WO2015001677A1 - Safety assistance system and safety assistance device - Google Patents

Abstract

The system is provided with a monitoring device (10) and a user device. The monitoring device (10) first captures images by a monitor camera, and detects a number N of moving bodies therein. Next, for each of the N moving bodies, the type of moving body is identified, and the distance of the moving body from a predetermined reference location is measured. Next, a first identifier representing the type of moving body, and a second identifier representing the distance of the moving body, are generated for each of the N moving bodies. A data signal containing the N sets of first and second identifiers is then transmitted. Meanwhile, the user device receives the data signal transmitted by the monitoring device (10), recognizes the state of being of the moving bodies on the basis of the N sets of first and second identifiers included therein, and notifies the user thereof through an image (11), voice (12), vibration (13), or the like. As a result, it is possible to reduce the occurrence of accidents with other vehicles or with pedestrians upon encountering an intersection with poor visibility and no traffic signal, a T intersection, or the like, making it possible to achieve improved safety.

Description

Safety support system and safety support device

The present invention relates to a safety support system and a safety support device, for example, a safety support system and a safety support device used at an intersection where a curve mirror is arranged.

Patent Document 1 discloses a driver support device mounted on an automobile. When it is determined that the host vehicle is approaching the T-shaped road based on the navigation information, the driver assistance device instructs the internal communication terminal to acquire information from the roadside device. In response to this, the roadside device installed at the intersection of the T-shaped road detects the distance between the other vehicle and the roadside device existing in the blind spot direction of the own vehicle with the radar, and detects the size of the other vehicle with the camera image. And send them to your vehicle. The host vehicle displays a relative positional relationship between the host vehicle and another vehicle on a head-up display.

Patent Document 2 discloses a proximity moving body display system for an automobile. In the system, an image processing apparatus connected to a camera installed on a road transmits data such as an imaging time, a position of an approaching mobile body, a type of an approaching mobile body, and an intersection shape to an in-vehicle device. The in-vehicle device receives the data, estimates the position of the moving object at the moving object display time, and performs display on the windshield or display on the monitor screen.

Patent Document 3 discloses a vehicle vision support system that allows a driver of a vehicle approaching an intersection to recognize the current state of a blind spot area. In this system, the image processing server that processes the image data of the intersection camera group generates an image obtained by synthesizing the image of the blind spot area with the image of the in-vehicle camera based on various information from the intersection camera group and the in-vehicle camera. The image data is transmitted to the in-vehicle device.

Patent Document 4 discloses a vehicle road condition confirmation device using a camera installed on a curve mirror. In the vehicle road condition confirmation device, the camera side transmits captured video data to the vehicle, and the vehicle side analyzes the captured video data.

Patent Document 5 discloses an intersection situation recognition system that grasps the situation of a road that becomes a blind spot using intersection videos from a plurality of cameras installed at an intersection. In this system, an identification number is set in advance for the imaging device installed at the intersection, and the in-vehicle device searches for the identification number of the imaging device corresponding to the intersection image required when entering the intersection, and the identification number Use the to get the intersection video.

Patent Document 6 discloses a traffic monitoring system that displays an image of a blind spot on an image display device installed at an intersection. Specifically, from the image of the camera installed in the building, the type, size, position and speed of the object moving on the road are analyzed, and similar images of the object recorded in the past are analyzed. A similar image similar to the analysis result is extracted, synthesized with a predetermined background image, and displayed on the image display device.

JP 2010-26708 A JP 2006-215911 A JP 2009-70243 A JP 2008-52493 A JP 2010-55157 A JP 2012-59139 A

For example, when analyzing the contents of a traffic accident caused by a car in 2011, a vehicle accident is classified into a rear-end collision, encounter, head-on collision, right turn collision, vehicle mutual and others. Classified as vehicles and others. In the case of vehicle accidents, the above-mentioned classifications are 6.7%, 15%, 10%, 5.5%, 6.1% for fatal accidents, and 6.3% for severe accidents, respectively. 28%, 5.4%, 11.2%, and 12.8%, and 35.4%, 26%, 2.1%, 8.2%, and 16.5% for minor injuries, respectively. ing. In the case of human-to-vehicle accidents, the above-mentioned classifications are 26% and 10.2% for fatal accidents, 13.7% and 6.9% for serious accidents, respectively, and minor injury accidents. 4.8% and 3.6%. In addition, the major locations where accidents occur are about 70% of intersections without traffic lights (18% at intersections with traffic lights and 10% of single roads), of which about 75% are in urban areas. In other words, the main location of the accident is an intersection without a signal such as a residential area.

In recent years, brake control technology using image processing technology has been incorporated into cars, and systems that can prevent rear-end collisions have been installed in automobiles. However, as described above, the current situation is that countermeasures for encountering a vehicle accident, frontal collision, right-turn collision, etc. are still insufficient. Among these, death accidents (15%), serious accidents (28%), and minor accidents (26%) at encounters have a very large proportion of death and serious accidents compared to other accidents. Therefore, in particular, a traffic information system (ITS) is required to reduce such accidents at encounters. In addition, the accident at the time of encounter is a collision accident when vehicles (bicycles, motorcycles, etc.) and pedestrians entering from different directions cross.

The main causes of accidents at encounters at intersections (crossroads, T-shaped roads, sharp curves, road environments with poor visibility due to plants, buildings, etc.) include human factors, road environment factors, and weather deterioration factors. Human factors account for about 90% of the causes, and typically include recognition errors (overlooks) and judgment / prediction errors. A recognition error (oversight) corresponds to, for example, a situation such as “I didn't see a crossing vehicle”, “I saw a curve mirror but didn't notice”, or “I was distracted by others”. The judgment / prediction mistake is a situation where the user has recognized but the behavior prediction / motion is wrong. For example, it corresponds to a situation such as “This is a priority road and the other party should stop”. Road environmental factors correspond to situations in which the outlook is poor (inferior prospects due to parked vehicles such as buildings and plants) and inadequate facilities (curve mirror breakage, signs and traffic safety facilities are inadequate). The weather deterioration factor corresponds to, for example, a situation in which the outlook has deteriorated due to rain, fog, and snow.

Measures mainly for road environment factors include the installation of curve mirrors (road reflectors), ensuring crossing of intersections (that is, improving the prospects of intersections), road surface display on non-priority roads, and traffic regulation using regulatory signs (Road signs). FIGS. 24 to 26 are explanatory diagrams showing an example of the usage situation of a general curve mirror. FIG. 24 shows an example of a situation where the curve mirror is viewed from the viewpoint of the vehicle driver, FIG. 25 shows an example of a blind spot area viewed from the vehicle driver, and FIG. 26 shows a curve mirror. An example of the image shown in is shown.

For example, in an urban area, other approach roads with poor visibility due to fences, buildings, trees, etc. With respect to (roadside), by installing a curve mirror, it is possible to provide the driver with information on the area that is a blind spot of the driver as shown in FIG. After confirming the curve mirror, the driver such as the approaching vehicle makes a decision such as deceleration of the vehicle speed, temporary stop, etc., and acts so as not to cause an accident. Similarly, not only drivers but also pedestrians can recognize other approaching vehicles etc. with a curve mirror, stop by the side of the road, stop and pass over approaching vehicles, etc. Avoid danger.

However, in spite of such curved mirrors and road signs installed, in reality, there are many car accidents and people-to-vehicle accidents due to encounters, especially at intersections without traffic lights. The cause is, as described above, human factors such as a recognition error (oversight) and a judgment / prediction error. As a cause of the occurrence of this human factor, for example, as shown in FIG. 26, the curve mirror information is information reflected in a mirror viewed from a distance (that is, information reflected in a small mirror). Information that is reversed to the left and right is provided to a vehicle driver or a pedestrian. With such information, there are cases where the driver and the pedestrian looking at the curve mirror individually change the way it looks and the judgment associated therewith.

For example, the visibility of the curve mirror varies depending on the visual acuity of the vehicle driver or pedestrian. Also, because the curve mirror information is reverse information on the left and right, there may be a misjudgment in the direction of the car, etc., or attention may be paid only to the direction of the curve mirror, and attention may not be paid to the opposite direction, or When the pedestrians and bicycles pass each other, there is a possibility that the distance between them will be narrowed due to the difference between the left and right sides. Furthermore, in the case of the curve mirror information, it may be difficult to grasp a sense of distance from a car or the like reflected on the curve mirror.

Like curve mirrors, road signs are difficult to see due to changes over time (such as rust and dirt) and environmental changes (such as changes due to trees and buildings, or changes in display angle due to wind and rain). Can be. Also, these are difficult to see at night, and may be overlooked depending on the installation location. Furthermore, it may be a factor causing misjudgment / prediction due to an assumption (illusion).

In order to reduce such accidents at the time of encounter, for example, it is conceivable to use techniques as disclosed in Patent Documents 1 to 6. However, for example, as shown in Patent Documents 3 to 5, a technique for transmitting camera image data to a vehicle increases the amount of image data to be transmitted, so that accurate information is transmitted to the user in real time. May be difficult. In the technique of Patent Document 6, it is necessary to provide an image display device at an intersection, and a high-performance server device for image processing may be required, which may result in an expensive system. .

In Patent Document 1 and Patent Document 2, there is no particular consideration as to what specific information about the moving body is transmitted to the vehicle, and the amount of information increases depending on the format. It may be difficult to convey accurate information to the user in real time. Furthermore, the techniques of Patent Document 1 and Patent Document 2 are techniques premised on a limited specific scene. That is, for example, this is a technique in which a precondition that a camera captures the right side of an intersection and transmits information based on the image data to a vehicle entering the intersection from below is established in advance. However, in reality, there are various cases regarding where the camera takes an image and from which direction the vehicle enters, and a technique for constructing the preconditions described above is required.

Embodiments described later have been made in view of the above, and other problems and novel features will become apparent from the description of the present specification and the accompanying drawings.

A safety support system according to an embodiment includes a monitoring device provided with a curve mirror and including a monitoring camera, an image processing unit, and a first wireless communication unit, and a second wireless communication unit and an information processing unit that are carried by a user. And a user device. The image processing unit executes first to third processes. In the first process, N (N is an integer equal to or greater than 1) moving bodies existing within a predetermined image recognition range are detected from the captured image of the monitoring camera. In the second process, the type of the moving object is determined for each of N moving objects, and a first identifier having a value corresponding to the determination result is generated from the first identifiers in which a plurality of values are defined in advance. . In the third process, the distance from the predetermined reference position is determined for each of the N moving bodies based on the coordinates on the captured image, and according to the determination result from the second identifiers in which a plurality of values are defined in advance. A second identifier having the value is generated. The first wireless communication unit transmits a data signal including N sets of first and second identifiers generated for N mobile objects. The second wireless communication unit receives the data signal transmitted from the first wireless communication unit, and the information processing unit determines whether the mobile object is present based on the N sets of first and second identifiers included in the data signal. And performing a predetermined process for notifying the user of the presence state of the mobile object.

According to the above-described embodiment, it is possible to reduce the occurrence of vehicle-to-vehicle accidents, personal accidents, etc. due to encounters at intersections where there is no poor visibility, T-junction, etc., and it is possible to improve safety.

