Information processing apparatus, mobile body, system, information processing method, and computer-readable storage medium

Abstract

The present application relates to an information processing device, a mobile body, a system, an information processing method, and a computer-readable storage medium. The information processing device includes: a risk region determination unit that determines a risk region outside a mobile body; and a transmission control unit that performs control for transmitting risk region information indicating the risk region determined by the risk region determination unit to a server that holds information about the risk region. The risk region determination unit determines a region delimited by a plurality of points as the risk region, and determines a shape of the risk region on a first region side based on a boundary between the first region in which movement of the mobile body is prohibited and a second region in which movement of the mobile body is permitted.

Description

Technical Field

[0001] This invention relates to information processing apparatus, mobile body, system, information processing method, and computer-readable storage medium. Background Technology

[0002] Patent document 1 describes a system in which a risk area is managed by an MEC server, which provides risk area information to each vehicle.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-140470 Summary of the Invention

[0004] In a first aspect of the invention, an information processing apparatus is provided. The information processing apparatus includes a risk area determination unit that determines a risk area outside a moving body. The information processing apparatus includes a transmission control unit that controls the transmission of risk area information, representing the risk area determined by the risk area determination unit, to a server that maintains information related to the risk area. The risk area determination unit determines the risk area as a region defined by a plurality of points. The risk area determination unit determines the shape of the risk area on the side of the first region based on the boundary between a first region that prohibits movement of the moving body and a second region that allows movement of the moving body.

[0005] The risk area determination unit can determine the shape of the risk area based on a polygon with at least one point on the boundary as a vertex.

[0006] The risk area determination unit sets the vertex on the side of the moving body. The risk area determination unit can determine the shape of the risk area based on a straight line extending approximately parallel to the direction of movement of the moving body from the vertex.

[0007] The risk area determination unit can determine the shape of the risk area on the first area side based on the tangent of the boundary.

[0008] The risk area determination unit can set a first point furthest from the first area and a second point closest to the moving body. The risk area determination unit can determine the shape of the risk area on the opposite side of the first area based on a line passing through the first point and parallel to the moving direction of the moving body. The risk area determination unit can determine the shape of the risk area on the moving body side based on a line passing through the second point and approximately orthogonal to the moving direction of the moving body.

[0009] The information processing device may include a bending information determination unit that determines the bending direction of the boundary in front of the moving direction of the mobile body. The risk area determination unit may, based on the bending direction of the boundary, determine the shape of the risk area on the first area side according to the tangent of the boundary, provided that the boundary is in the direction relative to the moving direction of the mobile body toward the first area side.

[0010] The information processing device may include a bending information determination unit that determines the bending direction of the boundary in front of the moving direction of the mobile body. The risk area determination unit may, based on the bending direction of the boundary, determine the shape of the first area side by means of a line along the boundary, in the case where the boundary is oriented in a direction opposite to the first area side relative to the moving direction of the mobile body.

[0011] The risk area determination unit can determine the length of the risk area along the direction of movement of the moving body based on the speed of the moving body.

[0012] The higher the speed of the moving body, the longer the risk area determination unit can determine the risk area along the direction of movement of the moving body.

[0013] The moving body may be a vehicle.

[0014] The first area can be a sidewalk, and the second area can be a driveway.

[0015] The information processing device can be mounted on the mobile body.

[0016] The server may be a mobile edge computing (MEC) server.

[0017] In a second aspect of the invention, a mobile body is provided. The mobile body includes the aforementioned information processing device.

[0018] In a third aspect of the invention, a system is provided. The system includes the mobile body and the server.

[0019] In a fourth aspect of the invention, an information processing method is provided. The information processing method includes the step of determining a risk area outside a moving body. The information processing method includes performing control to send risk area information representing the determined risk area to a server that maintains information related to the risk area. In the step of determining the risk area, an area delineated by a plurality of points is determined as the risk area. The step of determining the risk area is based on the boundary between a first area that prohibits movement of the moving body and a second area that allows movement of the moving body, determining the shape of the risk area on the side of the first area.

[0020] In a fifth aspect of the invention, a program is provided. The program causes a computer to function as a risk area determination unit that determines a risk area outside a moving body. The program also causes the computer to function as a transmission control unit that controls the transmission of risk area information, representing the risk area determined by the risk area determination unit, to a server that maintains information related to the risk area. The risk area determination unit determines the risk area as a region defined by a plurality of points. The risk area determination unit determines the shape of the risk area on the side of the first region based on the boundary between a first region that prohibits movement of the moving body and a second region that allows movement of the moving body.

[0021] Furthermore, the above summary of the invention does not list all the essential features of the invention. Additionally, sub-combinations of these feature groups can also constitute an invention. Attached Figure Description

[0022] Figure 1 The usage scenarios of system 10 are illustrated schematically.

[0023] Figure 2 This shows the status of the information processing device 64 of vehicle 60 requesting location information of the risk area.

[0024] Figure 3 This shows the status of the information processing device 64 making inquiries related to the risk area.

[0025] Figure 4 The system configuration of vehicle 20 is shown.

[0026] Figure 5 The system configuration of server 52 is shown.

[0027] Figure 6 The risk areas determined by the risk area determination unit 220 are shown in a general outline.

[0028] Figure 7 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline.

[0029] Figure 8 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline.

[0030] Figure 9 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline.

[0031] Figure 10 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline.

[0032] Figure 11 The process flow related to the information processing methods performed by vehicle 20, vehicle 60, server 52, and terminal 82 is shown in general.

[0033] Figure 12 An example of a computer 2000 is shown. Detailed Implementation

[0034] The present invention will now be described through embodiments thereof; however, these embodiments do not limit the scope of the claimed invention. Furthermore, not all combinations of features described in the embodiments are necessary for the solutions provided by the invention.

[0035] Figure 1 The illustration depicts a usage scenario for system 10. System 10 includes vehicle 20, vehicle 60, terminal 82, base station 50, and server 52.

[0036] Vehicles 20 and 60 are vehicles traveling in lane 70. Vehicles 20 and 60 are examples of moving bodies. Vehicle 20 includes an information processing unit 24 and a sensor 29. The sensor 29 includes a camera. The information processing unit 24 has the function of processing information acquired by the sensor 29 and the function of communicating with the server 52. Vehicle 20 is, for example, a vehicle with an Advanced Driver Assistance System (ADAS) function. Vehicle 60 includes an information processing unit 64. The information processing unit 64 has the function of communicating with the server 52. Vehicle 60 is, for example, a vehicle without ADAS function.

