Risk area information storage device, risk area information storage method, and computer-readable storage medium

Abstract

The invention provides a risk area information storage device, a risk area information storage method, and a computer readable storage medium. A risk area information storage device is provided with: a reception unit that receives position information of a risk area that is detected by a vehicle and that is likely to become a risk during travel of the vehicle; a storage unit that associates and stores the location information of the risk area with road section information corresponding to the location of the risk area in map information; and a transmission unit that transmits, to another vehicle, the location information of the risk area stored in the storage unit in association with a road section on which the other vehicle travels.

Description

Technical Field

[0001] The invention relates to a risk area information storage device, a risk area information storage method and a computer-readable storage medium. Background Art

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

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

[0004] However, there is a problem of reducing the processing load performed for improving safety. In order to solve the above problems, the present application aims to improve the safety of vehicles. In addition, it will further improve the safety of traffic and contribute to the development of sustainable transportation systems.

[0005] In a first aspect of the present invention, a risk area information storage device is provided. The risk area information storage device includes a receiving unit that receives position information of a risk area detected by a vehicle that may become a risk during the travel of the vehicle. The risk area information storage device includes a storage unit that stores the position information of the risk area in correspondence with the road section information corresponding to the position of the risk area in map information. The risk area information storage device includes a sending unit that sends the position information of the risk area stored in the storage unit in correspondence with the road section information corresponding to the road section traveled by other vehicles to the other vehicles.

[0006] In the above-mentioned risk area information storage device, the storage unit may store the position information of the risk area in correspondence with the section information indicating the section on which the vehicle traveled when the vehicle detected the risk area.

[0007] In any of the above-mentioned risk area information storage devices, the storage unit can also store the location information of the risk area in correspondence with the coordinate information of the intersection point, where the intersection point is the intersection of a vertical line from a predetermined point for determining the location of the risk area to the road section on which the vehicle is traveling when the vehicle detects the risk area and the road section.

[0008] In any of the above-mentioned risk area information storage devices, the storage unit can also store the location information of the risk area in correspondence with the coordinate information of the intersection point, where the intersection point is the intersection of a perpendicular line from a predetermined point for determining the location of the risk area to an extension line of the road section on which the vehicle is traveling when the vehicle detects the risk area and the extension line.

[0009] In any of the above-mentioned risk area information storage devices, the receiving unit may also receive request information for requesting location information of the risk area from the other vehicle. When the request information is received from the other vehicle, the sending unit may send the location information of the risk area stored in the storage unit in correspondence with the section information of the section on which the other vehicle is traveling to the other vehicle.

[0010] Any of the risk area information storage devices described above may further include a selection unit that selects one or more risk areas located within a predetermined distance from the position of the other vehicle from the risk areas whose position information is stored in the storage unit. The transmission unit may transmit the position information of the one or more risk areas selected by the selection unit to the other vehicle.

[0011] In any of the above-mentioned risk area information storage devices, when the number of risk areas whose location information is stored in the storage unit exceeds a predetermined threshold allowed to be sent from the sending unit at one time, the selection unit may select risk areas from the risk areas whose location information is stored in the storage unit, with the predetermined number as an upper limit.

[0012] In any of the above-mentioned risk area information storage devices, the receiving unit may also receive query information on whether there is a moving object in the risk area from the other vehicles. The query information may include designated information that specifies the risk area. The risk area information storage device may also include an existence judgment unit, which judges whether a predetermined object exists in an area determined according to the position information of the risk area specified by the designated information in the risk area whose position information is stored in the storage unit. When the existence judgment unit judges that the predetermined object exists in the area determined according to the position information of the risk area determined by the designated information, the sending unit may also send a warning message.

[0013] In any of the above-mentioned risk area information storage devices, the risk area information storage device may be a mobile edge computing (MEC) server.

[0014] In a second aspect of the present invention, a method for storing risk area information is provided. The method for storing risk area information includes a step of receiving position information of a risk area detected by a vehicle that may become a risk during the travel of the vehicle. The method for storing risk area information includes a step of storing the position information of the risk area in correspondence with the road section information corresponding to the position of the risk area in map information. The method for storing risk area information includes a step of sending the position information of the risk area stored in the step of storing in correspondence with the road section information corresponding to the road section on which other vehicles travel to the other vehicles.

[0015] In a third aspect of the present invention, there is provided a program that causes a computer to function as any of the risk area information storage devices described above.

[0016] The above summary of the invention does not list all the features of the present invention. In addition, sub-combinations of these feature groups may also be an invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The usage scenario of the system 10 is schematically shown.

[0018] Figure 2 This shows a situation in which the information processing device 64 included in the vehicle 60 requests position information of a risk area.

[0019] Figure 3 This shows a situation in which the information processing device 64 performs an inquiry regarding a risk area.

[0020] Figure 4 The system configuration of the vehicle 20 is shown.

[0021] Figure 5 The system configuration of the server 52 is shown.

[0022] Fig. 6A The risk area determined by the risk area determination unit 220 in the vehicle 20 is schematically shown.

[0023] Figure 6B It is used to illustrate Fig. 6A FIG. 5 is a diagram of the processing of the server 52 when the area 620 and the area 630 exist in a link different from the link 600 to which the area 110 belongs.

[0024] Figure 7 The data structure of the risk area information stored in the storage unit 380 of the server 52 is shown.

[0025] Figure 8 The data structure of the risk area information transmitted to the information processing device 64 as response information to the request information from the information processing device 64 is shown.

[0026] Fig. 9 This is a diagram for explaining the range of the risk area transmitted by the server 52 through one transmission data.

[0027] Fig.10 The flow of processing related to the information processing method executed by the vehicle 20 and the server 52 is schematically shown.

[0028] Fig.11The flow of processing related to the information processing method executed by the server 52 , the vehicle 60 , and the terminal 82 is schematically shown.

[0029] Fig.12 An example of a computer 2000 is shown DETAILED DESCRIPTION

[0030] Hereinafter, the present invention will be described by the embodiments of the invention, but the following embodiments do not limit the claimed invention. In addition, all combinations of the features described in the embodiments are not necessarily essential to the solution of the present invention.

[0031] Figure 1 The following schematically shows a usage scenario of the system 10 . The system 10 includes a vehicle 20 , a vehicle 60 , a terminal 82 , a base station 50 , and a server 52 .

[0032] Vehicle 20 and vehicle 60 are vehicles traveling on road 70. Vehicle 20 includes information processing device 24 and sensor 29. Sensor 29 is configured to include a camera. Information processing device 24 has a function of processing information acquired by sensor 29 and a communication function with server 52 outside vehicle 60. Vehicle 20 is, for example, a vehicle having an advanced driver assistance system (ADAS) function. Vehicle 60 includes information processing device 64. Information processing device 64 has a communication function with server 52. For example, vehicle 60 is a vehicle that does not have an ADAS function.

