Information processing device, presentation device, and traffic supporting system

Abstract

To apply a more appropriate determination material for determining whether or not a transfer is possible.SOLUTION: An information processing device 10 has a control unit 19. The control unit 19 provides cognitive information to a presentation device. The cognitive information includes a cognitive status of a second moving object by a driver of a first moving object. The presentation device presents the cognitive information to the second moving object. The control unit 19 generates cognitive information whose cognitive status is recognized when the driver recognizes the second moving object.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to an information processing device, a presentation device, and a traffic assistance system. [Background technology]

[0002] On roads and the like, various moving objects such as vehicles and people move while avoiding each other. In order to avoid collisions, it is necessary for them to recognize the possibility of collision and take action such as stopping or avoiding. In order to make the user aware of the possibility of collision, a pedestrian device has been proposed that performs pedestrian-to-vehicle communication with an in-vehicle device and alerts the user when there is a risk of collision between the pedestrian and the vehicle (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-190852 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the pedestrian device described in Patent Document 1 only provides a simple warning and does not provide enough information to allow a user to decide whether or not to move.

[0005] Therefore, in consideration of the problems with the conventional technology as described above, an object of the present disclosure is to provide an information processing device, a presentation device, and a traffic support system that provide more appropriate information for determining whether or not to travel. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, an information processing apparatus according to a first aspect comprises: A control unit is provided for providing a presentation device that presents, to a second moving body, recognition information including a recognition state of a second moving body by a driver of a first moving body, the recognition information; The control unit generates the recognition information indicating that the recognition situation is "recognized" when the driver recognizes the second moving object.

[0007] An information processing device according to a second aspect of the present invention comprises: A control unit is provided for providing a presentation device that presents recognition information including a recognition situation of a second moving object around a first moving object, the presentation device providing the recognition information, When the control unit recognizes the second moving object based on surrounding information, the control unit generates the recognition information in which the recognition situation is "recognized."

[0008] A presentation device according to a third aspect of the present invention comprises: A presentation device held by a second moving object, The control unit presents, to the second moving body, recognition information including a recognition status of the second moving body by a first moving body around the second moving body.

[0009] The traffic support system from the fourth perspective is: A presentation device that presents, to a second moving body, recognition information including a recognition state of a second moving body by a driver of a first moving body, and is held by the second moving body; The device is equipped with a control unit that provides the recognition information to the presentation device, and the control unit is equipped with an information processing device that generates recognition information indicating that the recognition situation is recognized when the driver recognizes the second moving body. Effect of the Invention

[0010] According to the information processing device, presentation device, and traffic assistance system according to the present disclosure configured as described above, more appropriate information for determining whether or not to move is provided. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a schematic configuration of a traffic assistance system according to a first embodiment. [Diagram 2] 2 is a functional block diagram showing a schematic configuration of a first moving object in FIG. 1. [Diagram 3]3 is a table of information stored in association with each second moving object stored in the storage unit of FIG. 2. [Figure 4] 2 is a functional block diagram showing a schematic configuration of the presentation device in FIG. 1. [Diagram 5] 5 is a table of information stored in association with each first moving object stored in the storage unit of FIG. 4. [Figure 6] 3 is a flowchart for explaining a cognitive information imparting process executed by the control unit of FIG. 2. [Figure 7] 5 is a flowchart for explaining a location information assignment process executed by the control unit in FIG. 4. [Figure 8] 5 is a flowchart for explaining a storage process executed by the control unit in FIG. 4. [Figure 9] 5 is a flowchart for explaining a display process executed by the control unit in FIG. [Figure 10] FIG. 11 is a functional block diagram showing a schematic configuration of a first moving object according to a second embodiment. [Figure 11] 11 is a flowchart for explaining a cognitive information imparting process executed by a control unit in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of an information processing device and a presentation device to which the present disclosure is applied will be described with reference to the drawings.

[0013] 1, an information processing device 10 and a presentation device 11 according to the first embodiment configure a traffic assistance system 12. The traffic assistance system 12 may include at least one information processing device 10 and at least one presentation device 11. The traffic assistance system 12 is not configured by a specific information processing device 10 and a specific presentation device 11, but the traffic assistance system 12 is configured by the information processing device 10 and the presentation device 11 recognizing and communicating with each other.

[0014] The information processing device 10 may be mounted on the first mobile body 13. In the following description, a configuration in which the information processing device 10 is mounted on the first mobile body 13 will be exemplified. Alternatively, the information processing device 10 may be installed outside the first mobile body 13 and communicate with the first mobile body 13.

[0015] The first moving body 13 may include, for example, vehicles, ships, and aircraft. The vehicles may include, for example, automobiles, industrial vehicles, railroad vehicles, lifestyle vehicles, and fixed-wing aircraft that run on runways. The automobiles may include, for example, passenger cars, trucks, buses, motorcycles, and trolley buses. The industrial vehicles may include, for example, industrial vehicles for agriculture and construction. The industrial vehicles may include, for example, forklifts and golf carts. The industrial vehicles for agriculture may include, for example, tractors, cultivators, transplanters, binders, combines, and lawnmowers. The industrial vehicles for construction may include, for example, bulldozers, scrapers, excavators, cranes, dump trucks, and road rollers. The vehicles may include those that run by human power. The classification of vehicles is not limited to the above examples. For example, automobiles may include industrial vehicles that can run on roads. The same vehicle may be included in multiple classifications. The ships may include, for example, marine jets, boats, and tankers. Aircraft may include, for example, fixed-wing aircraft and rotary-wing aircraft.

[0016] The presentation device 11 may be carried by a second moving body 14. The second moving body 14 is, for example, a human being. The second moving body 14 carrying the presentation device 11 may be a pedestrian, or may be riding on a vehicle such as a bicycle or a motorcycle.

[0017] 2, the first moving body 13 may be configured to include an orientation sensor 15, a position detection device 16, an internal sensor unit 17, a communication unit 18, and an information processing device 10. The orientation sensor 15, the position detection device 16, the internal sensor unit 17, and the communication unit 18 are capable of communicating with the information processing device 10. In a configuration in which the information processing device 10 is located outside the first moving body 13, the information processing device 10 may communicate with the orientation sensor 15, the position detection device 16, and the internal sensor unit 17 via the communication unit 18.

[0018] The orientation sensor 15 may detect the direction in which the first moving body 13 faces based on a change in geomagnetism. The direction in which the first moving body 13 faces is, for example, a forward direction determined for the first moving body 13. The orientation sensor 15 is, for example, a magnetic sensor. The orientation sensor 15 may provide the detection result to the information processing device 10 as information.