[0037] Terminal 82 is a terminal held by person 80. Terminal 82 is, for example, a portable terminal such as a smartphone. Base station 50 is a base station used for mobile communication. Server 52 is a server connected to base station 50. Server 52 may include an edge computing server such as a mobile edge computing (MEC) server. Server 52 continuously manages the location information of terminal 82. Additionally, although... Figure 1A server 52 is shown, but server 52 can be composed of multiple servers, each connected to multiple base stations. Information processing device 24 can communicate with the server near vehicle 20 among the multiple servers constituting server 52, and information processing device 64 can communicate with the server near vehicle 60 among the multiple servers constituting server 52.

[0038] exist Figure 1 In this configuration, vehicles 20 and 60 are vehicles traveling along lane 70. Vehicle 90 is a vehicle parked in lane 70. Vehicle 60 is behind vehicle 20 and travels in the same direction as vehicle 20. Pedestrian walkways 71 and 72 exist on both sides of lane 70.

[0039] For vehicle 20, the area 110 on the direction of travel of vehicle 20 is an area that is difficult to visually confirm from the position of vehicle 20 compared to parked vehicle 90. The information processing device 24 determines the area 110 that cannot be seen from vehicle 20 as a risk area based on information such as images of the direction of travel acquired by sensor 29.

[0040] For example, based on recognition information from the image acquired by sensor 29, information processing device 24 determines four vertices 111, 112, 113, and 114 of a quadrilateral region 110 containing the position of vehicle 90. Vertex 113 is a point located at a distance L1 from vertex 111 determined based on the image recognition information in the direction of travel of vehicle 20. Vertex 114 is a point located at a distance L1 from vertex 112 determined based on the image recognition information in the direction of travel of vehicle 20. L1 is a distance determined based on the speed of vehicle 20. Information processing device 24 determines vertices 111 and 113 such that the line segment connecting vertices 111 and 113 is parallel to the direction of travel of vehicle 20, and the line segment connecting vertices 111 and 113 is adjacent to the area where vehicle 90 is identified by sensor 29. Furthermore, the information processing device 24 determines vertices 111 and 112 such that the line segment connecting vertices 111 and 112 is approximately orthogonal to the direction of travel of the vehicle 20 and connects to the area where the vehicle 90 is identified by the sensor 29. Additionally, the information processing device 24 determines vertices 112 and 114 such that the line segment connecting vertices 112 and 114 substantially does not intersect the pedestrian walkway 71. Thus, the information processing device 24 can limit the risk area to the smallest possible range. In particular, the information processing device 24 can determine the risk area in a manner that excludes the pedestrian walkway 71.

[0041] When the information processing device 24 queries the server 52 to see if terminal 82 exists in region 110, the information processing device 24 sends risk region information, including four vertices 111, 112, 113, and 114, to the server 52. Figure 1 In the example, since there is no terminal in region 110 defined by the four vertices 111, 112, 113, and 114, the server 52 discards the risk area information or sends a response message to the vehicle 20 indicating that the terminal 82 does not exist. The server 52 stores the four vertices 111, 112, 113, and 114 contained in the risk area information received from the information processing device 24.

[0042] Figure 2 This illustrates a situation where the information processing device 64 of vehicle 60 requests location information of a risk area. When the information processing device 64 is in an area that can communicate with server 52, it sends a risk area request to server 52. Server 52 sends the coordinate information of vertices 111 and 112 of region 110 stored in its memory as a response to the risk area request to the information processing device 64. The information processing device 64 stores the coordinate information of vertices 111 and 112 received from server 52.

[0043] Figure 3 This illustrates the state of the information processing device 64 making inquiries related to a risk area. When the distance from the vehicle 60 to the position represented by the coordinate information of at least one of vertices 111 and 112 is less than a preset distance, the information processing device 64 designates the area 120 defined by vertices 111, 112, 123, and 124 as a risk area for the vehicle 60. For example, the information processing device 64 designates a point on the vehicle 60's travel direction that is a distance L2 from vertex 111 away from the vehicle 60's speed, determined by the vehicle's speed, as vertex 123, and a point on the vehicle 60's travel direction that is a distance L2 from vertex 112 away from the vehicle 60's speed, as vertex 124. The information processing device 64 designates vertices 123 and 124 in the same way that the information processing device 24 designates vertices 113 and 114, such that the area 120 does not include the sidewalk 71.

[0044] The information processing device 64 sends risk area information, including the coordinate information of vertices 111, 112, 123, and 124 of region 120, which is designated as a risk area, to the server 52. When the location information of the terminal 82 managed by the server 52 is contained within region 120 surrounded by vertices included in the risk area information, the server 52 sends a warning message to the information processing device 64 and the terminal 82. Upon receiving the warning message from the server 52, the information processing device 64 outputs a warning to the occupants of the vehicle 60. For example, the information processing device 64 outputs a warning to the occupants using the HMI (Human Machine Interface) function of the vehicle 20. Thus, even if the information processing device 64 itself does not have the function of identifying risk areas using sensors such as cameras, the information processing device 64 can output a warning using the risk area received from the server 52 via wireless communication. In addition, when receiving a warning message from the server 52, the terminal 82 outputs a warning to the person 80. For example, the terminal 82 outputs a warning to the person 80 using the HMI function of the terminal 82.

[0045] In this way, information processing devices 24 and 64 can determine the risk area without including the sidewalk 71. This prevents warnings from being issued to the terminal 82 or vehicles only when a person is walking along the sidewalk.

[0046] Figure 4 The system configuration of vehicle 20 is shown. Vehicle 20 includes sensor 29, information processing device 24, communication device 48, and information output device 40.

[0047] Sensor 29 includes radar 21, camera 22, GNSS receiver 25, and vehicle speed sensor 26. Radar 21 can be LiDAR, millimeter-wave radar, etc. GNSS receiver 25 receives radio waves transmitted from GNSS (Global Navigation Satellite System) satellites. GNSS receiver 25 generates information indicating the current position of vehicle 20 based on the signals received from GNSS satellites. Camera 22 is an example of an imaging device mounted on vehicle 20. Camera 22 captures images of the surroundings of vehicle 20 to generate image information. For example, camera 22 captures images of vehicle 20 in its direction of travel to generate image information. Camera 22 can be a monocular camera. Camera 22 can be a compound-eye camera, or a camera capable of acquiring distance information of objects. Camera 22 identifies objects based on the images acquired through the imaging function and outputs the position information of the identified objects. Vehicle speed sensor 26 detects the speed of vehicle 20. Additionally, sensor 29 may include position sensors such as an odometer and IMUs (Inertial Measurement Units) such as accelerometers and attitude sensors.