[0033] Terminal 82 is a terminal carried by person 80. Terminal 82 is a mobile terminal such as a smartphone. Base station 50 is a base station 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 location information of terminal 82. For example, server 52 manages the latest location information sent from terminal 82. In addition, although Figure 1 , one server 52 is shown, but the server 52 may be composed of a plurality of servers connected to a plurality of base stations. The information processing device 24 may communicate with a server near the vehicle 20 among the plurality of servers constituting the server 52, and the information processing device 64 may communicate with a server near the vehicle 60 among the plurality of servers constituting the server 52.

[0034] exist Figure 1 , the vehicle 20 and the vehicle 60 are vehicles traveling along the road 70. The vehicle 90 is a vehicle parked on the road 70. The vehicle 60 travels behind the vehicle 20 in the same traveling direction as the vehicle 20.

[0035] For the vehicle 20, the area 110 on the side of the vehicle 20 in the traveling direction compared to the parked vehicle 90 is an area that is difficult to visually confirm from the position of the vehicle 20. The information processing device 24 determines the area 110 that cannot be seen from the vehicle 20 as a risk area based on information such as an image in the traveling direction acquired by the sensor 29.

[0036] For example, the information processing device 24 determines four vertices 111, 112, 113, and 114 of a quadrilateral region 110 including the position of the vehicle 90 based on the recognition information of the image acquired by the sensor 29. The vertex 113 is a point at a distance L1 from the vertex 111 determined based on the recognition information of the image in the traveling direction of the vehicle 20. The vertex 114 is a point at a distance L1 from the vertex 112 determined based on the recognition information of the image in the traveling direction of the vehicle 20. L1 is a distance determined according to the vehicle speed of the vehicle 20.

[0037] In order to query the server 52 whether the terminal 82 exists in the area 110, the information processing device 24 sends the risk area information including four vertices 111, 112, 113 and 114 to the server 52. Figure 1 In the example of , since the terminal 82 does not exist in the area 110 defined by the four vertices 111 , 112 , 113 , and 114 , the server 52 discards the query information or sends a response information indicating that the terminal 82 does not exist to the vehicle 20 .

[0038] The server 52 stores coordinate information of two vertices 111 and 112 located on the side close to the vehicle 20 among the four vertices 111, 112, 113 and 114 included in the risk area information received from the information processing device 24, and provides the coordinate information to other vehicles including the vehicle 60 behind the vehicle 20.

[0039] Figure 2 The information processing device 64 of the vehicle 60 requests the position information of the risk area. When the information processing device 64 is in the area where communication with the server 52 is possible, the information processing device 64 transmits the request information of the risk area to the server 52. The server 52 transmits the risk area information including the coordinate information of the vertices 111 and 112 of the stored area 110 and the identification information of the risk area to the information processing device 64. The information processing device 64 stores the information received from the server 52.

[0040] Figure 3The information processing device 64 performs a query about a risk area. When the distance from the vehicle 20 to the position indicated by the coordinate information of at least one of the vertices 111 and 112 is less than a predetermined distance, the information processing device 64 transmits query information to the server 52. The query information includes the identification information of the risk area received from the server 52.

[0041] The server 52 determines the vertex 113' and the vertex 114' extending by a distance L2 in the traveling direction of the vehicle 60 from the two vertices 111 and the vertex 112 of the risk area identified by the identification information of the risk area included in the query information received from the information processing device 64. The distance L2 can be set according to the vehicle speed of the vehicle 60. When the position information of the terminal 82 managed by the server 52 is included in the area 110' delimited by the vertex 111, the vertex 112, the vertex 113' and the vertex 114', the server 52 sends warning information to the information processing device 64 and the terminal 82. When receiving the warning information from the server 52, the information processing device 64 outputs a warning to the passenger of the vehicle 60. For example, the information processing device 64 outputs a warning to the passenger through the HMI (Human Machine Interface) function of the vehicle 20. Thus, even if the information processing device 64 itself does not have a function of identifying a risk area through a sensor device such as a camera, the information processing device 64 can output a warning using the risk area received from the server 52 through the wireless communication function. Furthermore, when receiving the warning information 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 through the HMI function that the terminal 82 has.

[0042] Figure 4 2 shows a system configuration of a vehicle 20. The vehicle 20 includes a sensor 29, an information processing device 24, a communication device 48, and an information output device 40.

[0043] The sensor 29 includes a radar 21, a camera 22, a GNSS receiving unit 25, and a vehicle speed sensor 26. The radar 21 may be a laser radar, a millimeter wave radar, or the like. The GNSS receiving unit 25 receives radio waves transmitted from a GNSS (Global Navigation Satellite System) satellite. The GNSS receiving unit 25 generates information indicating the current position of the vehicle 20 based on the signal received from the GNSS satellite. The camera 22 is an example of a photographing device mounted on the vehicle 20. The camera 22 photographs the surroundings of the vehicle 20 to generate image information. For example, the camera 22 photographs an image in the traveling direction of the vehicle 20 to generate image information. The camera 22 may be a monocular camera. The camera 22 is a compound eye camera and may be a camera capable of acquiring distance information to an object. The camera 22 recognizes an object based on an image acquired by the photographing function and outputs position information of the recognized object. The vehicle speed sensor 26 detects the vehicle speed of the vehicle 20. In addition, the sensor 29 may include a position sensor such as an odometer and an IMU (inertial measurement unit) such as an acceleration sensor or an attitude sensor.

[0044] The vehicle 20 may include a driving assistance control device that performs driving assistance of the vehicle 20 using information detected by the sensor 29. The driving assistance control device may be implemented by an ECU that provides an ADAS function.

[0045] The communication device 48 is responsible for communication with the server 52. The communication device 48 can communicate with the server 52 via mobile communication. For example, the communication device 48 can communicate via a mobile base station communication (Uu) interface for inter-vehicle communication.

[0046] The information output device 40 is a device that outputs warning information. The information output device 40 may have an HMI function. The information output device 40 may include a head-up display or a navigation system. The information output device 40 may also be a portable terminal carried by an occupant of the vehicle 20. The information output device 40 may include a voice output device that outputs warning information by voice.

[0047] The information processing device 24 includes a control unit 200 and a storage unit 280. The control unit 200 is implemented by a circuit such as a calculation processing device including a processor. The storage unit 280 is implemented by including a non-volatile storage medium. The control unit 200 performs processing by using the information stored in the storage unit 280. The control unit 200 can be implemented by an ECU (Electronic Control Unit) having a microcomputer including a CPU, ROM, RAM, I / O, bus, etc.

[0048] The control unit 200 includes a coordinate information acquisition unit 210, a risk area determination unit 220, and a control unit 208. Figure 4 For example, a mode in which only a part of the functions are realized in the control unit 200 and the other functions are realized as functions of other circuits such as the sensor 29 may be adopted.

