JP2017010130A - Pedestrian collision warning system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system capable of automatically warning a pedestrian of the danger of colliding with a bicycle when the bicycle approaches a pedestrian. A pedestrian terminal 2 of a pedestrian collision warning system 1 communicates with an active tag 3 used for detecting a bicycle 3a by short-range wireless communication, and when a beacon signal is received from the active tag 3, the beacon signal is used. Then, the index information indicating the distance between the active tag 3 that transmitted the beacon signal and the pedestrian terminal 2 is acquired, and the active tag 3 walks according to the temporal transition of the index information related to the tag ID included in the beacon signal. When it is shown that the bicycle is moving in a direction approaching the person terminal 2, an alarm is issued to notify the pedestrian 2a of the danger of collision with the bicycle 3a. [Selection diagram] Fig. 1

Description

  The present invention is a technique for preventing a collision between a bicycle and a pedestrian.

  In response to the addition of Automatic Emergency Braking (AEB) to automobile safety assessment, many vehicles equipped with collision damage reduction brakes have come to market. The collision damage reduction brake detects obstacles around the car, issues an alarm when there is a possibility of collision, and avoids collision or reduces damage when the possibility of collision becomes higher. Therefore, it means the function to control the brake automatically.

  As a system for realizing a collision damage reduction brake, there is a system in which an automobile has a means for detecting an obstacle around the automobile as in Patent Document 1, but as in Patent Documents 2 and 3, Roadside equipment equipped with cameras (such as surveillance cameras and infrared cameras) and sensors (such as millimeter wave sensors) that serve as means for detecting obstacles in the road are installed on the road, and DSRC (Dedicated Short Range Communication) is used. Some systems send obstacle detection results to the car. Patent Document 2 is an invention for detecting a motorcycle equipped with an RF tag, and Patent Document 3 is an invention for detecting a pedestrian who has a terminal device for pedestrians.

Japanese Patent No. 4877171 JP 2008-282326 A JP 2012-252645 A

  Automobiles can automatically avoid collisions with obstacles in the vicinity of automobiles by providing the functions related to the above-described collision damage reduction brakes. There is also a danger of colliding with. In fact, the number of collisions between pedestrians and bicycles is increasing, and it is desirable to be able to warn pedestrians of danger of collision with bicycles.

  Accordingly, an object of the present invention is to provide a system capable of automatically warning a pedestrian of the danger of collision with a bicycle when a bicycle around the pedestrian approaches the pedestrian.

A first invention that solves the above-described problem is a pedestrian collision warning system that includes at least an active tag used for bicycle detection and a pedestrian terminal that communicates with the active tag through short-range wireless communication.
In the first invention, the active tag includes a tag communication unit that performs short-range wireless communication with the pedestrian terminal, and a beacon signal including a tag ID unique to each active tag using the tag communication unit. Is provided with a control means for transmitting.
In the first invention, the pedestrian terminal is received by the terminal communication means for performing short-range wireless communication with the active tag, the alarm means for issuing a warning notifying the danger of collision with a bicycle, and the terminal communication means. After obtaining the index information indicating the distance between the active tag that transmitted the beacon signal and the pedestrian terminal using the beacon signal, the index information related to the tag ID included in the beacon signal If the index information related to the tag ID included in the beacon signal is shifted in the direction in which the active tag is approaching the pedestrian terminal, the alarm means is activated. And a collision monitoring means for issuing an alarm.
According to the first invention, the pedestrian terminal detects the active tag in a range in which short-distance wireless communication with the pedestrian terminal is possible, and if the active tag moves with a bicycle, The pedestrian terminal can detect a bicycle in a range in which near field communication with the pedestrian terminal is possible. In addition, when the distance between the active tag and the pedestrian terminal is shortened, it can be assumed that a bicycle is approaching the pedestrian. Therefore, the pedestrian terminal uses the indicator information from the beacon signal transmitted by the active tag. If the time transition of the distance between the active tag and the pedestrian terminal is monitored, when a bicycle approaches the pedestrian carrying the pedestrian terminal, the risk of collision with the bicycle is determined. Can be automatically alerted.

  Further, the second invention is the pedestrian collision warning system according to the first invention, wherein the terminal communication means of the pedestrian terminal has a function of measuring a radio field intensity of a signal related to short-range wireless communication, The collision monitoring means acquires, as the index information, the radio wave intensity of the beacon signal from the terminal communication means, and when the radio tag intensity of the beacon signal is increasing, the active tag is the pedestrian. It is determined that the index information is moving in a direction approaching the terminal. A second invention is an invention in which the radio wave intensity of the beacon signal is used for the index information.

