JP2018092441A - Notification system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification system enabling a driver of a bicycle to recognize a track along which a possibility that the bicycle may collide with an automobile is low.SOLUTION: The notification system includes: a collision possibility prediction unit that predicts a level of a possibility that a bicycle may collide with an automobile when the bicycle turns to the right or left at an intersection, at which a traveling road on which the bicycle 20 travels intersects an intersecting road 30b on which the automobile 10 is located, so that a bicycle track that is a track along with the bicycle travels intersects an automobile track that is a track on which the automobile travels; and a notification unit that, when the collision possibility prediction unit predicts that the possibility of collision is high, notifies the driver of the bicycle 20 of at least one of that a possibility that the bicycle may collide with the automobile gets higher when the bicycle turns to the right or left along a bicycle track which intersects the automobile track, and that a risk of colliding with the automobile can be reduced by turning to the right or left along a bicycle track which does not intersect the automobile track.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a notification system that notifies a bicycle of a level of possibility of colliding with a vehicle, and more particularly, to a technique for notifying a track that is highly likely to collide with a vehicle.

  Patent Document 1 discloses a moving body position system that estimates the position of a moving body such as a bicycle located around an automobile and notifies the driver of the automobile of the presence of the moving body. By notifying the presence of the moving body by the moving body position system disclosed in Patent Document 1, it becomes possible for the driver of the automobile to recognize the bicycle or the like located around the automobile and perform the driving operation.

JP 2012-48532 A

  In Patent Document 1, the position of a surrounding bicycle is notified to the driver of the automobile, and the driver of the automobile responds. However, for example, when there is a high possibility that a bicycle and a car will collide with each other, a bicycle driver can also respond. Therefore, in such a case, it is conceivable to notify the driver of the bicycle instead of or in addition to notifying the driver of the automobile.

  As described above, when considering notification to the driver of the bicycle, the bicycle is generally smaller in width than the automobile and has a large room for changing the track. For this reason, even when traveling on the same road, the traveling trajectory varies, and the level of possibility of collision may change depending on the traveling trajectory.

  The present invention has been made based on this situation, and an object of the present invention is to provide a notification system capable of recognizing a trajectory in which a bicycle driver is highly likely to collide with an automobile. It is in.

  The above object is achieved by a combination of the features described in the independent claims, and the subclaims define further advantageous embodiments of the invention. Reference numerals in parentheses described in the claims indicate a correspondence relationship with specific means described in the embodiments described later as one aspect, and do not limit the technical scope of the present invention. .

  In order to achieve the above object, the present invention provides a bicycle in which a vehicle (10) is located on an intersection road (30b) intersecting with a traveling road (30a) on which the bicycle (20) travels and the bicycle travels. A collision possibility predicting unit (212) for predicting the level of possibility that the bicycle will collide with the vehicle when the bicycle turns right and left at the intersection so that the track and the vehicle track that is the track on which the vehicle travels intersect; If the collision possibility prediction unit predicts that there is a high possibility of a collision, it is highly likely that the vehicle will collide with a car by turning left or right on a bicycle track that intersects the car track, and a bicycle track that does not intersect the car track. An informing unit (213) for informing the driver of the bicycle of at least one of the fact that the risk of collision with the automobile can be reduced by turning left or right.

  According to the above configuration, the collision possibility prediction unit may cause the bicycle to collide with the automobile when the automobile is located on the intersection road and the bicycle turns right or left so that the bicycle trajectory intersects the automobile trajectory. Predict levels.

  In addition, when it is predicted that the collision possibility prediction unit is highly likely to collide, the notification unit is likely to collide with the vehicle by turning right or left on a bicycle track that intersects the vehicle track. At least one of the fact that the risk of collision with a car can be reduced by making a right or left turn on a bicycle track that does not intersect the track is notified.

  If it is reported that there is a high possibility of colliding with a car by turning left or right on a bicycle track that intersects the car track, the bicycle driver may collide with the car if turning left or right so that it intersects the car track Can be recognized as high.

  In addition, it is said that there is a high possibility of colliding with a car when turning left and right on a bicycle track that intersects the automobile track by turning right and left on a bicycle track that does not intersect the car track. If the setting is made only when the judgment result is obtained, the driver of the bicycle will be able to reduce the risk of collision with the vehicle by turning right or left on the bicycle track that does not intersect the vehicle track. If it turns right and left so that it may cross | intersect, it will become possible to recognize that there is a high possibility of colliding with a car.

It is a figure showing an outline of information system 1 as an embodiment of the present invention. It is a figure which shows the structure of the transmitter 100 with which the alerting | reporting system 1 is provided. It is a figure which shows the structure of the receiver 200 with which the alerting | reporting system 1 is provided. 3 is a flowchart showing the operation of the transmitter 100. 3 is a flowchart showing the operation of the receiver 200. It is a figure which shows the example of a bicycle track and a motor vehicle track. It is an alerting | reporting example in case the intention which turns right and left is not shown. It is an alerting | reporting example in case the intention which turns right and left is not shown. It is an alerting | reporting example in case the intention which turns right and left is not shown. It is an alerting | reporting example in case the intention which turns right and left is not shown. It is an alerting | reporting example in case the intention of making a right turn is shown. It is an alerting | reporting example in case the intention of making a right turn is shown. It is an alerting | reporting example in case the intention of making a right turn is shown. It is an example of information when the intention to turn left is shown. It is an example of information when the intention to turn left is shown.