In the safety support system by one embodiment of this invention, it is explanatory drawing showing the outline | summary. In the safety assistance system by Embodiment 1 of this invention, it is a block diagram which shows the schematic structural example of the monitoring apparatus. In the safety assistance system by Embodiment 1 of this invention, it is a block diagram which shows the schematic structural example of the user apparatus. FIG. 3B is a block diagram showing a schematic configuration example of a user device different from FIG. 3A in the safety support system according to Embodiment 1 of the present invention. It is a top view which shows an example of the ideal installation method of a curve mirror. It is a top view which shows an example of the installation method of the monitoring apparatus (cyber curve mirror) of FIG. 2 according to the curve mirror of FIG. 4A. It is a top view which shows an example of the realistic installation method of a curve mirror. It is a top view which shows an example of the installation method of the monitoring apparatus (cyber curve mirror) of FIG. 2 according to the curve mirror of FIG. FIG. 6B is a perspective view corresponding to FIG. 6A. It is a top view which shows an example of the installation method different from FIG. 6A of the monitoring apparatus (cyber curve mirror) of FIG. 2 according to the curve mirror of FIG. It is a perspective view corresponding to FIG. 7A. It is a figure which shows an example of the data format of the radio signal broadcast by the monitoring apparatus of FIG. It is a figure which shows an example of the detailed content of FIG. It is a figure which shows an example of the detailed content of FIG. It is a figure which shows an example of the detailed content of FIG. It is a figure which shows an example of the detailed content of FIG. It is explanatory drawing which shows an example of the processing content of the distance measurement part in the monitoring apparatus of FIG. It is explanatory drawing which shows an example of the processing content of the distance measurement part in the monitoring apparatus of FIG. FIG. 9B is a diagram showing an example of display contents based on the image recognition ID of FIG. 9A in the user device of FIG. 3A or 3B. FIG. 9D is a diagram showing an example of display contents based on the extended information of FIG. 9D in the user device of FIG. 3A or 3B. It is a top view which shows an example of the traffic condition of the intersection for demonstrating an example of the display content in the user apparatus of FIG. 3A or 3B. It is a figure which shows an example of the display screen in the user apparatus of FIG. 3A or 3B in the traffic condition of FIG. 12A. It is a figure which shows an example of the display screen which applied FIG. 12B in the traffic condition of FIG. 12A. FIG. 9 is a schematic diagram illustrating an example of a hierarchical structure of a data format in units of intersections when a plurality of monitoring devices installed at intersections transmit data based on the data format of FIG. 8. It is a flowchart which shows an example of the detailed processing content of the monitoring apparatus of FIG. It is a flowchart which shows an example of the detailed processing content of the monitoring apparatus of FIG. It is a flowchart which shows an example of the detailed processing content of the user apparatus of FIG. 3A or 3B. In the safety assistance system by Embodiment 2 of this invention, it is a top view which shows the example of installation in the sharp curve of the monitoring apparatus, and the operation example in that case. It is a top view which shows an example of the general arrangement | positioning method of the curve mirror in a three way path. It is a top view which shows another example of the general arrangement | positioning method of the curve mirror in a three way path. In the safety assistance system by Embodiment 2 of this invention, it is a top view which shows the example of installation in the three-way way of the monitoring apparatus, and the operation example in that case. It is a top view which shows the application example of FIG. 18C. It is explanatory drawing which shows an example of the general characteristic in wireless LAN. It is explanatory drawing which shows an example of the general characteristic in wireless LAN. It is a sequence diagram which shows an example of the communication procedure between the access point (AP) and wireless LAN terminal in wireless LAN. In the safety assistance system by Embodiment 3 of this invention, it is a top view which shows the example of application to the road environment where an intersection is arrange | positioned closely. It is explanatory drawing which shows the operation example of the safety assistance system at the time of passing through each three-way difference (T-shaped road) of FIG. It is explanatory drawing showing an example of the utilization condition of a general curve mirror. It is explanatory drawing showing an example of the utilization condition of a general curve mirror. It is explanatory drawing showing an example of the utilization condition of a general curve mirror.

In the following embodiment, when it is necessary for the sake of convenience, the description will be divided into a plurality of sections or embodiments. However, unless otherwise specified, they are not irrelevant, and one is the other. Some or all of the modifications, details, supplementary explanations, and the like are related. Further, in the following embodiments, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), especially when clearly indicated and when clearly limited to a specific number in principle, etc. Except, it is not limited to the specific number, and may be more or less than the specific number.

Further, in the following embodiments, the constituent elements (including element steps and the like) are not necessarily indispensable unless otherwise specified and apparently essential in principle. Needless to say. Similarly, in the following embodiments, when referring to the shapes, positional relationships, etc. of the components, etc., the shapes are substantially the same unless otherwise specified, or otherwise apparent in principle. And the like are included. The same applies to the above numerical values and ranges.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted.

<< Summary of Embodiment >>
FIG. 1 is an explanatory diagram showing an outline of a safety support system according to an embodiment of the present invention. The safety support system according to the present embodiment has functions equivalent to those of curved mirrors installed at intersections with poor visibility, T-junctions, etc., surveillance cameras, wireless communication and wireless terminal devices, and AR (Augmented Reality) technology. To reduce the occurrence of vehicle-to-vehicle accidents and personal accidents. The AR technology is one of virtual reality, which literally expands the real world as seen by humans by adding, deleting, emphasizing, and attenuating information in the real environment surrounding the surroundings.

Specifically, as shown in FIG. 1, the safety support system includes a monitoring device 10 including a monitoring camera and a user device that is carried by a user (a vehicle driver, a pedestrian, etc.). Is provided. The monitoring device 10 uses the image captured by the monitoring camera, determines the type of a moving object such as a pedestrian or vehicle and the distance from the intersection of each moving object by image recognition processing, and adds information on the imaging direction of the monitoring camera. And broadcast using wireless communication. Such a monitoring device 10 is referred to as a “cyber curve mirror” in this specification. A user device (for example, a navigation system, a drive recorder, a mobile phone, a smart phone, or the like) receives information from the monitoring device 10 and enters a moving object (such as a blind spot with a poor view or an invisible blind spot). The presence of a vehicle, a pedestrian, etc.) is notified to the user using the image display unit 11, the audio output unit 12, the vibration unit 13, and the like.

That is, the safety support system converts the information reflected on the curve mirror (depending on the approach direction) into the minimum necessary information (presence / absence of pedestrians, vehicles, etc. entering intersections and their position information), Broadcast to the user equipment side. At this time, since this information is broadcast to various users, when a photographed image or the like is broadcast as it is, in addition to the decrease in real-time property due to the amount of information, there are problems such as privacy infringement. May cause. Considering these problems, the monitoring apparatus 10 converts the recognition result into a specific icon / symbol ID (code) signal or the like after transmitting the image of the captured image, and transmits it. The user device side recognizes whether it is a vehicle or a pedestrian or the like by this specific ID (code) signal, and displays an icon / symbol or pictogram or the like according to the recognition result, voice or warning sound, etc. The user is warned via the voice output unit 12 that emits the sound, the vibration unit 13 having a predetermined vibration pattern, and the like.

As a result, vehicle drivers, pedestrians, etc. can obtain information on moving bodies (approaching vehicles, bicycles / bikes, pedestrians, etc.) existing in places with poor visibility or blind spots by directly viewing the curve mirror. In addition, based on the captured image of the surveillance camera, it can be obtained not only by vision but also by voice, vibration, or the like. As a result, the vehicle drivers and pedestrians entering the intersection are more surely aware of the danger, and people who have misrecognition (such as oversight) at the intersection, misjudgment / prediction (belief / illusion, etc.) Mistakes can be reduced and accidents at intersections can be prevented. In addition, the safety support system is a system in which the monitoring device 10 executes image processing and transmits the image, and the user device side is, for example, a general-purpose information terminal device capable of wireless communication (navigation system, smartphone, mobile phone, drive recorder, etc.) ) Can be realized by installing dedicated application software. As a result, an ITS system can be constructed at a low cost.

Furthermore, the safety support system can provide, as incidental information, road sign information at the time of entry to an intersection or the like and after entry (after going straight, left turn, right turn) by the image display unit 11 and the audio output unit 12. Specifically, the monitoring device 10 broadcasts to the user device by adding supplementary information set in advance as a part of the above-described icon / symbol ID (code) signal or the like, and the user device transmits this supplementary information. Recognize and notify the user. As a result, it is possible to notify the user of road sign information that may be overlooked due to inadequate signage facilities, poor visibility, or oversight, etc. become.

(Embodiment 1)
<< Schematic configuration of monitoring device (safety support device) >>
FIG. 2 is a block diagram illustrating a schematic configuration example of the monitoring device in the safety support system according to the first embodiment of the present invention. As shown in FIG. 1, the monitoring device 10 shown in FIG. 2 is attached to the curve mirror. The monitoring device 10 includes a sensor unit 20, an image processing / signal generation unit 21, an orientation information generation unit 22, a wireless communication unit 23, an extended information generation unit 24, a processor unit (CPU) 25, and the like. These are connected by a bus 26. The sensor unit 20 includes one or both of the camera sensor 27 and the infrared sensor 28, and may further include an ultrasonic radar 29 or the like.

The camera sensor 27 and the infrared sensor 28 are surveillance cameras, and perform imaging in a pre-designated imaging direction. At this time, by using the infrared sensor 28 (that is, an infrared image), for example, it is possible to improve image recognition at night or the like (detection of the moving body, determination of the type of the moving body, etc.). Further, by using the ultrasonic radar 29, it is possible to improve the accuracy associated with distance measurement (that is, determination of the position of the moving body). However, from the viewpoint of cost, only the camera sensor 27 may be provided in the sensor unit 20.

The image processing / signal generation unit 21 includes an image recognition unit 30 and a distance measurement unit 31. The image recognition unit 30 performs image recognition processing on the captured image from the monitoring camera of the sensor unit 20 using an existing image recognition processing algorithm, detects a moving body, and detects the type (vehicle, pedestrian, bicycle / Motorcycles, etc.). Although the details will be described later, the distance measuring unit 31 is arranged between a reference position (for example, an entrance of an intersection) and each moving body for each moving body recognized by the image recognizing unit 30 based on coordinates on the captured image. Measure the distance of each. The measurement accuracy of this distance is not particularly limited, but an arbitrary unit can be set between the meter unit and several tens of meter units. At this time, if more accurate distance measurement is required, the ultrasonic radar 29 or the like may be used as described above. Moreover, the image recognition part 30 should just detect the mobile body which exists within the predetermined distance. Since this distance corresponds to the coordinates of the captured image, the image recognition unit 30 only has to detect a moving body that exists within a predetermined coordinate range on the captured image.

Hereinafter, the case where the camera sensor (surveillance camera) 27 is used will be described as an example.

The azimuth information generation unit 22 generates the shooting azimuth of the camera sensor (surveillance camera) 27 using a gyro compass or the like, for example. That is, the camera sensor 27 and the gyrocompass are installed integrally on the monitoring device 10, and the gyrocompass detects the shooting direction of the camera sensor 27. However, in practice, when the monitoring device 10 is provided alongside the curve mirror, the imaging direction of the camera sensor 27 is also fixedly determined. Therefore, it is not always necessary to have a gyrocompass, and when the monitoring apparatus 10 is provided, a fixed value representing the imaging direction may be stored in the direction information storage unit 32. In this case, the operation associated with the gyro compass is unnecessary, so that the cost and power consumption of the monitoring device 10 can be reduced.

The wireless communication unit 23 uses the information (type and distance of each moving body) about each moving body obtained by the image processing / signal generating unit 21 and the information of the azimuth information generating unit 22 to define data described later. A data signal having a format is generated, and the data signal is broadcast by a radio signal. At this time, information from the extended information generation unit 24 may be added to the data signal as necessary. The extended information generation unit 24 includes a traffic information storage unit 34. The traffic information storage unit 34 stores information such as road signs that exist in the imaging direction of the camera sensor 27 in advance. In this example, the wireless communication unit 23 includes a wireless interface [1] 33a based on IEEE 802.11a / b / g / n (so-called wireless LAN) and an IEEE 802.11p (so-called WAVE (Wireless Access Access in Vehicular). Environments)) based wireless interface [2] 33b.

The monitoring device 10 in FIG. 2, for example, captures images at regular intervals using a surveillance camera in the sensor unit 20, and performs wireless processing at regular intervals through the processing of the image processing / signal generation unit 21 for the captured images. The data signal is broadcast using the communication unit 23. The entire sequence at this time is controlled by a processor unit (CPU) 25. The image processing / signal generation unit 21 can be realized by software processing using a general-purpose processor or hardware processing using a processing circuit dedicated to image processing. From the viewpoint of securing real-time properties, it is preferable to use hardware processing.

<< Schematic configuration of user equipment (safety support equipment) >>
3A and 3B are block diagrams showing different schematic configuration examples of the user devices in the safety support system according to Embodiment 1 of the present invention. FIG. 3A shows a user device 40 for an automobile, for example. 3A includes a wireless communication unit 41, an information processing unit 47, and a user notification unit 45. The information processing unit 47 may include at least one of the mobile phone / smartphone 42, the navigation system 43, and the drive recorder 44. The user notification unit 45 corresponds to the image display unit 11, the audio output unit 12, the vibration unit 13, and the like described in FIG. As in the case of FIG. 2, the wireless communication unit 41 includes a wireless interface [1] 46a based on a so-called wireless LAN and a wireless interface [2] 46b based on a so-called WAVE.

The information processing unit 47 includes an azimuth detecting unit (that is, a compass function) 49 that detects its own traveling direction. For example, in the case of a mobile phone / smartphone 42 having a GPS (Global Positioning System) function, a navigation system 43 or a drive recorder 44 that normally has a GPS function, the direction detection unit 49 is used as a part of the GPS function. It is prepared in advance. Here, the case where the information processing unit 47 is the navigation system 43 will be described as an example.

The navigation system 43 is connected to the wireless communication unit 41 by a dedicated or general-purpose interface (USB or the like). The navigation system 43 transitions to the urban driving mode or “cyber curve mirror mode” after connecting to the wireless communication unit 41, or automatically uses the map information and incidental information that the navigation system 43 has to automatically display national roads, prefectural roads, etc. When the vehicle travels outside the vehicle, the mode is changed to the urban travel mode or “cyber curve mirror mode”. Accordingly, the search mode for establishing a communication link with the monitoring apparatus 10 is entered in conjunction with the wireless communication unit 41.