[0019] The position detection device 16 detects the position of the first moving body 13 in the real space. The position of the first moving body 13 in the real space may be a position in a world coordinate system. The position detection device 16 is, for example, a positioning device such as a Global Navigation Satellite System (GNSS). The GNSS may include a Global Positioning System (GPS). The position detection device 16 may provide the information processing device 10 with the detection result as information.

[0020] The internal sensor unit 17 may detect the recognition status of the objects around the first moving body 13 by the driver of the first moving body 13. The surrounding objects may include the second moving body 14. The driver of the first moving body 13 may be a person who gets on and drives the first moving body 13, or may be a person who remotely controls the first moving body 13. Therefore, in a configuration in which the first moving body 13 is a vehicle or the like that is remotely controlled, the internal sensor unit 17 may be provided in the vicinity of the driver who remotely controls the first moving body 13. The recognition status may be information indicating that the driver of the first moving body 13 has recognized each of the objects around the first moving body 13, that is, that the objects have been recognized, that the objects have not been recognized, or that the recognition status is unknown. The recognition status being unknown may be a state in which it is not possible to specify whether the recognition status of each of the objects around the first moving body 13 is recognized or not recognized.

[0021] The internal sensor unit 17 may include a detection device such as an in-vehicle camera, an eye tracker, an input device, etc. As described later, the information processing device 10 may determine the recognition situation based on the detection result of the internal sensor unit 17. The input device may detect an operation input by the driver. The internal sensor unit 17 may provide the detection result to the control unit 19 as information.

[0022] The communication unit 18 may perform wireless communication with the surrounding presentation device 11. The communication unit 18 may be configured with a communication circuit and an antenna. The antenna is, for example, an omnidirectional antenna. The communication unit 18 performs wireless communication, for example, using the 700 MHz band allocated to ITS. The communication unit 18 may assign information acquired from the surrounding presentation device 11 by transmitting it to the information processing device 10. The communication unit 18 may assign information acquired from the information processing device 10 by transmitting it to an external device such as the presentation device 11.

[0023] The information processing device 10 includes a control unit 19. The information processing device 10 may further include a storage unit 20.

[0024] The storage unit 20 includes any storage device such as, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory). The storage unit 20 may store various programs that cause the control unit 19 to function, and various information used by the control unit 19. For example, as shown in FIG. 3, the storage unit 20 stores second location information (latest second location information) described below, recognition information of the second moving body 14, and the location of the presentation device 11 at the recognition time of the second moving body 14 (second location information at the recognition time) in association with each other.

[0025] The control unit 19 includes one or more processors and memories. The processor may include a general-purpose processor that loads a specific program to execute a specific function, and a dedicated processor specialized for a specific process. The dedicated processor may include an application specific integrated circuit (ASIC). The processor may include a programmable logic device (PLD). The PLD may include a field-programmable gate array (FPGA). The control unit 19 may be either a system-on-a-chip (SoC) or a system in a package (SiP) in which one or more processors work together. The control unit 19 may include a communication interface and may communicate information or commands with an external device such as the information processing device 10 and the internal sensor unit 17.

[0026] As described later, the control unit 19 may acquire second position information indicating the position of the presentation device 11 in real space from the presentation device 11 via the communication unit 18. The position of the presentation device 11 in real space may be a position in a world coordinate system. The second position information may include identification information for identifying the presentation device 11. The control unit 19 may store the second position information in the storage unit 20 in association with the identification information.

[0027] The control unit 19 provides the recognition information to the presentation device 11. The recognition information includes the driver's recognition state of the second moving body 14. When the driver recognizes the second moving body 14, the control unit 19 generates recognition information in which the recognition state is "recognized." A method by which the control unit 19 determines whether the driver recognizes the second moving body 14 or not will be described in detail below.

[0028] The control unit 19 may generate the cognition information based on the second position information and the detection result of the internal sensor unit 17. Specifically, the control unit 19 may determine the cognition situation based on the second position information and the detection result of the internal sensor unit 17. Furthermore, the control unit 19 may generate the cognition information including the determined cognition situation. The control unit 19 may include the cognition time, which will be described later, in the cognition information.

[0029] For example, in a configuration in which the internal sensor unit 17 is an eye tracker, the control unit 19 determines the driver's recognition state of the moving body 14 based on the driver's line of sight detected by the eye tracker and the position indicated by the second position information, in other words, the position of the presentation device 11 in the real space. In detail, the control unit 19 may determine that the driver has recognized the second moving body 14 when the time during which the driver's line of sight overlaps the position indicated by the second position information exceeds a first time threshold. In the present disclosure, the driver's line of sight overlaps the position indicated by the second position information refers to a state in which an object (e.g., the second moving body 14) existing at the position indicated by the second position information is included in the driver's field of vision. The control unit 19 may use the detection results acquired from the direction sensor 15 and the position detection device 16 to determine whether the driver's line of sight overlaps with the real space position of the presentation device 11 held by the second moving body 14. In the present disclosure, the first time threshold is a time assumed to be required for the driver to recognize the second moving body 14, and is, for example, 0.3 seconds. The first time threshold may be a time according to the position of the second moving body 14 in the driver's field of vision. Although the human eye has a wide viewing angle, it is considered that the cognitive ability of the peripheral vision is low compared to the central vision. Therefore, the first time threshold may be adjusted to be longer as the angle between the direction of the driver's line of sight and the direction of the second moving body 14 becomes wider.

[0030] For example, in a configuration in which the internal sensor unit 17 is an in-vehicle camera, the control unit 19 estimates the direction of the driver's face based on an image captured by the in-vehicle camera. Furthermore, the control unit 19 determines the driver's recognition status of the moving body 14 based on the direction of the face and the position indicated by the second position information. In detail, the control unit 19 may determine that the driver has recognized the second moving body 14 when the time during which the position indicated by the second position information and the direction of the face overlap exceeds a first time threshold. The control unit 19 may use the position and orientation in the real space of the first moving body 13 to determine whether the direction of the driver's face overlaps with the position in the real space of the presentation device 11 that owns the second moving body 14. The first time threshold may be a time according to the position in the field of view assumed from the direction of the face of the driver of the second moving body 14. For example, a first time threshold set for a second moving body 14 located near the center of the driver's field of view may be shorter than a first time threshold set for a second moving body 14 located on the periphery of the driver's field of view.

[0031] For example, in a configuration in which the internal sensor unit 17 is an input device, the control unit 19 may determine that the driver has recognized the second moving body 14 by the input device detecting an operation input for recognizing the second moving body 14 within the surrounding situation displayed on a display device such as a display connected to the information processing device 10. As an example, in a configuration in which the input device is a touch panel, the control unit 19 may determine that the driver has recognized the second moving body 14 by touching an image of the second moving body 14 included in an image of the surroundings of the first moving body 13 displayed on the display.