<Embodiment>
[Operation outline]
Hereinafter, a notification system 1 as an embodiment of the present invention will be described with reference to the drawings. Before going into the configuration and detailed description of the notification system 1, an outline of operation of the notification system 1 will be described with reference to FIG.

  The notification system 1 includes a transmitter 100 used in the automobile 10 and a receiver 200 used in the bicycle 20. In the present embodiment, in a situation where the bicycle 20 approaches the intersection P and is expected to enter the intersection P, the receiver 200 notifies the driver of the bicycle 20 of the level of possibility of colliding with the automobile 10. .

  In the example of FIG. 1, sidewalks 31 are provided at both ends of the road 30 so as to be separated from the roadway 32. The bicycle 20 can also travel on the sidewalk 31 in order to avoid colliding with the automobile 10.

  The transmitter 100 notifies the presence of the automobile 10 by wirelessly transmitting an automobile signal including the position of the automobile 10 while the automobile 10 is traveling. The receiver 200 receives the vehicle signal transmitted by the transmitter 100 and predicts the vehicle track that is the track on which the vehicle 10 travels. Further, the receiver 200 predicts a bicycle trajectory that is a trajectory on which the bicycle 20 travels, and determines the level of possibility that the bicycle 20 will collide with the automobile 10 based on whether or not the predicted bicycle trajectory intersects the automobile trajectory. Predict and notify the driver of the bicycle 20 of the predicted result. In the present embodiment, the level of the possibility of collision is notified by notifying whether the predicted bicycle track is in a state where the possibility of collision is high or low. Thereby, the driver of the bicycle 20 can reduce the risk that the bicycle track that has been informed that the possibility of a collision is low is more likely to collide with the automobile 10 than the bicycle track that has been notified that the possibility of a collision is high. Can be recognized.

[Configuration of Transmitter 100]
The configuration of the transmitter 100 will be described with reference to FIG. The transmitter 100 includes a transmitter control unit 101, a GNSS receiver 102, and a transmission unit 103.

  The transmitter control unit 101 is configured mainly by a microcomputer including a CPU, a ROM, a RAM, and the like. The CPU uses a temporary storage function of the RAM, and a non-transitional tangible recording medium (non The vehicle position acquisition unit 110, the vehicle speed acquisition unit 112, and the signal transmission unit 111 are operated by executing a program stored in the -transitory tangible storage medium). The ROM included in the transmitter control unit 101 stores a vehicle ID that identifies the automobile 10.

  The GNSS receiver 102 is a receiver for receiving a positioning signal transmitted from a positioning satellite constituting a GNSS (Global Navigation Satellite System) and positioning the position of the GNSS receiver 102.

  The transmission unit 103 is a wireless communication device that transmits a signal. The frequency to be transmitted may be, for example, 300 MHz to 3 GHz band. Moreover, the power at the time of transmission should just be power which the receiver 200 can receive 50-100 m away from the transmitter 100.

  The vehicle position acquisition unit 110 performs positioning using the positioning signal received by the GNSS receiver 102 and acquires the position of the vehicle 10. The vehicle speed acquisition unit 112 acquires the speed of the vehicle 10 using the vehicle speed signal output from the vehicle speed sensor 11.

  The signal transmission unit 111 includes the vehicle ID stored in the ROM included in the transmitter control unit 101, the position of the vehicle 10 acquired by the vehicle position acquisition unit 110, and the speed of the vehicle 10 acquired by the vehicle speed acquisition unit. The vehicle signal is transmitted to the transmission unit 103.

[Configuration of Receiver 200]
The configuration of the receiver 200 will be described with reference to FIG. The receiver 200 includes a receiver control unit 201, a reception unit 202, a GNSS receiver 203, a right / left turn switch 204, and a notification device 205.

  The receiver control unit 201 is mainly configured by a microcomputer including a CPU, a ROM, a RAM, and the like, and the CPU stores in a non-transitional tangible recording medium such as a ROM while using a temporary storage function of the RAM. By executing the program, the bicycle position acquisition unit 210, the bicycle speed acquisition unit 211, the collision possibility prediction unit 212, and the notification unit 213 operate. Further, the ROM included in the receiver control unit 201 stores map data including the position of the intersection P, the road shape around the intersection P, and the like.

  The GNSS receiver 203 is a receiver for receiving a positioning signal transmitted from a positioning satellite constituting the GNSS and positioning the position of the GNSS receiver 203. The receiving unit 202 is a wireless communication device that receives an automobile signal transmitted by the transmitter 100.

