Proximity notification device, proximity notification program and method for notifying proximity of vehicle
A probability acquisition unit reads a collision probability that a pedestrian collides against a self-vehicle, from a data map, in which positions of a pedestrian are beforehand associated with collision probabilities, with reference to an obtained position of a pedestrian around a self-vehicle. A function control unit activates an alarm unit to cause an alarm to notify proximity of the self-vehicle to a pedestrian when the obtained collision probability is higher than a threshold. An obstacle acquisition unit obtains a detection result of an obstacle, which obstructs movement of a pedestrian. A path estimation unit estimates a traveling path of the self-vehicle on the data map. The probability acquisition unit decreases a collision probability in a region of the data map, the region being beyond the detected obstacle when viewed from the traveling path.
1. A proximity notification device for a vehicle to notify proximity of a self-vehicle to a pedestrian, the proximity notification device comprising:
a distance acquisition unit configured to obtain a detection result of a position of a pedestrian around the self-vehicle;
a probability acquisition unit configured to read a collision probability from a data map with reference to the obtained position of the pedestrian, the collision probability being a probability that a pedestrian collides against the self-vehicle, the data map including positions of a pedestrian beforehand associated with collision probabilities;
a function control unit configured to activate an alarm unit to cause an alarm when the read collision probability is higher than a predetermined threshold;
an obstacle acquisition unit configured to obtain a detection result of an obstacle, which obstructs movement of a pedestrian; and
a traveling path estimation unit configured to estimate a traveling path of the self-vehicle on the data map, wherein
the probability acquisition unit is further configured to decrease a collision probability in a region of the data map, the region being beyond the detected obstacle when viewed from the traveling path.
2. The proximity notification device according to claim 1 , further comprising:
an information acquisition unit configured to obtain information about traveling of a self-vehicle, wherein
the probability acquisition unit is further configured to modify the data map according to the obtained information.
3. The proximity notification device according to claim 1 , further comprising:
a state change detection unit configured to detect change from a first state to a second state,
wherein in the first state, the distance acquisition unit can obtain a detection result of a position of a pedestrian around the self-vehicle,
wherein in the second state, the distance acquisition unit cannot obtain the detection result;
an estimation unit configured to, when the state change detection unit detects change from the first state to the second state, estimate the position of the pedestrian; and
a passing determination unit configured to determine whether the self-vehicle passes a lateral side of the pedestrian whose position is estimated by the estimation unit, wherein
the probability acquisition unit is further configured to read the collision probability from the data map with reference to the position of the pedestrian estimated by the estimation unit in a period after change to the second state until the passing determination unit determines that the self-vehicle passes the lateral side of the pedestrian.
4. The proximity notification device according to claim 1 , further comprising:
a noise level acquisition unit configured to obtain information on a volume of noise caused by traveling of the self-vehicle; and
a prohibition unit configured to prohibit an operation of the alarm unit when the volume of noise is greater than a predetermined reference value.
5. The proximity notification device according to claim 1 , wherein the function control unit is further configured to instruct an alarm unit to cause an alarm in a direction in which a pedestrian exists, the alarm unit being configured to cause an alarm having directivity in a plurality of directions.
6. A proximity notification program product configured to cause a computer to function as each of the units of the proximity notification device according to claim 1 when being executed by the computer.
7. A method for notifying proximity of a self-vehicle to a pedestrian, the method comprising:
detecting a position of a pedestrian around a self-vehicle;
detecting an obstacle, which obstructs movement of a pedestrian;
estimating a traveling path of the self-vehicle on a data map, which includes positions of a pedestrian beforehand associated with collision probabilities each being a probability that a pedestrian collides against the self-vehicle;
decreasing a collision probability in a region of the data map, the region being beyond the detected obstacle when viewed from the estimated traveling path;
reading a collision probability from the data map with reference to the obtained position of the pedestrian; and
activating an alarm unit to cause an alarm when the read collision probability is higher than a predetermined threshold.
8. A computer readable medium comprising instructions executed by a computer, the instructions including the method according to claim 7 .