高齢者横断事故防止のための危険検知手法について

摘要

近年，高齢化社会に伴い高齢者における死亡事故が急増している．死亡事故の発生原因として老化に伴う認識能力の低下が考えられ，ITSによる道路監視システムを用いた事故防止の研究がおこなわれている．ITSによる事故防止システムとして車両側から歩行者を検出する研究は行われているが，歩行者の道路横断動作を認識し，歩行者側から危険車両を検出する研究は少ない．車両の発見や道路横断動作の認識は車道外を含む広範囲の計測を必要とするため困難である．そこで本研究では，全周囲の情報を一度に取得可能な全方位カメラを搭載した歩行補助器具を用いて歩行者が道路横断動作を認識する．さらに，十分な解像度を得るために望遠カメラを用いて歩行者側から接近してくる走行車両を計測し，危険を知らせることを目的とする．本稿ではカメラの移動によって生じるオプティカルフローに着目し，歩行者の動きを推定する手法を述べる．また，道路のエッジに着目し，車両の接近方向を示す消失点推定手法を述べる．さらに，実験結果と共に本手法の有効性を示す．%Traffic accidents are increasing in step with the aging of the population. Cognitive ability is impaired by aging and impairing of cognitive ability by aging is factor of the traffic accident. Therefore, ITS research to support safe confirmation is required. In this research fields, there are many researches to detect obstacles that includes walkers on road by vehicle with a measuring system. However, there are a few researches to detect vehicle and support to get the timing of crossing roads. Because, it's very hard, and these method need the measurement of wide area that includes road and sidewalk at a time. In this research, the methods to get the timing of crossing roads and to estimate direction of approaching vehicle are proposed. These methods need all-round vision. Therefore, a walker uses a handcart equipped with omnidirectional camera that can get all-round vision at a time in this research. Finally, this research aims at detecting approaching vehicle from walker side and giving a walker a warning. Approaching vehicles are detected using telephoto camera that can get vision of high resolution at long range. This research focuses on many optical flows detected by the movement of the camera. In this paper, the method to estimate moving direction and moving distance of camera by using many optical flows is explained. In addition, the method that estimates approaching direction of vehicle on a road by Hough transform. Availability of this method is shown in experimental result.