Information Processing System, Information Processing Method, and Storage Medium

Abstract

Provided is an information processing system, an information processing method, and a storage medium. The information processing system has a control unit that, based on an image captured by a photographing device provided on the roadside, calculates a rectangular area including a vehicle in the image, and calculates a position in front of the vehicle based on the calculated rectangular area and a trajectory in the image that has been set.

Description

Technical Field

[0001] The present disclosure relates to an information processing system, an information processing method, and a program. Background Art

[0002] In recent years, an advanced road traffic system (ITS: Intelligent Transport System) that uses images of roadsides and the like captured by imaging devices (roadside cameras) installed on the roadside has attracted attention.

[0003] In addition, a technique for calculating a rectangular area (bounding box) including a vehicle in an image based on the image is also known (for example, refer to Japanese Unexamined Patent Application Publication No. 2019-071057). Summary of the Invention

[0004] However, in the prior art, for example, it is sometimes difficult to detect the position in front of a vehicle from an image captured by an imaging device installed on the roadside.

[0005] An object of the present disclosure is to provide an information processing system, an information processing method, and a storage medium that can appropriately detect the position in front of a vehicle based on an image captured by an imaging device installed on the roadside.

[0006] In a first aspect of the present disclosure, an information processing system includes a control unit that calculates a rectangular area including a vehicle in an image based on an image captured by an imaging device installed on the roadside, and calculates the position in front of the vehicle based on the calculated rectangular area and a trajectory in the image set in advance.

[0007] In addition, a second aspect of the present disclosure provides an information processing method including: calculating a rectangular area including a vehicle in an image based on an image captured by an imaging device installed on the roadside, and calculating the position in front of the vehicle based on the calculated rectangular area and a trajectory in the image set in advance.

[0008] In addition, a third aspect of the present disclosure provides a storage medium storing a program that causes a computer to perform the following processing: calculating a rectangular area including a vehicle in an image based on an image captured by an imaging device installed on the roadside, and calculating the position in front of the vehicle based on the calculated rectangular area and a trajectory in the image set in advance.

[0009] According to one aspect, the position in front of a vehicle can be appropriately detected. Brief Description of the Drawings

[0010] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, where like reference numerals denote like elements, and wherein:

[0011] Figure 1 It is a diagram showing a configuration example of a road traffic system according to an embodiment.

[0012] Figure 2 It is a diagram showing a hardware configuration example of an information processing device according to an embodiment.

[0013] Figure 3 It is a diagram showing an example of the configuration of an information processing device according to an embodiment.

[0014] Figure 4 It is a flowchart showing an example of the processing of an information processing device according to an embodiment.

[0015] Figure 5 It is a diagram showing an example of a rectangular area including a vehicle in an image captured by a photographing device according to an embodiment.

[0016] Figure 6 It is a diagram showing an example of a trajectory DB according to an embodiment.

[0017] Figure 7 It is a diagram showing an example of the process of calculating the position of the center of the front of a vehicle within a rectangular area according to an embodiment.

[0018] Figure 8 It is a diagram showing an example of information indicating positions at respective angles according to an embodiment.

[0019] Figure 9 It is a diagram showing an example of the process of calculating the position of the center of the front of a vehicle within a rectangular area according to an embodiment.

[0020] Figure 10 It is a diagram showing an example of the process of calculating the position of the center of the front of a vehicle within a rectangular area according to an embodiment.

[0021] Figure 11 It is a diagram showing an example of the position of the center of the front of a vehicle in an image captured by a photographing device according to an embodiment.

[0022] Figure 12 It is a diagram showing an example of a display screen of a vehicle terminal according to an embodiment. Detailed Embodiments

[0023] The principles of the present disclosure will be described with reference to several exemplary embodiments. These embodiments are described for illustrative purposes only and do not imply any limitation on the scope of the present disclosure, and are intended to be understood as assisting those skilled in the art to understand and implement the present disclosure. The disclosure described in this specification can be implemented by various methods other than those described below.

[0024] In the following description and claims, unless otherwise defined, all technical terms and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art in the technical field to which the present disclosure pertains.