  Further, the third invention is the pedestrian collision warning system according to the first invention, wherein the active tag comprises tag position measuring means for measuring the position of the active tag, and the control means of the active tag is The position information when transmitting the beacon signal is acquired from the tag position measuring means and included in the beacon signal, and the pedestrian terminal includes terminal position measuring means for measuring the position of the pedestrian terminal, When the collision monitoring unit of the pedestrian terminal receives the beacon signal including the position information of the active tag, the collision monitoring unit acquires the position information when the beacon signal is received from the terminal position measurement unit, and serves as the index information. , Calculating either a linear distance or a road distance between the position information included in the beacon signal and the position information acquired from the terminal position measuring means And wherein the Rukoto. A third invention is an invention in which a distance between the active tag and the pedestrian terminal is used for the index information.

  Furthermore, a fourth invention is the pedestrian collision warning system according to the third invention, wherein the pedestrian terminal comprises acceleration measuring means for measuring acceleration in each of three axial directions, and the collision of the pedestrian terminal. The monitoring means periodically acquires acceleration from the acceleration measuring means, identifies the traveling direction of the pedestrian terminal, and obtains the relative direction of the active tag when the traveling direction of the pedestrian terminal is used as a reference. The alarm generated using the alarm means is changed according to the relative direction of the active tag. According to a fourth aspect of the present invention, the relative direction of the active tag when the traveling direction of the pedestrian terminal is used as a reference is obtained, and the warning means is provided in consideration of the relative direction (for example, forward and backward) of the active tag. This is an invention in which an alarm issued by use is changed.

  Further, the fifth invention is the pedestrian collision warning system according to the fourth invention, wherein the collision monitoring means of the pedestrian terminal is such that the relative direction of the active tag is other than the front of the traveling direction of the pedestrian terminal. In this case, an alarm is generated using the alarm means. Since the bicycle in front of the traveling direction of the pedestrian terminal can be visually confirmed by the pedestrian, the relative direction of the active tag is other than the front of the traveling direction of the pedestrian terminal as in the fifth aspect of the invention. In this case, it is preferable to issue an alarm using the alarm means.

  According to the present invention described above, when a bicycle around a pedestrian approaches the pedestrian, a system capable of automatically warning the pedestrian of the danger of colliding with the bicycle can be provided.

The figure explaining the collision warning system for pedestrians. The 1st figure explaining operation | movement of a pedestrian terminal. The 2nd figure explaining operation | movement of a pedestrian terminal.

  From here, preferred embodiments of the present invention will be described. The following description is not intended to limit the scope of the present invention, but is provided to aid understanding.

  FIG. 1 is a diagram illustrating a pedestrian collision warning system 1 according to the present embodiment. The pedestrian collision warning system 1 according to the present embodiment detects the bicycle 3a around the pedestrian 2a, and automatically issues an alarm when there is a risk of collision between the bicycle 3a and the pedestrian 2a. In the proposed system, as shown in FIG. 1, the pedestrian collision warning system 1 according to this embodiment communicates with the active tag 3 used for detection of the bicycle 3a and the active tag 3 by short-range wireless communication. It comprises at least a pedestrian terminal 2.

  The active tag 3 used for detecting the bicycle 3a is an electronic device that periodically transmits a beacon signal including a tag ID unique to each active tag 3 by short-range wireless communication. In order to be able to detect the bicycle 3a by the active tag 3, the active tag 3 must be moved together with the bicycle 3a, and the person who rides the bicycle 3a also possesses the card-type active tag 3 Although considered, the active tag 3 is attached to the bicycle 3a in FIG. As a method of attaching the active tag 3 to the bicycle 3a, a method of embedding the active tag 3 in the light of the bicycle 3a is suitable, but a form using a U-shaped lock (shackle lock) in which the active tag 3 is embedded can also be assumed.

  The pedestrian terminal 2 possessed by the pedestrian 2a communicates with the active tag 3 used for detection of the bicycle 3a by short-range wireless communication, and when receiving a beacon signal from the active tag 3, uses the beacon signal to transmit the beacon signal. The index information indicating the distance between the transmitted active tag 3 and the pedestrian terminal 2 is acquired, and the active tag 3 approaches the pedestrian terminal 2 by the temporal transition of the index information related to the tag ID included in the beacon signal. When it is indicated that the vehicle is moving in the direction, the computer device is configured to issue an alarm informing the pedestrian 2a of the danger of a collision with the bicycle 3a. As such a computer device, a smartphone or a tablet computer can be used.