[0049] The risk area determination unit 220 determines a risk area outside the vehicle 20. The communication device 48 transmits risk area information indicating the risk area determined by the risk area determination unit 220 to a server that stores information related to the risk area. The risk area determination unit 220 may determine an area delimited by a plurality of points as a risk area, and the communication device 48 may transmit coordinate information of the plurality of points as the risk area information to the server 52. The plurality of points delimiting the risk area may be a plurality of vertices for delimiting an area determined as a risk area. The plurality of points delimiting the risk area may be a plurality of vertices of a polygonal area delimiting the area determined as a risk area.

[0050] The risk area may be an area outside the vehicle 20 that poses a risk to the travel of the vehicle 20. The risk area may be an area that is not visible from the position of the vehicle 20 due to an object outside the vehicle 20. For example, the invisible area is the position information of an area that is blocked when viewed from the position of the vehicle 20 due to being blocked by a three-dimensional object such as another vehicle, a building, or a roadside tree.

[0051] The coordinate information acquisition unit 210 acquires coordinate information of an object recognized from an image of the exterior of the vehicle 20 captured by the camera 22 mounted on the vehicle 20. The risk area determination unit 220 may determine a risk area based on the coordinate information of the object recognized from the image of the exterior of the vehicle 20 captured by the camera 22.

[0052] The control unit 208 can control the execution of driving assistance of the vehicle 20 or warnings to the occupants of the vehicle 20. For example, in the case where 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 mark as warning information indicating that a pedestrian is present in the risk area. In addition, the control unit 208 causes the head-up display to output light for forming a mark in a display area corresponding to the position of the risk area where a pedestrian is present. The controller 208 can project the light for forming the mark onto a reflective member provided on the windshield of the vehicle 20. The control unit 208 can also output the warning information by voice or characters. In addition, the control unit 208 can control the travel of the vehicle 20 through the driving assistance control device equipped in the vehicle 20.

[0053] Figure 52 shows the system configuration of the server 52. The server 52 includes a communication device 390, a control unit 300, and a storage unit 380.

[0054] The control unit 300 controls the communication device 390. The communication device 390 is responsible for communication with the terminal 82 and the information processing device 24. The communication device 390 includes a receiving unit 392 and a transmitting unit 394. The control unit 200 is implemented by a circuit such as a calculation processing device including a processor. The storage unit 380 is implemented by including 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 by a microcomputer including a CPU, ROM, RAM, I / O, bus, etc.

[0055] The control unit 300 includes a selection unit 310, an existence determination unit 320, and a sorting unit 330. Figure 5 The functional blocks shown are part of the functional manner.

[0056] The receiving unit 392 receives the position information of the risk area detected by the vehicle 20 that may become a risk during the travel of the vehicle 20. The storage unit 380 stores the position information of the risk area in correspondence with the road section information corresponding to the position of the risk area in the map information. The sending unit 394 sends the position information of the risk area stored in the storage unit 380 in correspondence with the road section information corresponding to the road section traveled by other vehicles 60 to other vehicles 60. For example, the selection unit 310 can select the risk area stored in the storage unit 380 in correspondence with the road section information corresponding to the road section traveled by other vehicles 60, and the sending unit 394 can send the position information of the risk area selected by the selection unit 310 to other vehicles 60.

[0057] The storage unit 380 stores the position information of the dangerous area in association with the link information indicating the link on which the vehicle 20 traveled when the vehicle 20 detected the dangerous area.

[0058] The storage unit 380 may also store the position information of the risk area in correspondence with the coordinate information of the intersection point, which is the intersection of a perpendicular line from a predetermined point for determining the position of the risk area to the section where the vehicle 20 is traveling when the vehicle 20 detects the risk area and the section. The storage unit 380 may also store the position information of the risk area in correspondence with the coordinate information of the intersection point, which is the intersection of a perpendicular line from a predetermined point for determining the position of the risk area to the section where the vehicle 20 is traveling when the vehicle 20 detects the risk area and the extension line.

[0059] The receiving unit 392 receives request information for the location information of the risk area from another vehicle 60. When receiving the request information from another vehicle 60, the sending unit 394 sends the location information of the risk area stored in the storage unit 380 in correspondence with the link information of the link on which the other vehicle 60 is traveling to the other vehicle 60.

[0060] When the position information of a plurality of risk areas is transmitted to other vehicles 60, the sorting unit 330 sorts the plurality of risk areas to be transmitted in order from near to far relative to other vehicles 60. The transmitting unit 394 transmits the position information of the plurality of risk areas sorted by the sorting unit 330 to other vehicles 60. The sorting unit 330 sorts the plurality of risk areas in order from near to far relative to the target vehicle, and generates transmission data including the position information of the plurality of risk areas. The transmitting unit 394 transmits the transmission data generated by the sorting unit 330 to the target vehicle.

[0061] The sorting unit 330 may sort the multiple risk areas in the order from near to far from the target vehicle along the driving direction of the other vehicles 60. The sorting unit 330 may sort the multiple risk areas in the order from near to far from the vehicle 60 along the driving direction of the other vehicles 60 based on the coordinate information of the intersection between the vertical line and the road section. The sorting unit 330 may sort the multiple risk areas in the order from near to far from the vehicle 60 along the driving direction of the other vehicles 60 based on the coordinate information of the intersection between the extension of the vertical line and the road section.

[0062] The selection unit 310 selects one or more risk areas located within a predetermined distance from the positions of other vehicles 60 from the risk areas whose position information is stored in the storage unit 380 . The transmission unit 394 transmits the position information of the one or more risk areas selected by the selection unit 310 to the other vehicles 60 .

[0063] When the number of risk areas whose location information is stored in the storage unit 380 exceeds a predetermined threshold allowed to be sent from the transmission unit 394 at one time, the selection unit 310 may select risk areas with a predetermined number as an upper limit among the risk areas whose location information is stored in the storage unit 380 .

[0064] The receiving unit 392 can receive query information on whether there is a moving object in the dangerous area from other vehicles 60. The query information contains designated information for specifying the risk area. The designated information can be identification information of the risk area or location information of the risk area. The existence judgment unit 320 judges whether a predetermined object exists in the area determined according to the location information of the risk area specified by the designated information in the risk area whose location information is stored in the storage unit 380. The predetermined object is, for example, a pedestrian or a terminal 82 carried by a pedestrian. The existence judgment unit 320 can judge whether a certain terminal exists in the risk area specified by the designated information contained in the query information based on the location information of multiple terminals managed by the server 52.

[0065] When the existence determination unit 320 determines that the predetermined object exists in the area determined by the position information of the risk area determined by the risk area designation information, the transmission unit 394 transmits the warning information. The transmission unit 394 may transmit the warning information to the vehicle 60 or to the terminal 82 in the risk area.

[0066] Fig. 6A The risk area determined by the risk area determination unit 220 is schematically shown. Fig. 6A An example of determining a rectangular area as a risk area is shown.

