first moving body detection signal S _D1 output from the output circuit 6023 of the first sensor 2011 and the second moving body detection signal S _D2 output from the output circuit 6023 of the second sensor 2012 are sent to the moving body information acquisition unit 202. Entered. In the specific example shown in FIG. 10, the detection coils 601 of the first sensor 2011 and the second sensor 2012 are arranged in the first lane of the road 4 (the lane in which the moving body 5 approaches the intersection 401, the left lane). Therefore, as long as the second moving body 5 does not run backward, the first moving body detection signal is sent to the moving body information acquisition unit 202 every time the second moving body 5 passes the moving body detection position P. _SD1 and the second mobile object detection signal _SD2 are input in this order.

Mobile body information obtaining unit 202 detects a rise (see the timing a in FIG. 12) of the first moving body detection signal _{S D1} output from the output circuit 6023 of the first sensor 2011, starts measuring time, the second sensor when detecting the rising edge of the second moving body detection signal _{S D2} output from the output circuit 6023 of 2012 (see the timing b in FIG. 12), the measured time Delta] t (the first moving body detection signal _{S D1} at that time the second mobile unit The time difference Δt) with the detection signal S _D2 is acquired.

Mobile body information acquiring unit 202 further continues counting, upon detecting the falling edge of the first moving body detection signal S _D1 (see the timing c in FIG. 12), measured time to end the counting tau (first movable body The high level period of the detection signal _SD1 is acquired. The time count τ corresponds to the moving body detection period τ of the first moving body detection signal _SD1 . Mobile body information acquiring unit 202 temporarily stored in memory 2 021 a moving body detecting period and the acquired time difference Delta] t tau.

The moving body information acquisition unit 202 acquires information on the moving direction of the second moving body 5 using the acquired time difference Δt by the same method as described in the first specific example. Further, the speed v _{2 of} the second moving body 5 is obtained by the same method as described in the first specific example, using the acquired time difference Δt and the distance D [m] between the first sensor 2011 and the second sensor 2012. To get. Mobile body information acquiring unit 202 temporarily stored in memory 2 021 the acquired time difference Δt and the speed _{v 2.}

Furthermore, the moving body information acquisition unit 202 uses the calculated speed v2 of the _second moving body 5 and the distance L from the moving body detection position P to the intersection 401, for example, (L / v) × 3.6. By calculating [seconds], the intersection entry time T [seconds] of the second moving body 5 is acquired. For example, when the distance L is 150 [m] and the velocity v2 of the _second moving object 5 is 50 [km / h], the moving object information acquiring unit 202 calculates (150/50) × 3.6 [seconds] ] To obtain an intersection approach time T of 10.8 [seconds]. Mobile body information acquiring unit 202 temporarily stored in memory 2 021 intersection entry time T of the second moving body 5 obtained.

The speed v2 of the _second moving body 5 is rounded at a pitch of 5 [km / h] such as 30 [km / h], 35 [km / h], 40 [km / h],. In the case of acquisition, the intersection entry time T [seconds] for each speed is obtained in advance, and a conversion table of the speed v ₂ and the intersection entry time T is prepared, and the moving body information acquisition unit 202 calculates it as the conversion table. You may make it acquire the intersection approach time T using the speed v2 of the _2nd moving body 5. FIG.

Furthermore, the moving body information acquisition unit 202 uses the acquired moving body detection period τ and thresholds τ _TH1 and τ _TH2 (τ _TH2 <τ _TH1 ) set in advance corresponding to the acquired speed v ₂ , The size (length) of the second mobile unit 5 is acquired. In the case where the speed _{v 2} obtained does not match the speed of classifying threshold tau _TH1, tau _TH2 that is set in advance, the moving body information obtaining unit 202, the threshold tau _TH1 closest speed, tau _TH2 is used first The size (length) of the mobile unit 5 of 2 is acquired.

For example, if the speed _{v 2} obtained was 52 [km / h], the moving body information obtaining unit 202, the moving object detection period τ and 50 [km / h] corresponding to two thresholds (0.6 × τ _01, 0.6 × τ ₀₂ ) are compared. If τ <0.6 × τ ₀₁ , the moving body information acquisition unit 202 determines that the size of the second moving body 5 is “small” (small car), and 0.6 × τ ₀₁ ≦ τ <0. .6 × τ ₀₂ , the size of the second moving body 5 is determined as “medium” (medium-sized vehicle), and if 0.6 × τ ₀₂ ≦ τ, the size of the second moving body 5 is determined. Is determined to be "large" (large vehicle). Mobile body information acquiring unit 202 temporarily stored in memory 2 021 the size of the determination result of the second moving body 5.