[0025] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0026] <System Configuration>

[0027] Refer to Figure 1 to describe the configuration of the road traffic system 1 related to the embodiment. Figure 1 is a diagram showing a configuration example of the road traffic system 1 related to the embodiment. In Figure 1 the example, the road traffic system 1 includes a photographing device 50, an information processing device 10, a server 20, and a vehicle terminal 30. In addition, the number of the photographing device 50, the information processing device 10, the server 20, and the vehicle terminal 30 is not limited to Figure 1 the example. In addition, the information processing device 10 is an example of an “information processing system”.

[0028] In Figure 1 the example, the photographing device 50, the information processing device 10, the server 20, and the vehicle terminal 30 are connected via a network N so as to be able to communicate. Examples of the network N include, for example, a bus, short-range wireless communication such as BLE (Bluetooth (registered trademark) Low Energy), LAN (Local Area Network), wireless LAN, the Internet, and a mobile communication system. Examples of the mobile communication system include, for example, the fifth-generation mobile communication system (5G), the fourth-generation mobile communication system (4G), and the third-generation mobile communication system (3G).

[0029] The photographing device 50 is a camera installed on the roadside (such as an intersection) of the road on which the vehicle travels. The photographing device 50 photographs an image of the vehicle traveling on the road and transmits (outputs) the data of the image to the information processing device 10.

[0030] The information processing device 10 may also be provided, for example, at the lower part of the column on which the imaging device 50 is provided. In this case, the information processing device 10 may also be housed, for example, in a housing that houses a traffic signal controller that controls traffic signals. In addition, the information processing device 10 may also be housed, for example, in the same housing as a base station of a mobile communication system provided in the signal lamp.

[0031] The information processing device 10 determines the position of the front (the front end in the traveling direction) of the vehicle based on the image captured by the imaging device 50. Then, the information processing device 10 transmits (outputs) the information based on the determined position to the server 20. The information processing device 10 may also calculate, for example, the probability of a collision between the first vehicle and the second vehicle based on the movement of the position of the first vehicle and the movement of the position of the second vehicle in the intersection. And when this probability is equal to or higher than a threshold value, it notifies this situation to the server 20 or the vehicle terminal 30 of each vehicle. In addition, when this probability is equal to or higher than a threshold value, the information processing device 10 notifies the vehicle terminal 30 of other vehicles of the information indicating the movement of the position of one vehicle directly or via the server 20. The server 20 notifies the vehicle terminal 30 of an alarm or the like based on the information received from the information processing device 10.

[0032] The vehicle terminal 30 may be, for example, a vehicle-mounted navigation device, a vehicle-mounted ECU (Electronic Control Unit), a smartphone, or a tablet terminal. When the vehicle terminal 30 receives an alarm from the information processing device 10 or the server 20, it notifies (displays or outputs a sound) the driver of the vehicle to urge braking, for example. In addition, the vehicle terminal 30 displays on the screen the information indicating the movement of the position of the vehicle received from the information processing device 10 or the server 20.

[0033] <Hardware Structure>

[0034] Figure 2 FIG. is a diagram showing an example of the hardware structure of the information processing device 10 according to the embodiment. In Figure 2 this example, the information processing device 10 (computer 100) includes a processor 101, a memory 102, and a communication interface 103. These components may be connected to each other through a bus or the like. The memory 102 stores at least a part of the program 104. The communication interface 103 includes an interface required for communication with its network element.

[0035] When the program 104 is executed by the cooperation of the processor 101, the memory 102, etc., at least a part of the processing of the embodiment of the present disclosure is performed by the computer 100. The memory 102 may also be any type of memory suitable for a local technology network. As a non-limiting example, the memory 102 may also be a non-transitory computer-readable storage medium. In addition, the memory 102 may be implemented using any suitable data storage technology such as semiconductor-based memory devices, magnetic memory devices and systems, optical memory devices and systems, fixed memory, and removable memory. Only one memory 102 is shown in the computer 100, but several physically different storage modules may also exist in the computer 100. The processor 101 may also be any type of memory. The processor 101 may include one or more of a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP: Digital Signal Processor), and a processor based on a multi-core processor architecture as a non-limiting example. The computer 100 may also have multiple processors such as application-specific integrated circuit chips that are subordinate to the clock that synchronizes with the main processor in time.