  The right / left turn switch 204 is a switch indicating that the driver of the bicycle 20 intends to make a right / left turn by selecting a right turn or a left turn by operating the driver of the bicycle 20. It is possible to switch the state where neither the right turn nor the left turn is selected. The collision possibility prediction unit 212 predicts the bicycle track according to the traveling direction selected by the driver operating the right / left turn switch 204. Specifically, when neither right turn nor left turn is selected, a trajectory to go straight and right or left is predicted. When a right turn is selected by the right / left turn switch 204, only a bicycle trajectory to turn right is predicted. When is selected, only the bicycle trajectory to turn left is predicted. The right / left turn switch 204 corresponds to a right / left turn selection unit.

  The notification device 205 is a device that notifies the driver of the bicycle 20 of the level of possibility that the bicycle 20 will collide with the automobile 10. In the present embodiment, the notification device 205 includes a display. By displaying the predicted bicycle track and the level of possibility of collision with the car 10 when traveling on the predicted bicycle track on this display, it is possible to collide with the car 10 corresponding to the bicycle track. Inform the level. Thereby, the driver of the bicycle 20 can recognize a bicycle track with a low possibility of collision.

  The bicycle position acquisition unit 210 performs positioning using the positioning signal received by the GNSS receiver 203 and sequentially acquires the position of the bicycle 20. The bicycle speed acquisition unit 211 acquires the speed of the bicycle 20. In the present embodiment, the speed of the bicycle 20 is acquired using the alternating current of the frequency according to the speed of the bicycle 20 output from the hub dynamo 21 included in the bicycle 20.

  The collision possibility prediction unit 212 predicts the bicycle track and the vehicle track in a situation where the bicycle 20 is approaching the intersection P, and the level of the possibility that the bicycle 20 and the vehicle 10 collide with each other with respect to the predicted bicycle track. Predict. In the present embodiment, the vehicle track and the bicycle track are predicted from the position of the vehicle 10 included in the vehicle signal received by the reception unit 202 and the position of the bicycle 20 acquired by the bicycle position acquisition unit 210. A specific orbit prediction method will be described later.

  Next, with respect to the bicycle track that intersects the vehicle track, from the position of the vehicle 10 and the bicycle 20 and the speed of the vehicle 10 and the bicycle 20 until the vehicle 10 and the bicycle 20 reach the position where the bicycle track and the vehicle track intersect. By predicting the time difference, the level of possibility of collision is predicted. Specifically, it is assumed that there is a high possibility of a collision when the predicted time difference is equal to or less than a threshold value. The threshold value may be 5 to 10 seconds, for example.

  A bicycle track that does not intersect the vehicle track, and a bicycle track in which the time difference until reaching the position where it intersects but intersects may be predicted to have a low possibility of collision between the bicycle 20 and the vehicle 10.

  The method for predicting the level of possibility of collision is not limited to this, and a known technique for predicting the level of possibility of collision can be used.

  The notification unit 213 operates the notification device 205 according to the level of possibility that the bicycle 20 and the automobile 10 will collide, which is predicted by the collision possibility prediction unit 212. This notifies the driver of the bicycle 20 of the level of possibility of collision with the automobile 10 when the bicycle 20 travels on the predicted bicycle track.

[Operation of transmitter 100]
The operation of the transmitter 100 will be described along the flowchart of FIG. When the ignition switch of the automobile 10 is turned on, the transmitter 100 periodically executes the process shown in FIG. 4 from S1. The period to be executed may be a period of 100 milliseconds, for example.

  In S <b> 1, positioning is performed using the positioning signal received by the GNSS receiver 102, and the position of the automobile 10 using the transmitter 100 is acquired. S <b> 1 is processing as the vehicle position acquisition unit 110. In S2, the speed of the automobile 10 is acquired using the vehicle speed signal output from the vehicle speed sensor 11. S <b> 2 is processing as the vehicle speed acquisition unit 112.

  In S3, it is determined whether or not the speed of the automobile 10 acquired in the process of S2 is equal to or higher than a threshold value. This process is a process for determining whether or not the automobile 10 is traveling at a speed at which it is necessary to notify the bicycle 20 of the presence of the automobile 10. This threshold value may be 5 to 10 km / h, for example. If it is determined that the value is equal to or greater than the threshold value, the process proceeds to S4. If it is determined that the value is less than the threshold value, the process illustrated in FIG.

  In S4, a vehicle signal including the vehicle ID stored in the ROM included in the receiver control unit 201, the position of the automobile 10 acquired in the process of S1, and the speed of the automobile 10 acquired in the process of S2 is transmitted. The process shown in FIG. 4 ends. S3 and S4 are processes as the signal transmission unit 111.

[Operation of receiver 200]
The operation of the receiver 200 will be described with reference to the flowchart of FIG. The receiver control unit 201 periodically executes the process illustrated in FIG. 5 from S11. The period to be executed may be a period of 100 milliseconds, for example.