[0032] When the control unit 19 newly recognizes the second moving body 14, the control unit 19 may recognize the position indicated by the most recent second position information corresponding to the second moving body 14 stored in the storage unit 20 as the position of the presentation device 11 at the recognition time. The control unit 19 may store the position indicated by the second position information recognized as the position of the presentation device 11 at the recognition time in the storage unit 20 in association with the recognition time. The recognition time is the time when the control unit 19 determines that the driver of the first moving body 13 recognizes the second moving body 14. The control unit 19 may further store the recognition information of the second moving body 14 in association with the position of the presentation device 11 at the recognition time.

[0033] When new second location information is received from the same presentation device 11, the control unit 19 may update the location information of the presentation device 11 stored in the storage unit 20 with the new second location information. When the control unit 19 can determine that the driver recognizes the second moving body 14, the location information of the presentation device 11 at the time of recognition may be updated every time new second location information is obtained for the same presentation device 11. In other words, the most recently obtained second location information may be stored in the storage unit 20 in association with the location information and recognition information of the presentation device 11 at the time of recognition.

[0034] The control unit 19 may calculate an interval between a position indicated by the second position information newly acquired from the presentation device 11 and a position of the presentation device 11 at the time of recognition. The position indicated by the second position information newly acquired from the presentation device 11 is the latest position of the second moving body 14 corresponding to the presentation device 11. When the calculated interval is equal to or greater than the first interval threshold, the control unit 19 may generate recognition information in which the recognition status of the second moving body 14 is switched to unrecognized or the recognition state is unknown. In other words, when the latest position of the second moving body 14 is farther away from the position recognized by the driver of the first moving body 13 by the first interval threshold or more, the second moving body 14 is considered to be unrecognized or the recognition state is unknown. The control unit 19 may determine the first interval threshold based on the size or color of the second moving body 14. For example, the first interval threshold may be set to be longer as the second moving body 14 becomes larger. The first interval threshold may be set to be longer as the contrast between the color of the second moving body 14 and the background color increases. The color of the second moving body 14 may be an average color of the entire second moving body 14, or a color that occupies the largest area among the colors of the second moving body 14.

[0035] The control unit 19 may periodically maintain or update the cognitive information until the presentation device 11 is sufficiently far away from the first moving body 13 and the second location information of the presentation device 11 cannot be acquired. Maintaining the cognitive information may mean maintaining the content of the cognitive information as it is after the cognitive information is generated or updated. Updating the cognitive information may mean changing the cognitive situation, etc., after the cognitive information is generated.

[0036] The control unit 19 may control the communication unit 18 to periodically broadcast the recognition information of the second moving body 14. Furthermore, the control unit 19 may control the communication unit 18 to transmit the identification information of the first moving body 13 together with the recognition information. Furthermore, the control unit 19 may control the communication unit 18 to transmit first position information indicating the position of the first moving body 13 to the presentation device 11. The first position information may be based on a detection result obtained from the position detection device 16. The first position information may be accompanied by the identification information of the first moving body 13. The identification information of the first moving body 13 may be information that can uniquely distinguish the first moving body 13, and may be, for example, ID information assigned to a vehicle.

[0037] The control unit 19 may erase from the storage unit 20 the second location information and identification information, etc., regarding the second moving body 14 to which new second location information has not been assigned for a predetermined first waiting time or longer. In other words, the control unit 19 may erase from the storage unit 20 the second location information and identification information, etc., regarding the second moving body 14 to which the second location information has not been updated for a predetermined first waiting time or longer.

[0038] As shown in FIG. 1, the presentation device 11 is held by a second moving body 14. The presentation device 11 presents cognitive information to the second moving body 14. The cognitive information includes a cognitive situation of the second moving body 14 by a driver of a first moving body 13 around the second moving body 14 holding the presentation device 11. The presentation device 11 is, for example, a head-mounted display such as smart glasses. The presentation device 11 may have a defined front-rear direction and a defined up-down direction.

[0039] 4, the presentation device 11 includes a control unit 21. The presentation device 11 may further include a direction sensor 22, a position detection device 23, an eye tracker 24, a display unit 25, a communication unit 26, and a storage unit 27.

[0040] The orientation sensor 22 may detect the direction of the presentation device 11 based on a change in geomagnetism. The direction of the presentation device 11 is, for example, the direction in which the forward direction of the presentation device 11 faces. The orientation sensor 22 is, for example, a magnetic sensor. The orientation sensor 22 may provide the control unit 21 with the detection result as information.

[0041] The position detection device 23 detects the position of the presentation device 11 in the real space. The position detection device 23 is, for example, a positioning device such as a GNSS. The GNSS may include a Global Positioning System (GPS). The position detection device 23 may provide the control unit 21 with a detection result as information.

[0042] The eye tracker 24 may detect the direction of the line of sight of the second moving object 14 which holds the presentation device 11. The eye tracker 24 may provide the detection result to the control unit 21 as information.

[0043] The display unit 25 allows the second moving body 14 to visually recognize the cognitive information of the second moving body 14 acquired from the first moving body 13, together with the view around the second moving body 14 possessing the presentation device 11. The display unit 25 may be a display that allows the user to visually recognize an arbitrary image by superimposing it on the view behind the display surface of the display unit 25. The display unit 25 is, for example, an optically transmissive display. The optically transmissive display can allow the user to visually recognize an arbitrary image while transmitting the view through a half mirror. Alternatively, the display unit 25 is a video transmissive display. The video transmissive display can display an arbitrary image by superimposing it on the view captured by a camera provided on the back side.

[0044] The communication unit 26 may perform wireless communication with the surrounding first mobile body 13. The communication unit 26 may be configured with a communication circuit and an antenna. The antenna is, for example, an omnidirectional antenna. The communication unit 26 performs wireless communication, for example, using the 700 MHz band allocated to ITS. The communication unit 26 may provide information acquired from the surrounding first mobile body 13 by transmitting it to the control unit 21. The communication unit 26 may provide information acquired from the control unit 21 by transmitting it to an external device such as the first mobile body 13.

[0045] The storage unit 27 includes any storage device such as, for example, a RAM, a ROM, etc. The storage unit 27 may store various programs that cause the control unit 21 to function, and various information used by the control unit 21. For example, as shown in Fig. 5, the storage unit 27 stores the first location information (the latest first location information), the recognition information of the second moving body 14, and the location of the presentation device 11 at the recognition time of the second moving body 14 in association with each other.