  As shown in FIG. 1, the active tag 3 of the pedestrian collision warning system 1 according to the present embodiment includes a control unit 30, a tag communication unit 31, and a power supply unit 32, and further includes an active tag according to the present embodiment. The tag 3 includes tag position measuring means 33 that measures the position of the active tag 3.

  The tag communication means 31 of the active tag 3 is a means for performing short-range wireless communication with the pedestrian terminal 2 and is configured by a circuit or the like necessary for short-range wireless communication. Here, short-range wireless communication means communication in which the reach of radio waves used for wireless communication is about several meters to 100 m. Such short-range wireless communication includes Bluetooth (registered trademark), ZigBee, WiFi, and NFC or the like can be used, but considering power consumption, it is desirable to employ BLE that can perform Bluetooth (registered trademark) with low power consumption.

  The power supply means 32 of the active tag 3 is a means for supplying power necessary for the active tag 3 to operate. As a means for supplying power necessary for the active tag 3 to operate, the active tag 3 generally includes a battery. When the active tag 3 is attached to the bicycle 3a by, for example, embedding the active tag 3 in the light of the bicycle 3a, the battery built in the active tag 3 is a recharge type, and a generator that turns on the light of the bicycle 3a (for example, (Hyb Dynamo), solar panel, etc. can be configured to charge this battery.

  The tag position measuring means 33 of the active tag 3 is a means for measuring the position of the active tag 3. Various methods for measuring the position already exist. Considering that the bicycle 3a is a vehicle used outdoors, the tag position measuring means 33 is provided by a GPS circuit that receives the radio waves of the artificial satellite and measures the position. It is desirable to realize.

  The control means 30 of the active tag 3 is a means realized using a CPU, a memory or the like, and controls the operation of the active tag 3 according to a computer program stored in the memory. The control unit 30 of the active tag 3 according to the present embodiment stores a tag ID unique to each active tag 3 and periodically transmits a beacon signal using the tag communication unit 31.

  In general, the active tag 3 is configured to transmit a beacon signal every time a predetermined time elapses. However, when the reception of a specific signal such as a request signal or a WakeUP signal is received, the active tag 3 Can be configured to transmit a beacon signal. In addition, the beacon signal transmitted by the active tag 3 can include information measured by the active tag 3 in addition to the tag ID unique to each active tag 3. Since the active tag 3 of the present embodiment includes the tag position measuring unit 33 that measures the position of the active tag 3, the control unit 30 of the active tag 3 has a unique tag ID and beacon signal for each active tag 3. Include location information in the beacon signal when transmitting.

  From here, the pedestrian terminal 2 included in the pedestrian collision warning system 1 will be described. As shown in FIG. 1, the pedestrian terminal 2 of the pedestrian collision warning system 1 according to the present embodiment includes a collision monitoring unit 20, a terminal communication unit 21, and an alarm unit 22, and further relates to the present embodiment. The pedestrian terminal 2 includes a terminal position measuring unit 23 that measures the position of the pedestrian terminal 2 and an acceleration measuring unit 24 that measures accelerations in the three axial directions applied to the pedestrian terminal 2.

  The terminal communication means 21 of the pedestrian terminal 2 is means for performing short-range wireless communication with the active tag 3, and the terminal communication means 21 of the present embodiment is a signal received by the terminal communication means 21 (here, a beacon signal). A function to measure the radio field intensity. Naturally, the terminal communication means 21 of the pedestrian terminal 2 is a means corresponding to the tag communication means 31 included in the active tag 3. For example, when the tag communication means 31 of the active tag 3 is realized by BLE, walking The terminal communication means 21 of the person terminal 2 is also realized by BLE.

  The warning means 22 of the pedestrian terminal 2 is a means for issuing a warning notifying the pedestrian 2a that there is a danger of colliding with the bicycle 3a. Since a general smartphone generally includes a speaker, a display, and a vibration unit for notifying a user of reception of an e-mail or the like, these can be used as alarm means 22 for the pedestrian terminal 2. . When a speaker is used for the alarm means 22 of the pedestrian terminal 2, a synthesized voice that informs that there is a danger of colliding with the bicycle 3a is emitted from the speaker. Further, when a display is used for the alarm means 22 of the pedestrian terminal 2, a screen informing that there is a danger of colliding with the bicycle 3a is displayed on the display. When a vibration unit is used for the alarm means 22 of the pedestrian terminal 2, a vibration pattern for notifying that there is a danger of colliding with the bicycle 3a is issued from the vibration unit.