[0036] Embodiments of the present disclosure may be implemented by hardware or dedicated circuits, software, logic, or any combination thereof. Some embodiments may be implemented by hardware, while other embodiments may be implemented by firmware or software executable by a controller, a microprocessor, or other computing devices.

[0037] In addition, the present disclosure provides at least one computer program product tangibly stored in a non-transitory computer-readable storage medium. The computer program product includes computer-executable commands such as commands included in program modules, and is executed on a device of an actual processor or a hypothetical processor to execute the process or method of the present disclosure. The program modules include routines, programs, program libraries, objects, classes, components, data structures, etc. that perform specific tasks and install specific abstract data types. The functions of the program modules may also be combined or divided among the program modules as desired in various embodiments. The machine-executable commands of the program modules may be executed locally or within distributed devices. In distributed devices, the program modules may be configured in both local and remote storage media.

[0038] The program code for executing the method of the present disclosure can also be written in any combination of one or more programming languages. These program codes are provided to a processor or a controller of a general-purpose computer, a special-purpose computer, or other data processing devices capable of programming. When the program code is executed by the processor or the controller, the functions / actions in the flowchart and / or the installed block diagram are executed. The program code is completely executed on the machine, partially executed on the machine as an independent software package, partially executed on the machine, partially executed on a remote machine, or completely executed on a remote machine or server.

[0039] The program can be stored using various types of non-transitory computer-readable media and provided to the computer. Non-transitory computer-readable media include various types of physical recording media. Examples of non-transitory computer-readable media include magnetic recording media, magneto-optical recording media, optical disc media, semiconductor memories, etc. Magnetic recording media include, for example, floppy disks, magnetic tapes, hard disk drives, etc. Magneto-optical recording media include, for example, magneto-optical discs, etc. Optical disc media include, for example, Blu-ray discs, CD (Compact Disc)-ROM (Read Only Memory), CD-R (Recordable), CD-RW (ReWritable), etc. Semiconductor memories include, for example, solid-state drive, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory), etc. In addition, the program can also be provided to the computer through various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can provide the program to the computer via wired communication paths such as wires and optical fibers or wireless communication paths.

[0040] <Configuration>

[0041] Refer to Figure 3 The configuration of the information processing device 10 related to the embodiment will be described. Figure 3 is a diagram showing an example of the configuration of the information processing device 10 related to the embodiment. In Figure 3 this example, the information processing device 10 has an acquisition unit 11, a control unit 12, and an output unit 13. These units can also be implemented through the cooperation of one or more programs installed in the information processing device 10 and hardware such as the processor 101 and the memory 102 of the information processing device 10.

[0042] The acquisition unit 11 acquires various information from the storage unit inside the information processing device 10 or from an external device. For example, the acquisition unit 11 acquires an image captured by the imaging device 50 installed on the roadside.

[0043] Based on the image acquired by the acquisition unit 11, the control unit 12 calculates a rectangular (a rectangle. A quadrilateral with all four corners equal. In this disclosure, a square is also included in the rectangle.) area (bounding box) in the image that contains the vehicle. And, the control unit 12 calculates the position in front of the vehicle based on the rectangular area in the image and a preset trajectory in the image.

[0044] The output unit 13 outputs an alarm or the like based on the position in front of the vehicle calculated by the control unit 12.