When an automobile approaches an urban intersection or the like where a cyber curve mirror (that is, the monitoring device 10) is installed while traveling in an urban area in the urban area driving mode or “cyber curve mirror mode”, the user device 40 mounted on the automobile is Detect the wireless signal transmitted from the cyber curve mirror. The user device 40 starts communication synchronization with the monitoring device 10 based on a predetermined wireless communication standard (WAVE, wireless LAN, etc.) and establishes a link. As a result, the user device 40 receives information (data) broadcast from the monitoring device 10 arranged at the intersection in the approach direction, and the information processing unit 47 processes the received information to obtain a desired user interface. It can be transmitted to the vehicle driver via (user notification unit 45).

FIG. 3B shows a user device 50 for a pedestrian or the like, for example. 3B includes a wireless communication unit 51, an information processing unit 48, and a user notification unit 45. The information processing unit 48 is typically composed of a mobile phone / smartphone 52 including an azimuth detection unit (that is, a compass function) 49 that detects its own traveling direction. If the mobile phone / smartphone 52 has a GPS function, the direction detection unit 49 is provided as a part of the GPS function. The user notification unit 45 corresponds to the image display unit 11, the audio output unit 12, the vibration unit 13, and the like described in FIG. As in the case of FIG. 2, the wireless communication unit 51 includes a wireless interface [1] 46a based on a so-called wireless LAN.

Note that the wireless communication unit 51 and the user notification unit 45 can be mounted as one function of the mobile phone / smartphone 52. In addition, the information processing unit 48 is not necessarily limited to the mobile phone / smartphone 52, and at least according to the function of processing the information from the direction detection unit 49 and the wireless communication unit 51, and the processing result. A function for controlling the user notification unit 45 may be provided.

For example, when a user such as a pedestrian or a bicycle uses the “cyber curve mirror mode”, a smartphone or a mobile phone with a wireless LAN is used. In this case, cybercurve mirror application software is installed in advance on a smartphone or mobile phone. For example, children / students who are attending or leaving school have smartphones or mobile phones with wireless LAN, and set the cyber curve mirror mode for the mobile phones or smartphones.

As a result, when a child or student carrying the user device 50 approaches an intersection where there is no signal during attending school or leaving school in the city, the user device 50 receives the information of the cyber curve mirror via the wireless LAN, The user is notified / warned of desired information via the user notification unit 45. Specifically, for example, notification / warning is performed via a display, a speaker, a vibration function, or the like mounted on a mobile phone or a smartphone. Thereby, in addition to being able to recognize the moving body (vehicle, pedestrian) through the optical curve mirror at the intersection, the child / student etc. can recognize the information on the moving body through the user device 50. . As a result, it is possible to improve the cognitive ability of children and students, and to support safe and secure going to and from school.

In recent years, there are an increasing number of pedestrians who run and walk while listening to music using headphones such as mobile phones, smartphones, music players, etc. Even in such cases, the safety support system of this embodiment should be used. Can do. For example, if you are using normal headphones, you can warn by inserting a warning sound during playback of music, etc., or use headphones with a vibration device, head pad, helmet, etc. By vibrating, danger can be notified and danger avoidance can be easily performed.

Note that the user notification unit 45 in FIG. 3A is not limited to a display method using an image display unit that is normally used by a navigation system, a smartphone, or the like, but a drive recorder device, a car instrument panel, A display method linked to a head-up display or the like may be used. 3A and 3B, one or more vibration devices are arranged in glasses, a headband, a helmet for a bicycle or a motorcycle, etc., and a navigation system or a smartphone is wired or wireless (Bluetooth device). Etc.), it is also possible to give a warning by the vibration device. At this time, for example, when two vibration devices are used, it is possible to vibrate either the left or right according to the object, or to vibrate both simultaneously when there are objects on both the left and right. .

<Installation method of monitoring device (Cyber Curve Mirror)>
4A is a plan view showing an example of an ideal installation method of a curve mirror, and FIG. 4B shows an example of an installation method of the monitoring device (cyber curve mirror) of FIG. 2 corresponding to the curve mirror of FIG. 4A. It is a top view. At normal intersections (explained here in the case of a crossroad), if you cannot see objectives and interpersonal information entering from other approach paths that cannot be seen (directly viewed) from the left and right by looking at the curved mirror from any approach path Don't be. Therefore, as shown in FIG. 4A, it is desirable that the four curve mirrors are installed on the diagonal lines at the intersection. This is because the distortion of the convex mirror screen reflected on the optical curve mirror differs depending on the mounting location and the direction in which the optical curve mirror is viewed. In FIG. 4A, for example, when viewing the blind spot on the left side with respect to the traveling direction, the vehicle driver confirms by looking at the curve mirror (C) at the back right side of the intersection. When viewing the blind spot on the right side, check the curve mirror (B) on the left side of the intersection.

The same applies to the case of the cyber curve mirror, and as shown in FIG. 4B, it is desirable that the monitoring device (cyber curve mirror) is provided in each of the four curve mirrors shown in FIG. 4A. In this case, the imaging directions of the monitoring cameras of the monitoring devices (cyber curve mirrors) 10a, 10b, 10c, and 10d installed at the four corners (A, B, C, and D) of the intersection are respectively the corresponding curve mirrors. The direction is the same as the projected direction. Using such an installation method, simply installing each monitoring device (cyber curve mirror) uniformly at the same angle (shooting angle, shooting frame pattern direction), images from the images taken by each monitoring device. The conditions of the processing / distance measurement processing can be shared by the respective monitoring devices. Therefore, handling in actual use becomes easy.

However, in reality, a curved mirror is often installed as shown in FIG. FIG. 5 is a plan view showing an example of a practical installation method of the curve mirror. In FIG. 5, optical curve mirrors of two surfaces (two directions) are respectively provided through a column (pole) at the position B on the left side and the position A on the right side with respect to the traveling direction of the vehicle driver. is set up. Thereby, since it can respond to four directions with two support | pillars, it becomes useful from a viewpoint of cost.

FIG. 6A is a plan view showing an example of an installation method of the monitoring device (cyber curve mirror) of FIG. 2 corresponding to the curve mirror of FIG. In FIG. 6A, as shown in FIG. 5, monitoring devices (cyber curve mirrors) 10a, 10b, 10c, and 10d are attached to a total of four curve mirrors installed at two locations on a diagonal line, respectively. Has been. The imaging direction of the monitoring camera of each monitoring device (cyber curve mirror) is the same as the direction displayed on the corresponding curve mirror. However, in this case, in order to image the required intersection area, it is necessary to change the depression angle in the imaging direction between the two monitoring devices (for example, 10a and 10b) installed at each location.

FIG. 6B is a perspective view corresponding to FIG. 6A. As shown in FIG. 6B, when each monitoring device (cyber curve mirror) is installed so that the direction projected on each optical curve mirror matches the imaging direction of the monitoring camera, for example, monitoring devices 10a and 10b (10c and 10d are also shown) Similarly, it is necessary to change the depression angle in the imaging direction. For example, if the depression angle of the monitoring device 10a is θ1, and the depression angle of the monitoring device 10b is θ2, θ1> θ2. Then, since the relationship between the distance on the captured image and the coordinate differs between the monitoring devices 10a and 10b, individual complicated adjustments are required in the image recognition processing and the distance measurement processing.

For example, in order for the captured image of the monitoring camera of the monitoring device 10a and the captured image of the monitoring camera of the monitoring device 10b to coincide with the coordinates of the entrance of the corresponding intersection, it is necessary to install them at different depression angles. There is. This adjustment work requires a lot of labor. Further, even if the coordinates of the entrance of the intersection are made coincident, the depression angles are different, so that the relationship between the distance on the captured image and the coordinate differs between the captured image of the monitoring device 10a and the captured image of the monitoring device 10b. . Therefore, in order to correctly measure the distance from the captured image, it is necessary to change the conditions of the distance measurement process between the monitoring devices 10a and 10b. This adjustment work also requires a lot of labor.

Therefore, it is of course possible to install a cyber curve mirror as shown in FIGS. 6A and 6B, but it is more desirable to install as shown in FIGS. 7A and 7B. 7A is a plan view showing an example of an installation method different from FIG. 6A of the monitoring device (cyber curve mirror) of FIG. 2 corresponding to the curve mirror of FIG. FIG. 7B is a perspective view corresponding to FIG. 7A. In FIG. 7A, the monitoring device 10c plays the role (imaging region) of the monitoring device 10a in FIG. 6A, and conversely, the monitoring device 10a plays the role (imaging region) of the monitoring device 10c in FIG. 6A. That is, if the four corners of the intersection are A (first corner), D (second corner), B (third corner), and C (fourth corner) in the clockwise order, for example, installed at A (first corner). One of the monitoring devices 10c is installed so as to capture an area where the intersection is between D (second corner) and B (third corner), and the other monitoring device 10d is B (third corner). And C (fourth corner) are installed so as to image a region having an entrance of an intersection.

As a result, as shown in FIGS. 7A and 7B, each of the monitoring cameras of the monitoring devices 10a, 10b, 10c, and 10d takes an image of the area ahead of the road width in the intersection. When both devices are installed at the same depression angle θ2, the coordinates of the entrance of the intersection on each captured image of each monitoring device can be kept equal, and the relationship between the distance and the coordinate on each captured image also matches. Can be made. That is, each monitoring device can be installed uniformly at the same angle (shooting angle, shooting frame pattern direction), and the conditions of image recognition processing and distance measurement processing of each monitoring device can be made the same. . As a result, it is possible to greatly reduce the labor involved in installing and adjusting each monitoring device.

<< Overall Operation of Monitoring Device (Safety Support Device) >>
For example, in FIG. 7A, the field of view of the intersection seen from the vehicle driver from below (approach direction) is as shown in FIG. In this case, in FIG. 7A, an approaching vehicle from below (the approach direction) needs information from the monitoring device (cyber curve mirror) 10b and the monitoring device 10c. For example, for the approaching vehicle from the left, information from the monitoring device 10a and the monitoring device 10d is required. In this way, the user device (40 or 50 in FIGS. 3A and 3B) can transmit information from any of the plurality of monitoring devices 10a, 10b, 10c, and 10d by radio signals according to the direction of entry of the user device. You must judge exactly whether you get it.

Therefore, in the safety support system of the first embodiment, communication using radio signals is performed using a data format as shown in FIG. FIG. 8 is a diagram illustrating an example of a data format of a radio signal broadcast by the monitoring apparatus of FIG. 9A, 9B, 9C, and 9D are diagrams each showing an example of the detailed contents of FIG. As shown in FIG. 8, n (n is an integer of 1 or more) sets of mobile information [1] (60 [1]) to mobile information [ n] (60 [n]), orientation information 61, and extended information 62 are included. Each mobile object information [k] (k is an integer of 1 to n) includes an image recognition ID [k] and distance information [k]. Although not particularly limited, each image recognition ID, each distance information, direction information 61, and extended information 62 are 4-bit information, for example, as shown in FIGS. 9A, 9B, 9C, and 9D. Meaning is made.

Each image recognition ID represents the type of moving object determined by image recognition, as shown in FIG. 9A. Each image recognition ID is generated by the image recognition unit 30 of the monitoring apparatus 10 in FIG. For example, “0000” indicates that there is no moving object (target object / human body), and “0001” indicates that a moving object exists but its type is being determined. In a safety support system such as this embodiment, real-time processing is required, and if image recognition takes time (for example, when several seconds are required), no information is given to the user device side. There may be situations where the is not passed. For example, in the case of a vehicle, when traveling at a speed of 20 km / h, the speed is about 5 m / sec, and a car 10 m before the intersection enters the intersection in 2 seconds.

Therefore, in FIG. 9A, “0000” and “0001” are defined so that information indicating the presence / absence of a moving body can be selected and generated even during the image recognition process (that is, the state of the type of the moving body is incomplete). ing. In addition, FIG. 9A includes a rule that when an image recognition process is completed, an image recognition ID can be selected and generated based on the result. As some examples, “0010” is selected and generated for a vehicle, “0011” is selected for a bicycle / bike, and “0100” is selected for a single pedestrian. The image recognition process is not particularly limited, but is typically performed using a method such as template matching.

Next, in parallel with the image recognition processing, distance information as shown in FIG. 9B is selected and generated from the captured image. The distance information is generated by the distance measuring unit 31 of the monitoring device 10 in FIG. In this case, if accuracy is required, the distance between the moving body and the entrance of the intersection may be detected with high accuracy using an ultrasonic radar or the like as described in FIG. . Here, on the assumption that the monitoring device is fixed, a method for generating distance information simply and at high speed from the coordinates of the moving body in the captured image (frame) of the monitoring camera is shown in FIGS. 10A and 10B. I will explain. 10A and 10B are explanatory diagrams illustrating an example of the processing content of the distance measuring unit in the monitoring apparatus of FIG.

FIG. 10A shows an example of the detailed positional relationship of each moving body accompanying the image recognition / distance measurement processing of the monitoring devices (cyber curve mirrors) 10b and 10c, taking the intersection of FIG. 7A as an example. FIG. 10B shows an example of an image captured by each monitoring camera of the monitoring devices 10c and 10b in FIG. 10A. Here, a method for selecting and generating distance information of a moving body will be described using a captured image by the monitoring apparatus 10c shown in FIG. 10B as an example.