[0046] The control unit 21 includes one or more processors and memories. The processor may include a general-purpose processor that loads a specific program to execute a specific function, and a dedicated processor specialized for a specific process. The dedicated processor may include an ASIC. The processor may include a PLD. The PLD may include an FPGA. The control unit 19 may be either an SoC in which one or more processors work together, or a SiP.

[0047] The control unit 21 may certify the detection result obtained from the position detection device 23 as the position of the presentation device 11 in the real space. The control unit 21 may control the communication unit 26 to transmit, for example, by broadcast, second position information indicating the position to surrounding external devices that may include the first moving body 13. The control unit 21 may periodically transmit the second position information. The control unit 21 may transmit the second position information together with the second position information. The identification information of the presentation device 11 is information that can uniquely identify the presentation device 11, and may be, for example, a device ID assigned to the presentation device 11.

[0048] The control unit 21 may acquire the recognition information of the second moving body 14 by the first moving body 13 from the information processing device 10 via the communication unit 26. The control unit 21 may acquire, together with the recognition information, first position information indicating the position of the first moving body 13 in real space. The control unit 21 may store, in the storage unit 27, the position of the second moving body 14 held by the presentation device 11 at the recognition time included in the acquired recognition information in association with the recognition information and the first position information acquired together with the recognition information.

[0049] The control unit 21 may calculate, for each first moving object 13, a position corresponding to the first position information in a coordinate system based on the presentation device 11, based on the acquired first position information, the latest detection result of the orientation sensor 22, and the latest detection result of the position detection device 23. The coordinate system based on the presentation device 11 is a coordinate system that is defined not only by the position of the presentation device 11 in the real space, but also by including the orientation of the presentation device 11 in the real space.

[0050] The control unit 21 presents the acquired recognition information to the second moving body 14. Specifically, the control unit 21 may control the display unit 25 to display the acquired recognition information. The control unit 21 may display the acquired recognition information in association with the first moving body 13 that recognizes the second moving body 14. The control unit 21, for example, displays an image indicating a recognition state as the recognition information. In a configuration in which the presentation device 11 is a head-mounted display such as smart glasses, the control unit 21 controls the display unit 25 to superimpose the first moving body 13 and an image indicating the recognition state of the first moving body 13 so that the second moving body 14 can view the image. For example, the control unit 21 displays on the display unit 25 an image that is filled with, for example, a semi-transparent safety color, as an image indicating the recognition state, on the first moving body 13 that recognizes the second moving body 14. The safety color may be, for example, a blue-based or green-based color. For example, the control unit 21 causes the display unit 25 to display an image filled with a warning color superimposed on the first moving body 13 that does not recognize the second moving body 14. The warning color may be a reddish color such as a semi-transparent red. For example, the control unit 21 causes the display unit 25 to display an image filled with a color that calls attention superimposed on the first moving body 13 whose recognition state of the second moving body 14 is unknown. The color that calls attention may be a semi-transparent yellowish color.

[0051] When acquiring the recognition information from each of the multiple first moving bodies 13, the control unit 21 may present the recognition information in association with each of the multiple first moving bodies 13. Specifically, the control unit 21 may display an image showing the acquired recognition information on the first moving body 13 corresponding to each of the recognition information in a manner showing the association.

[0052] The control unit 21 may associate the recognition information with the first moving body 13 located within the presentation range of the presentation device 11 and present it. The control unit 21 may recognize the presentation range based on the position indicated by the first position information in a coordinate system based on the presentation device 11. Specifically, the control unit 21 may display an image indicating the recognition information for the first moving body 13 located within a range in which the second moving body 14 can be seen via the display unit 25. In other words, the control unit 21 does not need to display the recognition information for the first moving body 13 located outside the display range.

[0053] When the line of sight of the second moving body 14 having the presentation device 11 is directed toward the first moving body 13 to which the cognitive information is associated, the control unit 21 may present the cognitive information. When the line of sight of the second moving body 14 moves away from the first moving body 13 to which the cognitive information is being presented, the control unit 21 may stop presenting the cognitive information. In other words, the control unit 21 may present the cognitive information only to the first moving body 13 to which the second moving body 14 is directing its line of sight and to which the cognitive information has been given. In other words, the control unit 21 may not present the cognitive information to the first moving body 13 to which the second moving body 14 has not directed its line of sight, even if the first moving body 13 is the first moving body 13 to which the cognitive information has been given. Specifically, the control unit 21 may present the cognitive information to the first moving body 13 to which the second moving body 14 has not directed its line of sight, among the first moving bodies 13 to which the cognitive information has been given, that is included in the display range of the display unit 25 and to which the line of sight of the second moving body 14 is directed.

[0054] The control unit 21 may erase from the storage unit 27 the recognition information and identification information, etc., regarding the first moving body 13 to which new recognition information is not added for a predetermined second waiting time or longer. In other words, the control unit 21 may erase from the storage unit 27 the recognition information and identification information, etc., regarding the first moving body 13 to which the recognition information is not updated for a predetermined second waiting time or longer.

[0055] Next, a cognitive information imparting process executed by the control unit 19 of the information processing device 10 in the first embodiment will be described with reference to the flowchart of Fig. 6. The cognitive information imparting process starts every time the second position information is acquired together with the identification information from the presentation device 11.

[0056] In step S100, the control unit 19 determines whether the identification information acquired from the presentation device 11 is acquired for the first time from the presentation device 11. If it is not the first acquisition, the process proceeds to step S101. If it is the first acquisition, the process proceeds to step S102. Note that the first acquisition means acquisition from a presentation device 11 from which identification information is not stored in the storage unit 20. Therefore, even if the identification information has been acquired from a presentation device 11 before, acquisition from a presentation device 11 from which the identification information was later erased together with the second location information may be the first acquisition.

[0057] In step S101, the control unit 19 determines whether the recognition situation associated with the acquired second location information and stored in the storage unit 20 is "recognized." If it is not "recognized," the process proceeds to step S102. If it is "recognized," the process proceeds to step S108.

[0058] In step S102, the control unit 19 stores the acquired identification information and second position information in the storage unit 20. After storage, the process proceeds to step S103.

[0059] In step S103, control unit 19 acquires the direction of first moving object 13, the position of first moving object 13, and the line of sight from orientation sensor 15, position detection device 16, and internal sensor unit 17. After acquisition, the process proceeds to step S104.

[0060] In step S104, the control unit 19 determines the recognition situation of the driver of the first moving body 13 based on the direction and position of the first moving body 13 acquired in step S103 and the line of sight of the driver of the first moving body 13. After the determination, the process proceeds to step S105.

[0061] In step S105, the control unit 19 determines whether the recognition situation determined in step S104 is "recognized." If it is "recognized," the process proceeds to step S106. If it is not "recognized," the process proceeds to step S110.