[0048] Furthermore, vehicle 20 may be equipped with a driver assistance control device that uses information detected by sensor 29 to assist the driver of vehicle 20. The driver assistance control device can be implemented through an ECU that provides ADAS functions.

[0049] Communication device 48 handles communication with server 52. Communication device 48 can communicate with server 52 via mobile communication. For example, communication device 48 can communicate via a communication (Uu) interface via a mobile base station for inter-vehicle communication.

[0050] Information output device 40 is a device for outputting alarm information. Information output device 40 may have HMI functionality. Information output device 40 may include a head-up display and a navigation system. Information output device 40 may also be a portable terminal held by the occupants of vehicle 20. Information output device 40 may include an audio output device that outputs alarm information via sound.

[0051] The information processing device 24 includes a control unit 200 and a storage unit 280. The control unit 200 is implemented by circuitry, such as an arithmetic processing device including a processor. The storage unit 280 is implemented using a non-volatile storage medium. The storage unit 280 stores road information. For example, the road information in the storage unit 280 includes information on the position of the driving lanes, the position of the sidewalks, information indicating the position and shape of the boundary between the driving lanes and the sidewalks, and information indicating the radius of curvature of the boundary between the driving lanes and the sidewalks. The control unit 200 uses the information stored in the storage unit 280 to perform processing. The control unit 200 can be implemented by an ECU (Electronic Control Unit), which has a microcomputer with a CPU, ROM, RAM, I / O, and bus.

[0052] The control unit 200 includes a coordinate information acquisition unit 210, a risk area determination unit 220, a curvature information determination unit 230, a control unit 208, a transmission control unit 250, and a reception control unit 260. Alternatively, the control unit 200 may not have... Figure 4 This can be a partial implementation of the functions within the functional blocks shown. For example, it can be implemented in the control unit 200 only for a portion of the functions, while other functions are implemented as functions of other circuits such as the sensor 29.

[0053] The risk area determination unit 220 determines the risk area outside the vehicle 20. The transmission control unit 250 performs control to send risk area information representing the risk area determined by the risk area determination unit 220 to the server 52 that maintains information related to the risk area.

[0054] Additionally, the risk area can be the area outside of vehicle 20 that poses a risk to the movement of vehicle 20. The risk area can be the area outside the field of vision from the position of vehicle 20 due to objects outside vehicle 20. The area outside the field of vision is, for example, the location information of the area obstructed by three-dimensional objects such as other vehicles, buildings, and roadside trees when viewed from the position of vehicle 20.

[0055] The coordinate information acquisition unit 210 acquires coordinate information of objects identified from images of the exterior of the vehicle 20 captured by the camera 22 mounted on the vehicle 20. The risk area determination unit 220 can determine risk areas based on the coordinate information of objects identified from images of the exterior of the vehicle 20 captured by the camera 22.

[0056] The risk area determination unit 220 defines a region as a risk area by delineating multiple points. Based on the boundary between a first area where vehicle 20 movement is prohibited and a second area where vehicle 20 movement is permitted, the risk area determination unit 220 determines the shape of the risk area on the first area side. The second area where vehicle 20 movement is permitted is, for example, lane 70. The second area where vehicle 20 movement is permitted is the driving lane on lane 70 where vehicle 20 can travel in the current direction. Pedestrian walkway 71 is adjacent to the second area and is an example of the first area where vehicle 20 movement is prohibited.

[0057] The risk area determination unit 220 can determine the shape of the risk area based on a polygon with at least one vertex on the boundary. The risk area determination unit 220 can set vertices on the vehicle 20 side and determine the shape of the risk area based on a straight line extending approximately parallel to the movement direction of the moving body from the vertex.

[0058] The risk area determination unit 220 can determine the shape of the risk area based on the shape of the boundary between the first area and the second area. The risk area determination unit 220 can determine the shape of the risk area on the first area side based on the tangent of the boundary. The risk area determination unit 220 sets a first point farthest from the first area and a second point closest to the vehicle 20, determines the shape of the risk area on the opposite side from the first area based on a line passing through the first point and parallel to the direction of movement of the vehicle 20, and determines the shape of the risk area on the vehicle 20 side based on a line passing through the second point and approximately orthogonal to the direction of movement of the vehicle 20.

[0059] The bending information determination unit 230 determines the bending direction of the boundary in front of the vehicle 20 in the direction of movement. The bending information determination unit 230 determines the bending direction of the boundary in front of the vehicle 20 in the direction of movement based on the boundary information stored in the storage unit 280 and the position of the vehicle 20. When the bending direction of the boundary is the direction of the boundary relative to the direction of movement of the vehicle 20 toward the first region side, the risk region determination unit 220 can determine the shape of the risk region on the first region side based on the tangent of the boundary. When the bending direction of the boundary is the direction of the boundary relative to the direction of movement of the vehicle 20 toward the opposite side to the first region side, the risk region determination unit 220 can determine the shape of the first region side based on the line along the boundary.

[0060] The risk area determination unit 220 can determine the length of the risk area along the direction of movement of the vehicle 20 based on the speed of the vehicle 20. For example, the higher the speed of the vehicle 20, the longer the risk area determination unit 220 can determine in the direction of movement of the vehicle 20.

[0061] The control unit 208 can control the driving assistance of the vehicle 20 or the execution of warnings to the occupants of the vehicle 20. For example, when the information output device 40 is equipped with a head-up display, the control unit 208 can cause the head-up display of the vehicle 20 to output light for forming a marker as a warning message indicating the presence of a pedestrian in a risk area. Additionally, the control unit 208 causes the head-up display to output light for forming a marker in a display area corresponding to the location of the pedestrian in the risk area. The control unit 208 can project the light used to form the marker onto a reflective member provided on the windshield of the vehicle 20. Furthermore, the control unit 208 can also output warning messages via sound or text. Additionally, the control unit 208 can control the driving of the vehicle 20 through the driving assistance control devices provided with the vehicle 20.

[0062] Figure 5 The system configuration of server 52 is shown. Server 52 includes communication device 348, control unit 300, and storage unit 380.

[0063] The control unit 300 controls the communication device 348. The communication device 348 handles communication with the terminal 82 and the information processing device 24. The control unit 300 is implemented using circuitry, such as an arithmetic processing unit including a processor. The storage unit 380 is implemented using a non-volatile storage medium. The control unit 300 performs processing using information stored in the storage unit 380. The control unit 300 can be implemented using a microcomputer equipped with a CPU, ROM, RAM, I / O, bus, etc.