  In S11, positioning is performed using the positioning signal received by the GNSS receiver 203, and the position of the bicycle 20 using the receiver 200 is acquired. S12 is processing as the bicycle position acquisition unit 210.

  In S12, it is determined whether or not the bicycle 20 is approaching the intersection P. The determination as to whether or not the bicycle 20 is approaching the intersection P is, for example, that the bicycle position acquired in S11 is within 15 m to 30 m from the position of the intersection P stored in the ROM included in the receiver control unit 201. In this case, the determination may be made by determining that the vehicle is approaching the intersection P. When it is determined that the bicycle 20 is approaching the intersection, the process proceeds to S13, and when it is determined that the bicycle 20 is not approaching, the process returns to S11.

  In S13, it is determined whether or not the automobile 10 is approaching the intersection P. For example, with respect to the automobile signals including the same vehicle ID received by the receiving unit 202, the traveling direction of the automobile 10 is acquired using the locus of the position of the automobile 10 included in the automobile signals, and the intersection P is located in the traveling direction. It may be determined based on whether or not. As another example, when the receiving unit 202 receives an automobile signal, it may be determined that the automobile 10 that has transmitted the automobile signal is approaching an intersection. If it is determined that the vehicle is approaching, the process proceeds to S15. If it is determined that the vehicle is not approaching, the process proceeds to S14.

  In S14, the notification device 205 is informed that the vehicle 10 is not approaching the intersection P, and it is predicted that all four bicycle tracks described later are unlikely to collide with the vehicle 10, and the process returns to S11.

  In S15, the speed of the bicycle 20 is acquired. The process of S15 is a process as the bicycle speed acquisition unit 211. In S16, it is determined whether or not the driver operates the right / left turn switch 204 to indicate the intention of making a right / left turn. If the intention to turn right or left is indicated, the process proceeds to S17, and if neither intention is indicated, the process proceeds to S19.

  In S17, a bicycle track is predicted according to the driver's intention shown in the process of S16, and the possibility that the predicted bicycle track will collide with the automobile 10 is predicted. If it is determined in S16 that the intention is to make a right turn, only two of the four bicycle tracks to be described later are predicted to be turned to the right, and the two predicted right turn bicycle tracks may collide. Predict. If it is determined in S16 that the intention is to turn left, only two of the four bicycle tracks to be described later are predicted to be turned to the left and the two predicted left-turn bicycle tracks may collide. Predict.

  In S18, the notification device 205 is informed of the level of possibility of collision of the bicycle track predicted in S17, and the processing shown in FIG.

  In S <b> 19, all four bicycle tracks described later are predicted to predict the straight, right, and left turn bicycle tracks, and the possibility of collision with the automobile 10 is predicted.

  In S20, for the four bicycle tracks predicted in S19, the notification device 205 is notified of the level of possibility of collision, and the process shown in FIG. 5 ends. S16, S17, and S19 are processes as the collision possibility prediction unit 212, and S14, S18, and S20 are processes as the notification unit 213.

[Examples of bicycle track and car track]
Next, an example of a track A that is an automobile track predicted by the collision possibility prediction unit 212 and a track B that is a bicycle track will be described with reference to FIG. The bicycle track is determined so that the driver of the bicycle 20 can recognize the difference from the other bicycle tracks, travel on the bicycle track, and avoid traveling on the bicycle track.

  In the following, the bicycle trajectory to be predicted when the bicycle 20 is traveling on the left side of the roadway 32 or traveling on the sidewalk 31 provided on the left side in the traveling direction of the bicycle 20 and approaching the intersection P will be described. FIG. 6 shows a bicycle trajectory to be predicted when the bicycle 20 travels on the sidewalk 31 provided on the left side in the traveling direction and approaches the intersection P.

  First, the predicted automobile trajectory will be described. In the present embodiment, the vehicle track determines the position of the vehicle 10 with respect to the bicycle 20 and the intersection P using the position of the vehicle 10 and the position of the bicycle 20 and the map data stored in the ROM included in the receiver control unit 201. One of the two trajectories A1 and A2 is predicted.

  The track A1 is a vehicle track predicted when the vehicle 10 is located on the intersection road 30b that intersects the traveling road 30a on which the bicycle 20 travels at the intersection P. This track A1 is a vehicle track representative of the vehicle track when the vehicle 10 traveling on the intersection road 30b passes straight through the intersection P and continues to travel on the intersection road 30b. For example, a track that travels in the center of the roadway 32 of the intersection road 30b may be used.

  The track A2 is a vehicle track predicted when the automobile 10 is located on the traveling road 30a, and the automobile 10 traveling on the traveling road 30a travels straight through the intersection P and continues to travel on the traveling road 30a. It is an automobile track that represents the track. For example, a track that travels in the center of the roadway 32 of the road 30a may be used.

  Next, the bicycle trajectory to be predicted will be described. The bicycle trajectory passing through the intersection P can predict various trajectories. In this embodiment, the predictable bicycle track is divided into four cases based on whether or not each of the track A1 and the track A2 intersects, and the track B1, the track B2, The four trajectories of the trajectory B3 and the trajectory B4 are predicted.