[0062] In step S106, the control unit 19 stores the time of the determination as the recognition time in the memory unit 20 in association with the identification information stored in step S102. The control unit 19 also generates recognition information whose recognition situation is "recognized." The control unit 19 further stores the generated recognition information in the memory unit 20 in association with the identification information stored in step S102. After storage, the process proceeds to step S107.

[0063] In step S107, the control unit 19 stores the second location information stored in the storage unit 20 in step S102 as second location information at the recognition time in the storage unit 20. After storage, the process proceeds to step S111.

[0064] In step S108, the control unit 19 selects in the storage unit 20 the same identification information as the acquired identification information. The control unit 19 associates the acquired second location information with the identification information in the storage unit 20 and stores the second location information in the storage unit 20 as the latest second location information. The control unit 19 updates the latest second location information by storing the information in association. For the sake of convenience, the initial storage of the latest second location information in the storage unit 20 is referred to as an update in this specification. After the update, the process proceeds to step S109.

[0065] In step S109, the control unit 19 selects in the storage unit 20 the same identification information as the acquired identification information. The control unit 19 determines whether or not the interval between the positions of the second moving body 14 indicated by the latest second position information and the second position information at the recognition time associated with the identification information in the storage unit 20 is equal to or greater than a first interval threshold. If the interval is equal to or greater than the first interval threshold, the process proceeds to step S110. If the interval is not equal to or greater than the first interval threshold, the process proceeds to step S111.

[0066] In step S110, the control unit 19 generates cognitive information whose cognitive situation is non-cognitive. Furthermore, the control unit 19 selects the same identification information as the acquired identification information from the storage unit 20. Furthermore, the control unit 19 stores the generated cognitive information in association with the identification information in the storage unit 20. After storage, the process proceeds to step S111.

[0067] In step S111, the control unit 19 assigns the recognition information for each second moving object 14 stored in the storage unit 20 to the surroundings in association with the identification information, the first location information, and the recognition time. After the assignment, the recognition information assignment process ends.

[0068] Next, the location information assignment process executed by the control unit 21 of the presentation device 11 in the first embodiment will be described with reference to the flowchart of Fig. 7. The location information assignment process starts periodically, for example.

[0069] In step S200, the control unit 21 associates the most recent position of the presentation device 11 detected by the position detection device 23 with the identification information of the presentation device 11. After the association, the process proceeds to step S201.

[0070] In step S201, the control unit 21 assigns the position of the presentation device 11 associated in step S200, in other words, the second position information and the identification information, to the surroundings. After the assignment, the position information assignment process ends.

[0071] Next, the accumulation process executed by the control unit 21 of the presentation device 11 in the first embodiment will be described with reference to the flowchart of Fig. 8. The accumulation process starts, for example, every time the recognition information, the identification information, and the first location information are acquired from the first moving object 13.

[0072] In step S300, the control unit 21 acquires the position of the presentation device 11 from the position detection device 23. In addition, the control unit 21 acquires the time when the recognition information was acquired as the recognition time. After acquisition, the process proceeds to step S301.

[0073] In step S301, the control unit 21 associates the position and recognition time of the presentation device 11 acquired in step S300 with the recognition information, identification information, and first position information acquired from the first moving object 13, and stores them in the storage unit 20. After storage, the accumulation process ends.

[0074] Next, the display process executed by the control unit 21 of the presentation device 11 in the first embodiment will be described with reference to the flowchart of Fig. 9. The display process starts periodically, for example.

[0075] In step S400, the control unit 21 acquires the bearing of the presentation device 11 as a direction from the orientation sensor 22. The control unit 21 also acquires the position of the presentation device 11 from the position detection device 23. After acquisition, the process proceeds to step S401.

[0076] In step S401, the control unit 21 performs coordinate conversion of the position of the first moving object 13 stored in the storage unit 27 into a position in a coordinate system based on the presentation device 11, based on the direction and position of the presentation device 11 acquired in step S400. After the conversion, the process proceeds to step S402.

[0077] In step S402, the control unit 21 acquires the line of sight of the second moving object 14 from the eye tracker 24. After acquisition, the process proceeds to step S403.

[0078] In step S403, the control unit 21 determines whether or not there is a first moving object 13 whose position converted into coordinates in step S403 overlaps with the line of sight acquired in step S402 among the first moving objects 13 corresponding to the identification numbers stored in the storage unit 27. If there is an overlap, the process proceeds to step S404. If there is no overlap, the display process ends.

[0079] In step S404, the control unit 21 selects the first moving object 13 that has been determined to have overlapping lines of sight in step S403. After the selection, the process proceeds to step S405.

[0080] In step S405, the control unit 21 causes the display unit 25 to display, in association with the first moving body 13 selected in step S404, the recognition information associated with the identification signal corresponding to the first moving body 13. After displaying, the display process ends.

[0081] The information processing device 10 of the first embodiment configured as described above includes a control unit 19 that provides the presentation device 11, which presents the second moving body 14 with the recognition information including the recognition status of the second moving body 14 by the driver of the first moving body 13, and the control unit 19 generates recognition information in which the recognition status is "recognized" when the driver recognizes the second moving body 14. With this configuration, the information processing device 10 can notify the second moving body 14 that the driver of the first moving body 13 recognizes its existence. Therefore, the information processing device 10 can allow the second moving body 14 to more appropriately determine whether or not to move, compared to a configuration that simply notifies the second moving body 14 of the risk of collision. In this way, the information processing device 10, together with an arbitrary presentation device 11, can provide more appropriate information for determining whether or not to move.

[0082] Furthermore, the information processing device 10 of the first embodiment generates recognition information indicating that the recognition status is unrecognized or unknown when the interval between the position of the second moving body 14 at the time when the first moving body 13 recognizes the second moving body 14 and the latest position of the second moving body 14 is equal to or greater than a first interval threshold. With this configuration, the information processing device 10 does not continue to recognize the second moving body 14 thereafter, but switches to unrecognized under conditions that are expected to lead to unrecognition. Therefore, the information processing device 10 can reduce the possibility of providing erroneous information that the second moving body 14 is recognized when it is unclear whether the second moving body 14 is recognized or not.

[0083] Moreover, the information processing device 10 of the first embodiment determines the first distance threshold based on the color or size of the second moving object 14. The size and color of the second moving object 14 may affect the driver's recognition. In such an event, the information processing device 10 having the above-mentioned configuration may more appropriately determine whether the recognition situation continues.

[0084] Moreover, the information processing device 10 of the first embodiment provides the presentation device 11 with first location information indicating the location of the first moving object 13. With this configuration, the information processing device 10 can determine where the first moving object 13, which recognizes the second moving object 14, is.