[0064] The control unit 300 includes a holding control unit 310, a judgment unit 320, a transmission control unit 350, and a receiving control unit 360. Alternatively, the control unit 300 may not have... Figure 5 The form of a portion of the functions in the shown function block.

[0065] The receiving control unit 360 performs control for receiving risk area information representing a risk area outside the vehicle 20 as determined by the vehicle 20. The holding control unit 310 performs control for holding information related to the risk area. For example, the holding control unit 310 stores the information related to the risk area in the storage unit 380. The risk area information includes multiple points that define the risk area. The holding control unit 310 performs control for holding the coordinate information of the multiple points contained in the risk area information. For example, the holding control unit 310 stores the coordinate information of the multiple points contained in the risk area information in the storage unit 380.

[0066] The receiving control unit 360 performs control for periodically receiving location information of multiple terminals, including terminal 82. The server 52 manages the location information of each of the multiple terminals by storing the location information of the multiple terminals received under the control of the receiving control unit 360 in the storage unit 380.

[0067] The receiving control unit 360 receives risk area information from vehicle 20 or vehicle 60. The risk area information is sent from vehicle 20 or vehicle 60 and is used to inquire whether any of the terminals whose location information is managed by server 52 exists within the risk area. The risk area information may contain the coordinates of all the vertices that define the risk area. The judging unit 320, based on the location information of the terminals managed by server 52, determines whether any of the terminals exists within the risk area defined by the multiple vertices contained in the risk area information. If it is determined that any of the terminals exists within the risk area, the sending control unit 250 executes control to send a response indicating the presence of the terminal to vehicle 20 or vehicle 60, the source of the inquiry information.

[0068] Figure 6 The risk areas determined by the risk area determination unit 220 are shown in a general outline. Figure 6 This is an example of a risk area identified when vehicle 90 is stopped on a left-hand curve. Sidewalks 71a and 72a exist on either side of lane 70a, which is accessible to vehicle 20.

[0069] Sensor 29 outputs coordinate information indicating the location of an object detected by sensor 29. For example, sensor 29 outputs the coordinate information of the object's location in a coordinate system where the vehicle 20's direction of travel is the positive x-axis, and the y-axis is parallel to and orthogonal to the x-axis to a plane parallel to the road surface the vehicle 20 is traveling on. The origin O of the coordinate system is set at a preset position within the vehicle 20. For example, in... Figure 6In the example shown, sensor 29 outputs coordinate information including the coordinates of position 401 and position 403. Position 401 is the position of the object in the most negative y-direction identified by sensor 29, and position 403 is the position of the object in the most negative x-direction identified by sensor 29. That is, position 401 is the position of the object that is furthest from the sidewalk 71a identified by sensor 29. Position 403 is the position of the object that is closest to the vehicle 20 identified by sensor 29.

[0070] The risk area determination unit 220 determines region 410 as a risk area based on the coordinate information obtained by the coordinate information acquisition unit 210. Region 410 is a rectangular area defined by connecting vertices 411, 412, 414, and 413.

[0071] The risk area determination unit 220 sets the position 401 furthest from the sidewalk 71a and the position 403 closest to the vehicle 20. It determines the shape of the area 410 on the opposite side of the sidewalk 71a based on the line E41 that passes through the position 401 and is parallel to the direction of movement of the vehicle 20. It determines the shape of the area 410 on the side of the vehicle 20 based on the line E43 that passes through the position 403 and is orthogonal to the direction of movement of the vehicle 20.

[0072] Vertex 411 is defined as the intersection of lines E41 and E43. Vertex 413 is defined as the position L1 away from vertex 411 in the positive x-axis direction. The higher the speed of vehicle 20, the longer L1 is defined.

[0073] The risk area determination unit 220 determines the shape of the area 410 on the side of the sidewalk 71a based on the boundary 650 between the sidewalk 71a and the lane 70a. For example, the risk area determination unit 220 sets a vertex 412 on the boundary 650. More specifically, the risk area determination unit 220 sets the vertex 412 at the intersection of the boundary 650 and line E43. The vertex 414 is determined as a position at a distance L1 from the vertex 412 in the positive x-axis direction.

[0074] Thus, the risk area determination unit 220 determines the shape of the risk area based on a polygon with at least one vertex on the boundary 650. Specifically, the risk area determination unit 220 determines the shape of the area 410 on the sidewalk 71a based on line E42, which is a straight line extending parallel to the direction of movement of the vehicle 20. Therefore, the risk area determination unit 220 can determine the risk area in a manner that minimizes the inclusion of the sidewalk 71a. Furthermore, the extent of the risk area can be effectively defined.

[0075] Figure 7 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline. Figure 7This is an example of a risk area identified when vehicle 90 is stopped on a right-hand curve. Sidewalks 71b and 72b exist on either side of the movable lane 70b of vehicle 20.

[0076] exist Figure 7 In the example shown, sensor 29 outputs coordinate information including the coordinates of position 501 and position 503. Position 501 is the position of the object in the most negative y-direction identified by sensor 29, and position 503 is the position of the object in the most negative x-direction identified by sensor 29. That is, position 501 is the position of the object that is furthest from the sidewalk 71b identified by sensor 29. Position 503 is the position of the object that is closest to the vehicle 20 identified by sensor 29.

[0077] The risk area determination unit 220 determines region 510 as a risk area based on the coordinate information obtained by the coordinate information acquisition unit 210. Region 510 is a rectangular area defined by connecting vertices 511, 512, 514, and 513.

[0078] The risk area determination unit 220 sets the position 501 furthest from the sidewalk 71b and the position 503 closest to the vehicle 20 among the identified object locations. It determines the shape of the region 510 on the opposite side of the sidewalk 71b based on a line E51 passing through position 501 and parallel to the direction of movement of the vehicle 20. It determines the shape of the region 510 on the side of the vehicle 20 based on a line E53 passing through position 503 and orthogonal to the direction of movement of the vehicle 20. Vertex 511 is determined as the intersection of lines E51 and E53. Vertex 513 is determined as the position at a distance L1 from vertex 511 in the positive x-axis direction.

[0079] The risk area determination unit 220 determines the shape of the area 510 on the sidewalk 71b based on the boundary 750 between the sidewalk 71b and the driveway 70b. For example, the risk area determination unit 220 sets a vertex 512 on the boundary 750. More specifically, the risk area determination unit 220 sets a vertex 512 at the intersection of the boundary 750 and line E53.