[0045] <Processing>

[0046] Next, refer to Figures 4 to 12 An example of the processing of the information processing device 10 according to the embodiment will be described. Figure 4 It is a flowchart showing an example of the processing of the information processing device 10 according to the embodiment. Figure 5 It is a diagram showing an example of a rectangular area in the image captured by the imaging device 50 according to the embodiment that contains the vehicle. Figure 6 It is a diagram showing an example of the trajectory DB601 according to the embodiment. Figure 7 It is a diagram showing an example of the process of calculating the position of the center part in front of the vehicle within the rectangular area according to the embodiment. Figure 8 It is a diagram showing an example of the information indicating the positions at various angles according to the embodiment. Figure 9 It is a diagram showing an example of the process of calculating the position of the center part in front of the vehicle within the rectangular area according to the embodiment. Figure 10 It is a diagram showing an example of the process of calculating the position of the center part in front of the vehicle within the rectangular area according to the embodiment. Figure 11 It is a diagram showing an example of the position of the center part in front of the vehicle in the image captured by the imaging device 50 according to the embodiment. Figure 12 It is a diagram showing an example of the display screen of the vehicle terminal 30 according to the embodiment.

[0047] In step S1, the acquisition unit 11 of the information processing device 10 acquires an image captured by the imaging device 50 installed on the roadside of the road on which the vehicle is traveling.

[0048] Next, the control unit 12 of the information processing device 10 extracts a rectangular area including the vehicle in the image based on the image (step S2). Here, the information processing device 10, for example, recognizes an object in the image and calculates the smallest rectangular area that encloses the object. The information processing device 10 may also calculate the center coordinates, height, and width of the rectangular area.

[0049] In the following, an example of calculating the rectangular area and the position of the front of the vehicle in a pixel coordinate system in which the number of pixels is set as the values of the x and y coordinates will be described, with the downward direction of the longitudinal (height) of the image as the x-axis direction and the rightward direction of the lateral (width) of the image as the y-axis direction.

[0050] In Figure 5 the example, in an image 501 of a certain road 510 captured by a roadside photographing device 50 provided at an intersection, a rectangular area 521 including a vehicle 511, a rectangular area 522 including a vehicle 512, and a rectangular area 523 including a vehicle 513 are detected. In Figure 5 the example, each side of each of the rectangular areas 521, 522, and 523 is parallel to the x-axis or the y-axis. In addition, in the road 510, it is determined according to laws and regulations that the vehicle enters the photographing range (viewing angle) of the photographing device 50 from the end 531 side in the image 501, makes a left turn at the corner 532 of the road 510, and exits the photographing range from the end 533 in the image 501. In addition, in Figure 5 the example, each vehicle is represented by a schematic figure for illustration.

[0051] Next, the control unit 12 of the information processing device 10 calculates the position of the front of the vehicle based on the position of the rectangular area in the image and the trajectory preset in the trajectory DB601 (step S3).

[0052] In Figure 6In the example, in the trajectory DB601, the trajectory, the information indicating the positions of the respective angles, and the history of the movement of the rectangular area are recorded in association with the combination of the imaging device ID, the vehicle type, and the vehicle speed. In addition, the trajectory DB601 can be stored either inside the information processing device 10 or in an external device. The imaging device ID is the identification information of the imaging device 50. In addition, in the case where the information processing device 10 processes only the images from one imaging device 50, the item of the imaging device ID may not be present. The vehicle type is the category of the vehicle. The vehicle type may include, for example, categories such as large vehicles, ordinary vehicles, small vehicles, two-wheel vehicles, and large two-wheel vehicles. The vehicle speed is the speed of the vehicle. The vehicle speed can be classified, for example, into a predetermined number (e.g., 5) of stages (grades). In this case, the vehicle speed can be classified, for example, into stages such as ultra-low speed (e.g., 0 to 20 km / h), low speed (e.g., 20 to 40 km / h), medium speed (e.g., 40 to 60 km / h), high speed (e.g., 60 to 80 km / h), ultra-high speed (80 km / h and above), etc.

[0053] The trajectory is the trajectory of a predetermined part (e.g., the central part of the front of the vehicle or the center of the vehicle) of the vehicle moving on the pixel coordinates of the image captured by the imaging device 50 due to the movement of vehicles of each vehicle type and each vehicle speed on the road. The trajectory can also be the center position of the lane in the image of the imaging device 50. The information of the trajectory can be preset in the trajectory DB601 by, for example, the administrator of the information processing device 10. In addition, the information of the trajectory can be calculated (estimated, inferred) based on the image captured by the imaging device 50 by using AI (Artificial Intelligence) such as deep learning and set in the trajectory DB601.