First, when the monitoring device 10c is installed at the intersection, the manager or the like determines the position of the “+ marker” in order to determine the maximum value of the distance information on the captured image. In this example, this “+ marker” is set at a point having a maximum value of 15 m. The point of “+ marker” varies depending on the angle (the depression angle / the depression angle) of the monitoring device (monitoring camera) to be installed. Specifically, the reference position on the imaging screen (in this case, a 0 m line corresponding to the entrance of the intersection) changes depending on the installation angle (the depression angle) of the monitoring device (monitoring camera). The relationship between the relative coordinates from the reference position and the actual distance corresponding thereto also changes. For example, when the depression angle of the surveillance camera is large, the angle is from the top to the line of sight. When the depression angle is small, the angle is from the side to the line of sight, so the relationship between the coordinates on the captured image and the actual distance changes. .

For example, when the monitoring devices 10a, 10b, 10c, and 10d are arranged as shown in FIGS. 7A and 7B, as described above, the installation angle (the depression angle) of each monitoring device (monitoring camera) should be the same. Can do. In this case, on the assumption that the height at which each monitoring device is installed (that is, the height of the curve mirror in FIG. 7B) is the same, the installation angle (the depression angle) θ2 is also the same. Thus, the relationship between the coordinates on the photographed image and the actual distance is the same, and the reference position (0 m line corresponding to the entrance of the intersection) on the photographed image is substantially the same. However, more strictly, the reference position slightly changes according to the width of each road in the crossroads. For this reason, it is possible to define the coordinates of the reference position (0 m) for each monitoring device in common, but in order to increase the accuracy, the coordinates of the reference position (0 m) are individually set for each monitoring device. It may be determined as follows.

When the coordinates of the reference position (0 m) are determined, the administrator and the like then determine the position of the “+ marker” (here, the maximum value is 15 m). At this time, when the installation angles (the depression angles) of the respective monitoring devices (monitoring cameras) are the same, the relationship between the coordinates on the captured image and the actual distance is uniquely determined. Can be determined automatically. However, there is a case where it is desired to arbitrarily define “+ marker” representing the distance of the maximum value. In this case, for example, the administrator or the like may input a distance or the like for setting “+ marker” to the monitoring device.

On the other hand, for example, when the respective monitoring devices 10a, 10b, 10c, and 10d are arranged as shown in FIG. 6A, the installation angle (the depression angle) of each monitoring device (monitoring camera) changes. In this case, for example, the administrator or the like registers the installation angle (the depression angle) and the reference position for each monitoring device, and sets “+ marker”. When the registration is performed, the monitoring apparatus can calculate the relationship between the coordinates on the captured image and the actual distance by a predetermined arithmetic expression. However, in this case, since the relationship between the coordinates on the captured image and the actual distance and the scale of the moving object on the captured image are different for each monitoring device, the accuracy of distance measurement and the accuracy of image recognition described above are different. There is a risk of variation. For this reason, as described above, it is desirable to use an installation method as shown in FIGS. 7A and 7B. When the installation method as shown in FIGS. 7A and 7B is used, in some cases, the relationship between the coordinates on the captured image and the actual distance is not obtained by a predetermined arithmetic expression, but these relationships are stored in a table in advance. And the distance can be measured based on this table.

For example, when the distance of “+ marker” is 15 m, distance information as shown in FIG. 9B can be selected and generated within the range from the reference position (0 m) to “+ marker” (15 m). . In the example of FIG. 9B, in consideration of comparison with the optical curve mirror, distance measurement that does not particularly require accuracy is performed, and 0 m (“0000”), 1 m (“0001”), 3 m (“0010”). The distance is expressed by 6 steps of 5 m (“0011”), 10 m (“0100”), and 15 m (“0101”). In other words, with an optical curve mirror, although it depends on individual differences, the distance can usually be recognized only with a sense of nearness or distance, so it is only necessary to perform distance measurement with a certain degree of accuracy.

Here, if the accuracy of distance measurement is extremely increased, the data size (number of bits) of the distance information in FIG. 9B increases, and the resources on the monitoring device side that measures the distance and the user device side that receives the distance information In some cases, the accuracy of several m level is used in the example of FIG. 9B. However, of course, the accuracy of distance measurement, the number of steps, and the maximum value of distance measurement (the position of “+ marker”) can be changed as necessary.

In the captured image of the monitoring device 10c illustrated in FIG. 10B, the distance measurement unit 31 illustrated in FIG. 2 is the bottom line portion of the detection frame (for example, the frame of the template) of the moving object (here, the automobile) when performing the image recognition process. It is determined which of the six steps defined in FIG. 9B is in the position, and the distance information in FIG. 9B is determined. At this time, the point (coordinates) set by “+ marker” is a start point when performing image recognition and distance measurement. The image recognizing unit 30 in FIG. 2 falls within the range from the reference position (0 m) to the position of “+ marker” (for example, 15 m) when the lowest line portion of the detection frame of the moving body reaches the coordinates of “+ marker”. When the image recognition ID is entered, generation of the image recognition ID is started.

The position of “+ marker” can be arbitrarily set as long as it is within the photographed image. The timing for notifying the user apparatus of the presence of the moving body changes depending on the set value. For example, if it is desired to notify in advance at the earliest possible time (when information is to be given to the user with a margin), the position of the “+ marker” may be set far (upper side on the captured image). For example, when an intersection or the like is adjacent, the corner of the adjacent intersection may be set to the position of “+ marker” (several meters to several tens of meters).

Through the above processing, the image recognition ID and its distance information are selected and generated. At this time, as described above, if the moving body does not exist within a predetermined range (here, 0 m to 15 m) based on the position of “+ marker”, “0000” in FIG. 9A is generated as the image recognition ID. Continue to be. Further, when the lowest line portion of the detection frame of the moving body enters a predetermined range (here, 0 m to 15 m), the image recognition process is started and “0001” in FIG. 9A is generated as the image recognition ID. The The “0001” is out of a predetermined range (here, 0 m to 15 m) until the discrimination of the type of the corresponding moving body is completed or before the discrimination of the type of the moving body is completed. Will continue to be generated.

In this case, “0001” continues to be generated as the image recognition ID even when, for example, it is impossible to determine the moving object or when the registered image recognition ID is not hit. For this reason, even if the monitoring device takes more time than necessary for image recognition, or when the object cannot be specified for some reason, the fact that there is at least some moving object for the user device, and that Distance information can be transmitted. As a result, it is possible to warn the user of the possibility of danger in real time, and to improve the user's safety.

Further, as shown in FIG. 8 and the like, each mobile object information 60 [k] is information with a small data size. For example, when the monitoring device transmits the captured image as it is, a communication band of at least several MB / s or more is required. On the other hand, in the safety support system according to the first embodiment, for example, a captured image of several tens of frames is acquired per second, moving object information 60 [k] is generated for each frame, and is transmitted. The communication band may be several hundred B / s to several kB / s. Therefore, it is possible to sufficiently ensure the real time property.

FIG. 9C shows the detailed contents of the orientation information 61 in FIG. The azimuth information 61 represents the imaging direction of the monitoring camera in the monitoring device 10, and is normally fixedly set in the azimuth information storage unit 32 (FIG. 2) of the monitoring device 10 when the monitoring device 10 is installed. The For example, when a monitoring device is installed to image the north direction, “0000” is set in the direction information storage unit 32, and when the monitoring device is installed to image the northeast direction, the direction information storage is performed. “0100” is set in the section 32. 2 transmits the azimuth information 61, the user devices 40 and 50 shown in FIGS. 3A and 3B need information from a comparison with its own azimuth detection unit (compass function) 49. Can be selected. For example, when the traveling direction of the user device is the north direction, the data including the east direction (“0001”) as the azimuth information 61 among the data (FIG. 8) transmitted from the plurality of monitoring devices, and the west direction Data including (“0011”) may be processed.

FIG. 9D shows the detailed contents of the extended information 62 in FIG. The extended information 62 includes, for example, information on road signs that exist in the imaging direction of the monitoring camera in the monitoring device 10. The extended information 62 is normally fixedly set when the monitoring device 10 is installed, and is fixedly set in the traffic information storage unit 34 (FIG. 2) of the monitoring device 10. However, the extended information 62 set in the traffic information storage unit 34 may be appropriately updated when the environment changes thereafter. For example, when the imaging direction of the monitoring device is prohibited from entering the vehicle, “0010” is set in the traffic information storage unit 34, and when the traffic direction is one-way, “0101” is stored in the traffic information storage unit 34. Is set.

<< Schematic operation of user equipment (safety support equipment) >>
11A is a diagram illustrating an example of display contents based on the image recognition ID of FIG. 9A in the user device of FIG. 3A or 3B, and FIG. 11B is an extension of FIG. 9D in the user device of FIG. 3A or 3B. It is a figure which shows an example of the display content based on information. FIG. 12A is a plan view illustrating an example of traffic conditions at an intersection for explaining an example of display contents in the user device of FIG. 3A or FIG. 3B, and FIG. 12B illustrates the traffic conditions of FIG. It is a figure which shows an example of the display screen in 3B user apparatus.

Here, an image display unit is provided in advance as the user notification unit 45 of the user devices 40 and 50 in FIG. 3A or FIG. 3B, and the user devices 40 and 50 are provided with the safety support system of the first embodiment. It is assumed that the image display application software is installed. As shown in FIG. 11A, the application software includes an image library (icon, symbol, pictogram, etc.) corresponding to each value of the image recognition ID. The user devices 40 and 50 recognize distance information (distance from the intersection angle) received as a pair with the image recognition ID based on the data format of FIG. 8 and reflect these information, for example, as shown in FIG. 12B. Display a simple display screen.

In the example of the display screen of FIG. 12B, for example, a 3D display screen by a navigation system or a captured image of the own vehicle (both a moving image and a still image) captured by an in-vehicle camera are supported for each image recognition ID. The image library to be displayed is one-dimensionally arranged and displayed at positions separated by the distance indicated by the distance information with the intersection angle as a base point. In other words, using the AR technology, each moving object existing in the blind spot is overwritten and displayed on the live image.

More specifically, referring to FIG. 12A as an example, the application software of the user devices 40 and 50 first receives data from each of the monitoring devices 10a, 10b, 10c, and 10d, and receives azimuth information 61 included in each data. Recognize Also, the application software can recognize that the traveling direction is the north direction based on its own direction detection unit (compass function) 49, and the left and right information (here, west and east) that are blind spots with respect to its own traveling direction. Information). As a result, the application software treats data from the monitoring device 10c in which “west” is set in the direction information 61 and data from the monitoring device 10b in which “east” is set in the direction information 61. To do.

At this time, for example, the data (FIG. 8) transmitted from the monitoring device 10c includes the direction information 61 (west) and the mobile body information [1] (60 [1]), for example, the image recognition ID [ 1] = “0010” (vehicle) and distance information [1] = “0100” (10 m). Based on this, as shown in FIG. 12B, the application software places the vehicle symbol / icon based on FIG. 11A at a position 10 m away from the west starting from the entrance of the west intersection (for example, the corner of the intersection). indicate.

Thereby, the user can not only visually recognize other approaching vehicles, pedestrians, etc. by visually observing the optical curve mirror, but also via a user device that can be realized by a general-purpose information terminal device or a wireless communication device. It is possible to accurately recognize information such as an approaching vehicle and a pedestrian in real time. As a result, the user's cognitive ability is further increased, human errors such as oversight and misunderstanding that can occur when viewing and viewing the optical curve mirror can be reduced, and accidents at intersections can be prevented in advance. . Furthermore, as shown in FIG. 11A and FIG. 12B, the user apparatus receives information for acquiring information on the moving object with an image recognition ID and replacing it with an image library (icons, symbols, pictograms, etc.) for display. In addition to being able to reduce the data size (which can improve real-time performance), it is also possible to protect privacy related to mobile objects.

FIG. 13 is a diagram showing an example of a display screen in which FIG. 12B is applied in the traffic situation of FIG. 12A. As indicated by reference numeral 80 in FIG. 13, the application software of the user device, for example, if the moving object is far away and does not fall within the display screen range (here, within 10 m), the symbol And the distance (text) may be displayed, and only the distance (text) may be sequentially updated, and the symbol may be moved according to the distance after entering the range. Further, as a method of using the extended information 62, as indicated by reference numeral 81 in FIG. 13, the application software is limited to, for example, when the driver makes a left turn (for example, it may be interlocked with turn signal or steering wheel position information). Thus, a road sign corresponding to the extended information 62 may be displayed. Furthermore, as indicated by reference numeral 82 in FIG. 13, while receiving information indicating the presence of a moving object (ie, other than “0000” in FIG. 9A) from the monitoring device to be processed, the application software always alerts. It may be displayed.