[0080] Vertex 514 is defined as the position L1 away from vertex 512 in the positive x-axis direction. L1 is determined based on the speed of vehicle 20. The higher the speed of vehicle 20, the longer L1 is determined.

[0081] Thus, the risk area determination unit 220 determines the shape of the risk area based on a polygon with at least one vertex on the boundary 750. Specifically, the risk area determination unit 220 determines the shape of the area 510 on the sidewalk 71b side based on line E52, which is a straight line extending parallel to the direction of movement of the vehicle 20. Therefore, even when the boundary 750 between the lane 70b and the sidewalk 71b curves to the right, the risk area can be determined in a way that the area including the sidewalk 71b becomes smaller. Furthermore, the extent of the risk area can be effectively defined.

[0082] Figure 8 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline. Figure 8 This is an example of a risk area identified when vehicle 90 is stopped on a left-hand curve. Sidewalks 71a and 72a exist on either side of lane 70a, which is accessible to vehicle 20.

[0083] Sensor 29 outputs coordinate information indicating the location of an object detected by sensor 29. For example, sensor 29 outputs the coordinate information of the object's location in a coordinate system where the vehicle 20's direction of travel is the positive x-axis, and the y-axis is parallel to and orthogonal to the x-axis to a plane parallel to the road surface the vehicle 20 is traveling on. The origin O of the coordinate system is set at a preset position within the vehicle 20. For example, in... Figure 8 In the example shown, sensor 29 outputs coordinate information including the coordinates of position 601 and position 603. Position 601 is the position of the object in the most negative y-direction identified by sensor 29, and position 603 is the position of the object in the most negative x-direction identified by sensor 29. That is, position 601 is the position of the object that is furthest from the sidewalk 71a identified by sensor 29. Position 603 is the position of the object that is closest to the vehicle 20 identified by sensor 29.

[0084] The risk area determination unit 220 determines region 610 as a risk area based on the coordinate information acquired by the coordinate information acquisition unit 210. Region 610 is a rectangular area defined by connecting vertices 611, 612, 614, and 613.

[0085] The risk area determination unit 220 sets the position 601 furthest from the sidewalk 71a and the position 603 closest to the vehicle 20. It determines the shape of the area 610 on the opposite side of the sidewalk 71a based on the line E1 that passes through the position 601 and is parallel to the direction of movement of the vehicle 20. It determines the shape of the area 610 on the side of the vehicle 20 based on the line E3 that passes through the position 603 and is orthogonal to the direction of movement of the vehicle 20.

[0086] The risk area determination unit 220 determines the shape of the area 610 on the sidewalk 71a based on the tangent of the boundary 650 between the sidewalk 71a and the driveway 70a. For example, vertices 612 and 614 are positions on line E2, which is the tangent of the boundary 650 at vertex 612.

[0087] Vertex 613 is determined as a distance L1 from vertex 611 in the positive x-axis direction. Vertex 614 is determined as a distance L1 from vertex 612 in the positive x-axis direction. L1 is determined based on the speed of vehicle 20. The higher the speed of vehicle 20, the longer the L1 is determined.

[0088] Therefore, the risk area determination unit 220 can determine the risk area in a way that substantially does not include the sidewalk 71a. In addition, the scope of the risk area can be effectively limited.

[0089] Figure 9 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline. Figure 9 This is an example of a risk area identified when vehicle 90 is stopped on a right-hand curve. Sidewalks 71b and 72b exist on either side of the movable lane 70b of vehicle 20.

[0090] exist Figure 9 In the example shown, sensor 29 outputs coordinate information including the coordinates of position 701 and position 703. Position 701 is the position of the object in the most negative y-direction identified by sensor 29, and position 703 is the position of the object in the most negative x-direction identified by sensor 29. That is, position 701 is the position of the object that is furthest from the sidewalk 71b identified by sensor 29. Position 703 is the position of the object that is closest to the vehicle 20 identified by sensor 29.

[0091] The risk area determination unit 220 determines region 710 as a risk area based on the coordinate information acquired by the coordinate information acquisition unit 210. Region 710 is a rectangular area defined by connecting vertices 711, 712, 714, and 713.

[0092] The risk area determination unit 220 sets the position 701, which is farthest from the sidewalk 71b, and the position 703, which is closest to the vehicle 20, among the positions of the identified objects. It determines the shape of the area 710 on the side opposite to the sidewalk 71b based on the line E11 that passes through position 701 and is parallel to the direction of movement of the vehicle 20. It determines the shape of the area 710 on the side of the vehicle 20 based on the line E13 that passes through position 703 and is orthogonal to the direction of movement of the vehicle 20.

[0093] Vertex 711 is defined as the intersection of lines E11 and E13. Vertex 713 is defined as the position L1 away from vertex 711 in the positive x-axis direction. L1 is determined based on the speed of vehicle 20. The higher the speed of vehicle 20, the longer L1 is determined. Line E14 is a line that passes through vertex 713 and is parallel to E13. Vertex 714 is a vertex located on boundary 750 and on line E14. Vertex 712 is a point located on line E13 and on boundary 750.

[0094] The risk area determination unit 220 determines the shape of the area 710 on the sidewalk 71b side based on the line E12 connecting vertex 712 and vertex 714. Line E12 is a line determined based on the shape of boundary 750. When boundary 750 curves to the right, the risk area determination unit 220 determines line E12 as the edge of the area 710 on the sidewalk 71b side. Therefore, even when the boundary 750 between lane 70b and sidewalk 71b curves to the right, the risk area can be determined in a way that substantially does not include sidewalk 71b. Furthermore, the extent of the risk area can be effectively defined.

[0095] Figure 10 Other examples of risk areas determined by the risk area determination unit 220 are shown in a general outline. Figure 10 This is an example of a risk area identified when vehicle 90 is parked on a right-hand curve. The risk area identification unit 220 identifies area 810 as a risk area. Figure 10 Area 810, except that the side of the sidewalk 71b is formed by curve C12, is otherwise similar to... Figure 9 The region 710 is the same. Therefore, except for the structure related to curve C12, the description of it is omitted.

[0096] Curve C12 is a line with a shape based on the boundary 750. Curve C12 is, for example, a line along the boundary 750. The risk area determination unit 220 determines the shape of the area 710 on the sidewalk 71b side based on curve C12 along the boundary 750. Thus, when the boundary 750 curves to the right, the risk area determination unit 220 determines curve C12 along the boundary 750 as the edge of the area 710 on the sidewalk 71b side. Therefore, when the boundary 750 between the lane 70b and the sidewalk 71b curves to the right, the risk area can be determined in a way that substantially does not include the sidewalk 71b. Furthermore, the extent of the risk area can be effectively defined.