  The driver of the first moving body 5 knows the information on the size of the second moving body 5, for example, when the first moving body 5 collides with the second moving body 5 at the intersection 401. Accident magnitude and risk can be predicted.

  The modulation signal generation circuit 2042 of the information output unit 204 generates a modulation signal when a command signal for transmission of accident prevention information is input from the traveling condition determination unit 203. The modulation signal generation circuit 2042 uses the device identification information of the accident prevention information output device 2 described above in the predetermined accident prevention information and the moving object information of the second moving object 5 acquired by the moving object information acquisition unit 202, Necessary information such as mobile object identification information and detection date and time of the mobile object 5 is added to generate a modulated signal.

Modulation circuit 2043 modulates the carrier signal S _c to the carrier generating circuit 2041 is generated by a modulation signal modulated signal generating circuit 2042 is generated by a predetermined modulation method. Amplifying circuit 2044 amplifies the carrier signal S _c which is modulated by the modulation signal. Transmit antennas 2045, emits a carrier signal _{S c} which is output from the amplifier circuit 2023 in the air.

  When the traveling condition determining unit 203 determines that the second moving body 5 satisfies the predetermined traveling condition, the information output unit 204 uses the above-described moving body information of the second moving body 5 to determine the predetermined information around the intersection 401. Perform processing to transmit to the range AR.

  FIG. 15 is a diagram illustrating a specific example of the configuration of the accident prevention information receiving device 3 of the intersection accident prevention system 1 according to the second specific example.

  In the second specific example, the accident prevention information receiving device 3 calculates the degree of risk information using the moving body information of the second moving body 5 transmitted from the accident prevention information output device 2 and adds it to the accident prevention information. Since the mobile body information and the risk level information of the mobile body 5 are output, the risk level information acquisition unit 302 is different from the block diagram shown in FIG.

In the following description, specific examples of the operation and accident prevention information output unit 303 of the description of the operation of the information receiving unit 301 and accident prevention information output unit 303 described in the embodiment 1 will be omitted, danger level information acquisition unit 302 The operation different from 1 will be described.

Demodulation circuit 3014 demodulates the modulated signal from the intermediate frequency f _IF of the carrier signal S _c which is output from the frequency conversion circuit 3013, accident prevention information included in the modulated signal, related to the mobile information (second movable body 5 Information such as information), moving body identification information, and identification information of the accident prevention information output device 2 is output. Information output from the demodulation circuit 3014 is stored in the memory 3021 in the risk information acquisition unit 302.

The risk information acquisition unit 302 receives the information on the speed v ₂ of the second moving body 5 received by the information receiving unit 301 and the information on the speed v ₁ of the first moving body 5 on which the accident prevention information receiving device 3 is mounted. Is used to acquire information on the degree of risk that the first moving body 5 will cause a collision accident with the second moving body 5.

Information on the current speed v ₁ of the first moving body 5 is input to the risk information acquisition unit 302. In addition, three threshold values d _TH1 , d _TH2 , and d for determining the risk of a collision between the first mobile unit 5 and the second mobile unit 5 when the second mobile unit 5 enters the intersection 401 _{TH3 (d TH1 <d TH2 <} d TH3) is set in advance, their threshold _d TH1 _{to d TH3} is stored in the memory 3021 of the risk information in acquiring unit 302.

The risk information acquisition unit 302 acquires the reception time (absolute time) each time the information reception unit 301 receives information about the second mobile body 5 and the first mobile body 5 at the reception time. The position of the first moving body 5 when the intersection approach time T has elapsed from the reception time is calculated using the velocity v ₁ .

The degree-of-risk information acquisition unit 302 calculates both the moving bodies 5 based on the calculated position of the first moving body 5 and information on the position when the second moving body 5 enters the intersection 401 (the center of the intersection 401 or the entrance). The distance d is calculated. Furthermore, the degree-of-risk information acquisition unit 302 compares the calculated distance d with the three threshold values d _{TH1 to} d _TH3 to determine the degree of risk of a collision accident between the first moving body 5 and the second moving body 5. To do. The risk information acquisition unit 302 determines that the risk of the collision accident is “high” if d ≦ d _TH1 , and the risk of the collision accident is “medium” if d _TH1 <d ≦ d _TH2. If d _TH3 <d, the risk of collision is determined to be “low”. The risk level information acquisition unit 302 temporarily stores the determination result in the memory 3021.