[0067] exist Fig. 6A In the example shown, the risk area determination unit 220 sets the area 110 surrounding the position where the vehicle 90 exists, based on the coordinate information indicating the existence range of the vehicle 90 recognized by the coordinate information acquisition unit 210 based on the information detected by the sensor 29, and determines the area 110 as the first risk area. The area 110 is a rectangular area defined by connecting the vertices 111, 112, 114, and 113. Each vertex is set so that the line segment connecting the vertex 111 and the vertex 112 and the line segment connecting the vertex 113 and the vertex 114 are orthogonal to the traveling direction of the vehicle 20, and the line segment connecting the vertex 111 and the vertex 113 and the line segment connecting the vertex 112 and the vertex 114 are parallel to the traveling direction of the vehicle 20. The vertex 113 is determined to be a position at a distance L1 from the vertex 111 in the traveling direction of the vehicle 20, and the vertex 114 is determined to be a position at a distance L1 from the vertex 112 in the traveling direction of the vehicle 20. L1 can be determined based on the vehicle speed of the vehicle 20. The higher the speed of the vehicle 20 is, the longer L1 may be determined.

[0068] Similarly, the risk area determination unit 220 sets an area 620 surrounding the position where the vehicle 92 exists, based on the coordinate information indicating the existence range of the vehicle 92 recognized by the coordinate information acquisition unit 210 based on the information detected by the sensor 29, and determines the area 620 as the second risk area. The area 620 is a rectangular area defined by connecting vertices 621, vertices 622, vertices 624, and vertices 623. Each vertex is set so that the line segment connecting the vertex 621 and the vertex 622 and the line segment connecting the vertex 623 and the vertex 624 are orthogonal to the traveling direction of the vehicle 20, and the line segment connecting the vertex 621 and the vertex 623 and the line segment connecting the vertex 622 and the vertex 624 are parallel to the traveling direction of the vehicle 20. The vertex 623 is determined to be a position at a distance L1 from the vertex 621 in the traveling direction of the vehicle 20, and the vertex 624 is determined to be a position at a distance L1 from the vertex 622 in the traveling direction of the vehicle 20.

[0069] Similarly, the risk area determination unit 220 sets an area 630 surrounding the position where the vehicle 93 exists, based on the coordinate information indicating the existence range of the vehicle 93 recognized by the coordinate information acquisition unit 210 based on the information detected by the sensor 29, and determines the area 630 as the third risk area. The area 630 is a rectangular area defined by connecting vertices 631, 632, 634, and 633. Each vertex is set so that the line segment connecting the vertex 631 and the vertex 632 and the line segment connecting the vertex 633 and the vertex 634 are orthogonal to the traveling direction of the vehicle 20, and the line segment connecting the vertex 631 and the vertex 633 and the line segment connecting the vertex 632 and the vertex 634 are parallel to the traveling direction of the vehicle 20. The vertex 633 is determined to be a position at a distance L1 from the vertex 631 in the traveling direction of the vehicle 20, and the vertex 634 is determined to be a position at a distance L1 from the vertex 632 in the traveling direction of the vehicle 20.

[0070] In the present embodiment, it is assumed that the information processing device 24 of the vehicle 20 sequentially identifies the vehicle 90, the vehicle 92, and the vehicle 93 as predetermined target objects. Therefore, it is assumed that the risk area determination unit 220 sequentially determines the area 110, the area 620, and the area 630 as risk areas, respectively, and transmits risk area information related to each risk area to the server 52. In the present embodiment, the risk area information of the area 110 includes the coordinates of two vertices 111 and 112 close to the vehicle 20 among the vertices of the area 110, the time when the vehicle 20 detects the area 110, information indicating a risk factor, the current position information of the vehicle 20, and the traveling direction of the vehicle 20. For example, the risk factor is information indicating "invisible" and the like, which indicates an area that is invisible when viewed from the vehicle 20.

[0071] When receiving the risk area information of the area 110, the server 52 determines the intersection 601 between the perpendicular line from the vertex 111 close to the center of the road 70 in the direction orthogonal to the traveling direction of the vehicle 20 to the road section 600 and the road section 600, and stores the coordinates of the determined intersection 601 together with the coordinates of the vertices of the area 110 in the storage unit 380. Similarly, when receiving the risk area information of the area 620, the server 52 determines the intersection 602 between the perpendicular line from the vertex 622 close to the center of the road 70 in the direction orthogonal to the traveling direction of the vehicle 20 to the road section 600 and the road section 600, and stores the coordinates of the determined intersection 602 together with the coordinates of the vertices of the area 620 in the storage unit 380. Similarly, when receiving risk area information of area 630, server 52 determines the intersection 603 between a vertical line from vertex 631 near the center of road 70 in a direction orthogonal to the direction of travel of vehicle 20 to section 600 and section 600, and stores the coordinates of the determined intersection 603 together with the coordinates of the vertices of area 630 in storage unit 380.

[0072] Figure 6B It is used to illustrate Fig. 6A FIG. 1 is a diagram of the processing of the server 52 when the area 620 and the area 630 exist in a road section different from the road section 600 to which the area 110 belongs. Processing and Reference in the Information Processing Device 24 of the Vehicle 20 Fig. 6A The processing described is the same, so its description is omitted.

[0073] exist Figure 6B In FIG. 6 , it is assumed that the segment 600 is a segment with the node 609 as an end point. Fig. 6A As shown in the figure, when the risk area information of area 110 is received, the server 52 determines the intersection 601 between the vertical line from vertex 111 to the road section 600 on which the vehicle 20 is traveling and the road section 600, and stores the coordinates of the determined intersection 601 together with the coordinates of the two vertices 111 and vertex 112 of area 110 in the storage unit 380.

[0074] When receiving the risk area information of the area 620 that does not belong to the road section 600, the server 52 sets the extension line 650 of the road section 600. The extension line 650 is, for example, a straight line obtained by extending the tangent line of the node 609 that is the end point of the road section 600. The server 52 determines the intersection point 652 between the perpendicular line from the vertex 622 to the extension line 650 and the road section 600, and stores the coordinates of the determined intersection point 652 together with the coordinates of the two vertices 621 and the vertex 622 in the area 620 in the storage unit 380. When receiving the risk area information of the area 630 that does not belong to the road section 600, the server 52 determines the intersection point 653 between the perpendicular line from the vertex 631 to the extension line 650 and the road section 600, and stores the coordinates of the determined intersection point 653 together with the coordinates of the two vertices 631 and the vertex 632 in the area 630 in the storage unit 380.

[0075] Figure 7 : shows the data structure of the risk area information stored in the storage unit 380 of the server 52. The data stored in the storage unit 380 as the risk area information includes a risk area ID, a detection time, a storage time, a risk factor, a risk area coordinate, a road section ID, a road section intersection, and a direction as data items. The storage unit 380 stores one data having these data items for each risk area.