[0097] Furthermore, the curvature information determination unit 230 can determine the radius of curvature of the boundary 750 based on the road information stored in the storage unit 280. The risk area determination unit 220 can determine the curve C12 as the curve that passes through vertex 712 and has the radius of curvature of the boundary 750 at the vertex 712 position. Thus, even when the boundary 750 curves to the right, the risk area can be determined in a way that substantially does not include the sidewalk 71b.

[0098] Alternatively, the shape of the region 810 on the opposite side of the sidewalk 71b can be set to the shape along the boundary 750. As an example, if the radius of curvature of the boundary 750 exceeds a predetermined value, the shape of the region 810 on the opposite side of the sidewalk 71b can be the shape along the boundary 750. Alternatively, the shape of the region 810 on the opposite side of the sidewalk 71b can be determined based on a line parallel to the tangent of the boundary 750. Similarly, as a reference... Figure 9 A variation of the shape of the described region 710 is that the region 710 on the opposite side from the sidewalk 71b can be shaped along the boundary 750. For example, if the radius of curvature of the boundary 750 exceeds a predetermined value, the region 710 on the opposite side from the sidewalk 71b can be shaped along the boundary 750. Alternatively, the shape of the region 710 on the opposite side from the sidewalk 71b can be determined based on a line parallel to the tangent of the boundary 750.

[0099] Additionally, as a reference Figure 8 In a variation of the described region 610, where the boundary 650 curves to the left, the shape of the region 610 on the sidewalk 71a side can be set to the shape along the boundary 650. Alternatively, the shape of the region 610 on the opposite side of the sidewalk 71a can be set to the shape along the boundary 650, or the shape of the region 610 on the opposite side of the sidewalk 71a can be determined based on a line parallel to the tangent of the boundary 650.

[0100] Figure 11 The flowchart of the processing related to the information processing method executed by vehicle 20, vehicle 60, server 52, and terminal 82 is shown in general. In S802, the risk area determination unit 220 determines the risk area based on the information identified by sensor 29. For example, the risk area determination unit 220 determines the four vertices of the risk area 110 based on the coordinate information output by sensor 29 acquired by coordinate information acquisition unit 210. For example, the risk area determination unit 220 uses a reference... Figures 6 to 10 The method described above is used to determine four vertices to identify the risk area.

[0101] In S808, the transmission control unit 250 sends an inquiry regarding the existence of a predetermined object in the risk area and a request to register risk area information. The risk area information includes the coordinates of the four vertices of the risk area defined in S802. The risk area information may include geographic coordinates expressed by the latitude and longitude of the four vertices defining the risk area. The risk area information may also include information indicating the current position of the vehicle 20 or the direction of travel of the vehicle 20.

[0102] When server 52 receives risk area information sent from vehicle 20, in S812, the holding control unit 310 registers the coordinate information of the vertices received through the risk area information as vertex information of the risk area. For example, the holding control unit 310 stores the coordinate information of the vertices received in S808 as vertex information of the risk area in the storage unit 380.

[0103] In S813, the determination unit 320 determines whether the terminal 82 exists within the area defined by the four vertices contained in the risk area information received from the vehicle 20. For example, in Figure 1 In the situation shown, the determination unit 320 determines that there is no terminal 82 within the area 110 defined by the four vertices included in the risk area information. In this case, the transmission control unit 350 may not send response information regarding the risk area information to the vehicle 20. Alternatively, if there is no terminal 82 within the area defined by the four vertices included in the risk area information, the transmission control unit 350 may also send response information to the vehicle 20 indicating that no object exists in the risk area.

[0104] Subsequently, in S822, the information processing unit 64 of the vehicle 60 sends a risk area request, which requests location information of a risk area, to the server 52. This risk area request may include information indicating the position of the vehicle 60 and its direction of travel. In S814, the transmission control unit 350, based on the risk area request, sends to the vehicle 60 the vertex information of risk areas stored in the storage unit 380 that contains vertex information of risk areas located ahead of the vehicle 60 in its direction of travel.

[0105] In S824, the information processing device 64, based on the current position of the vehicle 60 and the vertex information received from the server 52, determines a risk zone based on the coordinates of the vertices represented by the vertex information and the vehicle speed of the vehicle 60 when it determines that the vehicle 60 has approached the position represented by the vertex information. For example, the information processing device 64 refers to... Figure 3As described above, vertices 123 and 124 are determined based on the coordinates and distance L2 of two vertices 111 and 112, and the region 120 defined by vertices 111, 112, 113, and 114 is set as a risk region. In S825, the information processing device 64 sends the risk region information containing the four vertices of the risk region set in S824 to the server 52 as risk region information for querying whether a predetermined object exists within the risk region.

[0106] When server 52 receives risk area information sent from vehicle 60, in S815, determination unit 320 determines whether terminal 82 exists within the area defined by the four vertices contained in the risk area information received from vehicle 60. For example, in Figure 3 In the situation shown, the determination unit 320 determines that the terminal 82 exists within the area 120 defined by the four vertices contained in the query information. In this case, in S816, the transmission control unit 350 sends a warning message indicating the presence of the terminal 82 in the area to the vehicle 60 via the communication device 348 as a response to the risk area information. Additionally, the transmission control unit 350 sends a warning message indicating that the vehicle is approaching to the terminal 82 via the communication device 348.

[0107] When the information processing device 64 receives a warning message from the server 52, in S828, the information processing device 64 outputs a warning to the occupants of the vehicle 60 through the HMI function of the information output device 40. Additionally, when the warning message is received from the server 52, in S838, the terminal 82 outputs a warning to the person 80 through the HMI function of the terminal 82.

[0108] As described above, the information processing device 24 can determine the risk area in a manner that substantially excludes the sidewalk 71, thus preventing the need to warn pedestrians or vehicles on the sidewalk in advance. Therefore, the risk area can be set within a convenient range, enabling efficient notification of warnings.

[0109] Furthermore, communication between the information processing device 24 and the server 52 can be conducted using a Cellular-V2X communication method. Cellular-V2X includes communication methods such as LTE-V2X PC5 and 5G-V2X PC5. In another embodiment, communication between the information processing device 24 and the server 52 can also be conducted using Wi-Fi (registered trademark) and DSRC (Dedicated Short Range Communications). Besides Cellular-V2X and DSRC (registered trademark), communication between the information processing device 24 and the server 52 can also utilize any communication method such as Bluetooth (registered trademark). The information processing device 24 can also use the communication infrastructure provided by ITS (Intelligent Transport Systems) to communicate with the server 52.