[0085] The presentation device 11 configured as above is a presentation device 11 held by a second moving body 14, and includes a control unit 21 that presents, to the second moving body 14, recognition information including a recognition status of the second moving body 14 by a first moving body 13 around the second moving body 14. With such a configuration, the presentation device 11 can notify the second moving body 14 that the driver of the first moving body 13 is aware of its presence. Therefore, the presentation device 11, together with any information processing device 10, can provide more appropriate information for determining whether or not to move.

[0086] Moreover, the presentation device 11 presents recognition information in association with each of the multiple first moving bodies 13. With this configuration, the presentation device 11 can notify whether or not any of the first moving bodies 13 recognizes the second moving body 14. Therefore, the presentation device 11 can provide the second moving body 14 with more appropriate information for determining whether or not to move.

[0087] Furthermore, the presentation device 11 presents the cognitive information in association with the first moving body 13 located within the presentation range. With this configuration, the presentation device 11 can reduce an excess of provided information caused by presenting the cognitive information of the first moving body 13 that is not visible to the second moving body 14 at the time of presentation.

[0088] Furthermore, the presentation device 11 presents the cognitive information when the line of sight of the second moving body 14 is directed toward the first moving body 13 with which the cognitive information is associated. In outdoor situations, it is desirable for the second moving body 14 to recognize the cognitive information of the first moving body 13 that is being visually recognized at that moment in preference to the cognitive information of other first moving bodies 13. In such an event, the presentation device 11 having the above-described configuration presents cognitive information limited to the first moving body 13 that is being visually recognized by the second moving body 14, and therefore can present necessary cognitive information while reducing an excess of provided information.

[0089] The presentation device 11 further includes a display unit 25 that allows the second moving body 14 to visually recognize the cognitive information together with the scene around the second moving body 14. With this configuration, the presentation device 11 can visually recognize the cognitive information accompanying the actual scene, so that the second moving body 14 can instantly make a decision regarding movement.

[0090] Next, a second embodiment of the present disclosure will be described. In the second embodiment, the configurations of the information processing device and the first moving body are different from those of the first embodiment. The second embodiment will be described below, focusing on the differences from the first embodiment. Note that the same reference numerals are used to designate parts having the same configuration as the first embodiment.

[0091] As shown in Fig. 10, the first moving body 130 in the second embodiment may be configured to include an orientation sensor 15, a position detection device 16, a communication unit 18, and an information processing device 100, similar to the first embodiment. Unlike the first embodiment, the first moving body 130 may be configured to include a periphery detection sensor unit 270. The orientation sensor 15, the position detection device 16, and the communication unit 18 are configured the same as in the first embodiment. The periphery detection sensor unit 270 is capable of communicating with the information processing device 100. In a configuration in which the information processing device 100 is located outside the first moving body 130, the information processing device 100 may communicate with the periphery detection sensor unit 270 via the communication unit 18.

[0092] The surrounding detection sensor unit 270 may detect the surrounding situation (surrounding information) of the first moving body 130 on which it is mounted. The surrounding situation is, for example, an image of the surroundings, a distance value of a surrounding object, etc. The surrounding object may include the second moving body 14. The surrounding detection sensor unit 270 may include an in-vehicle camera, a distance measuring sensor, etc. as a sensor for detecting the surrounding situation.

[0093] The on-board camera generates an image of the surroundings of the first moving body 130 on which the on-board camera is mounted. The on-board camera may be a monocular camera or a stereo camera, and may be capable of capturing visible light, near-infrared light, and far-infrared light. In a configuration in which the periphery detection sensor unit 270 includes an on-board camera, multiple on-board cameras may be mounted to face in different directions from the first moving body 130. Scenes on all sides of the first moving body 130 may be captured by the multiple on-board cameras.

[0094] The distance measuring sensor detects the position of an object located in each direction. The distance measuring sensor may emit a projected wave such as a millimeter wave, near infrared light, or sound wave. The distance measuring sensor may measure a distance value to a reflection point on an object based on the time from the emission of the projected wave to the reception of the reflected wave by the object on which the projected wave is irradiated. The distance measuring device may be, for example, a millimeter wave radar, LiDAR, ultrasonic sonar, etc. Alternatively, the distance measuring sensor may detect a distance value based on information from an on-board camera using a single camera, a stereo camera, or a system using multiple cameras. The distance measuring sensor using a system using an on-board camera may perform distance measurement using the aberration of an image obtained from the on-board camera, distance measurement using AI technology based on the relationship between the image obtained from the on-board camera and the distance, distance measurement using triangulation technology for the image obtained from the on-board camera, etc. In addition, in the distance measurement of the present disclosure, distance measurement using an on-board camera and distance measurement using millimeter wave radar, LiDAR, ultrasonic sonar, etc. may be arbitrarily combined. In a configuration in which the periphery detection sensor unit 270 includes multiple distance measurement sensors, the multiple distance measurement sensors may be mounted to face in different directions from the first moving body 130. The multiple distance measurement sensors may measure distances to objects on all four sides of the first moving body 130.

[0095] The information processing device 100, like the first embodiment, is configured to include a control unit 190. Like the first embodiment, the information processing device 100 may be configured to include a storage unit 20. The configuration of the storage unit 20 is the same as in the first embodiment.

[0096] The control unit 190 may perform the same operations as in the first embodiment, except for the method of generating the recognition information. In the second embodiment, the recognition information includes the recognition status of the second moving body 14 by the control unit 190. When the control unit 190 recognizes the second moving body 14, the control unit 190 generates recognition information whose recognition status is "recognized." A method of determining whether the control unit 190 recognizes the second moving body 14 or not will be described in detail below.

[0097] The control unit 190 may generate the recognition information based on the surrounding situation of the first moving body 130. Specifically, the control unit 190 may determine the recognition situation based on the second position information and the surrounding situation. Furthermore, the control unit 190 may generate the recognition information including the determined recognition situation.

[0098] The control unit 190 may estimate the presence or absence of surrounding objects based on the surrounding conditions detected by the surrounding detection sensor unit 270. The surrounding objects may be estimated based on, for example, pattern matching of an image from an in-vehicle camera, estimation using a discrimination model by machine learning, or the like. Also, the surrounding objects may be estimated based on, for example, the shape and size of a collection of multiple object points at approximately the same distance detected by a distance measuring sensor.