  FIG. 16 is a diagram illustrating an example of mobile object information and the like temporarily stored in the memory 3021.

  In the same figure, "date and time" is information on the date and time when mobile unit information was received. The “output device ID” is identification information of the accident prevention information output device 2 that has transmitted the moving body information and the like. “Moving object ID” is identification information of the second moving object 5 detected by the accident prevention information output device 2. “Moving object information” is information regarding the second moving object 5 transmitted from the accident prevention information output device 2. The “moving object information” includes the information on the moving object detection period τ, the time difference Δt, the speed v, the size of the second moving object 5 and the intersection approach time T, and the risk level acquired by the risk level information acquisition unit 302. Contains information.

  In FIG. 16, the risk information corresponding to the moving object ID = A0123 is “−” because the moving object ID = A0123 corresponds to the first moving object 5. If the first mobile unit 5 does not satisfy the predetermined traveling condition, the mobile unit information of the first mobile unit 5 is not output from the accident prevention information output device 2 and therefore is not displayed in the table of FIG.

  The accident prevention information output unit 303 includes an output information storage unit 3031 that stores information such as characters, graphics, and still images prepared in advance for outputting mobile body information, and outputs the mobile body information visually and audibly. Output processing means 3032 for

  The output information storage unit 3031 stores information such as a map of the intersection 401 or two-dimensional image information indicating the shape and structure of the intersection 401, a warning for notifying the driver, and a message for avoiding a collision. ing. The output processing means 3032 displays the moving body information of the display 3032B, the speaker 3032C, the second moving body 5, the information on the risk of a collision accident with the first moving body 5 and the like on the display 3032B in a predetermined format. Or an output processing circuit 3032A that performs processing of outputting sound from the speaker 3032C.

The output processing circuit 3032A, for example, reads a map corresponding to the intersection 401 to which the first moving body 5 is about to enter from the output information storage unit 3031 or a two-dimensional image indicating the shape of the intersection 401 and displays the same on the display 3032B. To do. The output processing circuit 3032A also plots the image or mark of the second moving body 5 at a position corresponding to the arrangement position of the accident prevention information output device 2 of the map or two-dimensional image displayed on the display 3031B. At the same time, mobile object information (speed v ₂ , size, time to approach intersection T, information such as degree of danger, etc.) of each second mobile object 5 is displayed.

  FIG. 17 is a diagram showing an example of mobile object information of the second mobile object 5 displayed on the display 3032B.

  The display mode shown in FIG. 17 is basically the same as the display mode shown in FIG. 14, but the mark display mode and the message text display mode of the second moving body 5 are different.

  The second moving body 5 with the moving body ID = D0401 in FIG. 16 corresponds to the mark M1 in FIG. 17, and the second moving body 5 with the moving body ID = B0321 and the second moving body with the moving body ID = B0323. 5 correspond to the marks M2 and M3 in FIG. 17, respectively. Since the risk level of the second moving body 5 corresponding to the mark M1 is “high”, the triangle mark of the mark M1 is a “▲” mark that is filled with a predetermined color (for example, red) in FIG. On the other hand, since the risk of the second moving body 5 corresponding to the marks M2 and M3 is “low”, the triangle marks of the marks M2 and M3 are colored “Δ” marks in FIG.

  In FIG. 17, since the display form of the triangle mark is different, the second moving body 5 having a high risk of collision accident can be recognized visually and intuitively.

The moving body information of the second moving body 5 (second moving body 5 entering the intersection 401 from the left side) corresponding to the mark M1 is (speed v _d , size “medium”, intersection entry time T = since T _4, is a risk "high"), the character information J1, for example, mid-size car from the "left-hand side will enter the intersection after _{T 4} [s] at a speed _v d [km / h]. collision accident Please note that the message is displayed. In addition, in order to pay attention to the character information J1 to the driver, the character information J1 may be made thicker or blinked so that it is more conspicuous than the character information J2 and J3.