  The terminal position measuring means 23 of the pedestrian terminal 2 is a means for measuring the position of the pedestrian terminal 2. As the tag position measuring means 33 of the active tag 3, it has been described that GPS that measures the position by receiving radio waves from an artificial satellite is suitable. However, in the smartphone field, a relay station of a mobile communication network is used. Since a method for measuring the position is generally used, the terminal position measuring means 23 of the pedestrian terminal 2 may be realized by this method.

  The acceleration measuring means 24 of the pedestrian terminal 2 is a means realized by a three-dimensional acceleration sensor provided in a smartphone or the like.

  The collision monitoring means 20 of the pedestrian terminal 2 is a function realized in an application program installed in the pedestrian terminal 2. The collision monitoring unit 20 of the pedestrian terminal 2 uses the beacon signal received by the terminal communication unit 21 to obtain index information indicating the distance between the active tag 3 that has transmitted the beacon signal and the portable terminal, and then the beacon signal. The index information related to the tag ID included in the beacon signal is shifted in the direction in which the active tag 3 approaches the pedestrian terminal 2 in the direction in which the index information related to the tag ID included in the If yes, the alarm means 22 is activated to issue an alarm.

  When the active tag 3 periodically transmits a beacon signal, the pedestrian terminal 2 periodically receives the beacon signal from the active tag 3 capable of short-range wireless communication. When the active tag 3 receives a specific signal such as a request signal or a WakeUP signal and transmits a beacon signal, the collision monitoring unit 20 of the pedestrian terminal 2 periodically uses the terminal communication unit 21 to transmit the beacon signal. A specific signal is transmitted and a beacon signal is periodically received from the active tag 3 capable of short-range wireless communication.

  Further, the collision monitoring means 20 of the pedestrian terminal 2 according to the present embodiment associates the index information obtained from the beacon signal with the tag ID included in the beacon signal so that the time-series transition of the index information can be understood. Are stored in the memory in time series, and the active tag 3 approaches the pedestrian terminal 2 by analyzing the time series change in the size of the index information associated with the tag ID included in the beacon signal. It is determined whether or not it is moving.

  As the index information indicating the distance between the active tag 3 that transmitted the beacon signal and the pedestrian terminal 2, the radio wave intensity of the beacon signal transmitted by the active tag 3 can be used, and the beacon transmitted by the active tag 3 can be used. The index information can also be calculated from the position information included in the signal.

  When the radio wave intensity of the beacon signal transmitted from the active tag 3 is used as index information, the collision monitoring unit 20 of the pedestrian terminal 2 handles the radio wave intensity of the beacon signal as index information. Since the radio field intensity of the beacon signal transmitted from the active tag 3 is attenuated as the distance between the active tag 3 and the pedestrian terminal 2 increases, the collision monitoring means 20 of the pedestrian terminal 2 determines that the radio field intensity of the beacon signal is time-series. If it becomes larger, the active tag 3 that issued the beacon signal is determined to be approaching the pedestrian 2a, and when the radio wave intensity of the beacon signal is equal to or greater than the threshold value, the alarm means 22 is activated to issue an alarm.

  In addition, when calculating the index information from the position information included in the beacon signal transmitted by the active tag 3, the collision monitoring unit 20 of the pedestrian terminal 2 receives the beacon signal from the terminal position measuring unit 23 of the pedestrian terminal 2. The position information is acquired, and the distance between the position information included in the beacon signal and the position information acquired from the terminal position measuring means 23 of the pedestrian terminal 2 is calculated as index information. In this case, the collision monitoring means 20 of the pedestrian terminal 2 determines that the active tag 3 is approaching the pedestrian 2a when the index information calculated from the position information included in the beacon signal decreases in time series, When the index information calculated from the position information included in the beacon signal is less than or equal to the threshold value, the alarm means 22 is activated to issue an alarm.

  The distance between the active tag 3 that transmitted the beacon signal and the pedestrian terminal 2 may be a linear distance between the position information included in the beacon signal and the position information acquired from the terminal position measuring means 23 of the pedestrian terminal 2. If there is an obstacle such as a building between the active tag 3 and the pedestrian terminal 2, there is no danger that the bicycle 3a and the pedestrian 2a will collide even if the straight distance is short. It is more preferable to calculate the road distance corresponding to the route to the location information of the terminal 2. Even if the collision monitoring means 20 of the pedestrian terminal 2 does not have a function of calculating the road distance, the road distance can be obtained by using the map service or the navigation service.