[0099] When the control unit 190 determines that a surrounding object exists, it may calculate the position of the surrounding object in real space based on the surrounding conditions detected by the surrounding detection sensor unit 270. For example, in a configuration in which the detection result is an image of a monocular camera, the control unit 190 distinguishes a free space such as a road surface in the image, and detects a position in real space that corresponds to the image coordinates of the position of the object in the free space whose existence is estimated. Also, for example, in a configuration in which the detection result is an image of a stereo camera, the control unit 190 calculates the parallax of the same object in the two images, and calculates the position in real space based on the parallax. Also, for example, in a configuration in which the detection result is a distance detected by a distance measuring sensor, the control unit 19 detects a position based on the distance and direction as a position in real space.

[0100] The control unit 190 may compare the distance between the position in real space of the surrounding object calculated based on the surrounding situation detected by the surrounding detection sensor unit 270 and the position corresponding to the second position information. The control unit 190 may identify the surrounding object whose distance is within the second distance threshold as the second moving body 14 possessing the presentation device 11 to which the second position information has been assigned. The control unit 190 may determine that the identified second moving body 14 has been recognized.

[0101] Next, a cognitive information imparting process executed by the control unit 190 of the information processing device 100 in the second embodiment will be described with reference to the flowchart of Fig. 11. The cognitive information imparting process starts every time the second position information is acquired together with the identification information from the presentation device 11.

[0102] In steps S500 to S502, the control unit 190 executes the same control as in steps S100 to S102 in the cognitive information assignment process executed by the control unit 19 in the first embodiment.

[0103] In step S503 after the identification information and the second position information acquired from the presentation device 11 are stored in the storage unit 20, the control unit 190 acquires the direction of the first moving object 13, the position of the first moving object 13, and the surrounding situation from the orientation sensor 15, the position detection device 16, and the surrounding detection sensor unit 270. After acquisition, the process proceeds to step S504.

[0104] In step S504, the control unit 190 determines a recognition situation by the information processing device 100 based on the direction, position, and surrounding situation of the first moving object 130 acquired in step S103 and the second position information stored in step S502. After the determination, the process proceeds to step S505.

[0105] In steps S505 to S511, the control unit 190 executes the same control as in steps S105 to S111 in the cognitive information assignment process executed by the control unit 19 in the first embodiment.

[0106] The information processing device 100 of the second embodiment configured as described above includes a control unit 190 that provides the recognition information to the presentation device 11 that presents the recognition information including the recognition situation of the second moving body 14 around the first moving body 130, and the control unit 190 generates the recognition information in which the recognition situation is "recognized" when the second moving body 14 is recognized based on the surrounding information. With such a configuration, the information processing device 10 can notify the second moving body 14 that the first moving body 13 recognizes its existence. Therefore, the information processing device 100 can allow the second moving body 14 to more appropriately determine whether or not to move, compared to a configuration that simply notifies the second moving body 14 of the risk of collision. In this way, the information processing device 100 can provide more appropriate information for determining whether or not to move, together with any presentation device 11.

[0107] Also, the information processing device 100 of the second embodiment generates recognition information indicating that the recognition situation is unrecognized or unknown when the distance between the position of the second moving body 14 at the time when the first moving body 130 recognizes the second moving body 14 and the latest position of the second moving body 14 is equal to or greater than the first distance threshold. With such a configuration, the information processing device 100 can also reduce the possibility of providing erroneous information that the second moving body 14 is recognized when it is unclear whether the second moving body 14 is recognized.

[0108] Moreover, the information processing device 100 of the second embodiment also determines the first interval threshold based on the color or size of the second moving object 14. The size and color of the second moving object 14 may affect the recognition of the second moving object 14 by the control unit 190. In such an event, the information processing device 100 having the above-mentioned configuration may more appropriately determine whether the recognition situation is continuing.

[0109] Moreover, the information processing device 100 of the second embodiment also gives the presentation device 11 first location information indicating the location of the first moving object 130. With such a configuration, the information processing device 10 can also determine where the first moving object 130 that recognizes the second moving object 14 is.

[0110] In one embodiment, (1) an information processing device includes: A control unit is provided for providing a presentation device that presents, to a second moving body, recognition information including a recognition state of a second moving body by a driver of a first moving body, the recognition information; The control unit generates the recognition information indicating that the recognition situation is "recognized" when the driver recognizes the second moving object.

[0111] (2) In the information processing device of (1) above, The control unit generates the perception information based on a position of the second moving object and a line of sight of the driver.

[0112] In one embodiment, (3) an information processing device includes: A control unit is provided for providing a presentation device that presents recognition information including a recognition situation of a second moving object around a first moving object, the presentation device providing the recognition information, When the control unit recognizes the second moving object based on surrounding information, the control unit generates the recognition information in which the recognition situation is "recognized."

[0113] (4) In any one of the information processing devices according to (1) to (3), When the interval between the position of the second moving body at the time when the first moving body recognizes the second moving body and the latest position of the second moving body is greater than or equal to a first interval threshold, the control unit generates the recognition information indicating that the recognition situation is unrecognized or unknown.

[0114] (5) In the information processing device of (4) above, The control unit determines a first interval threshold based on a color or a size of the second moving object.

[0115] (6) In any one of the information processing devices according to (1) to (5), The control unit provides the presentation device with first position information indicating a position of the first moving object.

[0116] (7) In the information processing device of (6) above, The control unit obtains second position information indicating a position of the presentation device.

[0117] (8) In the information processing device of (7) above, The device further includes a memory unit that stores, in association with one another, the second location information, the recognition information of the second moving body that possesses the presentation device corresponding to the second location information, and the location of the presentation device at the time when the second moving body is recognized by the first moving body.

[0118] In one embodiment, the presentation device (9) comprises: A presentation device held by a second moving object, The control unit presents, to the second moving body, recognition information including a recognition status of the second moving body by a first moving body around the second moving body.

[0119] (10) In the presentation device of (9) above, The control unit associates the cognitive information with each of the multiple first moving objects and presents it.

[0120] (11) In the presentation device of (10) above, The control unit associates the recognition information with the first moving object located within a presentation range and presents it.

[0121] (12) In any one of the presentation devices (9) to (11) above, The control unit presents the cognitive information when the line of sight of the second moving body is directed toward the first moving body with which the cognitive information is associated.

[0122] (13) In any one of the presentation devices (9) to (12) above, The second moving body further includes a display unit that allows the second moving body to visually recognize the cognitive information together with a view of the surroundings of the second moving body.

[0123] (14) In any one of the presentation devices (9) to (13), The control unit provides the first moving object with second position information indicating a position of the second moving object.

[0124] (15) In the presentation device of (14) above, The control unit obtains first position information indicating a position of the first moving object.

[0125] (16) In the presentation device of (15) above, The device further includes a memory unit that associates and stores the first location information, the recognition information of the second moving body by the first moving body corresponding to the first location information, and the location of the second moving body at the time when the second moving body is recognized by the first moving body.