12B and 13 show an example of the 3D display screen. However, the present invention is not limited to this, and the user may be notified of information on the moving object on the 2D display screen as shown in FIG. 12A. Is possible. Further, for example, when there is no image display unit, the presence of the moving body or the presence / absence of the moving body from the left and right may be notified by sound, warning sound, vibration, or the like. Further, the notification by voice, warning sound, vibration, or the like may be performed in parallel with the image display when the image display unit is present in order to further enhance the user's cognitive ability. When using sound and warning sound, for example, left and right speakers such as audio equipment can be used, and it is sufficient to say “There is an approaching vehicle from the left” or “Left turn road, height is limited”, etc. . Further, when using vibration, for example, two vibration devices may be installed on the left and right, and if there is an approaching vehicle from the left side, the user may be notified by vibrating the left vibration device.

《Data format hierarchy》
FIG. 14 is a schematic diagram showing a hierarchical structure example of a data format in units of intersections when a plurality of monitoring devices installed at the intersections transmit data based on the data format of FIG. The data format defines the format of the application layer. In FIG. 14, the components of the data format are an image recognition ID, distance information, direction information, and extended information as described in FIG. Each field is defined by a 4-bit code here, but this bit length may be changed as necessary.

First, n moving objects are recognized in the range of the performance of one surveillance camera. At this time, each of the n mobile objects whose images have been recognized is represented by a pair of an image recognition ID and its distance information. Among these, after the image recognition ID is once determined by the surveillance camera, the distance information is not changed, and only the distance information is updated. As described with reference to FIG. 10B and the like, this update is performed until the moving object having the image recognition ID out of the predetermined range based on the “+ marker” on the captured image or until the communication is completed.

Next, in the monitoring device unit, as described with reference to FIG. 8, n pieces of mobile unit information (8 bits) as a pair of an image recognition ID and distance information is recognized as an image recognition of n pieces of mobile units. The direction information (4 bits) and the extension information (4 bits) are further added to the generated information (8 bits) of the n mobile units. Each piece of information is generated by the image processing / signal generation unit 21, the azimuth information generation unit 22, and the extended information generation unit 24 in FIG. 2, and the CPU 25 in FIG. 2 collects these pieces of information as data for each monitoring device. Orientation information (4 bits) and extended information (4 bits) are usually uniquely determined when a cyber curve mirror is installed, and information on n mobile units (8 bits) changes appropriately in time series according to the situation. To do. Specifically, the distance information or the number of moving bodies (n) changes as appropriate. However, even when there is no moving object, n = 1 and image recognition ID = “0000” in FIG. 9A is transmitted.

Subsequently, the number of surveillance cameras installed varies depending on the situation of the intersection, etc., at the installation location unit. For example, two to four surveillance cameras are installed at intersections and crossroads where there is no signal, and one or two surveillance cameras are installed at the T-junction. Also, the number of installed cameras varies depending on the type of surveillance camera. For example, with the recent development of camera lens technology and image correction technology, there are surveillance cameras equipped with fish-eye lenses or 360-degree fish-eye lenses and advanced digital image processing. In this case, the number of surveillance cameras is further reduced. be able to.

As described above, the number (m) of the monitoring cameras changes in units of installation locations, and each data from the m monitoring cameras (monitoring devices) is transmitted to the user device. At this time, each monitoring device performs transmission so as not to cause data collision according to the wireless communication method. For example, when performing communication using IEEE 802.11a / b / g / n (so-called wireless LAN), since a plurality of frequency band channels can be used, a plurality of monitoring devices have different frequency band channels. Communication with the user device. In this case, for example, an option for a channel assigned for an existing use or an empty channel can be used.

On the other hand, when communication is performed using IEEE 802.11p (so-called WAVE), it is necessary to transmit data from a plurality of monitoring devices in a time division manner because multiplexing using frequency band channels cannot be performed. In this case, for example, different time slots are set for a plurality of monitoring devices, and data is transmitted in different periods. Alternatively, for example, a method may be used in which one of a plurality of monitoring devices collects its own data and data from other monitoring devices in one frame and transmits the data to the user device. In this case, with regard to the extended information, it is possible to have one piece of information on the common frame for each installation location as common information based on the installation location (for example, an intersection).

<< Detailed operation of monitoring device (safety support device) >>
15A and 15B are flowcharts showing an example of detailed processing contents of the monitoring apparatus of FIG. Here, a specific method used in image recognition processing, distance measurement processing, wireless communication, and the like is not described in detail because a general method is used. In FIG. 15A, first, the m monitoring devices 10 installed at the intersection perform imaging using the monitoring cameras (camera sensor 27, infrared sensor 28) included in the sensor unit 20 of FIG. 2 (steps S101a and S101b). ). Next, each monitoring apparatus 10 performs recognition of each moving body and distance measurement of each moving body from the captured image using the image processing / signal generation unit 21 in FIG. 2 (steps S102a and S102b). Details of the processing contents will be described with reference to FIG. 15B.

Subsequently, each monitoring device 10 generates data for each monitoring device as shown in FIGS. 8 and 14 (steps S103a and S103b). Specifically, each monitoring apparatus 10 uses the azimuth information 61 generated by the azimuth information generation unit 22 in FIG. 2 and the extended information generation unit 24 in FIG. 2 for the processing result of the image processing / signal generation unit 21. The generated extended information 62 is added. Next, as described in FIG. 14, for example, one of the plurality of monitoring devices 10 is separated from the other monitoring devices 10 by taking as an example a case where data in units of installation locations (intersections) are collected into one frame. Is obtained and data for each installation location is generated (step S104). At this time, any of the monitoring devices 10 adds extended information as necessary. Then, any one of the monitoring devices 10 transmits the data for the installation location unit using the wireless communication unit 23 of FIG. 2 (step S105).

In addition, imaging by the monitoring camera in steps S101a and S101b is periodically performed, for example, several tens of frames or more per second, and processing after steps S102a and S102b is performed each time.

Here, in each of the image recognition / distance measurement processing in steps S102a and S102b described above, processing as shown in FIG. 15B is performed. The image recognition unit 30 in FIG. 2 first detects a moving object that exists within a predetermined range on the captured image (step S201). Within the predetermined range is a range based on the position of the “+ marker” as described in FIG. 10B. In addition, the moving object is detected by the presence or absence of time-series fluctuations in the coordinates of the object in each frame. When one or more moving objects are detected in step 201, the image processing / signal generating unit 21 sets the first moving object appropriately determined from the detected moving objects as a processing target (step S202).

Next, the image recognition unit 30 starts to determine the type of moving object to be processed (step S203). Thereafter, when the type discrimination is completed within a predetermined period, the image recognition unit 30 generates an image recognition ID corresponding to the discrimination result based on FIG. 9A (steps S204 to S206). On the other hand, when the type determination is not completed within the predetermined period, the image recognition unit 30 generates image recognition ID = “0001” (there is a moving body and the recognition process is being performed) (steps S204 and S207). In parallel with the process in step S203, the distance measuring unit 31 in FIG. 2 measures the distance of the moving object to be processed using, for example, the method described in FIG. 10B (step S208). And the distance measurement part 31 produces | generates the distance information corresponding to the said measurement result based on FIG. 9B (step S209).

Subsequently, the image processing / signal generation unit 21 generates one piece of mobile body information by pairing the image recognition ID generated in Step S206 or Step S207 with the distance information generated in Step S209 (Step S206). S211). At this time, the image processing / signal generation unit 21 also generates the image recognition ID = “0000” (no moving object) even when no moving object is detected in step S201 (step S210). One piece of moving body information including is generated.

Next, the image processing / signal generation unit 21 determines whether or not the determination of the types of all the moving bodies detected in Step S201 has been completed (Step S212). The image processing / signal generation unit 21 completes the discrimination of all types of moving objects (that is, moving object information [1] (60 [1]) to moving object information [n] (60 [n] in FIG. 8). ) Is completed), the image recognition / distance measurement process is completed, and the process returns to FIG. 15A. On the other hand, when there is a moving body for which the type determination has not been completed, the image processing / signal generation unit 21 sets the next moving body as a processing target (step S214), and performs step S203 and step The process returns to S208. However, before that, even when there is a mobile object whose type has not been determined, the image processing / signal generation unit 21 is, for example, a predetermined period based on the communication interval in the wireless communication unit 23 (referred to as a restriction period). ) Has passed, the image recognition / distance measurement process is terminated, and the process returns to FIG. 15A (step S213).

Here, the predetermined period in step S204 described above can be determined, for example, as a period obtained by dividing the limit period described above by the number of moving bodies detected in step S201, or a period shorter than that. In the latter case, or in the former case, if there is a mobile unit that has completed the type identification at an early stage, a surplus period can be secured within the limit period accordingly. It is also possible to perform subsequent processing on a moving object whose type cannot be determined. In this case, for example, the moving object to be processed may be set in order from the moving object closest to the intersection.

By using the processing as shown in FIG. 15B, for example, even when there is a moving body that cannot be recognized for some reason, it is possible to notify the user of the presence using the image recognition ID = “0001”. .

<< Detailed Operation of User Device (Safety Support Device) >>
FIG. 16 is a flowchart showing an example of detailed processing contents of the user device shown in FIG. 3A or 3B. The processing flow in FIG. 16 inherits the usage method of the existing wireless communication system, wireless information device / terminal, etc., and operates, for example, on these application layers (that is, application software). In this case, application software compiled according to the OS installed in the information terminal is mounted on the information terminal having a specific wireless communication function constituting the user apparatus. Note that the processing flow in FIG. 16 is operated by application software and does not depend on a specific wireless communication system.

In FIG. 16, when the user devices 40 and 50 start this application software and set the cyber curve mirror mode, the user devices 40 and 50 enter a search mode for establishing a communication link with the monitoring device. The user devices 40 and 50 establish a communication link with the monitoring device, and start receiving data using the wireless communication units 41 and 51 of FIG. 3A or 3B when synchronization is established (step S301). . Here, an example will be described in which data for each installation location described in FIG. 14 is received. The user devices 40 and 50 recognize the data of each monitoring device unit from the received data of the installation site unit (step S302), and detect the extended information of the installation site unit (step S311).

Next, the user devices 40 and 50 detect azimuth information included in each data of each monitoring device (step S303). Subsequently, the user devices 40 and 50 recognize their own traveling direction based on the azimuth detecting unit (compass function) 49 described above, and compare this traveling direction with each azimuth information detected in step S303. The necessary data is selected from the data for each monitoring device (step S304). Next, the user devices 40 and 50 set one of the selected data as a processing target (step S305).

Next, the user devices 40 and 50 detect each moving body information from the processing target data (step S306), and also detect extended information for each monitoring device from the processing target data (step S312). . Subsequently, for each moving body information, the user devices 40 and 50 determine an icon / symbol or the like corresponding to the image recognition ID based on FIG. 11A, and based on the distance information and the corresponding azimuth information, Coordinates for displaying symbols and the like are determined (step S307). That is, the user devices 40 and 50 display the icons, symbols, and the like as shown in FIG. 12B based on the orientation information included in the data to be processed in step S306 (data in units of monitoring devices). Further, based on the distance information corresponding to the icon / symbol etc. (image recognition ID) and the scale of the screen to be actually displayed, the coordinates located in the above-mentioned direction are determined. Note that the information illustrated in FIG. 11A is included in the application software of the user device (information terminal).

Subsequently, the user devices 40 and 50 determine whether or not the processing in steps S306, S312 and S307 has been completed for all the data selected in step S305 (data in units of monitoring devices) (step S308). If there is unfinished data, the user devices 40 and 50 set the next data to be processed, and return to steps S306 and S312 (step S310). On the other hand, when there is no unfinished data, the user devices 40 and 50 make the image display unit included in the user notification unit 45 based on each icon / symbol defined in step S307 and its coordinates. Then, the display as shown in FIG. 12B is performed (step S309).

In this step S309, the user devices 40 and 50 control the audio output unit and the vibration unit included in the user notification unit 45 instead of the image display unit or in addition to the image display unit. Notification / warning may be performed. When the user devices 40 and 50 display the image on the image display unit, the image based on the extended information detected in step S311 or step S312 based on the information shown in FIG. 11B included in the application software. Display is also performed.

As described above, by using the safety support system and the safety support apparatus according to the first embodiment, typically, the occurrence of an anti-vehicle, an interpersonal accident, etc. due to an encounter at an intersection having no poor view, a T-junction, or the like. It can be reduced and safety can be improved. In this case, by using the image recognition ID and distance information, real-time performance can be improved and personal information can be protected. Furthermore, by using the azimuth information, it becomes possible to appropriately select necessary data.

(Embodiment 2)
In the first embodiment described above, the case where a monitoring device (cyber curve mirror) including a monitoring camera having a standard lens is mainly installed in the four-way way has been described as an example. 2 will be described by taking as an example a case where a monitoring device including a monitoring camera having a special lens is installed on a three-way (T-junction) or a sharp curve. Normally, the viewing angle of a standard lens is about 25 ° to 50 °. However, as a special lens, a wide angle lens having a viewing angle of about 60 ° to 100 ° or a viewing angle of 180 ° or more is used. Fisheye lenses are known.