[0076] The risk area ID is identification information of a plurality of risk areas stored as risk area information in the storage unit 380. The risk area ID is identification information given to the server 52 when the server 52 registers one data of a risk area.

[0077] The detection time is the time when the risk area is detected in the vehicle 20. The detection time is included in the risk area information transmitted from the information processing device 24.

[0078] The storage time is the time when the record of the risk area is stored in the storage unit 380 in the server 52 .

[0079] The risk factor is information identifying a risk factor. The risk factor is included in the risk area information transmitted from the information processing device 24.

[0080] The risk area coordinates represent the geographical coordinates of two points for determining the risk area. The risk area coordinates are the coordinates of two vertices included in the risk area information transmitted from the information processing device 24.

[0081] The road segment ID is identification information of the road segment corresponding to the risk area. For example, the road segment corresponding to the risk area may be the road segment on which the vehicle 20 is traveling, determined by performing map matching based on the current position of the vehicle 20 and the map information stored in the server 52. In other embodiments, the road segment corresponding to the risk area may be, for example, a road segment corresponding to the positions of two vertices, determined by performing map matching based on the coordinates of the two vertices included in the risk area information and the map information. The server 52 may pre-store map information including the positions of nodes representing points on the road on which the vehicle is traveling and road segments connecting multiple nodes.

[0082] The link intersection is the coordinates of the intersection of the vertical line from the two vertices included in the risk area information to the link identified by the link ID and the link. For example, the link intersection stores the coordinates of the intersection between the vertical line from the vertex 111 of the area 110 to the link 600 and the link 600.

[0083] The direction is the direction information associated with the risk area. The direction information may be information based on the direction of the vehicle 20. The server 52 may determine the direction of the vehicle 20 according to the direction of the vehicle 20 included in the risk area information. The server 52 may set the direction corresponding to the road section on which the vehicle 20 is traveling as the direction information. The server 52 may set information indicating whether the direction corresponding to the road section on which the vehicle 20 is traveling is an upward direction or a downward direction as the direction information.

[0084] like Figure 7 As shown, when the area 110, the area 620, and the area 630 are detected in sequence in the information processing device 24 of the vehicle 20, the data of the risk area is also added to the storage unit 380 in this order. That is, the risk area ID "1110001" is the identification information of the area 110, the risk area ID "1210002" is the identification information of the area 620, and the risk area ID "1310003" is the identification information of the area 630.

[0085] As reference Fig. 6A , Figure 6B and Figure 7As described in FIG. 1 and FIG. 2 , the server 52 stores information corresponding to the road section 600 on which the vehicle 20 is traveling when the vehicle 20 detects the risk area in the storage unit 380. Specifically, the server 52 stores the risk area coordinates in the storage unit 380 in correspondence with the road section intersection points and the road section ID calculated based on the road section 600. Thus, when the vehicle 60 is traveling on the road section 600 and receives the request information sent from the vehicle 60, the selection unit 310 of the server 52 can select the risk area corresponding to the road section 600 when the vehicle 60 is traveling with a small amount of calculation. In addition, based on the coordinates of the road section intersection points stored in the storage unit 380, the position information close to the vehicle 60 in the direction along the road section 600 can be obtained with a small amount of calculation.

[0086] Figure 8 The data structure of the risk area information transmitted to the information processing device 64 as response information to the request information from the information processing device 64 is shown. Figure 8 The data structure shown is in particular the data structure of the data portion of the risk area data contained in the risk area information sent to the information processing device 64. Figure 8 In the example of FIG. 1 , the risk area data includes information on three risk areas, namely, area 110 , area 620 , and area 630 . Figure 8 The data having the data structure shown is generated by the sorting unit 330 sorting the data stored in the storage unit 380 in the order from the nearest position to the vehicle 60 to the farthest position.

[0087] The risk area data sequentially includes a data count section 801, a first risk area ID section 802, a first coordinate data section 803, a second risk area ID section 804, a second coordinate data section 805, a third risk area ID section 806, and a third coordinate data section 807. The data count section 801 stores a value indicating the number of risk areas. Fig. 6A or Figure 6B When information of three risk areas shown is included in the risk area data and transmitted, “3” is stored in the data number part 801 .

[0088] The first risk area ID unit 802 stores the risk area ID of the risk area closest to the vehicle 60. The first coordinate data unit 803 stores the coordinate information of the vertices of two points of the risk area closest to the vehicle 60. In this embodiment, the information of the area 110 is stored in the first risk area ID unit 802 and the first coordinate data unit 803.

[0089] The second risk area ID unit 804 stores the risk area ID of the risk area second closest to the vehicle 60. The second coordinate data unit 805 stores the coordinate information of the vertices of two points of the risk area second closest to the vehicle 60. In this embodiment, the information of the area 630 is stored in the second risk area ID unit 804 and the second coordinate data unit 805.

[0090] The third risk area ID unit 806 stores the risk area ID of the risk area that is the third closest to the vehicle 60. The third coordinate data unit 807 stores the coordinate information of the vertices of two points of the risk area that is the third closest to the vehicle 60. In this embodiment, the information of the area 620 is stored in the third risk area ID unit 806 and the third coordinate data unit 807.

[0091] The sorting unit 330 sorts the data of the risk area stored in the storage unit 380 in the order from near to far with respect to the current position of the vehicle 60 based on the current position of the vehicle 60 included in the request information and the coordinates of the road section intersections included in the risk area information stored in the storage unit 380, thereby generating risk area data. In this way, by generating the risk area data by sorting the data in the order from near to far with respect to the road section intersections according to the current position of the vehicle 60, the risk areas can be sorted in the order from near to far with respect to the vehicle 60 along the traveling direction of the vehicle 60. Thus, the information processing device 64 can obtain the combination of the risk area ID and the coordinate data in the order from near to far with respect to the vehicle 60 along the traveling direction of the vehicle 60 by sequentially reading from the beginning of the risk area data. Therefore, the information processing device 64 does not need to sequentially perform sorting along the road section based on the coordinate data. In addition, since the server 52 sequentially sorts in the direction along the road section based on the coordinates of the road section intersections, the information processing device 64 can obtain the data of the correct order along the road section on which the vehicle 60 is traveling with a small amount of calculation.

[0092] Fig. 9 3 is a diagram for explaining the range of the risk area sent by the server 52 through one transmission data. When receiving the request information from the information processing device 64, the selection unit 310 selects a risk area whose distance from the current position of the vehicle 60 in the direction along the traveling direction of the vehicle 60 is less than a predetermined distance threshold and less than a predetermined number threshold. The distance threshold may be, for example, in the order of hundreds of meters or kilometers. For the number threshold, the upper limit is determined by the data length determined according to the data format of the risk area data sent to the information processing device 64. The number threshold may be a value of about 10. At least one of the distance threshold and the number threshold may be specified by the information processing device 64.