[0054] The information indicating the positions of the respective angles is the information for calculating the position of the front of the vehicle based on the angle formed by the tangent of the trajectory at the intersection of the predetermined side of the rectangular area including the vehicle and the trajectory and the predetermined side of the rectangular image captured by the imaging device 50. The information indicating the positions of the respective angles can be, for example, a function or data in the form of a table including combinations of multiple angles and positions. The information indicating the positions of the respective angles can be preset in the trajectory DB601 by, for example, the administrator of the information processing device 10. In addition, the information indicating the positions of the respective angles can be calculated (estimated, inferred) based on the image captured by the imaging device 50 by using AI such as deep learning and set in the trajectory DB601. The history of the movement of the rectangular area is the information indicating the change in the position of the rectangular area including each vehicle detected based on the image captured by the imaging device 50.

[0055] The information processing device 10 can first also determine the vehicle type and vehicle speed of a specific vehicle in the image. In this case, the information processing device 10 can, for example, also perform image recognition on the rectangular area in the image that includes the vehicle to determine the vehicle type. In addition, the information processing device 10 can also determine the vehicle speed based on the change in the position on the pixel coordinates of the rectangular area that includes the vehicle in each frame.

[0056] Moreover, the information processing device 10 can also obtain from the trajectory DB601 the imaging device ID of the imaging device 50 that captured the image, the trajectory associated with the determined vehicle type and vehicle speed, and the information indicating the position of each angle. Thereby, for example, by using a trajectory corresponding to the vehicle type and vehicle speed, etc., the position in front of the vehicle can be calculated more appropriately.

[0057] Moreover, the information processing device 10 calculates the intersection of a predetermined side of the rectangular area that includes the vehicle in the image and the trajectory. And the information processing device 10 calculates the tangent of the trajectory at this intersection. And the information processing device 10 calculates the angle θ formed by this tangent and the x-axis (the downward direction of the vertical (height) of the image).

[0058] Moreover, the information processing device 10 calculates the position of the center part of the front of the vehicle in the x-axis direction within the rectangular area based on the angle θ and the function f(θ). In addition, the information processing device 10 calculates the position of the center part of the front of the vehicle in the y-axis direction within the rectangular area based on the angle θ and the function g(θ). Furthermore, the function f(θ) and the function g(θ) are an example of the information indicating the position of each angle set in the trajectory DB601.

[0059] In Figure 7 the example, the tangent 714 of the trajectory 731 at the intersection 713 of the lower side 712 of the rectangular area 711 that includes the vehicle in the image 701 of the imaging device 50 and the trajectory 731 is calculated. In addition, the angle θ1 formed by the tangent 714 and the x-axis is calculated. In addition, based on the angle θ1 and Figure 8 the functions f(θ) and g(θ) shown, the position 721 of the center part of the front of the vehicle within the rectangular area 711 is calculated.

[0060] In Figure 8 an example of the functions f(θ) 801 and g(θ) 802 is shown. In Figure 8 the example, the function f(θ) 801 is the value of the ratio of the position of the center part of the front of the vehicle in the y-axis direction to the length (width) of the rectangular area that includes the vehicle in the y-axis direction. In Figure 8For example, in the range where the angle θ changes from 0° to 90°, the value of the function f(θ)801 increases linearly from 0.5 to 1.0. Therefore, when the vehicle enters from the end 531 side in the image, the angle θ is approximately 0°, and thus the position of the center of the front of the vehicle in the y-axis direction in the rectangular area containing the vehicle is calculated to be approximately half (0.5) of the length of the rectangular area in the y-axis direction. Additionally, when the vehicle exits from the end 533 in the image, the angle θ is approximately 90°, and thus the position of the center of the front of the vehicle in the y-axis direction in the rectangular area containing the vehicle is calculated to be approximately the right end (1.0) in the y-axis direction of the rectangular area.