On the other hand, the moving body information of the second moving body 5 (the second moving body 5 on the front side entering the intersection 401 from the right side) corresponding to the mark M2 is (speed v _b , size “medium”, intersection entry time) Since T = T ₂ and the danger level “low”), for example, in the character information J ₂ , the middle-sized car from the right side enters the intersection after T ₂ [seconds] with the speed v _b [km / h] Message is displayed. Further, the moving body information of the second moving body 5 (the second moving body 5 on the rear side entering the intersection 401 from the right) corresponding to the mark M3 is (speed v _c , size “large”, approach to the intersection Since time T = T ₃ and danger level “low”), for example, “Large car from the right side enters the intersection after T ₃ [s] at speed v _c [km / h] in the character information J3 Message appears.

  Since the risk level of the second moving body 5 corresponding to the marks M2 and M3 is “low”, the text information J2 and J3 displays a message “Please be careful about collision accidents” to call attention. It has not been.

  The output processing circuit 3032A displays the moving body information on the three second moving bodies 5 entering the intersection 401 on the display 3032B and also synthesizes the message text of the character information J1, J2, and J3 displayed on the display 3032B. To generate an audio signal read out according to the output from the speaker 3032C. In this voice output, the message text may be repeatedly output until the first moving body 5 enters the intersection 401, or may be repeatedly output a predetermined number of times. Alternatively, only the character information J1 having a high degree of risk of a collision may be output by voice.

  In addition, when the risk of a collision accident is high, the character information J1 displays a message for alerting the driver or notifies the user by voice. For example, to prevent an accident such as “Please decelerate.” The operation of may be notified or displayed by voice.

  In the example of FIG. 17, a plan view of the intersection 401 is displayed on the display 3032 </ b> B, and each moving body 5 travels the marks of the first moving body 5 and the three moving bodies 5 that are about to enter the intersection 401. It was plotted on the road 4 so that the road 4 which is In the example of FIG. 17, the moving positions of the first moving body 5 and the three moving bodies 5 may be plotted on the road 4 to display a situation in which each moving body 5 enters the intersection 401.

In this case, when the information receiving unit 301 receives the mobile unit information of the second moving member 5, the risk level information acquisition unit 302 acquires the reception time (absolute time) T _R, the intersection enters the receiving time T _R The movement position of the second moving body 5 is calculated each time a predetermined time ΔT [seconds] elapses until the time T elapses. Position of the second moving body 5 in the reception time T _R, since a moving body detection position P of the road 4 running, the position of the second moving body 5 when the elapsed time [Delta] T [sec] is , traveling to and (ΔT × _v 2/3600) from the moving body detection position P on the road 4 [m] by the position moved to the intersection 401 side.

Therefore, any time from the reception time _{T R (m × ΔT) (} m = 1,2, ...) position of the second moving body 5 when the [second] has elapsed, traveling to 4 on the road are from the moving body detection position P by _{(m × ΔT × v 2/} 3600) [m] represented by the position moved to the intersection 401 side.

Also, the movement position of the first moving body 5, hazard level information acquisition unit 302 acquires position information of the first moving body 5 in the reception time (absolute time) T _R by the GPS function. When the position of the receiving time T _R of the first traveling to have the road 4 of the moving body 5 and P _R, hazard level information acquisition section 302, between the receipt time T _R to the intersection entry time T has elapsed The movement position of the first mobile unit 5 is calculated each time the predetermined time ΔT [seconds] elapses.

The first position of the moving body 5 when the elapsed time [Delta] T [sec] is traveling to that location _{P R} from (ΔT × _v 1/3600) in the reception time _{T R} on the road 4 [m] by crossing The position has been moved to the 401 side. Therefore, the position of the first moving body 5 when the arbitrary time from the reception time T _R (m × ΔT) [sec] has elapsed, the position P _R in the reception time T _R on the road 4 running _{(m × ΔT × v 1/} 3600) [m] represented by the position moved to the intersection 401 side only.

  The output processing circuit 3032A corresponds to the second moving body 5 in the plan view of the intersection 401 displayed on the display 3032B using the information on the m moving positions calculated for the second moving body 5. The display position of the mark of “Δ” or “」 ”is changed to the position of m = 0, 1, 2,... Accordingly, in the plan view of the intersection 401 displayed on the display 3032B, as shown in FIG. 18, the mark 1 marked “▲” and the marks M2, M3 marked “△” corresponding to the second moving body 5 are shown. Is displayed on the road 4 on which the second mobile unit 5 travels toward the intersection 401.