[0126] In one embodiment, the traffic assistance system includes: A presentation device that presents, to a second moving body, recognition information including a recognition state of a second moving body by a driver of a first moving body, and is held by the second moving body; The device is equipped with a control unit that provides the recognition information to the presentation device, and the control unit is equipped with an information processing device that generates recognition information indicating that the recognition situation is recognized when the driver recognizes the second moving body.

[0127] The above describes embodiments of the information processing devices 10, 100 and the presentation device 11. However, embodiments of the present disclosure can also be embodied as a storage medium on which a program is recorded (for example, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a CD-RW, a magnetic tape, a hard disk, or a memory card, etc.), in addition to a method or program for implementing the device.

[0128] The form of implementation of the program is not limited to application programs such as object code compiled by a compiler or program code executed by an interpreter, but may be a program module incorporated into an operating system, etc. Furthermore, the program may or may not be configured so that all processing is performed only by the CPU on the control board. The program may be configured so that a part or all of it is executed by another processing unit mounted on an expansion board or expansion unit added to the board as necessary.

[0129] The drawings for explaining the embodiments according to the present disclosure are schematic, and the dimensional ratios and the like in the drawings do not necessarily correspond to the actual ones.

[0130] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications or alterations are included in the scope of the present disclosure. For example, the functions, etc. included in each component, etc. can be rearranged so as not to cause logical inconsistencies, and multiple components, etc. can be combined into one or divided.

[0131] For example, in the first and second embodiments, the presentation device 11 includes the orientation sensor 22, the position detection device 23, the eye tracker 24, the display unit 25, the communication unit 26, and the storage unit 27. However, the presentation device 11 may be configured not to include the orientation sensor 22, the position detection device 23, the eye tracker 24, the display unit 25, the communication unit 26, and the storage unit 27, and may be connected as an external device.

[0132] All of the features described in this disclosure and / or all steps of any method or process disclosed herein may be combined in any combination except those combinations in which the features are mutually exclusive. Furthermore, each feature described in this disclosure may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly denied. Thus, unless expressly denied, each disclosed feature is merely one example of a generic series of the same or equivalent features.

[0133] Furthermore, the embodiments of the present disclosure are not limited to any of the specific configurations of the embodiments described above, but rather extend to any novel feature or combination of features described herein, or any novel method or process step or combination of features described herein.

[0134] In this disclosure, descriptions such as "first" and "second" are identifiers for distinguishing the configurations. Configurations distinguished by descriptions such as "first" and "second" in this disclosure may exchange numbers in the configurations. For example, a first mobile body may exchange identifiers "first" and "second" with a second mobile body. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the exchange of identifiers. Identifiers may be deleted. A configuration from which an identifier has been deleted is distinguished by a code. Descriptions of identifiers such as "first" and "second" in this disclosure alone should not be used to interpret the order of the configurations or to justify the existence of an identifier with a smaller number. [Explanation of symbols]

[0135] 10, 100 Information processing device 11 Presentation device 12 Traffic Support System 13, 130 First Mobile Unit 14 Second Mobile Unit 15 Orientation Sensor 16 Position detection device 17 Internal sensor section 18 Communications Department 19, 190 Control section 20 Memory section 21 Control section 22 Orientation Sensor 23 Position detection device 24 Eye Tracker 25 Display section 26 Memory section 270 Periphery detection sensor part

Claims

1. A control unit is provided for providing a presentation device that presents, to a second moving body, recognition information including a recognition state of a second moving body by a driver of a first moving body, the recognition information; The control unit generates the recognition information indicating that the recognition situation is "recognized" when the driver recognizes the second moving object. Information processing device.

2. 2. The information processing device according to claim 1, The control unit generates the perception information based on a position of the second moving object and a line of sight of the driver. Information processing device.

3. A control unit is provided for providing a presentation device that presents recognition information including a recognition situation of a second moving object around a first moving object, the recognition information being provided to the presentation device; The control unit generates the recognition information indicating that the recognition situation is "already recognized" when the second moving object is recognized based on surrounding information. Information processing device.

4. 4. The information processing device according to claim 1, The control unit generates the recognition information in which the recognition situation is unrecognized or unknown when an interval between a position of the second moving object at a time when the first moving object recognizes the second moving object and a latest position of the second moving object is equal to or greater than a first interval threshold. Information processing device.

5. 5. The information processing device according to claim 4, The control unit determines a first interval threshold based on a color or a size of the second moving object. Information processing device.

6. 4. The information processing device according to claim 1, The control unit provides the presentation device with first position information indicating a position of the first moving object. Information processing device.

7. 7. The information processing device according to claim 6, The control unit acquires second position information indicating a position of the presentation device. Information processing device.

8. 8. The information processing device according to claim 7, a storage unit that stores the second location information, the recognition information of the second moving object having the presentation device corresponding to the second location information, and a location of the presentation device at a time when the first moving object recognizes the second moving object in association with each other. Information processing device.

9. A presentation device held by a second moving object, A control unit that presents, to the second moving body, recognition information including a recognition situation of the second moving body by a first moving body around the second moving body. Presentation device.

10. 10. The presentation device according to claim 9, The control unit associates the cognitive information with each of the plurality of first moving objects and presents the cognitive information. Presentation device.

11. The presentation device according to claim 10, The control unit associates the recognition information with the first moving object located within a presentation range and presents the recognition information. Presentation device.

12. The presentation device according to any one of claims 9 to 11, The control unit presents the cognitive information when a line of sight of the second moving body is directed toward the first moving body with which the cognitive information is associated. Presentation device.

13. The presentation device according to any one of claims 9 to 11, A display unit that allows the second moving body to visually recognize the cognitive information together with a view of the surroundings of the second moving body. Presentation device.

14. The presentation device according to any one of claims 9 to 11, The control unit provides the first moving object with second position information indicating a position of the second moving object. Presentation device.

15. 15. The presentation device according to claim 14, The control unit acquires first position information indicating a position of the first moving object. Presentation device.

16. 16. The presentation device according to claim 15, a storage unit that stores the first location information, the recognition information of the second moving object by the first moving object corresponding to the first location information, and the location of the second moving object at the time of recognition of the second moving object by the first moving object in association with each other. Presentation device.

17. A presentation device that presents, to a second moving body, recognition information including a recognition state of a second moving body by a driver of a first moving body, and is held by the second moving body; A control unit is provided to impart the recognition information to the presentation device, and the control unit is provided with an information processing device that generates recognition information indicating that the recognition situation is recognized when the driver recognizes the second moving object. Traffic assistance system.

Images