[0061] In addition, in Figure 8 the example, the function g(θ)802 is the value of the ratio of the position of the center of the front of the vehicle in the x-axis direction to the length (height) of the rectangular area containing the vehicle in the x-axis direction. In Figure 8 the example, in the range where the angle θ changes from 0° to approximately 10°, the value of the function g(θ)802 is approximately 1.0, and in the range where the angle θ changes from approximately 10° to 90°, the value of the function g(θ)802 decreases linearly from 1.0 to approximately 0.7.

[0062] Therefore, when the vehicle enters from the end 531 side in the image, the angle θ is approximately 0°, and thus the position of the center of the front of the vehicle in the x-axis direction in the rectangular area containing the vehicle is calculated to be the lower end (1.0) in the x-axis direction of the rectangular area. Additionally, when the vehicle exits from the end 533 in the image, the angle θ is approximately 90°, and thus the position of the center of the front of the vehicle in the x-axis direction in the rectangular area containing the vehicle is calculated to be below the midpoint (0.7) in the x-axis direction of the rectangular area.

[0063] Similarly, in Figure 9 the example, the tangent 914 of the trajectory 731 at the intersection point 913 of the lower side 912A and the right side 912B of the rectangular area 911 containing the vehicle in the image 901 of the photographing device 50 is calculated. Additionally, the angle θ2 formed by the tangent 914 and the x-axis is calculated. Additionally, based on the angle θ2 and Figure 8 the functions f(θ) and g(θ) shown, the position 921 of the center of the front of the vehicle in the rectangular area 911 is calculated.

[0064] Similarly, in Figure 10 the example, the tangent 1014 of the trajectory 731 at the intersection point 1013 of the right side 1012 of the rectangular area 1011 containing the vehicle in the image 1001 of the photographing device 50 is calculated. Additionally, the angle θ3 formed by the tangent 1014 and the x-axis is calculated. Additionally, based on the angle θ3 andFigure 8 The functions f(θ) and g(θ) shown are used to calculate the position 1021 of the front center part of the vehicle in the rectangular area 1011.

[0065] Thus, as Figure 11 shown, for Figure 5 the image 501, the positions of the front center parts of the respective vehicles are calculated. In the example of Figure 11 , the position 1101 of the front center part of the vehicle 511, the position 1102 of the front center part of the vehicle 512, and the position 1103 of the front center part of the vehicle 513 are calculated. Further, as Figure 5 shown, the following situation is described: when the vehicle turns left after traveling in the direction of the imaging device 50, the position of the vehicle is tracked in multiple frames (tracking). In this case, when tracking the position of the vehicle based on the position of the lower left corner of the rectangular area including the vehicle, the moving distance within a predetermined time is relatively short. Therefore, the moving speed of the vehicle is calculated to be relatively low. On the other hand, when tracking the position of the vehicle based on the position of the lower right corner of the rectangular area including the vehicle, the change in the position of the vehicle in the y-axis direction is relatively large. On the other hand, according to the present disclosure, the trajectory of the vehicle can be appropriately calculated.

[0066] Next, the output unit 13 of the information processing device 10 outputs information such as an alarm corresponding to the calculated front position of the vehicle (step S4). Here, for example, as Figure 12 shown, the information processing device 10 may also Figure 11 ortho-transform the positions 1101, 1102, and 1103 of the front center parts of the respective vehicles 511, 512, and 513 in the image 501, and generate a schematic image 1201 of the road 510 as viewed from above. Further, the information processing device 10 may also send the generated image 1201 to the vehicle terminal 30 for display.

[0067] In addition, the information processing device 10 may, for example, send an alarm urging a brake operation to the vehicle terminals 30 of the respective vehicles when it is determined based on the change in the positions of the respective vehicles that a certain vehicle may collide with other vehicles.

[0068] (Regarding the update of the trajectory)

[0069] The control unit 12 of the information processing device 10 may also update the trajectories recorded in the trajectory DB601 based on the trajectories of the positions of multiple vehicles calculated from the respective images captured by the imaging device 50. Thereby, for example, it is possible to more appropriately detect the position in front of the vehicle based on the actual driving of each vehicle. In this case, the information processing device 10 may, for example, also calculate the change (trajectory) in the position of the center part in front of each vehicle based on the history of the movement of the rectangular areas including the respective vehicles according to each vehicle speed and vehicle type recorded in the trajectory DB601. And the information processing device 10 may also record the average of the calculated respective trajectories as the trajectory for the vehicle speed and vehicle type.