  Similarly, the output processing circuit 3032A uses the information on the m moving positions calculated with respect to the first moving body 5 to display the first moving body on the plan view of the intersection 401 displayed on the display 3032B. The display position of the mark M0 of “o” mark corresponding to 5 is changed to the position of m = 0, 1, 2,... Thereby, in the plan view of the intersection 401 displayed on the display 3032 B, as shown in FIG. 18, the mark M 0 of “o” mark corresponding to the first moving body 5 travels the first moving body 5. The situation of moving on the road 4 toward the intersection 401 is displayed.

  In the display example shown in FIG. 18, since the relative positional relationship of the second mobile body 5 when the first mobile body 5 enters the intersection 401 can be visually confirmed, the second mobile body 5 entering the intersection 401 can be visually confirmed. The degree of risk of a collision accident can be visually confirmed for the moving body 5.

  In the example of FIGS. 17 and 18 as well, only the character information J1 to J3 may be displayed without displaying the image of the intersection 401 and the marks M0 to M3 of the four moving bodies 5 entering the intersection 401. .

In the second example, only the velocity v2 of the _second mobile unit 5 is acquired, but in addition to the first sensor 2011 and the second sensor 2012, a third sensor is provided, and the first mobile unit of the first sensor 2011 The acceleration α (= dv ₂ ) of the second moving body 5 using the detection signal S _D1 , the second moving body detection signal S _{D2 of} the second sensor 2012, and the third moving body detection signal S _D3 output from the third sensor. / Dt) [km / h ² ] may be acquired.

When the acceleration α of the second moving body 5 is acquired, for example, the speed v _C when the second moving body 5 enters the intersection 401 is acquired by the acceleration α, the speed v ₂ and the intersection approach time T. be able to. Since the speed v _C when the moving body 5 enters the intersection 401 is represented by v _C = v ₂ + α × T, the moving body information acquisition unit 202 calculates the second value by calculating v + α × T. The velocity v _{C at} which the moving object 5 enters the intersection 401 can be acquired.

Since the speed v _C when the second moving body 5 enters the intersection 401 can be predicted, the traveling condition determination unit 203 determines that the speed v ₂ when the second moving body 5 passes the moving body detection position P is Instead of determining whether the speed is equal to or higher than the threshold value v _TH [km / h] or higher than the threshold value v _TH , the speed v _C when the second moving body 5 enters the intersection 401 is the threshold value v _TH. It may be determined whether the speed is equal to or higher than [km / h] or greater than the threshold value _vTH .

In this determination, since the speed v ₂ of the second moving body 5 when the first moving body 5 intersects the second moving body 5 at the intersection 401 can be predicted, the collision with the second moving body 5 can be predicted. The degree of risk of an accident can be suitably acquired.

  In the specific examples 1 and 2 described above, the accident prevention information receiving device 3 dedicated to the accident prevention information output device 2 has been described. However, the function of the accident prevention information receiving device 3 is installed in the car navigation device, and the intersection 401 The driver may be notified of the received accident prevention information and the calculated risk level information, along with the navigation information in the above.

As described above, according to Specific Examples 1 and 2, the driver of the first mobile unit 5 enters the three second mobile units 5 from the left and right roads 4 at the intersection 401 which is about to enter. You can know things in advance. When the second moving body 5 having a high risk of collision accident when entering the intersection 401 at the current speed v ₁ exists (in the example of FIG. 17, the second moving body 5 corresponding to the mark M1 exists) The driver of the first moving body 5 can recognize the warning message by display and warning sound. Accordingly, the driver of the first moving body 5 can perform a collision prevention measure in advance, such as decelerating the speed v ₁ or stopping the first moving body 5.

The above effect is for the driver of the first mobile unit 5, but the driver of the second mobile unit 5 is similar to the driver of the first mobile unit 5 in the other mobile units 5. Since the moving body information is notified, it is possible to take a collision preventing measure such as decelerating or stopping the speed v ₂ in advance for the drivers of the other moving bodies 5. In this way, it is possible to prevent an accident such as a plurality of moving objects 5 entering the intersection 401 colliding with each other.

