In everyday life, it sometimes occurs the collision between people at corner. To spread robots to the society, the collision at corner between the service robot and the human is a problem which we need to solve. The collision is dangerous. The purpose of this study is to prevent a collision at corner between the service robot and the human. We aim to make the system to prevent the collision. First, we analyzed the human behavior, for example, walking velocity, walking path, walker's visibility at corner, distance to stop from the recognition. In this paper, we report the results of these analyses.