  The track B1 is a bicycle track that represents a bicycle track when the bicycle 20 passes through the intersection P so as not to cross either the track A1 or the track A2. Specifically, it is a bicycle track that turns left at the intersection P and turns on the left and then travels on the sidewalk 31 provided on the left side in the traveling direction.

  The track B2 is a bicycle track representing a bicycle track when the bicycle 20 passes through the intersection P so as to cross the track A1 but not the track A2. Specifically, the track B2 is a track that goes straight through the intersection P. There are two types of cases where the vehicle passes through the intersection P so as not to intersect with the track A2; the vehicle passes straight through the intersection P and then goes straight, and the vehicle turns left and runs on the sidewalk of the intersection road 30b. However, in either case, the level of possibility of collision with the automobile 10 traveling on the intersection road 30b is the same. Therefore, it is not necessary to distinguish between these two types, and it is only necessary to perform the processing collectively as the trajectory B2.

  The track B3 is a bicycle track that represents a bicycle track when the bicycle 20 crosses both the track A1 and the track A2 and passes through the intersection P. Specifically, it is a bicycle track that turns left so as to pass through the center of the intersection P and travels on the sidewalk 31 provided on the left side in the traveling direction after passing the intersection P.

  The track B4 is a bicycle track representing a bicycle track when the bicycle 20 passes through the intersection P so as to cross the track A2 but not the track A1. Specifically, it is a bicycle track that turns right after turning right so as to travel on a sidewalk provided at the right end of the road.

  When the driver of the bicycle 20 selects the right turn by operating the right / left turn switch 204, the collision possibility prediction unit 212 predicts the track B3 and the track B4 as the bicycle track to turn right.

  In addition, in a state where the left turn is selected, the collision possibility prediction unit 212 predicts the track B1 and the track B2 as the bicycle track that makes a left turn. The reason for predicting the trajectory B2 is that after turning left and turning left so as to travel on the sidewalk provided on the right side of the road, that is, after passing straight through the intersection P, turn left and travel on the sidewalk of the intersection road 30b. This is to consider the bicycle trajectory of the case. As described above, the bicycle track representing the section including such a bicycle track is the track B2. For this reason, when the driver of the bicycle 20 indicates the intention of turning left, the track B2 is predicted in addition to the track B1. In a state in which neither right turn nor left turn is selected, the collision possibility prediction unit 212 predicts all four bicycle tracks B1 to B4 as bicycle tracks that go straight, turn right, and turn left.

[Example of collision possibility notification]
An example of notification displayed by the notification device 205 will be described with reference to FIGS. An example of notification when the receiver 200 has not received an automobile signal, or the time difference until the automobile 10 and the bicycle 20 reach the position where the bicycle orbit and the automobile orbit cross each other is greater than or equal to a threshold value. 7 shows. The notification device 205 notifies that it is determined that there is a low possibility that all four bicycle tracks B1 to B4 will collide.

  FIGS. 8 to 10 show notification examples displayed by the notification device 205 when the right / left turn switch 204 does not indicate the intention of turning right / left. In a state where the right / left turn switch 204 does not indicate the intention of turning right / left, the collision possibility prediction unit 212 predicts four bicycle tracks B1 to B4 as bicycle tracks.

  FIG. 8 is a notification example when the automobile 10 is located on the right side in the traveling direction of the bicycle 20 on the intersection road 30b. In the following notification examples, the bicycle track that intersects the vehicle track has a time difference that is less than a threshold value until the vehicle 10 and the bicycle 20 reach the position where the vehicle track and the bicycle track intersect each other, and can collide. Suppose that it is predicted to be high. When the automobile 10 is located on the intersection road 30b, the collision possibility prediction unit 212 predicts the track A1 as the automobile track. Of the predicted bicycle tracks, the track B2 and the track B3 intersect with the track A1, and the track B1 and the track B4 do not intersect with the track A1. Accordingly, the fact that the trajectory B2 and the trajectory B3 are highly likely to collide, and that the trajectory B1 and the trajectory B4 are less likely to collide, that is, the risk of colliding with the automobile 10 than the trajectory B2 and the trajectory B3 can be notified. At the same time, the vehicle 10 is notified that it is approaching from the right side of the traveling direction of the bicycle 20.

  Thereby, the driver of the bicycle 20 can recognize that the trajectory B2 and the trajectory B3 that turn right and left so as to intersect the trajectory A1 are highly likely to collide. Further, since the trajectory B1 and the trajectory B4 that turn right and left so as not to intersect the trajectory A1 are less likely to collide with the trajectory B2 and the trajectory B3, it is possible to recognize that the risk of collision can be reduced. . Therefore, it is possible to reduce the risk of collision without interrupting the left / right turn.