[0093] Fig. 9It shows a situation in which when 11 risk areas, namely, risk area 901, risk area 902, risk area 903, risk area 904, risk area 905, risk area 906, risk area 907, risk area 908, risk area 909, risk area 910 and risk area 911, are stored as risk area information in the storage unit 380, the sending object of the risk area information is restricted by a distance threshold.

[0094] The selection unit 310 selects eight risk areas 901, 902, 903, 904, 905, 906, 907, and 908 whose distances from the current position of the vehicle 60 to the intersection of the sections of the risk area are below a predetermined distance threshold. At this time, the selection unit 310 can select the risk area regardless of whether the risk area is associated with the same section as the section currently traveled by the vehicle 60. However, in the case where multiple sections are connected to the front of the section on which the vehicle 60 is traveling and the future travel route of the vehicle 60 is unknown, the selection unit 310 can select only the risk area associated with the section on which the vehicle 60 is predicted to travel.

[0095] The sorting unit 330 sorts the risk areas selected by the selection unit 310 in the order of risk area 901, risk area 902, risk area 907, risk area 903, risk area 904, risk area 908, risk area 905, and risk area 906 to generate risk area data including the number of data items, risk area IDs, and coordinate data. The transmission unit 394 transmits the risk area information including the transmission data generated by the sorting unit 330 to the information processing device 64.

[0096] When the number of risk areas where the distance from the current position of the vehicle 60 to the link intersection of the risk area is less than the distance threshold exceeds a predetermined number threshold, the selection unit 310 selects the risk area with the number threshold as the upper limit.

[0097] Fig.10 The flow of processing related to the information processing method executed by the vehicle 20 and the server 52 is schematically shown. In S1002, the risk area determination unit 220 of the vehicle 20 determines the risk area based on the information recognized by the sensor 29. For example, the risk area determination unit 220 determines four vertices for demarcating the risk area 110 based on the coordinate information of the parked vehicle 90 output by the sensor 29 and acquired by the coordinate information acquisition unit 210.

[0098] In S1004, the communication device 48 transmits risk area information for querying whether a predetermined object exists in the risk area to the server 52. When the server 52 receives the risk area information transmitted from the vehicle 20, in S1006, the storage unit 380 registers the coordinate information of two vertices close to the vehicle 20 among the coordinates of the vertices included in the risk area information received from the information processing device 24 as risk area coordinates.

[0099] In S1008, the presence determination unit 320 determines whether the terminal 82 is present in the area defined by the four vertices included in the risk area information received from the vehicle 20. Figure 1 In the situation shown, the existence determination unit 320 determines that the terminal 82 does not exist in the area 110 defined by the four vertices included in the risk area information. In this case, the transmission unit 394 does not transmit the response information for the risk area information to the vehicle 20. When the terminal 82 does not exist in the area defined by the four vertices included in the risk area information, the transmission unit 394 may also transmit the response information indicating that the object does not exist in the risk area to the vehicle 20.

[0100] In S1012, the risk area determination unit 220 of the vehicle 20 determines the risk area based on the information recognized by the sensor 29. For example, the risk area determination unit 220 determines four vertices for demarcating the risk area 620 based on the coordinate information of the parked vehicle 92 output by the sensor 29 and acquired by the coordinate information acquisition unit 210.

[0101] In S1014, the communication device 48 transmits risk area information for querying whether a predetermined object exists in the risk area to the server 52. When the server 52 receives the risk area information transmitted from the vehicle 20, in S1016, the storage unit 380 registers the coordinate information of two vertices close to the vehicle 20 among the coordinates of the vertices included in the risk area information received from the information processing device 24 as risk area coordinates.

[0102] In S1018, the existence determination unit 320 determines whether the terminal 82 exists in the area defined by the four vertices included in the risk area information received from the vehicle 20. In this flowchart, it is assumed that the existence determination unit 320 determines that the terminal 82 does not exist in the area defined by the four vertices included in the risk area information. Therefore, in this flowchart, the sending unit 394 does not send the response information to the risk area information to the vehicle 20.

[0103] In S1022, the risk area determination unit 220 of the vehicle 20 determines the risk area based on the information recognized by the sensor 29. For example, the risk area determination unit 220 determines four vertices for demarcating the risk area 630 based on the coordinate information of the parked vehicle 93 output by the sensor 29 and acquired by the coordinate information acquisition unit 210.

[0104] In S1024, the communication device 48 transmits risk area information for querying whether a predetermined object exists in the risk area to the server 52. When the server 52 receives the risk area information transmitted from the vehicle 20, in S1026, the storage unit 380 registers the coordinate information of two vertices close to the vehicle 20 among the coordinates of the vertices included in the risk area information received from the information processing device 24 as risk area coordinates.

[0105] In S1028, the existence determination unit 320 determines whether the terminal 82 exists in the area defined by the four vertices included in the risk area information received from the vehicle 20. As described above, in this flowchart, it is assumed that it is determined that the terminal 82 does not exist in the area defined by the four vertices included in the risk area information, and no response information for the risk area information is sent to the vehicle 20.

[0106] In this flowchart, a case where the server 52 registers the position information of the risk area detected by the vehicle 20 is exemplarily shown, but the server 52 may register the risk areas detected by a plurality of vehicles.

[0107] Fig.11 The flow of processing related to the information processing method executed by the server 52 , the vehicle 60 , and the terminal 82 is schematically shown. Fig.11 The processing is in Fig.10 The processing to be performed afterwards.

[0108] In S1122, the information processing device 64 of the vehicle 60 sends a request message requesting the location information of the risk area to the server 52. The request message may include information indicating the location of the vehicle 60 and the traveling direction of the vehicle 60. When the server 52 receives the request message, in S1112, the selection unit 310 selects the risk area of ​​the transmission object, and the sorting unit 330 sorts the information of the risk area. In S1114, the communication device 390 sends the risk area information as response information to the request message to the vehicle 60. The risk area sent to the vehicle 60 in S1114 includes the coordinate information of the two vertices of the risk area sorted by the sorting unit 330 and the risk area ID as the transmission data.

[0109] In S1124, when it is determined that the vehicle 60 has approached the position indicated by the coordinate information of the vertex based on the current position of the vehicle 60 and the vertex coordinate information received from the server 52, the information processing device 64 sends query information to the server 52. The query information includes the risk area ID of the risk area closest to the vehicle 60 among the risk areas in the traveling direction of the vehicle 60. The query information may include information indicating the current position, driving direction, and vehicle speed of the vehicle 60.

[0110] When the server 52 receives the query information sent from the vehicle 60, the existence determination unit 320 determines in S1116 whether the terminal 82 exists in the area set by the two vertices of the risk area coordinates corresponding to the risk area ID included in the query information received from the vehicle 60. Figure 3 In the situation shown, the existence determination unit 320 determines the vertex 113' and the vertex 114' based on the two vertices 111 and 112 corresponding to the risk area ID included in the query information, and determines that the terminal 82 exists in the area 110 delimited by the four vertices. In this case, in S1118, the sending unit 394 sends a warning message indicating that the terminal 82 exists in the area to the vehicle 60 as a response information to the query information. In addition, the sending unit 394 sends a warning message indicating that the vehicle is approaching to the terminal 82.