  In the above-described specific examples 1 and 2, when the first moving body 5 enters the range AR of the radius R centered on the intersection 401, the accident prevention information receiving device 3 mounted on the first moving body 5 The mobile unit information of the mobile unit 5 of 2 is to be received. Further, when passing the moving body detection position P of the road 4 on which the first moving body 5 is traveling, the moving body information of the first moving body 5 is output at the accident prevention information provided at the moving body detection position P. It is detected by the device 2 and output within a range AR of radius R centered at the intersection point 401.

  Since the one or more mobile bodies 5 include the first mobile body 5, the first mobile body 5 receives not only the mobile body information of the second mobile body 5 but also its own mobile body information. 1 is detected at each moving body detection position P of the plurality of roads 4 connected to the intersection 401 during the period when the first moving body 5 is traveling toward the intersection 401 after being detected by the accident prevention information output device 2. When the above second mobile body 5 is detected, the mobile body information of the second mobile body 5 becomes the accident prevention information receiving device of the first mobile body 5 every time the second mobile body 5 is detected. Received at 3.

When the second mobile body 5 is detected by the accident prevention information output device 2 after the first mobile body 5 is detected by the accident prevention information output device 2, the first mobile body 5 is usually the second It travels at a position closer to the intersection 401 than the moving body 5. When the speed difference Δv (= | v ₁ −v ₂ |) between the speed v ₁ of the first moving body 5 and the speed v ₂ of the second moving body 5 is small, the first moving body 5 and the second movement It is rare for the body 5 to enter the intersection 401 at the same time. In such a case, the accident prevention information output device 2 may not transmit the accident prevention information even when the second moving body 5 satisfies a predetermined traveling condition.

Alternatively, among the second moving bodies 5 detected by the accident preventing information output apparatus 2 after the first moving body 5 on the accident preventing information receiving apparatus 3 side, the first moving body 5 at the speed v ₂ is detected. A vehicle having a small speed difference Δv with respect to the speed v ₁ may be extracted so that accident prevention information corresponding to the second moving body 5 is not output from the accident prevention information output unit 303.

Second Embodiment
FIG. 19 is a diagram for explaining the concept of the intersection accident prevention system according to the second embodiment.

  The intersection accident prevention system 1 according to the first embodiment is configured to enter the intersection 401 with predetermined accident prevention information indicating that there is a second mobile body 5 entering the intersection 401 from the accident prevention information output device 2. It is a system for transmitting to the accident prevention information receiver 3 mounted on the mobile unit 5 of the above. The intersection accident prevention system 1A according to the second embodiment includes a light emitter at an intersection, transmits accident prevention information from the accident prevention information output device 2 to the light emitter, and emits light from the light emitter. In this system, it is informed that there is a second mobile unit 5 entering the intersection 401 at high speed.

  In the intersection accident prevention system 1A according to Embodiment 2, the light emitters 7 are provided at the four corners of the intersection 401 as shown in FIG. For example, on the road 4 extending downward from the intersection 401, the light emitter 7 is provided at the corner on the first lane side so as to emit light toward the moving body 5 traveling on the road 4. For the road 4 extending upward from the intersection 401 and the road 4 extending to the left and right, the light emitter 7 is provided to emit light to the moving body 5 traveling toward the intersection 401 at the corner on the first lane side of each road 4. It is done.

  The configuration of the accident prevention information output device 2 constituting the intersection accident prevention system 1A according to the second embodiment is basically the same as the accident prevention information output device 2 constituting the intersection accident prevention system 1 according to the first embodiment. Because there is, I omit the explanation.

  Further, the issuer 7 constituting the intersection accident prevention system 1A according to the second embodiment outputs the accident prevention information of the accident prevention information receiving device 3 constituting the intersection accident prevention system 1 according to the first embodiment. Since it corresponds to what replaced with the well-known light emission means, the specific description of the structure of the light emitter 7 is also abbreviate | omitted.

  The four light emitters 7 have a receiver for receiving the accident prevention information transmitted from the four accident prevention information output devices 2 by near field communication. When each light emitter 7 receives the accident prevention information from the accident prevention information output device 2, the other light emitter 7 performs a predetermined light emission operation to enter the intersection 401 with respect to the moving body 5 traveling toward each light emitter 7. Informs that 5 exists.