[0110] Additionally, vehicles 20 and 60 can be examples of transportation equipment. Transportation equipment can include cars, buses, and other automobiles, saddle-mounted vehicles, bicycles, etc. Furthermore, in this embodiment described above, system 10 functions as a system that issues a warning when terminal 82 is present in a risk area; however, it can also function as a system that issues a warning when any communication device other than terminal 82 is present and capable of managing location information by server 52. The communication device in question can be installed on any moving body such as a car, saddle-mounted vehicle, or bicycle.

[0111] As described above, this embodiment is implemented in view of situations where pedestrians and vehicles walking on the sidewalk are warned, and the purpose of this embodiment is to improve traffic safety while suppressing the reduction of traffic flow.

[0112] Figure 12 Examples of computer 2000 that may embody all or part of the various embodiments of the present invention are shown. A program installed on computer 2000 enables computer 2000 to function as an apparatus such as information processing apparatus 24 according to the embodiments, or as a server such as server 52 according to the embodiments, or as a unit of that server, performing operations associated with that apparatus, its units, the server, or its units, and / or performing processes or steps related to the embodiments. Such a program may be executed by CPU 2012 to enable computer 2000 to perform the processing flow described herein and specific operations associated with several or all of the functional blocks in the block diagram.

[0113] The computer 2000 based on this embodiment includes a CPU 2012 and RAM 2014, which are interconnected via a main controller 2010. The computer 2000 also includes a ROM 2026, flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, flash memory 2024, communication interface 2022, and input / output chip 2040 are connected to the main controller 2010 via an input / output controller 2020.

[0114] CPU2012 operates according to the programs stored in ROM2026 and RAM2014, thereby controlling each unit.

[0115] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 within the computer 2000. The ROM 2026 stores startup programs executed by the computer 2000 when activated, and / or programs dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as keyboards, mice, and monitors to the input / output controller 2020 via input / output ports such as serial ports, parallel ports, keyboard ports, mouse ports, monitor ports, USB ports, and HDMI (registered trademark) ports.

[0116] The program is provided via a computer-readable medium such as a CD-ROM, DVD-ROM, or USB flash drive, or via a network. RAM 2014, ROM 2026, or flash memory 2024 are examples of computer-readable media. The program is installed into flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described within these programs is read by computer 2000, enabling cooperation between the program and the aforementioned types of hardware resources. The apparatus or method can be configured to perform information manipulation or processing in accordance with the use of computer 2000.

[0117] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 can execute a communication program loaded into the RAM 2014, and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2014 and the flash memory 2024, sends the read transmission data to the network, and writes the received data received from the network to the receive buffer processing area provided on the recording medium, etc.

[0118] In addition, CPU 2012 can read all or a required portion of a file or database stored in a recording medium such as flash memory 2024 into RAM 2014, and perform various processing on the data in RAM 2014. CPU 2012 then writes the processed data back to the recording medium.

[0119] Various types of information, such as programs, data, tables, and databases, can be saved to the recording medium and applied to information processing. The CPU 2012 can perform various operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc., as described in this specification, on data read from the RAM 2014, and write the results back to the RAM 2014. Furthermore, the CPU 2012 can retrieve information from files, databases, etc., within the recording medium. For example, if multiple items, each having an attribute value associated with a second attribute, are stored in the recording medium, the CPU 2012 can retrieve the item whose first attribute value matches the condition from these multiple items, read the second attribute value stored in that item, and thereby obtain the second attribute value associated with the first attribute that satisfies a preset condition.

[0120] The programs or software modules described above can be stored on or near the computer 2000 on a computer-readable medium. Recording media such as hard disks or RAM provided in server systems connected to a dedicated communication network or the Internet can be used as computer-readable media. Programs stored on computer-readable media can be provided to the computer 2000 via a network.

[0121] When the computer 2000 functions as a control unit 200, programs installed in the computer 2000 that enable it to function as a control unit 200 can operate in the CPU 2012 or similar devices, thereby allowing each unit of the computer 2000 to function as a control unit 200. The information processing described in these programs is read into the computer 2000, whereby it functions as specific units that cooperate with the software and the various hardware resources described above—that is, as units of the control unit 200. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a control unit 200 specific to that intended use is constructed.

[0122] When the computer 2000 functions as the control unit 300, programs installed in the computer 2000 that enable it to function as the control unit 300 can operate in the CPU 2012 or similar components, thereby allowing each unit of the computer 2000 to function as the control unit 300. The information processing described in these programs is read into the computer 2000, whereby it functions as specific units that cooperate with the software and the various hardware resources described above—that is, as units of the control unit 300. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a control unit 300 specific to that intended use is constructed.

[0123] Various embodiments have been described with reference to block diagrams, etc. In the block diagrams, each functional block may represent (1) a step of an operation process or (2) a unit of a device having the function of performing the operation. Specific steps and units may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include logic AND, logic OR, logic XOR, logic NAND, logic NOR, and other logic operations, flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and other reconfigurable hardware circuits including memory elements.

[0124] A computer-readable medium can include any tangible device capable of storing instructions executable by a suitable device, such that the computer-readable medium having the instructions stored therein constitutes at least a portion of a product containing instructions executable for implementing units that perform operations specified in a process flow or block diagram. Examples of computer-readable media include electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media include floppy disks (registered trademark), floppy magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), optical disc read-only memory (CD-ROM), digital multipurpose disk (DVD), Blu-ray (RTM) discs, memory sticks, integrated circuit cards, etc.

[0125] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, status setting data, or any type of source code or object code described by any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0126] Computer-readable instructions are provided via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device. These computer-readable instructions can be executed to implement units that perform the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, and microcontrollers.

[0127] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. Such modifications or improvements can also be included within the technical scope of the present invention, as is evident from the claims.

[0128] Regarding the execution order of actions, processes, steps, and procedures in the apparatus, system, program, and method shown in the claims, specification, and drawings, it should be noted that unless explicitly stated as "before" or "firstly," any order is permissible as long as the output of a previous process is not used in a subsequent process. Even if terms such as "firstly" or "next" are used for convenience in describing the flow of actions in the claims, specification, and drawings, this does not imply that the actions must be performed in that specific order.