[0111] When receiving the warning information from the server 52, in S1128, the information processing device 64 outputs a warning to the passenger of the vehicle 60 through the HMI function of the information output device 40. In addition, when receiving the warning information from the server 52, the terminal 82 outputs a warning to the person 80 through the HMI function of the terminal 82 in S1138.

[0112] The communication between the information processing device 24 and the information processing device 64 and the server 52 can be performed by following the communication method of Cellular-V2X. As Cellular-V2X, communication methods such as LTE-V2XPC5 and 5G-V2X PC5 are included. In another embodiment, the communication between the information processing device 24 and the information processing device 64 and the server 52 can also be performed by using Wi-Fi (registered trademark) and DSRC (Dedicated Short Range Communications). In addition to Cellular-V2X, DSRC (registered trademark), etc., the communication between the information processing device 24 and the information processing device 64 and the server 52 can also use any communication method such as Bluetooth (registered trademark). The information processing device 24 and the information processing device 64 can also communicate with the server 52 using the communication infrastructure possessed by ITS (Intelligent Transport Systems).

[0113] Vehicles 20 and 60 may be examples of transportation equipment. Transportation equipment may include cars, buses, and other vehicles, saddle vehicles, bicycles, and the like. In addition, in the above-mentioned present embodiment, the system 10 functions as a system for issuing a warning when the terminal 82 is present in a risk area, but may also function as a system for issuing a warning when there is any communication device other than the terminal 82 that can manage position information by the server 52. The communication device involved may be provided on any mobile body such as a car, a saddle vehicle, a bicycle, and the like.

[0114] According to the above-described system 10, the information of the plurality of risk areas stored in the server 52 can be sorted according to the distance from the vehicle 60 and sent to the vehicle 60. Therefore, the vehicle 60 does not need to sort the risk areas received from the server 52, and thus the processing burden in the vehicle 60 can be reduced. In addition, since the server 52 stores the risk areas in correspondence with the road section on which the vehicle 20 is traveling, it is possible to quickly select information related to an appropriate risk area corresponding to the road section on which the vehicle 60 is traveling in response to a request from the vehicle 60 traveling on the road section.

[0115] Fig.12An example of a computer 2000 that can fully or partially embody multiple embodiments of the present invention is shown. The program installed in the computer 2000 can cause the computer 2000 to function as a device such as the information processing device 24 or each unit of the device involved in the embodiment, or as a server such as the server 52 or each unit of the server involved in the embodiment, perform operations associated with the device, each unit of the device, the server or each unit of the server, and / or perform a process or steps of the process involved in the embodiment. Such a program can be executed by the CPU 2012 in order to cause the computer 2000 to perform the processing flow described in this specification and specific operations associated with some or all of the functional blocks in the block diagram.

[0116] The computer 2000 according to the present embodiment includes a CPU 2012 and a RAM 2014, which are connected to each other via a main controller 2010. The computer 2000 further includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the main controller 2010 via the input / output controller 2020.

[0117] The CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014 , thereby controlling each unit.

[0118] 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 in the computer 2000. The ROM 2026 stores a startup program executed by the computer 2000 when activated, and / or a program dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as a keyboard, a mouse, and a monitor to the input / output controller 2020 via an input / output port such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, and an HDMI (registered trademark) port.

[0119] The program is provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or a USB flash drive, or a network. RAM 2014, ROM 2026, or flash memory 2024 is an example of a computer-readable storage medium. The program is installed in flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described in these programs is read by computer 2000, and the cooperation between the program and the various types of hardware resources described above is realized. The device or method can be constructed by implementing the operation or processing of information in accordance with the use of computer 2000.

[0120] For example, when the computer 2000 communicates with an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014, and based on the processing described in the communication program, instruct the communication interface 2022 to perform communication processing. 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 RAM 2014 and the recording medium such as the flash memory 2024, transmits the read transmission data to the network, and writes the reception data received from the network to the reception buffer processing area provided on the recording medium.

[0121] In addition, the CPU 2012 can read all or a necessary part of a file or database stored in a recording medium such as the flash memory 2024 to the RAM 2014, and execute various processes on the data in the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0122] Various types of information such as programs, data, tables, and databases can be saved to a recording medium and applied to information processing. CPU2012 can perform various operations, information processing, conditional judgment, conditional branching, unconditional branching, information retrieval / replacement, etc., which are specified by the instruction sequence of the program, on the data read from RAM2014, and write the results back to RAM2014. In addition, CPU2012 can retrieve information in files, databases, etc. in the recording medium. For example, when multiple items having attribute values ​​of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, CPU2012 can retrieve an item that specifies the attribute value of the first attribute and is consistent with the condition from the multiple items, read the attribute value of the second attribute stored in the item, and thereby obtain the attribute value of the second attribute associated with the first attribute that meets the pre-set condition.

[0123] The program or software module described above can be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium. The program stored in the computer-readable storage medium can be provided to the computer 2000 via a network.

[0124] The programs installed in the computer 2000 and causing the computer 2000 to function as the server 52 can be run in the CPU 2012 and the like, thereby causing the computer 2000 to function as each unit of the server 52. The information processing described in these programs is read into the computer 2000, thereby functioning as a specific unit in which software and the various hardware resources described above cooperate, that is, each unit of the server 52. And, by using these specific units to realize the calculation or processing of information corresponding to the purpose of use of the computer 2000 in this embodiment, a unique server 52 corresponding to the purpose of use is constructed.

[0125] The programs installed in the computer 2000 and causing the computer 2000 to function as the information processing device 24 can be run in the CPU 2012 and the like, thereby causing the computer 2000 to function as each unit of the information processing device 24. The information processing described in these programs is read into the computer 2000, and thus functions as a specific unit in which software and the various hardware resources described above cooperate, that is, each unit of the information processing device 24. And, by using these specific units to realize the calculation or processing of information corresponding to the purpose of use of the computer 2000 in this embodiment, a unique information processing device 24 corresponding to the purpose of use is constructed.

[0126] Various embodiments are described with reference to block diagrams, etc. In the block diagram, each functional block may represent (1) a step of a process for performing an operation or (2) each unit of a device having the function of performing an operation. Specific steps and each unit may be implemented by a dedicated circuit, a programmable circuit supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc., including memory elements.

[0127] The computer-readable storage medium may include any tangible device capable of storing instructions to be executed by an appropriate device, and as a result, the computer-readable storage medium having the instructions stored therein constitutes at least a part of a product containing instructions executable to implement a unit for performing the operations specified in the process flow or block diagram. As examples of computer-readable storage media, electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. may be included. As more specific examples of computer-readable storage media, floppy disks (registered trademarks), floppy disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), electrically erasable programmable read-only memories (EEPROM), static random access memories (SRAM), compact disk read-only memories (CD-ROM), digital versatile disks (DVD), Blu-ray (RTM) optical disks, memory sticks, integrated circuit cards, etc. may be included.