  From here, operation | movement when the pedestrian terminal 2 which concerns on this embodiment issues a warning is demonstrated. FIG. 2 is a first diagram for explaining the operation of the pedestrian terminal 2, and is a diagram for explaining the operation when the radio wave intensity of the beacon signal transmitted from the active tag 3 is used as index information.

  The control means 30 of the active tag 3 is stored in the control means 30 using the tag communication means 31 when conditions for transmitting a beacon signal such as elapse of a predetermined time or reception of a request signal or a WakeUP signal are established. When the beacon signal including the tag ID is transmitted by short-range wireless communication and the terminal communication unit 21 of the pedestrian terminal 2 receives the beacon signal including the tag ID (S1), the collision monitoring unit of the pedestrian terminal 2 20 acquires the tag ID included in the beacon signal and the radio wave intensity of the beacon signal from the terminal communication means 21, and stores the radio wave intensity obtained from the beacon signal in time series in association with the tag ID included in the beacon signal. (S2).

  Next, the collision monitoring means 20 of the pedestrian terminal 2 determines the direction in which the active tag 3 approaches the pedestrian terminal 2 from the time-series change in the magnitude of the radio wave intensity associated with the tag ID included in the beacon signal. It is determined whether it has moved to (S3). Specifically, when the radio wave intensity associated with the tag ID included in the beacon signal increases in time series, the collision monitoring means 20 of the pedestrian terminal 2 causes the active tag 3 to approach the pedestrian terminal 2. It is determined that it is moving in the direction.

  If it determines with the active tag 3 not moving to the direction which approaches the pedestrian terminal 2, operation | movement of the pedestrian terminal 2 will return to the first step S1. If it is determined that the active tag 3 is moving in the direction approaching the pedestrian terminal 2, the collision monitoring means 20 of the pedestrian terminal 2 checks whether the radio wave intensity of the current beacon signal is equal to or greater than the threshold ( S4) If the field intensity is not greater than or equal to the threshold value, the process returns to the first step S1. .

  FIG. 5 is a diagram for explaining the operation of the pedestrian terminal 2 and for explaining the operation when the index information is calculated from the position information included in the beacon signal transmitted by the active tag 3.

  The control means 30 of the active tag 3 is stored in the control means 30 using the tag communication means 31 when conditions for transmitting a beacon signal such as elapse of a predetermined time or reception of a request signal or a WakeUP signal are established. The beacon signal including the tag ID and the position information acquired from the tag position measuring unit 33 is transmitted by short-range wireless communication, and the terminal communication unit 21 of the pedestrian terminal 2 transmits the beacon signal including the tag ID and the position information. When receiving (S10), the collision monitoring means 20 of the pedestrian terminal 2 acquires the tag ID and the position information from the beacon signal (S11).

  Next, the collision monitoring means 20 of the pedestrian terminal 2 acquires the position information at this time from the terminal position measuring means 23 of the pedestrian terminal 2 (S12), and the active tag 3 and the pedestrian terminal that transmitted the beacon signal. The distance between the two is calculated as index information, and this distance is stored in the memory in time series in association with the tag ID included in the beacon signal (S13). As described above, the distance calculated by the collision monitoring means 20 of the pedestrian terminal 2 may be a linear distance or a road distance.

  Next, the collision monitoring means 20 of the pedestrian terminal 2 moves in a direction in which the active tag 3 approaches the pedestrian terminal 2 from a time-series change in the magnitude of the distance associated with the tag ID included in the beacon signal. It is determined whether or not it is moving (S14). Specifically, when the distance associated with the tag ID included in the beacon signal is reduced in time series, the collision monitoring unit 20 of the pedestrian terminal 2 is configured so that the active tag 3 approaches the pedestrian terminal 2. It is determined that it has moved to.

  If it determines with the active tag 3 not moving to the direction which approaches the pedestrian terminal 2, operation | movement of the pedestrian terminal 2 will return to the first step S10. If it is determined that the active tag 3 is moving in the direction approaching the pedestrian terminal 2, the collision monitoring means 20 of the pedestrian terminal 2 confirms whether the distance obtained from the current beacon signal is equal to or less than the threshold value. If the radio field intensity is not below the threshold value, the process returns to the first step S10. If the distance is below the threshold value, the alarm means 22 is activated to issue an alarm (S16), and this procedure ends. To do.