  FIG. 9 is an example of notification when the automobile 10 is located on the left side in the traveling direction of the bicycle 20 on the intersection road 30b. When the automobile 10 is located on the intersection road 30b, the collision possibility prediction unit 212 predicts the track A1 as the automobile track. Of the predicted bicycle tracks, the track B2 and the track B3 intersect with the track A1, and the track B1 and the track B4 do not intersect with the track A1. Accordingly, the fact that the trajectory B2 and the trajectory B3 are highly likely to collide, and that the trajectory B1 and the trajectory B4 are less likely to collide, that is, the risk of colliding with the automobile 10 than the trajectory B2 and the trajectory B3 can be notified. In addition, the vehicle 10 is informed that it is approaching from the left side in the traveling direction of the bicycle 20.

  Thereby, the driver of the bicycle 20 can recognize that the trajectory B2 and the trajectory B3 that turn right and left so as to intersect the trajectory A1 are highly likely to collide. Further, since the trajectory B1 and the trajectory B4 that turn right and left so as not to intersect the trajectory A1 are less likely to collide with the trajectory B2 and the trajectory B3, it is possible to recognize that the risk of collision can be reduced. . Therefore, it is possible to reduce the collision risk without interrupting the right / left turn.

  FIG. 10 is a notification example when the automobile 10 is located behind the bicycle 20 on the traveling road 30a. When the automobile 10 is located on the traveling road 30a, the collision possibility prediction unit 212 predicts the track A2 as the automobile track. Among the predicted bicycle tracks, the track B3 and the track B4 intersect with the track A2, and the track B1 and the track B2 do not intersect with the track A2. Therefore, it is notified that the track B3 and the track B4 are highly likely to collide and that the track B1 and the track B2 are unlikely to collide, that is, the risk of colliding with the vehicle 10 can be reduced. The fact that the vehicle is approaching from behind 20 is notified.

  FIGS. 11 to 13 show notification examples displayed by the notification device 205 when the right / left turn switch 204 indicates a right turn intention. In a state where the right / left turn switch 204 indicates a right turn intention, the collision possibility prediction unit 212 predicts two bicycle tracks B3 and B4 as bicycle tracks.

  FIG. 11 is a notification example when the automobile 10 is located on the right side in the traveling direction of the bicycle 20 on the intersection road 30b. When the automobile 10 is located on the intersection road 30b, the collision possibility prediction unit 212 predicts the track A1 as the automobile track. Of the predicted bicycle tracks, the track B3 intersects the track A1, and the track B4 does not intersect the track A1. Therefore, it is notified that the track B3 is highly likely to collide and that the track B4 is less likely to collide, that is, the risk of colliding with the vehicle 10 can be reduced compared to the track B3. Notify that you are approaching from the right side of the direction of travel. As a result, the driver of the bicycle 20 can recognize that the track B3 that turns right so as to intersect the track A1 is highly likely to collide. Further, since the trajectory B4 that turns right so as not to intersect the trajectory A1 is less likely to collide with the trajectory B3, it is possible to recognize that the risk of collision can be reduced. Therefore, it is possible to reduce the risk of collision without interrupting the right turn.

  FIG. 12 is a notification example when the automobile 10 is positioned on the left side in the traveling direction of the bicycle 20 on the intersection road 30b. When the automobile 10 is located on the intersection road 30b, the collision possibility prediction unit 212 predicts the track A1 as the automobile track. Of the predicted bicycle tracks, the track B3 intersects the track A1, and the track B4 does not intersect the track A1. Therefore, it is notified that the track B3 is highly likely to collide and that the track B4 is less likely to collide, that is, the risk of colliding with the vehicle 10 can be reduced compared to the track B3. Notify that you are approaching from the left side of the direction of travel. As a result, the driver of the bicycle 20 can recognize that the track B3 that turns right so as to intersect the track A1 is highly likely to collide. Further, since the trajectory B4 that turns right so as not to intersect the trajectory A1 is less likely to collide with the trajectory B3, it is possible to recognize that the risk of collision can be reduced. Therefore, it is possible to reduce the risk of collision without interrupting the right turn.

  FIG. 13 is a notification example when the automobile 10 is located behind the bicycle 20 on the traveling road 30a. When the automobile 10 is located on the traveling road 30a, the collision possibility prediction unit 212 predicts the track A2 as the automobile track. Both the track B3 and the track B4, which are predicted bicycle tracks, intersect the track A2. Accordingly, the track B3 and the track B4 are informed that the possibility of collision is high, and that the vehicle 10 is approaching from the rear of the bicycle 20.

  FIGS. 14 and 15 show notification examples displayed by the notification device 205 when the right / left turn switch 204 indicates the intention of turning left. In a state where the right / left turn switch 204 indicates the intention of a left turn, the collision possibility prediction unit 212 predicts two bicycle trajectories B1 and B2 as bicycle trajectories.