[0070] <Regarding the effects of the present disclosure>

[0071] In recent years, technologies related to autonomous driving have been developing. In order to achieve autonomous driving of level 4 or higher, cooperation with devices other than the host vehicle (for example, sensors installed on the roadside) has been studied. It is considered that by providing information based on such sensors to the vehicle side, it is possible to assist in safer and smoother traffic. On the other hand, in the case of a system that comprehensively uses various sensors (for example, a stereo camera, LiDAR (Light Detection and Ranging), millimeter-wave radar) to identify the position of a vehicle, it is necessary to complicate and enhance the functions of software and hardware.

[0072] On the other hand, according to the present disclosure, as a sensor, it is possible to detect the position of a vehicle by a monocular imaging device 50 (camera). In addition, by using the information of the trajectory preset according to the viewing angle of the imaging device 50 and the shape of the road, it is possible to appropriately detect the position of the vehicle while reducing the processing load.

[0073] <Modification example>

[0074] The information processing device 10 may also be a device included in one housing, but the information processing device 10 of the present disclosure is not limited thereto. Each part of the information processing device 10 may, for example, also be implemented by cloud computing composed of one or more computers. In addition, at least a part of the processing of the information processing device 10 may be executed by at least one of the server 20, the vehicle terminal 30, and the imaging device 50. In addition, the information processing device 10 may also be a device integrated with at least one of the server 20, the vehicle terminal 30, and the imaging device 50. Regarding such information processing devices, they are also included in an example of the "information processing system" of the present disclosure.

[0075] Furthermore, the present invention is not limited to the above-described embodiments, and may be appropriately modified without departing from the gist.

Claims

1. An information processing system having a control unit, wherein the control unit calculates a smallest rectangular area containing a vehicle in the image based on an image captured by a photographing device provided on the roadside, and calculates a position in front of the vehicle within the rectangular area based on the calculated rectangular area and a trajectory in the set image. The control unit calculates the position in front of the vehicle within the rectangular area based on the rectangular area and a tangent of the trajectory at an intersection of a side of the rectangular area and the trajectory.

2. The information processing system according to claim 1, wherein the photographing device is provided on the roadside of a road on which the vehicle travels.

3. The information processing system according to claim 1, wherein the information processing system has an output unit that outputs an alarm based on the position in front of the vehicle within the rectangular area calculated by the control unit.

4. The information processing system according to any one of claims 1 to 3, wherein the control unit calculates the position in front of the vehicle within the rectangular area based on a category of the vehicle recognized from the image and a trajectory in the image set for each category of the vehicle.

5. The information processing system according to any one of claims 1 to 3, wherein the control unit calculates the position in front of the vehicle within the rectangular area based on a speed of the vehicle calculated from an image captured by the photographing device and a trajectory in the image set according to the speed.

6. The information processing system according to any one of claims 1 to 3, wherein the control unit updates the trajectory based on trajectories of positions of a plurality of vehicles calculated from an image captured by the photographing device.

7. An information processing method, comprising: calculating a smallest rectangular area containing a vehicle in the image based on an image captured by a photographing device provided on the roadside; calculating a position in front of the vehicle within the rectangular area based on the calculated rectangular area and a trajectory in the set image; calculating the position in front of the vehicle within the rectangular area based on the rectangular area and a tangent of the trajectory at an intersection of a side of the rectangular area and the trajectory.

8. A storage medium storing a program for causing a computer to execute the following processing: calculating a smallest rectangular area containing a vehicle in the image based on an image captured by a photographing device provided on the roadside; calculating a position in front of the vehicle based on the calculated rectangular area and a trajectory in the set image; calculating the position in front of the vehicle within the rectangular area based on the rectangular area and a tangent of the trajectory at an intersection of a side of the rectangular area and the trajectory.

Images