[Example of installation of a monitoring device with a special lens (Cyber Curve Mirror) on a sharp curve]
FIG. 17 is a plan view showing an installation example of the monitoring device on a sharp curve and an operation example at that time in the safety support system according to the second embodiment of the present invention. In FIG. 17, a curve mirror is installed at the apex of the sharp curve, and a monitoring device (cyber curve mirror) 10 is attached to the curve mirror. Here, the monitoring device 10 includes a monitoring camera having a fisheye lens. In such a case, the monitoring device 10 divides the captured image from the center to the left and right, and behaves as if each captured image is acquired by two simulated monitoring devices 90a and 90b. Thereby, each operation | movement etc. which were described in Embodiment 1 can be applied as it is.

Specifically, the monitoring device 10 divides the captured image into left and right from the center, the right captured image is the captured image of the pseudo monitoring device 90a, and the left captured image is the captured image of the pseudo monitoring device 90b. The monitoring device 10 performs image recognition processing and distance measurement processing on the two captured images in the same manner as in the first embodiment, and provides two pieces of data for each monitoring device shown in FIG. Generate. Further, when the monitoring device 10 is installed, as shown in FIG. 9C, the divided information (“1000”: Right, “1001”: left).

Accordingly, in FIG. 17, the user device of the approaching vehicle from the lower right acquires the information of the pseudo monitoring device (left) 90b, and the user device of the approaching vehicle from the lower left is the information of the pseudo monitoring device (right) 90a. To get. More specifically, the user device acquires information of the pseudo monitoring device (left) 90b when the traveling direction is tilted to the left based on its own direction detection unit (compass function) 49, and the traveling direction is obtained. Is tilted to the right, the information of the pseudo monitoring device (right) 90a is acquired. Thereby, the information on the blind spot in the sharp curve can be acquired in addition to the information from the optical curve mirror.

In this example, “1000” (right) and “1001” (left) are defined as the direction information for the sharp curve. However, in addition to the determination of the traveling direction, the user apparatus can determine the shape of the sharp curve. It is also possible to use azimuth information such as east, west, south, and north. For example, in the example of FIG. 17, as the direction information, “0101” (southeast) is set in the pseudo monitoring device (right) 90a, and “0110” (southwest) is set in the pseudo monitoring device (left) 90b. The user device of the approaching vehicle directed in the northwest direction may recognize that the sharp curve is in the southwest direction and acquire information on the pseudo monitoring device (left) 90b.

[Example of installation of a monitoring device with a special lens (Cyber Curve Mirror) on a three-way road]
18A and 18B are plan views showing an example of a general arrangement method of the curve mirrors on the three-way path. FIG. 18C is a plan view showing an example of installation of the monitoring device on the three-way road and an example of operation at that time in the safety support system according to Embodiment 2 of the present invention. In the three-passage (T-junction), the optical curve mirror is usually arranged as shown in FIG. 18A or 18B. In the case of FIG. 18A, an approaching vehicle from below can visually recognize a moving body from the right, and conversely, an approaching vehicle from right can visually recognize a moving body from below. That is, in the case of left-hand traffic, it is necessary to detect the danger of a moving body entering from the right as a minimum condition. As shown in FIG. 18A, one optical curve mirror on one surface should be arranged. This condition can be satisfied.

However, in order to further improve safety, it is desirable to arrange one optical curve mirror with two surfaces at the end of the road in the vertical direction on the T-junction as shown in FIG. 18B. In this case, an approaching vehicle from below can visually recognize a moving body from the left and right, and an approaching vehicle from left and right can visually recognize a moving body from below. For example, when a monitoring device is provided in addition to the curve mirror in FIG. 18B, if a monitoring camera having a standard lens is used, the same direction as that projected onto the two curved mirrors is set as described in the first embodiment. There is a need to install two monitoring devices to capture images.

On the other hand, in the second embodiment, as shown in FIG. 18C, one monitoring device 10 is added to the curve mirror of FIG. 18B, and a fisheye lens having a viewing angle of 180 ° is applied to the monitoring camera of the monitoring device 10. To do. In this case, similarly to the case of FIG. 17, the monitoring device 10 divides the captured image into three in units of 60 °, and each of the captured images is acquired by the three pseudo monitoring devices 91a, 90b, and 90c in a pseudo manner. Behaves as if Specifically, the monitoring device 10 divides the captured image into three, the right-side captured image is the captured image of the pseudo-monitoring device 91a, the central-side captured image is the captured image of the pseudo-monitoring device 91b, and the left-side captured image Is a captured image of the pseudo monitoring device 91c. The monitoring device 10 performs image recognition processing and distance measurement processing on the three captured images in the same manner as in the first embodiment, and three pieces of data for each monitoring device shown in FIG. Generate.

Also, when the monitoring device 10 is installed, the orientation information of each captured image (each pseudo monitoring device) described above is set for the monitoring device 10 in the same manner as in the first embodiment. For example, as the azimuth information shown in FIG. 9C, “0001” (east) is set in the pseudo monitoring device 91a, “0010” (south) is set in the pseudo monitoring device 91b, and “0010” is set in the pseudo monitoring device 91c. “0011” (west) is set. Thereby, the user apparatus of the approaching vehicle can obtain necessary information using the same operation as in the first embodiment. For example, in FIG. 18C, the user device of the approaching vehicle entering in the north direction may acquire information on the left and right direction (east-west direction) with respect to the traveling direction. Therefore, the user device selects data from the pseudo monitoring devices 91a and 91c as a processing target, and notifies / warns the user using an image, sound, vibration, or the like based on the data.

Also, as shown in FIGS. 17 and 18C, when one monitoring device is operated as a plurality of pseudo monitoring devices, additional information may be added. That is, it is also beneficial to add extended information in units of installation locations in addition to the azimuth information and extended information in units of monitoring devices, like the data in units of installation locations in FIG. 14 described above. For example, as the extended information, as shown in FIG. 9D, additional information on the road shape such as “1000” (steep curve), “1001” (T-shaped road), “1011” (three-way road) is added. Thus, it is possible to assist the processing when selecting information from a plurality of pseudo monitoring devices on the user device side. Specifically, the direction of the required information may change depending on the road shape. In such a case, the user device does not have the function of recognizing the road shape, but the extension is performed. It is possible to make a judgment according to the road shape by giving it as information from the outside.

FIG. 19 is a plan view showing an application example of FIG. 18C. The safety support system according to the present embodiment can be applied not only to an outdoor road but also to an indoor road as shown in FIG. For example, in a place with poor visibility in a facility such as a hospital, as shown in FIG. 19, a safety mirror using a reflecting mirror may be arranged instead of the curve mirror shown in FIG. 18C. The monitoring device 10 can be attached to such a safety mirror. In this case, the monitoring device 10 can be linked to the warning lamp 92, an alarm sound, or the like. For example, when the moving body is detected in two or more captured images among the captured images of the pseudo monitoring devices 91a, 91b, and 91c, the monitoring device 10 emits a warning lamp 92, an alarm sound, or the like. To emit. As a result, it is possible to notify / warn each pedestrian, etc. that has entered the intersection of the traffic path that there is a moving body (for example, a pedestrian) from another direction, and to prevent a collision at the encounter. be able to.

In recent years, round mirrors, FF (Fantastic Flat) mirrors, garage mirrors, dome-shaped and semi-dome-shaped mirrors, etc. have been used as “creating a safe and secure environment”. The safety support system according to the present embodiment can be applied not only to the environment as shown in FIG. 19 but also to various environments where such various mirrors are arranged. In either case, it is necessary to set the azimuth information for each monitoring camera shooting screen (including the divided imaging screen), thereby appropriately performing notification / warning of the moving body using this azimuth information. It becomes possible.

As described above, by using the safety support system and the safety support device according to the second embodiment, in addition to the various effects described in the first embodiment, the number of monitoring devices to be physically installed can be further reduced. Compared to the first embodiment, the cost can be reduced.

(Embodiment 3)
In the first embodiment described above, a method of appropriately selecting information of each monitoring device (monitoring camera) installed at the intersection on the premise of one intersection is described. There are cases where there are close intersections. In such a case, since the user device may receive data from each monitoring device from a plurality of intersections, in addition to selecting the data by each monitoring device in the intersection, the user device as a unit. Need to select data. The safety support system according to the third embodiment selects data in units of such intersections.

《General matters concerning wireless communication》
20A and 20B are explanatory diagrams illustrating an example of general characteristics in the wireless LAN. FIG. 20A shows a relationship example between a distance from an access point (hereinafter abbreviated as AP) and reception sensitivity (RSSI: Received Signal Strength Indicator). The RSSI decreases as the distance from the AP increases. FIG. 20B shows an example of the relationship between the number of receiving terminals connected to one AP and the throughput (communication information amount) for each terminal. The throughput decreases as the number of receiving terminals increases.

Therefore, as in the safety support system of the present embodiment, reducing the amount of information using image recognition ID, distance information, and the like is from the viewpoint of FIG. 20B together with the viewpoint of real-time characteristics described in the first embodiment and the like. Will also be beneficial. That is, by reducing the amount of information, it is possible to increase the number of users (in other words, the number of user devices that can receive data from each monitoring device (AP)) that can receive and receive cybercurve mirror services at intersections without signals. .

FIG. 21 is a sequence diagram illustrating an example of a communication procedure between an access point (AP) and a wireless LAN terminal in a wireless LAN. As illustrated in FIG. 21, the AP transmits a beacon frame by broadcast, and the wireless LAN terminal receives the beacon frame for a certain period of time, and searches for an AP that matches the ESSID (Extended Service Set Identifier). Then, the wireless LAN terminal authenticates with the AP in a predetermined procedure, and then starts receiving data. The beacon frame or the like includes the AP MAC (Media Access Control) address. The safety support system according to the third embodiment realizes real-time AP switching (handover) using this MAC address.

《How to select an intersection in the safety support system》
FIG. 22 is a plan view showing an application example to a road environment where intersections are arranged close to each other in the safety support system according to Embodiment 3 of the present invention. In the example of FIG. 22, the three-way (T-shaped road) [1] that advances in the east or west direction when entering from the south side and the west direction road is connected to the west or A three-way road (T-shaped road) [2] advanced in the north direction is arranged in close proximity. The monitoring device 10 [1] with a fisheye lens is installed in the three-way (T-shaped road) [1] in the state described in FIG. 18C of the second embodiment, and the monitoring device 10 [1] is accessed. A wireless communication unit serving as a point (AP1) is provided. Similarly, a monitoring device 10 [2] with a fish-eye lens is also installed in a three-way (T-junction) [2], and the monitoring device 10 [2] includes a wireless communication unit serving as an access point (AP2). ing.

FIG. 23 is an explanatory diagram showing an operation example of the safety support system when passing through each of the three differential paths (T-shaped paths) in FIG. Here, as shown in FIG. 22 and FIG. 23, the vehicle enters the three-way (T-shaped road) [1] straight from the south side (step S401), and turns left on the west side (step S402). Take a case where the vehicle enters straight from the west side toward the road (T-shaped road) [2] (step S403) and turns right on the north side (step S404). FIG. 23 shows how the reception sensitivity (RSSI) changes at that time.

23, the user device mounted on the vehicle approaches AP1 while being linked to AP1. The RSSI in the wireless communication unit of the user device increases as the AP1 approaches (step S401). Then, the RSSI becomes maximum when the vehicle turns left (an intermediate point that turns a corner) (step S402). If the vehicle goes straight after turning left, the RSSI decreases according to the distance of AP1 (step S403). At this time, the terminal corresponding to the wireless LAN generally continues to maintain the link with AP1 unless a beacon frame having an RSSI value larger than the RSSI value of AP1 is received. As a result, for example, a handover to AP2 is performed after an intermediate point between AP1 and AP2.

However, since the safety support system according to the present embodiment requires real-time performance, for example, when a general wireless LAN handover method as described above is used in a road environment as shown in FIG. The next T-junction is reached immediately after handover. As a result, there is a possibility that the user device of the approaching vehicle cannot acquire sufficient time for notifying / warning the user based on the information of other moving bodies that exist in the blind spot. Therefore, in the safety support system according to the third embodiment, the following method using the RSSI and MAC address of the AP is used in order to accelerate the handover.

First, in steps S401 and S402, the wireless communication unit of the user apparatus stores the MAC address of AP1 and monitors the RSSI value of AP1, and the RSSI peak value (RSSI_p) generated when the vehicle turns left in step S402. Remember. Here, a period (t) from an RSSI peak value (RSSI_p), an RSSI threshold (RSSI_th), or a combination thereof is set in advance in the wireless communication unit. Here, an RSSI threshold (RSSI_th) is set, and this threshold is determined based on the relationship of FIG. 20A in consideration of the distance to AP1.

The wireless communication unit recognizes that the left turn has been completed by detecting that the RSSI value has decreased from the peak value (RSSI_p) to the threshold value (RSSI_th), cuts off the link with AP1, and The search process is started. In other words, the next AP search process or the like is performed at the left turn of step S402. Here, when the AP having the largest RSSI value is the search target, the link is established again with AP1, but the wireless communication unit stores the MAC address of AP1 at this point, An exclusive search based on the MAC address is performed. That is, the wireless communication unit searches for a beacon frame including a MAC address other than the MAC address of AP1 currently stored. When the beacon frame is found, a link is established with the source AP (AP2 in this case), and the handover is performed to the source AP.