[0129] [Explanation of reference numerals in the attached figures]

[0130] 10 system

[0131] Vehicles 60 and 90

[0132] Radar 21

[0133] 22 cameras

[0134] 24 Information Processing Devices

[0135] 25GNSS receiver

[0136] 26 vehicle speed sensors

[0137] 29 sensors

[0138] 40 Information Output Device

[0139] 48 communication devices

[0140] 50 base stations

[0141] 52 servers

[0142] 64 Information Processing Device

[0143] 70 lanes

[0144] 72 sidewalks

[0145] 80 people

[0146] 82 terminal

[0147] Areas 110 and 120

[0148] Vertices 111, 112, 113, 114, 123, 124

[0149] 200 Control Department

[0150] 208 Control Department

[0151] 210 Coordinate Information Acquisition Department

[0152] 220 Risk Area Determination Department

[0153] 230 Bending Information Determination Unit

[0154] 250 Transmission Control Unit

[0155] 260 Receiver Control Unit

[0156] 280 Storage Division

[0157] 300 Control Department

[0158] 310 Maintain Control Department

[0159] 320 Judgment Department

[0160] 348 communication device

[0161] 350 Transmission Control Unit

[0162] 360 Receiver Control Unit

[0163] 380 Storage Division

[0164] Positions 401, 403, 501, 503, 601, 603, 701, 703

[0165] Areas 410, 510, 610, 710, and 810

[0166] Vertices 411, 412, 413, and 414

[0167] Vertices 511, 512, 513, and 514

[0168] 650, 750 boundary

[0169] Vertices 611, 612, 613, and 714

[0170] Vertices 711, 712, 713, and 714

[0171] 2000 Computer

[0172] 2010 Main Controller

[0173] 2012 CPU

[0174] 2014 RAM

[0175] 2020 Input / Output Controller

[0176] 2022 communication interface

[0177] 2024 Flash Memory

[0178] 2026ROM

[0179] 2040 input / output chip.

Claims

1. An information processing device, wherein, have: A risk area determination unit determines a risk area outside the moving body, the risk area being the area surrounding an object that obstructs the view from the moving body; The transmission control unit executes control to send risk area information, representing the risk area determined by the risk area determination unit, to a server that maintains information related to the risk area. The risk area determination unit defines the area delineated by multiple points as the risk area. The risk area determination unit determines the shape of the risk area on the first area side based on the boundary between a first area that prohibits the movement of the mobile body and a second area that allows the movement of the mobile body. The risk area includes at least a portion of the second area.

2. The information processing apparatus according to claim 1, wherein, The risk area determination unit determines the shape of the risk area based on a polygon with at least one point on the boundary as a vertex.

3. The information processing apparatus according to claim 2, wherein, The risk area determination unit performs the following processing: Set the vertex on the side of the moving body. The shape of the risk area is determined by a straight line extending approximately parallel to the direction of movement of the moving body from the vertex.

4. The information processing apparatus according to claim 1, wherein, The risk area determination unit determines the shape of the risk area on the first area side based on the tangent of the boundary.

5. The information processing apparatus according to claim 1 or 4, wherein, The risk area determination unit performs the following processing: Define a first point where the object furthest from the first region is located, and a second point where the object closest to the moving body is located. The shape of the risk area on the opposite side of the first area is determined by a line passing through the first point and parallel to the direction of movement of the moving body. The shape of the risk area on the side of the moving body is determined by a line that passes through the second point and is approximately orthogonal to the direction of movement of the moving body.

6. The information processing apparatus according to claim 1 or 4, wherein, It includes a bending information determining unit for determining the bending direction of the boundary in front of the moving direction of the moving body. The risk area determination unit determines the shape of the risk area on the first area side based on the curvature direction of the boundary, where the boundary is moving towards the first area side relative to the moving body's direction of movement.

7. The information processing apparatus according to claim 1 or 4, wherein, It includes a bending information determining unit for determining the bending direction of the boundary in front of the moving direction of the moving body. The risk area determination unit determines the shape of the first region side based on the curvature direction of the boundary, in the case where the boundary moves relative to the moving body in a direction opposite to the first region side, according to a line along the boundary.

8. The information processing apparatus according to any one of claims 1 to 4, wherein, The risk area determination unit determines the length of the risk area along the direction of movement of the moving body based on the speed of the moving body.

9. The information processing apparatus according to any one of claims 1 to 4, wherein, The higher the speed of the moving body, the longer the risk area determination unit determines the risk area in the direction along the moving direction of the moving body.

10. The information processing apparatus according to any one of claims 1 to 4, wherein, The moving body is a vehicle.

11. The information processing apparatus according to claim 10, wherein, The first area is a sidewalk, and the second area is a driveway.

12. The information processing apparatus according to any one of claims 1 to 4, wherein, The information processing device is mounted on the mobile body.

13. The information processing apparatus according to any one of claims 1 to 4, wherein, The server is a mobile edge computing (MEC) server.

14. The information processing apparatus according to any one of claims 1 to 4, wherein, The sending control unit queries the server to determine whether a terminal whose location information is managed by the server exists within the risk area.

15. The information processing apparatus according to any one of claims 1 to 4, wherein, The area of ​​the second region included in the risk area is greater than the area of ​​the first region.

16. A mobile body, wherein, The information processing apparatus comprising any one of claims 1 to 15.

17. A system in which, have: The mobile body as claimed in claim 16; and A server that maintains information about risk areas outside the mobile entity.

18. An information processing method, wherein, have: The step of determining a risk area outside the moving body, the risk area being the area surrounding an object that obstructs the view from the moving body; as well as The steps of executing control are as follows: sending risk area information representing the identified risk area to a server that maintains information related to the risk area; In the step of determining the risk area, the area defined by multiple points is identified as the risk area. In the step of determining the risk area, the shape of the risk area on the first area side is determined based on the boundary between a first area that prohibits the movement of the moving body and a second area that allows the movement of the moving body. The risk area includes at least a portion of the second area.

19. A computer-readable storage medium, wherein, The computer contains a program that enables it to function as a component of: A risk area determination unit determines a risk area outside the moving body, the risk area being the area surrounding an object that obstructs the view from the moving body; as well as The transmission control unit executes control to send risk area information, representing the risk area determined by the risk area determination unit, to a server that maintains information related to the risk area. The risk area determination unit defines the area delineated by multiple points as the risk area. The risk area determination unit determines the shape of the risk area on the first area side based on the boundary between a first area that prohibits the movement of the mobile body and a second area that allows the movement of the mobile body. The risk area includes at least a portion of the second area.

Images