  FIG. 14 is a notification example when the automobile 10 is located on the right side in the traveling direction of the bicycle 20 on the intersection road 30b. When the automobile 10 is located on the intersection road 30b, the collision possibility prediction unit 212 predicts the track A1 as the automobile track. Of the predicted bicycle tracks, the track B2 intersects the track A1, and the track B1 does not intersect the track A1. Therefore, it is notified that the track B2 is highly likely to collide and that the track B1 is less likely to collide, that is, the risk of colliding with the vehicle 10 can be reduced compared to the track B2, and the vehicle 10 Notify that you are approaching from the right side of the direction of travel. As a result, the driver of the bicycle 20 can recognize that there is a high possibility that the track B2 turning left so as to intersect the track A1 is likely to collide. Further, since the trajectory B1 that turns left so as not to intersect the trajectory A1 is less likely to collide with the trajectory B2, it is possible to recognize that the risk of colliding can be reduced. Therefore, it is possible to reduce the risk of collision without interrupting the left turn.

  FIG. 15 is a notification example when the automobile 10 is positioned on the left side in the traveling direction of the bicycle 20 on the intersection road 30b. When the automobile 10 is located on the intersection road 30b, the collision possibility prediction unit 212 predicts the track A1 as the automobile track. Of the predicted bicycle tracks, the track B2 intersects the track A1, and the track B1 does not intersect the track A1. Accordingly, it is notified that the track B2 has a high possibility of a collision and the track B1 has a low possibility of a collision, that is, the collision risk with the vehicle 10 can be reduced compared to the track B2, and the vehicle 10 advances the bicycle 20. Notify that you are approaching from the left side. As a result, the driver of the bicycle 20 can recognize that there is a high possibility that the track B2 turning left so as to intersect the track A1 is likely to collide. Further, since the trajectory B1 that turns left so as not to intersect the trajectory A1 is less likely to collide with the trajectory B2, it is possible to recognize that the risk of colliding can be reduced. Therefore, it is possible to reduce the risk of collision without interrupting the left turn.

[Summary of Embodiment]
As described above, according to the embodiment described above, the collision possibility prediction unit 212 uses the position of the bicycle 20 and the position of the automobile 10, and includes a bicycle track and a bicycle including a bicycle track that turns right so as to intersect the vehicle track. The trajectory is predicted, and the level of possibility that the bicycle 20 and the automobile 10 collide is predicted for the predicted bicycle trajectory. Thereby, the collision possibility predicting unit 212, when the bicycle 20 approaches the intersection P and the vehicle 10 is located on the intersection road, the bicycle 20 is on the track B2 and the track B3 which are bicycle tracks intersecting the vehicle track. When turning right or left, it is possible to predict the level of possibility of collision with the automobile 10.

  In addition, the notification unit 213 notifies the level of the collision possibility predicted by the collision possibility prediction unit 212 for the bicycle track predicted to be collided by the collision possibility prediction unit 212. Thereby, the driver of the bicycle 20 can recognize that the bicycle track including the bicycle track that turns right and left so as to intersect the vehicle track is a bicycle track that is highly likely to collide with the vehicle 10.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following modification is also contained in the technical scope of this invention, Furthermore, the summary other than the following is also included. Various modifications can be made without departing from the scope. In the following description, elements having the same reference numerals as those used so far are the same as the elements having the same reference numerals in the previous embodiments unless otherwise specified. Further, when only a part of the configuration is described, the above-described embodiment can be applied to the other parts of the configuration.

<Modification 1>
In the embodiment, the collision possibility prediction unit 212 predicts the possibility of collision with the automobile 10 using the positions of the automobile 10 and the bicycle 20 and the speed of the automobile 10 and the bicycle 20. However, the parameter used when predicting the possibility of collision with the automobile 10 is not limited to this. For example, the traveling direction of the automobile 10 acquired by the transmitter 100 using a gyro sensor or the like may be used when predicting the possibility of collision.

<Modification 2>
In the embodiment, when it is determined that the vehicle is entering the intersection P, the bicycle track is predicted to enter the intersection P by traveling on the left side of the roadway 32 or traveling on the sidewalk 31 provided on the left side in the traveling direction. I was going to inform you. However, it is possible to distinguish between a situation where the vehicle is traveling on the left side of the roadway 32 or traveling on the sidewalk 31 provided on the left side in the traveling direction and a situation where the vehicle is traveling on the sidewalk provided on the right side of the road. In this case, a bicycle trajectory passing through the intersection P may be predicted according to each situation, and the possibility of collision with the automobile 10 may be notified. The situation may be distinguished by comparing the position of the bicycle 20 with map data.

  Moreover, the situation where the bicycle 20 enters the intersection has been described as an example of the situation for notifying the possibility of a collision. However, the situation where the notification is performed is not limited to this. For example, the notification may be made in a situation that is not around the intersection P.

<Modification 3>
In the embodiment, the case where there is one automobile 10 has been described as an example, but a plurality of automobiles 10 may be provided. It can be determined using the vehicle ID included in the automobile signal that a plurality of automobiles 10 are approaching. In this case, a bicycle track that is highly likely to collide with any vehicle 10 is reported as a bicycle track that is highly likely to collide, and a bicycle track that is predicted to be unlikely to collide with any vehicle 10 is collided. What is necessary is just to alert | report as a bicycle track which can reduce a risk.