Thereby, it is possible to hand over to the next AP (here, AP2) at an earlier stage (for example, immediately after the left turn in step S402) than using the general processing method of the wireless LAN. Based on the data from the device 10 [2], it becomes possible to notify / warn the user in real time. Also, in practice, after the left turn in step S402, the user apparatus does not need to receive data from the management apparatus 10 [1], so it is beneficial to use such early handover. Then, by using such a handover method, it is possible to appropriately (in real time) select data for each intersection.

<< Summary of each embodiment >>
The main features of the safety support system and the safety support device according to each embodiment described above are summarized as follows.

<< Safety support system according to this embodiment [1] >>
(1-1) The safety support system according to the present embodiment is provided with a monitoring device (10) provided with a curve mirror and including a monitoring camera (27, 28), an image processing unit (21), and a first wireless communication unit (23). ) And a user device (40, 50) that is carried by the user and includes the second wireless communication unit (41, 51) and the information processing unit (47, 48). The image processing unit executes first to third processes. In the first process, N (N is an integer equal to or greater than 1) moving bodies existing within a predetermined image recognition range are detected from the captured image of the monitoring camera. In the second process, the type of the moving body is determined for each of N moving bodies, and a first value having a value corresponding to the determination result is selected from the first identifiers (image recognition IDs) in which a plurality of values are defined in advance. 1 identifier is generated. In the third process, the distance from a predetermined reference position (entrance of the intersection) is determined for each of N moving bodies based on the coordinates on the captured image, and a second identifier (distance information) in which a plurality of values are defined in advance. ) To generate a second identifier having a value corresponding to the determination result. The first wireless communication unit transmits a data signal including N sets of first and second identifiers generated for N mobile objects. The second wireless communication unit receives the data signal transmitted from the first wireless communication unit, and the information processing unit determines whether the mobile object is present based on the N sets of first and second identifiers included in the data signal. And performing a predetermined process for notifying the user of the presence state of the mobile object.

As described above, the monitoring device does not transmit the captured image to the user device, but transmits the type of the moving body detected from the captured image or the distance from the predetermined reference position with the identifier. As a result, the monitoring device can reduce the amount of transmission data, and the user device can recognize the presence state of the moving object with a small amount of data. As a result, real-time performance is improved, and safety can be improved. Furthermore, since the identifier is used, privacy can be protected.

(1-2) In the above (1-1), among the plurality of values defined as the first identifier, a value generated when the type of the moving object cannot be determined (image recognition ID = “0001”) ”). As a result, even if an unknown moving body exists, it is possible to notify the user of the presence and to improve safety.

(1-3) In the above (1-2), the information processing unit further includes an azimuth detecting unit (49) for detecting the traveling azimuth of the user, and the first wireless communication unit further includes a data signal, A third identifier (azimuth information) indicating the imaging direction of the surveillance camera is added and transmitted. Thereby, the user apparatus can determine whether or not the received data signal is a necessary data signal by comparing the detection result of the azimuth detecting unit with the third identifier. In addition, since it is possible to determine whether or not the data signal is necessary on the user device side, a monitoring device can be provided in an arbitrary imaging direction in an arbitrary curve mirror, and a plurality of monitoring devices are not limited to one. Can be added.

(1-4) In the above (1-3), the user device further includes an image display unit (11, 45), and the information processing unit respectively corresponds to a plurality of values previously defined as the first identifier. An icon or symbol is set, and an icon or symbol corresponding to the first identifier is displayed at coordinates corresponding to the second identifier for each of the N pairs of first and second identifiers on the image display unit. As a result, it is possible to visually notify the user of the presence state of the moving object.

(1-5) In the above (1-3), the user apparatus further includes an audio output unit (12, 45) or a vibration unit (13, 45), and the information processing unit includes N sets of first and first sets. 2. Control the audio output unit or the vibration unit based on the identifier. Thereby, it becomes possible to notify the user of the presence state of the moving body by a method other than vision, and there may be a case where attention with a higher recognition degree can be drawn.

(1-6) In (1-3) above, the image recognition range (range based on “+ marker”) in the first processing of the image processing unit can be arbitrarily set. Accordingly, it is possible to customize the extent to which the moving body is notified to the user according to the situation such as the intersection.

(1-7) In the above (1-3), the user is not limited to a vehicle driving vehicle such as a car but may be a pedestrian or the like. That is, for example, it is possible to improve safety for pedestrians (for example, children, elderly people, etc.) who carry mobile phones equipped with a navigation system or the like.

(1-8) In (1-3) above, the image processing unit divides the captured image for each predetermined viewing angle, and executes the first to third processes described above for each of the plurality of divided captured images. To do. The first wireless communication unit transmits each of the divided plurality of captured images by adding a third identifier for each of the divided captured images. In this way, even when the surveillance camera includes a wide-angle lens, a fish-eye lens, or the like having a viewing angle of 90 ° or more, for example, the processing is divided into a plurality of captured images and the imaging orientation for each captured image is determined. In addition, the user apparatus can determine whether each received data signal is a necessary data signal.

<< Safety support system according to this embodiment [2] >>
(2-1) Another safety support system according to the present embodiment is provided with a curved mirror, and includes a surveillance camera (27, 28), an image processing unit (21), and a first wireless communication unit (23). It has a plurality of monitoring devices (10a, 10b, etc.) and a user device (40, 50) that is carried by a user and includes a second wireless communication unit (41, 51) and an information processing unit (47, 48). Each image processing unit in the plurality of monitoring apparatuses executes first to third processes. In the first process, N (N is an integer of 1 or more) moving bodies existing within a predetermined image recognition range are detected from the captured image of the own monitoring camera. In the second process, the type of the moving body is determined for each of N moving bodies, and a first value having a value corresponding to the determination result is selected from the first identifiers (image recognition IDs) in which a plurality of values are defined in advance. 1 identifier is generated. In the third process, the distance from a predetermined reference position (entrance of the intersection) is determined for each of N moving bodies based on the coordinates on the captured image, and a second identifier (distance information) in which a plurality of values are defined in advance. ) To generate a second identifier having a value corresponding to the determination result. Each first wireless communication unit in the plurality of monitoring devices transmits a data signal including N sets of first and second identifiers respectively generated for N mobile objects by an image processing unit corresponding to the first wireless communication unit. To do. The second wireless communication unit receives data signals transmitted from the first wireless communication units in the plurality of monitoring devices, and the information processing unit includes N sets of first and second identifiers included in the data signals. Based on the above, the presence state of the moving body is recognized, and a predetermined process for notifying the user of the presence state of the moving body is performed.

As described above, another safety support system according to the present embodiment is configured such that the user device further receives data signals from a plurality of monitoring devices under the safety support system of (1-1). Yes. As the number of monitoring devices increases, the amount of data received by the user device increases accordingly. However, as described in (1-1) above, since the safety support system uses identifiers, the data amount Can be reduced. As a result, as in the case of (1-1) above, it is possible to improve safety and protect privacy.

(2-2) In the above (2-1), the information processing unit further includes an orientation detection unit (49) for detecting the traveling direction of the user, and each of the first wireless communication units in the plurality of monitoring devices is The third identifier (azimuth information) indicating the imaging direction of the own monitoring camera is further added to the own data signal and transmitted. Thus, as in the case of (1-3) above, the user apparatus can determine whether or not the information is necessary for each data signal when receiving the data signal from a plurality of monitoring apparatuses.

(2-3) In the above (2-2), the plurality of monitoring devices include first and second monitoring devices respectively provided alongside curve mirrors arranged at different intersections. Each first wireless communication unit in the plurality of monitoring devices further transmits the data signal with device identification information (MAC address) for identifying the monitoring device added thereto. The second wireless communication unit further monitors the wireless signal transmitted from each of the first wireless communication units of the first and second monitoring devices, and includes device identification information included in each wireless signal and each wireless signal. Detect the signal strength. Then, the information processing unit performs processing on the data signal from the first monitoring device (10 [1]), and the radio field intensity of the wireless signal from the first monitoring device is a predetermined value from the peak value. In the case of the decrease, the processing for the data signal from the first monitoring device is stopped, and the second wireless communication unit waits to receive a wireless signal including device identification information different from the first monitoring device. In this waiting state, when the second wireless communication unit receives a wireless signal from the second monitoring device (10 [2]), the information processing unit performs processing on the data signal from the second monitoring device. .

As a result, for example, even when a monitoring device is provided at each of relatively close intersections, the user device distinguishes between the different monitoring devices, and is truly true according to the current position of the user device. Necessary data signals can be determined. In other words, for each data signal from a plurality of monitoring devices installed at the same intersection, whether or not each data signal is necessary can be determined by the third identifier, and a plurality of monitoring devices installed at different intersections. For each data signal from the device, the necessity for each data signal can be determined by the device identification information and the radio wave intensity.

(2-4) In the above (2-2), when the four corners of the intersection are the first corner, the second corner, the third corner, and the fourth corner in the clockwise order, two of the plurality of monitoring devices are And a curved mirror disposed at the first corner. One of the two monitoring devices is provided so as to image an area where the intersection is between the second corner and the third corner, and the other is an entrance of the intersection between the third corner and the fourth corner. It is installed side by side to image the area to be. In this case, the image processing of each monitoring device can be performed under the same conditions by simply installing the optical axis of the monitoring camera of each monitoring device at the same depression angle. Thereby, when performing the operation | work which installs a some monitoring apparatus, the separate adjustment for every monitoring apparatus becomes unnecessary especially, and improvement of working efficiency etc. can be aimed at.

<< Safety support device (monitoring device) according to this embodiment >>
(3-1) The safety support device (monitoring device) according to the present embodiment includes a monitoring camera (27, 28), an image processing unit (21), and a first wireless communication unit (23). The image processing unit executes first to third processes. In the first process, N (N is an integer equal to or greater than 1) moving bodies existing within a predetermined image recognition range are detected from the captured image of the monitoring camera. In the second process, the type of the moving body is determined for each of N moving bodies, and a first value having a value corresponding to the determination result is selected from the first identifiers (image recognition IDs) in which a plurality of values are defined in advance. 1 identifier is generated. In the third process, the distance from a predetermined reference position (entrance of the intersection) is determined for each of N moving bodies based on the coordinates on the captured image, and a second identifier (distance information) in which a plurality of values are defined in advance. ) To generate a second identifier having a value corresponding to the determination result. The first wireless communication unit transmits a data signal including N sets of first and second identifiers generated for N mobile objects. Thereby, the same effect as in the case of (1-1) is obtained.

(3-2) In the above (3-1), the safety support device is attached to the curve mirror. This makes it possible to improve safety at intersections with poor visibility.

(3-3) Among the plurality of values defined as the first identifier in (3-2) above, a value generated when the type of the moving object cannot be determined (image recognition ID = “0001”) ”). As a result, the same effect as in the case of (1-2) can be obtained.

(3-4) In the above (3-3), the first wireless communication unit further transmits the data signal by adding a third identifier (azimuth information) indicating the imaging orientation of the surveillance camera. Thereby, the same effect as in the case of the above (1-3) can be obtained.

(3-5) In the above (3-4), the image processing unit divides the captured image for each predetermined viewing angle, and executes the first to third processes for each of the divided plurality of captured images. The first wireless communication unit adds the third identifier for each of the plurality of divided captured images to the divided data signal for each of the plurality of captured images and transmits the data signal. Thereby, the same effect as in the case of (1-8) is obtained.

<< Safety Support Device (User Device) According to this Embodiment >>
(4-1) The safety support device (user device) according to the present embodiment monitors information related to N (N is an integer of 1 or more) moving bodies detected based on the captured image of the external monitoring device. The second wireless communication unit (41, 51) and the information processing unit (47, 48) that are received from the mobile phone are carried by the user. The second wireless communication unit includes a first identifier (image recognition ID) representing a type for each of N mobile objects and a second identifier (distance information) representing a distance from a predetermined reference position for each of N mobile objects. The data signal containing is received. The information processing unit recognizes the presence state of the moving body based on the N sets of first and second identifiers included in the data signal received by the second wireless communication unit, and notifies the user of the presence state of the moving body. Predetermined processing is performed. Thereby, the same effect as in the case of (1-1) is obtained.

(4-2) In the above (4-1), an azimuth detecting unit (49) for detecting the moving azimuth of the user is further provided, and the second wireless communication unit receives N sets of first and second sets of data signals as data signals In addition to the identifier, a third identifier (orientation information) indicating the imaging orientation of the captured image is further received. Thereby, the same effect as in the case of the above (1-3) can be obtained.