[0128] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, state setting data, or any source code or object code described in 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.

[0129] Computer readable instructions are provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device via a local or local area network (LAN), a wide area network (WAN) such as the Internet, and the computer readable instructions can be executed to implement a unit for performing the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0130] The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is obvious from the description of the claims that such changes or improvements can also be included in the technical scope of the present invention.

[0131] Regarding the execution order of each process of actions, processes, steps, and steps in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, it should be noted that there is no special indication of "before", "preceding", etc., and in addition, as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. For the action flow in the claims, specifications, and drawings, even if "first", "next", etc. are used for convenience, it does not mean that it must be implemented in such an order.

[0132] [Description of Reference Numerals]

[0133] 10 System

[0134] 20 vehicles

[0135] 21 Radar

[0136] 22 Camera

[0137] 24Information processing device

[0138] 25GNSS receiving unit

[0139] 26 Vehicle speed sensor

[0140] 29 Sensors

[0141] 40 Information output device

[0142] 48 communication devices

[0143] 50 base stations

[0144] 52 servers

[0145] 60 vehicles

[0146] 64 Information processing device

[0147] 70 Road

[0148] 80 people

[0149] 82 Terminal

[0150] 90 vehicles

[0151] 92 vehicles

[0152] 93 vehicles

[0153] 110 Area

[0154] 111 Vertex

[0155] 112 Vertex

[0156] 113 Vertex

[0157] 114 Vertex

[0158] 200 Control Department

[0159] 208 Control Department

[0160] 210 Coordinate information acquisition unit

[0161] 220 Risk Area Determination Department

[0162] 280 Storage Department

[0163] 300 Control Department

[0164] 310 Selection Department

[0165] 320 Existence Judgment Unit

[0166] 330 Sorting Department

[0167] 380 Storage Department

[0168] 390 communication device

[0169] 392 Receiving Department

[0170] 394 Sending Department

[0171] Section 600

[0172] 601 intersection

[0173] 602 intersection

[0174] 603 intersection

[0175] 609 nodes

[0176] 620 Area

[0177] 621 Vertex

[0178] 622 vertices

[0179] 623 vertices

[0180] 624 vertices

[0181] 630 Area

[0182] 631 Vertex

[0183] 632 vertices

[0184] 633 Vertex

[0185] 634 vertices

[0186] 650 extension cord

[0187] 652 intersection

[0188] 653 intersection

[0189] 801 Data Item Number

[0190] 802 First Risk Area ID

[0191] 803 first coordinate data part

[0192] 804 Second Risk Area ID

[0193] 805 Second coordinate data unit

[0194] 806 Third Risk Area ID Department

[0195] 807 Third Coordinate Data Section

[0196] 901 Risk Area

[0197] 902 Risk Area

[0198] 903 Risk Area

[0199] 904 Risk Area

[0200] 905 Risk Area

[0201] 906 Risk Area

[0202] 907 Risk Area

[0203] 908 Risk Area

[0204] 909 Risk Area

[0205] 910 Risk Area

[0206] 911 Danger Zone

[0207] 2000 Computer

[0208] 2010 Main Controller

[0209] 2012CPU

[0210] 2014 RAM

[0211] 2020 Input / Output Controller

[0212] 2022 Communication Interface

[0213] 2024 Flash

[0214] 2026ROM

[0215] 2040 input / output chips.

Claims

1. A risk area information storage device, wherein: have: a receiving unit that receives position information of a risk area detected by a vehicle and that may become a risk during travel of the vehicle; a storage unit for storing the location information of the risk area in correspondence with the road section information corresponding to the location of the risk area in the map information; as well as A transmitting unit transmits the position information of the risk area stored in the storage unit in correspondence with the link information corresponding to the link on which the other vehicle travels to the other vehicle.

2. The risk area information storage device according to claim 1, wherein: The storage unit stores the position information of the risk area in association with link information indicating a link on which the vehicle traveled when the vehicle detected the risk area.

3. The risk area information storage device according to claim 1 or 2, wherein: The storage unit also stores the position information of the risk area in correspondence with the coordinate information of the intersection point, where the intersection point is the intersection of a perpendicular line from a predetermined point for determining the position of the risk area to the road section on which the vehicle is traveling when the vehicle detects the risk area and the road section.

4. The risk area information storage device according to claim 1 or 2, wherein: The storage unit also stores the position information of the risk area in correspondence with the coordinate information of the intersection point, where the intersection point is the intersection of a perpendicular line on an extension line from a predetermined point for determining the position of the risk area to the road section on which the vehicle is traveling when the vehicle detects the risk area and the extension line.

5. The risk area information storage device according to claim 1 or 2, wherein: The receiving unit further receives request information for requesting position information of the risk area from the other vehicle, When receiving the request information from the other vehicle, the transmitting unit transmits the position information of the risk area stored in the storage unit in correspondence with the link information of the link on which the other vehicle travels to the other vehicle.

6. The risk area information storage device according to claim 1 or 2, wherein: The apparatus further comprises a selection unit configured to select one or more risk areas located within a predetermined distance from the position of the other vehicle from among the risk areas whose position information is stored in the storage unit. The transmitting unit transmits the position information of the one or more risk areas selected by the selecting unit to the other vehicles.

7. The risk area information storage device according to claim 6, wherein: When the number of risk areas whose position information is stored in the storage unit exceeds a predetermined threshold value allowed to be sent from the sending unit at one time, the selecting unit selects risk areas with the predetermined number as an upper limit from the risk areas whose position information is stored in the storage unit.

8. The risk area information storage device according to claim 1 or 2, wherein: The receiving unit further receives query information from the other vehicles as to whether there is a moving object in the risk area. The query information includes specifying information specifying the risk area, The risk area information storage device further includes an existence determination unit, which determines whether a predetermined object exists in an area determined by the position information of the risk area specified by the designation information, in the risk area whose position information is stored in the storage unit. The transmitting unit further transmits warning information when the existence determination unit determines that a predetermined object exists in an area specified based on position information of a risk area specified by the designation information.

9. The risk area information storage device according to claim 1 or 2, wherein: The risk area information storage device is a mobile edge computing server.

10. A method for storing risk area information, wherein: have: A step of receiving position information of a risk area detected by a vehicle that may become a risk during travel of the vehicle; The step of storing the location information of the risk area in correspondence with the road section information corresponding to the location of the risk area in the map information; as well as A step of transmitting the position information of the risk area stored in the step of storing in association with the link information corresponding to the link on which the other vehicle travels to the other vehicle.

11. A computer-readable storage medium, wherein: A program for causing a computer to function as the risk area information storage device according to any one of claims 1 to 9 is stored.

Images