  Various light emission patterns can be adopted as the light emission pattern of the light emitter 7. For example, the light emitter 7 may notify the presence of another moving body 5 by blinking light blinking at a predetermined cycle, and the period of the blinking light is changed depending on the direction in which the other moving body 5 enters the intersection 401. It is also good. For example, when another moving body 5 enters the intersection 401 from the left side, the blinking frequency is set higher than when the other moving body 5 enters the intersection 401 from the right side, or conversely, the blinking frequency is lowered. May be

  Alternatively, the cycle of the flashing light may be the same, and the emission color of the light emitter 7 may be varied depending on the direction in which the moving body 5 enters the intersection 401. For example, when the other moving body 5 enters the intersection 401 from the left side, it may blink in white, and when the other moving body 5 enters the intersection 401 from the right side, it may blink in orange.

Any intersection accident prevention system 1A according to the second embodiment, the threshold value v _TH more or threshold v _TH from the second moving body that 5 there first mobile entering the intersection 401 at a large speed v ₂ 5 Therefore, the same effect as the intersection accident prevention system 1 according to the first embodiment can be obtained.

  In the first and second embodiments described above, a vehicle having four or more wheels is described as an example of the moving body 5, but the accident prevention information output device 2 detects moving body information of a three-wheeled vehicle or a two-wheeled vehicle, and the moving body information is It may be sent to one or more mobile units 5 existing around 401.

  The processes in the accident prevention information output device 2 and the accident prevention information receiving device 3 according to the first and second embodiments may be realized by software. Then, this software may be distributed by software download or the like. Also, the software may be distributed by being recorded on a recording medium such as a CD-ROM.

  The software for realizing the accident prevention information output device 2 in the above first and second embodiments is a program as follows.

  That is, the program detects the moving object passing the moving object detection position using the detection information of the moving object detection means disposed at the moving object detection position before the intersection of the road. A mobile object information acquisition unit that acquires information on the mobile object based on detection information of the mobile object detected by the unit and the mobile object detection unit, and information on the mobile object acquired by the mobile object information acquisition unit; A traveling condition determination unit that determines whether or not the movable body satisfies a predetermined traveling condition; and an information output unit that outputs information related to accident prevention when the traveling condition determination unit determines that the movable body satisfies the traveling condition. It is a program to make it function.

  The software for realizing the accident prevention information receiving device 3 in the above-described first and second embodiments is the following program.

That is, when the mobile unit is traveling in a predetermined range including an intersection, the program stores at least one accident at a mobile detection position of one or more roads connected to the intersection when the mobile unit is traveling in a predetermined range including the intersection. An accident prevention information receiving unit that receives one or more accident prevention information transmitted from the prevention information output device; an accident prevention information output unit that outputs one or more accident prevention information received by the accident prevention information receiving unit; It is a program that makes it function.

  FIG. 20 is a schematic view showing an example of the external appearance of a computer that implements the program described above to realize the accident prevention information receiving device 3 according to the first embodiment.

  In FIG. 20, a computer system 900 includes a computer 901 including a CD-ROM drive 915, a keyboard 902, a mouse 903 and a monitor 904.

  FIG. 21 shows an internal configuration of computer system 900. Referring to FIG. In FIG. 21, in addition to the CD-ROM drive 915, a computer 901 is connected to an MPU (Micro Processing Unit) 911, a ROM 912 for storing a program such as a bootup program, and the MPU 911, and receives instructions of an application program. A RAM 913 for temporarily storing and providing a temporary storage space, a hard disk 914 for storing an application program, a system program, and data, and a bus 916 interconnecting the MPU 911, the ROM 912, and the like are provided. The computer 901 may include a network card (not shown) that provides connection to a LAN, a WAN, or the like.

  A program that causes computer system 900 to execute the functions of accident prevention information output device 2 and accident prevention information receiving device 3 according to the first and second embodiments is stored in CD-ROM 905 and inserted in CD-ROM drive 915, It may be transferred to the hard disk 914. Alternatively, the program may be transmitted to the computer 901 via a network (not shown) and stored in the hard disk 914. The program is loaded into the RAM 913 upon execution. The program may be loaded directly from the CD-ROM 905 or a network. Alternatively, the program may be read into computer system 900 via another recording medium (eg, a DVD) instead of CD-ROM 905.

  The program does not necessarily include an operating system (OS) or a third party program that causes the computer 901 to execute the functions of the accident prevention information output device 2 and the accident prevention information receiving device 3 according to the first and second embodiments. It is also good. The program may include only portions of instructions that invoke appropriate functions or modules in a controlled manner to achieve a desired result. It is well known how computer system 900 operates, and detailed description is omitted.