(4-3) In the above (4-2), an image display unit (11, 45) is further provided, and the information processing unit has icons or symbols respectively corresponding to a plurality of values defined in advance as the first identifier. The icon or symbol corresponding to the first identifier is displayed at the coordinates corresponding to the second identifier for each set of the N first and second identifiers set on the image display unit. As a result, it is possible to visually notify the user of the presence state of the moving object.

(4-4) In the above (4-2), the user apparatus further includes an audio output unit (12, 45) or a vibration unit (13, 45), and the information processing unit includes N sets of first and first sets. 2. Control the audio output unit or the vibration unit based on the identifier. Thereby, it becomes possible to notify the user of the presence state of the moving body by a method other than vision, and there may be a case where attention with a higher recognition degree can be drawn.

(4-5) In the above (4-2), the user is not limited to a vehicle driving vehicle such as a car but may be a pedestrian or the like. That is, for example, it is possible to improve safety for pedestrians (for example, children, elderly people, etc.) who carry mobile phones equipped with a navigation system or the like.

(4-6) In the above (4-2), the second wireless communication unit further monitors wireless signals transmitted from a plurality of monitoring devices including the first and second monitoring devices, and the plurality of monitoring devices Device identification information (MAC address) included in each wireless signal and the radio wave intensity of each wireless signal are detected. Then, the information processing unit performs processing on the data signal from the first monitoring device (10 [1]), and the radio field intensity of the wireless signal from the first monitoring device is a predetermined value from the peak value. In the case of the decrease, the processing for the data signal from the first monitoring device is stopped, and the second wireless communication unit waits to receive a wireless signal including device identification information different from the first monitoring device. In this waiting state, when the second wireless communication unit receives a wireless signal from the second monitoring device (10 [2]), the information processing unit performs processing on the data signal from the second monitoring device. . As a result, the same effect as in the above (2-3) can be obtained.

<< Safety support method according to this embodiment >>
(5-1) The safety support method according to the present embodiment is a method using the monitoring device (10) and the user devices (40, 50). As a first step, the monitoring device captures an image with the monitoring camera, and detects N (N is an integer of 1 or more) moving bodies from the captured image. As a second step, for each of N moving bodies, the type of the moving body is determined and the distance from the predetermined reference position of the moving body is measured. As a third step, a first identifier (image recognition ID) indicating the type of the moving object and a second identifier (distance information) indicating the distance of the moving object are generated for each N moving objects. As a fourth step, a data signal including N sets of first and second identifiers generated for N mobile objects is transmitted. On the other hand, as a fifth step, the user device receives the data signal transmitted from the monitoring device, recognizes the presence state of the moving object based on the N sets of first and second identifiers included in the data signal, The user is notified of the presence status of the moving object. Thereby, the same effect as in the case of (1-1) is obtained.

(5-2) In the above (5-1), in the fourth step, the monitoring apparatus further transmits the data signal by adding a third identifier (azimuth information) indicating the imaging direction of the monitoring camera to the data signal. In the fifth step, the user apparatus further detects the traveling direction of the user and compares the detection result with the third identifier to determine whether the received data signal is necessary. Thereby, the same effect as in the case of the above (1-3) can be obtained.

As described above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. . Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

Here, an example is shown in which a cyber curve mirror (monitoring device) is attached to an optical curve mirror installed at an intersection, T-junction, sharp curve, etc. with poor visibility, but the installation location is not particularly limited, for example, It is also useful to install it at railroad crossings, intersections with traffic lights, parking lot entrances and garages with poor prospects for ordinary houses. In this case, for example, it is possible to warn for an unreasonable crossing at a railroad crossing or an unreasonable approach to an intersection with a signal. Also, there are no traffic lights in urban areas that school children use for school, such as school zones, places where there are near-misses in passages and corridors inside and outside, and high-rise / large parking lots (shopping malls, etc.) It is also beneficial to install it in places where road reflectors and indoor curve mirrors are placed at the entrances and exits of cars in factories and warehouses.

In addition, since the optical curve mirror is usually placed in a place where the line of sight is not good or where an accident is likely to occur, it is desirable that the cyber curve mirror (monitoring device) is mainly provided along with the optical curve mirror. . However, in some cases, it is also possible to install a cyber curve mirror (monitoring device) alone in a place where there is no optical curve mirror.

Furthermore, by changing the contents of the image recognition, for example, from the monitoring camera information of the parking lot, not only the presence of an approaching vehicle or pedestrian, but also the white line recognition and vehicle recognition in the parking space, the parking lot that is not directly visible The presence or absence of an empty space can be extracted from the video of the surveillance camera, and information can be provided to the driver through image display or voice guidance. In this case, since the vehicle driver can search for an empty space in the parking lot without directly visual recognition, it is possible to reduce the possibility of a careless accident due to forward carelessness due to direct visual recognition or the like.

In addition, here, a broadcast information system that takes privacy protection into consideration while constructing a surveillance camera was constructed by displaying an image using an image recognition ID such as an icon / symbol after image recognition. Thus, it is possible to provide a mode in which an actual captured image can be transmitted. For example, the facility manager or the like uses the mode for crime prevention / security and causes the cyber curve mirror (monitoring device) to function as a normal monitoring camera.

10, 10a-10d Monitoring device (Cyber curve mirror)
DESCRIPTION OF SYMBOLS 11 Image display part 12 Audio | voice output part 13 Vibration part 20 Sensor part 21 Image processing and signal generation part 22 Direction information generation part 23 Wireless communication part 24 Extended information generation part 25 CPU
26 Bus 27 Camera sensor 28 Infrared sensor 29 Ultrasonic radar 30 Image recognition unit 31 Distance measurement unit 32 Direction information storage unit 33a, 33b Wireless interface 34 Traffic information storage unit 40, 50 User device 41, 51 Wireless communication unit 42, 52 Mobile Telephone / smart phone 43 Navigation system 44 Drive recorder 45 User notification unit 46a, 46b Wireless interface 47, 48 Information processing unit 49 Direction detection unit 60 Moving body information 61 Direction information 62 Extended information 90a, 90b, 91a to 91c, 101a to 101c Monitoring device 92 Warning light

Claims (17)

1. A monitoring device provided with a curve mirror and provided with a monitoring camera, an image processing unit, and a first wireless communication unit;
   A user device carried by a user and provided with a second wireless communication unit and an information processing unit,
   The image processing unit
   A first process for detecting N (N is an integer greater than or equal to 1) moving bodies existing within a predetermined image recognition range with respect to a captured image of the monitoring camera;
   A second process for determining the type of the moving body for each of the N moving bodies and generating a first identifier having a value corresponding to the determination result from among the first identifiers in which a plurality of values are defined in advance; ,
   For each of the N moving bodies, the distance from a predetermined reference position is determined based on the coordinates on the captured image, and a value corresponding to the determination result is selected from the second identifiers in which a plurality of values are defined in advance. And a third process for generating a second identifier having
   The first wireless communication unit transmits a data signal including N sets of first and second identifiers generated for the N mobile objects,
   The second wireless communication unit receives the data signal transmitted from the first wireless communication unit,
   The information processing unit recognizes the presence state of the moving body based on the N sets of first and second identifiers included in the data signal, and performs predetermined processing for notifying the user of the presence state of the moving body Do a safety support system.
2. The safety support system according to claim 1,
   The plurality of values defined as the first identifier include a value generated when the type of the moving object cannot be determined.
3. The safety support system according to claim 2,
   The information processing unit further includes an azimuth detecting unit that detects the traveling azimuth of the user,
   The first wireless communication unit transmits the data signal with a third identifier indicating an imaging direction of the monitoring camera added to the data signal.
4. The safety support system according to claim 3,
   The user device further includes an image display unit,
   The information processing unit is preset with icons or symbols respectively corresponding to a plurality of values defined as the first identifier, and each of the N sets of first and second identifiers is set to the image display unit. A safety support system that displays the icon or symbol corresponding to the first identifier at coordinates corresponding to the second identifier each time.
5. The safety support system according to claim 3,
   The user device further includes an audio output unit or a vibration unit,
   The information processing unit is a safety support system that controls the voice output unit or the vibration unit based on the N sets of first and second identifiers.
6. The safety support system according to claim 3,
   The safety support system, wherein the image recognition range in the first process can be arbitrarily set.
7. The safety support system according to claim 3,
   The safety support system, wherein the user is a pedestrian.
8. The safety support system according to claim 3,
   The image processing unit divides the captured image for each predetermined viewing angle, executes the first to third processes for each of the divided plurality of captured images,
   The first wireless communication unit adds the third identifier for each of the plurality of divided captured images to the data signal for each of the divided plurality of captured images, and transmits the data signal.
9. A plurality of monitoring devices each provided with a curve mirror and including a monitoring camera, an image processing unit, and a first wireless communication unit,
   A user device carried by a user and provided with a second wireless communication unit and an information processing unit,
   Each of the image processing units in the plurality of monitoring devices is
   A first process for detecting N (N is an integer greater than or equal to 1) moving bodies existing within a predetermined image recognition range with respect to a captured image of the monitoring camera;
   A second process for determining the type of the moving body for each of the N moving bodies and generating a first identifier having a value corresponding to the determination result from among the first identifiers in which a plurality of values are defined in advance; ,
   For each of the N moving bodies, the distance from a predetermined reference position is determined based on the coordinates on the captured image, and a value corresponding to the determination result is selected from the second identifiers in which a plurality of values are defined in advance. And a third process for generating a second identifier having
   Each of the first wireless communication units in the plurality of monitoring devices includes N sets of first and second identifiers generated for the N moving objects detected by the image processing unit corresponding to the first wireless communication unit. Send a data signal containing
   The second wireless communication unit receives the plurality of data signals respectively transmitted from the first wireless communication unit of the plurality of monitoring devices;
   The information processing unit recognizes the presence state of a moving body based on the N sets of first and second identifiers included in each of the plurality of data signals, and notifies the user of the presence state of the moving body. A safety support system that performs predetermined processing.
10. The safety support system according to claim 9,
    The information processing unit further includes an azimuth detecting unit that detects the traveling azimuth of the user,
    Each of the first wireless communication units in the plurality of monitoring devices transmits the data signal by adding a third identifier indicating the imaging direction of the monitoring camera corresponding to the data signal to the first wireless communication unit. system.
11. The safety support system according to claim 10,
    The plurality of monitoring devices include a first monitoring device and a second monitoring device provided respectively on curve mirrors arranged at different intersections,
    Each of the first wireless communication units in the plurality of monitoring devices further transmits device identification information for identifying the monitoring device to the data signal thereof,
    The second wireless communication unit further monitors the wireless signals transmitted from the first wireless communication units of the first and second monitoring devices, and the device identification information included in the wireless signals, Detect the radio field intensity of each radio signal,
    When the information processing unit is processing the data signal from the first monitoring device and the radio signal intensity of the wireless signal from the first monitoring device is reduced from a peak value by a predetermined value , Stop processing the data signal from the first monitoring device, and wait for the second wireless communication unit to receive a wireless signal including the device identification information different from the first monitoring device. In the waiting state, when the second wireless communication unit receives a wireless signal from the second monitoring device, the safety support system performs processing on the data signal from the second monitoring device.
12. The safety support system according to claim 10,
    Two monitoring devices among the plurality of monitoring devices are arranged at the first corner when the four corners of the intersection are the first corner, the second corner, the third corner, and the fourth corner in the clockwise order. Are attached to each curved mirror,
    One of the two monitoring devices is provided side by side so as to image a region having an entrance of an intersection between the second corner and the third corner,
    The other of the two monitoring devices is a safety support system that is provided side by side so as to image a region having an entrance of an intersection between the third corner and the fourth corner.
13. A safety support apparatus including a monitoring camera, an image processing unit, and a first wireless communication unit,
    The image processing unit
    A first process for detecting N (N is an integer greater than or equal to 1) moving bodies existing within a predetermined image recognition range with respect to a captured image of the monitoring camera;
    A second process for determining the type of the moving body for each of the N moving bodies and generating a first identifier having a value corresponding to the determination result from among the first identifiers in which a plurality of values are defined in advance; ,
    For each of the N moving bodies, the distance from a predetermined reference position is determined based on the coordinates on the captured image, and a value corresponding to the determination result is selected from the second identifiers in which a plurality of values are defined in advance. And a third process for generating a second identifier having
    The first wireless communication unit is a safety support device that transmits a data signal including N sets of first and second identifiers generated for the N mobile objects.
14. The safety support device according to claim 13,
    The safety support device is a safety support device provided alongside a curve mirror.
15. The safety support device according to claim 14, wherein
    The plurality of values defined as the first identifier include a value assigned when the type of the moving object cannot be determined.
16. The safety support device according to claim 15,
    The first wireless communication unit transmits the data signal with a third identifier indicating an imaging direction of the monitoring camera added to the data signal.
17. The safety support device according to claim 16, wherein
    The image processing unit divides the captured image for each predetermined viewing angle, executes the first to third processes for each of the divided plurality of captured images,
    The first wireless communication unit adds the third identifier for each of the plurality of divided captured images to the data signal for each of the plurality of divided captured images, and transmits the data signal. apparatus.

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