  In addition, since the pedestrian terminal 2 according to the present embodiment includes the acceleration measurement unit 24 that measures the acceleration in each of the three axial directions, the traveling direction of the pedestrian terminal 2 is specified from the acceleration measured by the acceleration measurement unit 24. After that, by using the position information acquired from the terminal position measuring means 23 and the position information of the beacon signal, the relative direction of the active tag 3 with respect to the traveling direction of the pedestrian terminal 2 is obtained. Depending on the relative direction, the alarm issued using the alarm means 22 can be changed.

  In this case, the collision monitoring unit 20 of the pedestrian terminal 2 periodically acquires acceleration from the acceleration measuring unit 24 and specifies the traveling direction of the pedestrian terminal 2. Since the position of the pedestrian terminal 2 is the position information acquired from the terminal position measuring means 23, the pedestrian terminal is determined from the direction from the position of the pedestrian terminal 2 to the position information of the beacon signal and the traveling direction of the pedestrian terminal 2. The relative direction of the active tag 3 when the traveling direction of 2 is used as a reference can be obtained. In addition, since the bicycle 3a ahead of the traveling direction of the pedestrian terminal 2 can be visually confirmed by the pedestrian 2a, the relative direction of the active tag 3 with respect to the traveling direction of the pedestrian terminal 2 is walking. When the person terminal 2 is not in front of the traveling direction, the alarm means 22 may be used to issue an alarm.

DESCRIPTION OF SYMBOLS 1 Pedestrian collision warning system 2 Pedestrian terminal 2a Pedestrian 20 Collision monitoring means 21 Terminal communication means 22 Alarm means 23 Terminal position measurement means 24 Acceleration measurement means 3 Active tag 3a Bicycle 30 Control means 31 Tag communication means 32 Power supply means 32 33 Tag position measuring means

Claims (5)

An active tag used for detecting a bicycle, and at least a pedestrian terminal communicating with the active tag by short-range wireless communication;
The active tag includes tag communication means for performing short-range wireless communication with the pedestrian terminal, and control means for transmitting a beacon signal including a tag ID unique to each active tag using the tag communication means. Prepared,
The pedestrian terminal uses a terminal communication means for performing short-range wireless communication with the active tag, an alarm means for issuing an alarm notifying the danger of collision with a bicycle, and the beacon signal received by the terminal communication means. , After obtaining the index information indicating the distance between the active tag that transmitted the beacon signal and the pedestrian terminal, confirm the time-series transition of the index information related to the tag ID included in the beacon signal, Collision monitoring means for operating the warning means to issue a warning when the index information related to the tag ID included in the beacon signal is moving in a direction in which the active tag is approaching the pedestrian terminal. Prepared,
A collision warning system for pedestrians.   The terminal communication means of the pedestrian terminal has a function of measuring the radio wave intensity of a signal related to short-range wireless communication, and the collision monitoring means uses the radio wave intensity of the beacon signal as the index information as the terminal communication means. When the radio wave intensity of the beacon signal is acquired in the direction in which the beacon signal is increased, it is determined that the index information is shifted in a direction in which the active tag approaches the pedestrian terminal. The pedestrian collision warning system according to claim 1.   The active tag includes tag position measuring means for measuring the position of the active tag, and the control means of the active tag acquires position information when transmitting the beacon signal from the tag position measuring means and The pedestrian terminal includes terminal position measuring means for measuring the position of the pedestrian terminal, and the collision monitoring means of the pedestrian terminal includes the beacon signal including position information of the active tag. Is received from the terminal position measurement means when the beacon signal is received, and as the index information, between the position information included in the beacon signal and the position information acquired from the terminal position measurement means The pedestrian collision warning system according to claim 1, wherein either a straight line distance or a road distance is calculated.   The pedestrian terminal includes acceleration measuring means for measuring acceleration in each of three axis directions, and the collision monitoring means of the pedestrian terminal periodically acquires acceleration from the acceleration measuring means, and the pedestrian terminal The advancing direction of the active tag is specified, the relative direction of the active tag when the advancing direction of the pedestrian terminal is used as a reference, and the alarm that is issued using the alarm means is changed according to the relative direction of the active tag The pedestrian collision warning system according to claim 3, wherein: The said collision monitoring means of the said pedestrian terminal issues a warning using the said warning means, when the relative direction of the said active tag is other than the front of the advancing direction of the said pedestrian terminal, It is characterized by the above-mentioned. The pedestrian collision warning system described in 1.

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