  As described above, the accident prevention information output device and the accident prevention information reception device according to the present invention have an effect of being able to prevent a collision accident at the intersection of a moving object at an intersection, and are useful as an intersection accident prevention system. is there.

DESCRIPTION OF SYMBOLS 1 Intersection accident prevention system 2 Accident prevention information output device 20 Apparatus main body 201 Moving body detection part 2011 Moving body detection means (1st sensor)
2012 Moving body detection means (second sensor)
202 mobile object information acquisition unit 2021 memory 203 traveling condition determination unit 204 information output unit 2041 carrier generation circuit 2042 modulation signal generation circuit 2043 modulation circuit 2044 amplification circuit 2045 transmission antenna 3 accident prevention information receiver 301 information reception unit 3011 reception antenna 3012 high frequency Amplification circuit 3013 Frequency conversion circuit 3014 Demodulation circuit 302 Risk information acquisition unit 3021 Memory 303 Accident prevention information output unit 3031 Output information storage unit 3032 Output processing means 3032A Output processing circuit 3032B Display 3032C Speaker 4 Road 401 Crossing 5 Mobile 6 Inductive type Proximity sensor 601 Detection coil 602 Detection unit 6021 Oscillation circuit 6022 Detection circuit 6023 Output circuit 7 Light emitter 900 Computer system 90 Computer 902 keyboard 903 mouse 904 Monitor 905 CD-ROM
914 hard disk 915 CD-ROM drive 916 bus

Claims (4)

An intersection accident prevention system comprising: an accident prevention information output device; and an accident prevention information receiving device mounted on a first mobile body,
The accident prevention information output device is:
A moving body detection unit that detects a second moving body passing the moving body detection position at a moving body detection position in front of an intersection of a road, and acquires detection information of the second moving body;
A moving body information acquisition unit that acquires moving body information on the second moving body based on the detection information of the second moving body acquired by the moving body detection unit;
A traveling condition determination unit that determines whether the second mobile unit satisfies a predetermined traveling condition based on the mobile unit information acquired by the mobile unit information acquisition unit;
When the travel condition determination unit determines that the second moving body satisfies the travel condition, an information output unit that outputs accident prevention information related to accident prevention at the intersection , and
The moving body information includes the size, velocity, and moving direction of the second moving body,
The accident prevention information is information indicating that there is the second moving body that enters the intersection at a speed that is greater than or equal to a preset threshold value or greater than the preset threshold value, and enters the intersection. Including information on the velocity of the second mobile and the size of the second mobile,
The accident prevention information receiving device,
When the first moving body is traveling in a predetermined range including the intersection, transmitted from the accident prevention information output device installed at the moving body detection position of the road connected to the intersection, An information receiving unit for receiving the accident prevention information on accident prevention at an intersection;
An accident prevention information output unit that outputs the accident prevention information received by the information reception unit;
Using the information related to the speed of the second moving body received by the information receiving unit and the information related to the speed of the first moving body on which the accident prevention information receiving device is mounted, the first at the intersection A risk degree information acquiring unit for acquiring risk degree information on the degree of risk of a collision between the moving body and the second moving body;
The risk level information acquisition unit acquires the risk level information including a scale when a collision accident occurs by a combination of a size and a speed of the first moving body and the second moving body,
The intersection accident prevention system according to claim 1, wherein the accident prevention information output unit further outputs the danger degree information acquired by the danger degree information acquisition unit . The moving body information further includes an acceleration of the second moving body,
Before Kihashi line conditions, in the direction the moving direction of the second moving body enters the intersection, and, from the second speed of the moving body than a preset threshold value or the predetermined threshold value Daidea is, and, an intersection accident prevention system of claim 1 the acceleration of the second moving body is to meet zero or Seidea Rukoto. The mobile information acquisition unit includes two conductor detection means embedded at a predetermined interval in the longitudinal direction of the road at the mobile body detection position of the road, and the second one of the second conductor detection means intersection accident prevention system according to claim 1 or claim 2 get the mobile body information by using the detection information of the moving body. The mobile body information further includes an intersection approach prediction time for entering the intersection of the second mobile body based on a time point when the second mobile body passes the mobile body detection position ,
The information output unit, the intersection accident prevention system as claimed in any one claims 1 to 3, you output the accident prevention information including the mobile body information.

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