<Modification 4>
In the embodiment, the notification device 205 notifies the bicycle track, the possibility of collision with the vehicle 10 on the bicycle track, and the direction in which the vehicle 10 approaches, but the notification content is not limited thereto. For example, in addition to the notification content of the embodiment, the distance between the automobile 10 and the bicycle 20 may be notified.

<Modification 5>
In the embodiment, a display is provided as the notification device 205 and notification is performed by displaying on the display. However, a method for performing notification is not limited thereto. For example, a lamp corresponding to each of four bicycle tracks may be provided as the notification device 205, and notification may be performed by switching between the lamp lighting state and the extinguishing state. As another example, a speaker may be provided as the notification device 205 and notification may be performed by voice.

<Modification 6>
In the embodiment, the function as the collision possibility prediction unit 212 is provided in the receiver 200 used in the bicycle 20. However, the apparatus provided with the function as the collision possibility prediction unit 212 is not limited to this. For example, the transmitter 100 used in the automobile 10 may have a function as the collision possibility prediction unit 212. In this case, the predicted result may be wirelessly transmitted to the receiver 200 used in the bicycle 20.

<Modification 7>
In the embodiment, the vehicle trajectory predicts one of the two trajectories along the center of the traveling road 30a and the intersection road 30b according to the position of the automobile 10. However, the predicted automobile track is not limited to these two tracks. For example, when the intersection road 30b is a road having two lanes of one lane on one side, depending on the position of the automobile 10, two tracks along the center of each of the two lanes of the intersection road 30b and the traveling road One of the three trajectories that are combined with one trajectory along the center of 30a may be predicted.

<Modification 8>
In the embodiment, the notification device 205 is configured to notify both a bicycle track that is highly likely to collide and a bicycle track that can reduce the risk of collision. However, only one of them may be notified. For example, when only the bicycle track that can reduce the risk of collision is notified, the driver of the bicycle can recognize that the track that was not notified is a bicycle track that is highly likely to collide.

1: Notification system 10: Automobile 11: Vehicle speed sensor 20: Bicycle 21: Hub dynamo 30: Road 30a: Driving road 30b: Cross road 31: Sidewalk 32: Roadway 100: Transmitter 101: Transmitter controller 102: GNSS receiver DESCRIPTION OF SYMBOLS 103: Transmission part 110: Car position acquisition part 111: Signal transmission part 112: Car speed acquisition part 200: Receiver 201: Receiver control part 202: Reception part 203: GNSS receiver 204: Right / left turn switch 205: Notification apparatus 210 : Bicycle position acquisition unit 211: Bicycle speed acquisition unit 212: Collision possibility prediction unit 213: Notification unit

Claims (3)

An automobile (10) is located on an intersection road (30b) intersecting with a traveling road (30a) on which a bicycle (20) travels, and the bicycle trajectory on which the bicycle travels and a trajectory on which the automobile travels. A collision possibility prediction unit (212) for predicting a level of possibility that the bicycle will collide with the vehicle when the bicycle turns right and left at the intersection so that a certain vehicle track intersects;
When the collision possibility predicting unit predicts that there is a high possibility of a collision, it is highly likely that the vehicle will collide with the automobile by making a right or left turn on the bicycle track that intersects the vehicle track, and the vehicle track intersects An informing system (1) comprising an informing unit (213) for informing at least one of the fact that the risk of collision with the automobile can be reduced by turning right or left on the bicycle track. The notification system according to claim 1,
The bicycle driver further comprises a right / left turn selection unit (204) indicating that the driver of the bicycle intends to make a right turn or a left turn by selecting a right turn or a left turn.
The collision possibility predicting unit predicts the bicycle track to go straight, turn right, and turn left when neither the right turn nor the left turn is selected by the right / left turn selection unit, and the right turn or the left turn is selected. In this case, the notification system predicts only the bicycle trajectory that is selected by the operation of the right / left turn selection unit and performs a right turn or a left turn. In claim 1 or 2,
The notification system includes:
A transmitter (100) that is a wireless communication device that is used in the vehicle and sequentially transmits a vehicle signal notifying the presence of the vehicle by wireless communication;
A wireless communication device that is used in the bicycle and receives the automobile signal transmitted by the transmitter, further comprising a receiver (200) including the collision possibility prediction unit and the notification unit;
The transmitter is
A vehicle position acquisition unit (110) for sequentially acquiring the position of the vehicle;
A transmission unit (103) that wirelessly transmits the vehicle signal including the position of the vehicle;
The receiver
A receiving unit (202) for receiving the vehicle signal;
A bicycle position acquisition unit (210) for acquiring the position of the bicycle;
The collision possibility prediction unit is configured to determine the bicycle track and the vehicle track based on the position of the vehicle included in the vehicle signal received by the reception unit and the position of the bicycle acquired by the bicycle position acquisition unit. Notification system that predicts.

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